From 74fcf85bdee28bbb4705a053ab637a36ee26d0c1 Mon Sep 17 00:00:00 2001 From: ammaradel Date: Wed, 2 Oct 2024 13:35:08 +0300 Subject: [PATCH 1/7] Added evaluation folder and updated README --- README.md | 60 + ...al_Language_base_commands_wo_rephrasing.py | 56 + ...ands_wo_rephrasing_including irrelevant.py | 55 + .../1_Generate_Natural_Language_commands.py | 54 + ...ands_wo_rephrasing_including_irrelevant.py | 58 + ...ands_wo_rephrasing_including_irrelevant.py | 57 + .../2_rephrase_commands.py | 47 + ...Ground_Robot_commands_to_json_using_GPT.py | 57 + ...round_Robot_commands_to_json_using_GPT4.py | 57 + ...d_Robot_commands_to_json_using_LLaMA-7b.py | 212 ++++ ...Robot_commands_to_json_using_LLaMA2-70b.py | 71 ++ ..._Robot_commands_to_json_using_LLaMA2-7b.py | 71 ++ ..._Robotic_Arm_commands_to_json_using_GPT.py | 178 +++ ...Robotic_Arm_commands_to_json_using_GPT4.py | 178 +++ ...tic_Arm_commands_to_json_using_LLaMA-7b.py | 333 ++++++ ...c_Arm_commands_to_json_using_LLaMA2-70b.py | 192 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.../final-NL-commands/regex_list_numbers.txt | 1 + evaluation/ontology_definition_3_cases.json | 125 ++ ...NL_commands_Groubd_Robot_base_commands.txt | 200 ++++ ...nd_Robot_base_commands_with_irrelevant.txt | 10 + ...otic_Arm_base_commands_with_irrelevant.txt | 200 ++++ ...ands_UAV_base_commands_with_irrelevant.txt | 200 ++++ evaluation/test_LLaMA2_70b.py | 17 + 211 files changed, 61235 insertions(+) create mode 100644 evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_base_commands_wo_rephrasing.py create mode 100644 evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_base_commands_wo_rephrasing_including irrelevant.py create mode 100644 evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_commands.py create mode 100644 evaluation/1_Generate_Natural_Language_base_commands/1_Robotic_Arm_Generate_Natural_Language_base_commands_wo_rephrasing_including_irrelevant.py create mode 100644 evaluation/1_Generate_Natural_Language_base_commands/1_UAV_Generate_Natural_Language_base_commands_wo_rephrasing_including_irrelevant.py create mode 100644 evaluation/2_rephrase_commands/2_rephrase_commands.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_GPT.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_GPT4.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA-7b.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA2-70b.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA2-7b.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_GPT.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_GPT4.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA-7b.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA2-70b.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA2-7b.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_GPT.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_GPT4.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA-7b.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA2-70b.py create mode 100644 evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA2-7b.py create mode 100644 evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_Ground_Robot_commands_using_GPT4.py create mode 100644 evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_Robotic_Arm_commands_using_GPT4.py create mode 100644 evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_UAV_commands_using_GPT4.py create mode 100644 evaluation/5_extract_scores_from_evaluation/5_extract_scores_from_evaluation_and_draw_boxplot.py create mode 100644 evaluation/5_extract_scores_from_evaluation/5b_extract_scores_from_evaluation_and_draw_hist.py create mode 100644 evaluation/5_extract_scores_from_evaluation/5c_extract_avg_and_sem_from_GPT_evaluation.py create mode 100644 evaluation/5_extract_scores_from_evaluation/5d_extract_avg_and_confidence_TOTAL_from_GPT_evaluation.py create mode 100644 evaluation/6_select_random_lines_for_manual_evaluation/6_select_random_lines_for_manual_evaluation.py create mode 100644 evaluation/7b_extract_average_scores_from_manual_evaluation/7_extract_scores_from_manual_evaluation_and_draw_boxplot.py create mode 100644 evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_TOTAL_per_model_manual_evaluation.py create mode 100644 evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_from_manual_evaluation.py create mode 100644 evaluation/7b_extract_average_scores_from_manual_evaluation/7c_extract_average_scores_from_manual_evaluation_and_plot_hists.py create mode 100644 evaluation/8_calculate_intersections_btw_confidence_intervals/8_calculate_intersections_btw_confidence_intervals.py create mode 100644 evaluation/9_plot_squares_in_GPT4_Human_space/9_plot_squares_in_GPT4_Human_space.py create mode 100644 evaluation/Figures/.~lock.sample_scoring_table_v2.docx# create mode 100644 evaluation/Figures/1_NL_to_JSON_prompt_uav.png create mode 100644 evaluation/Figures/2_sample_GR_commands_with_rephrasings.png create mode 100644 evaluation/Figures/3_NL_to_JSON_prompt_RA.png create mode 100644 evaluation/Figures/4_GPT4_scoring_prompt.png create mode 100644 evaluation/Figures/GPTscores_hists.png create mode 100644 evaluation/Figures/Ground-Robot-JSON-structure.png create mode 100644 evaluation/Figures/Human_scores_hists.png create mode 100644 evaluation/Figures/Robotic-Arm-JSON-structure.png create mode 100644 evaluation/Figures/UAV-JSON-structure.png create mode 100644 evaluation/Figures/average_and_confid_squares.png create mode 100644 evaluation/Figures/average_and_confid_squares_v2.png create mode 100644 evaluation/Figures/prompts.docx create mode 100644 evaluation/Figures/prompts.pdf create mode 100644 evaluation/Figures/results.pptx create mode 100644 evaluation/GPT_instructions.txt create mode 100644 evaluation/GPT_instructions_conversion.txt create mode 100644 evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_Ground_Robot.txt create mode 100644 evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_Robotic_Arm.txt create mode 100644 evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_UAV.txt create mode 100644 evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_Ground_Robot_GPT4.txt create mode 100644 evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_Robotic_Arm_GPT4.txt create mode 100644 evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_UAV_GPT4.txt create mode 100644 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mode 100644 evaluation/final-NL-commands/NL_commands_UAV_with_5rephrasings.txt create mode 100644 evaluation/final-NL-commands/event_log.txt create mode 100644 evaluation/final-NL-commands/output_numbers.txt create mode 100644 evaluation/final-NL-commands/regex_list_numbers.txt create mode 100644 evaluation/ontology_definition_3_cases.json create mode 100644 evaluation/temp-output/NL_commands_Groubd_Robot_base_commands.txt create mode 100644 evaluation/temp-output/NL_commands_Ground_Robot_base_commands_with_irrelevant.txt create mode 100644 evaluation/temp-output/NL_commands_Robotic_Arm_base_commands_with_irrelevant.txt create mode 100644 evaluation/temp-output/NL_commands_UAV_base_commands_with_irrelevant.txt create mode 100644 evaluation/test_LLaMA2_70b.py diff --git a/README.md b/README.md index c664f20..102a656 100644 --- a/README.md +++ b/README.md @@ -127,6 +127,65 @@ To use ROSGPT with ROS1, you will need to modify the ROS 2 code in the scripts t If you have already developed an extension to enable ROSGPT to work with ROS1, we would love to hear from you! Please create a pull request in a new branch and we will review it for inclusion in the ROSGPT repository. +## Evaluation + +The folder ```evaluation``` contains the implementation of a proof-of-concept that demonstrates the feasibility of transforming human language instructions into spatial navigation commands for a ROS2-enabled robot using ChatGPT and other language models. The project quantitatively evaluates this transformation across three different use cases (Ground Robot, Unmanned Aerial Vehicle, and Robotic Arm) and five large language models (LLaMA-7b, LLaMA2-7b, LLaMA2-70b, GPT-3.5, and GPT-4) on a set of 3,000 natural language commands. + +### Folder Structure +- **1_Generate_Natural_Language_base_commands/** + Scripts for generating natural language commands for various robot types, with and without rephrasing. + +- **2_rephrase_commands/** + Scripts to rephrase the natural language commands to ensure variation. + +- **3_convert_NL_Ground_Robot_commands_to_json/** + Scripts that convert natural language commands into JSON format using different language models. + +- **4_evaluate_Json_Ground_Robot_commands/** + Scripts for evaluating the JSON outputs of natural language commands using GPT-4. + +- **5_extract_scores_from_evaluation/** + Scripts for extracting scores from evaluations and drawing statistical plots. + +- **6_select_random_lines_for_manual_evaluation/** + Scripts to select random command lines for human evaluation. + +- **7b_extract_average_scores_from_manual_evaluation/** + Scripts to compute average scores and standard error of mean (SEM) from manual evaluations. + +- **8_calculate_intersections_btw_confidence_intervals/** + Scripts for calculating intersections between confidence intervals across models. + +- **9_plot_squares_in_GPT4_Human_space/** + Scripts to plot squares in GPT-4 human space for visualization. + +- **evaluations/** + Contains results of evaluations for each model and scenario, including scores, plots, and textual outputs. + +- **Figures/** + Contains figures and visualizations used in the analysis and reports. + +### Objectives +The main goal of this project is to illustrate how natural language instructions can be accurately converted into structured robot commands and subsequently evaluated for performance using both automated and manual assessments. This proof-of-concept helps identify the strengths and weaknesses of different language models in robotics applications, providing insights into potential future integrations and research directions. + +### Reference + +**DOI**: [10.1002/spe.3377](http://doi.org/10.1002/spe.3377) + +**Citation**: Koubaa, A., Ammar, A., & Boulila, W. (2024). Next-Generation Human-Robot Interaction with ChatGPT and Robot Operating System. Software: Practice and Experience, September 2024. + +**BibTeX Citation**: + +@article{koubaa2024next, + title={Next-Generation Human-Robot Interaction with ChatGPT and Robot Operating System}, + author={Koubaa, Anis and Ammar, Adel and Boulila, Wadii}, + journal={Software: Practice and Experience}, + year={2024}, + month={September}, + doi={10.1002/spe.3377} +} + + ## License This project is licensed under the Creative Commons Attribution-NonCommercial 4.0 International License. You are free to use, share, and adapt this material for non-commercial purposes, as long as you provide attribution to the original author(s) and the source. @@ -143,3 +202,4 @@ As this project is still under progress, contributions are welcome! To contribut Before submitting your pull request, please ensure that your changes do not break the build and adhere to the project's coding style. For any questions or suggestions, please open an issue on the [GitHub issue tracker](https://github.com/aniskoubaa/rosgpt/issues). + diff --git a/evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_base_commands_wo_rephrasing.py b/evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_base_commands_wo_rephrasing.py new file mode 100644 index 0000000..f82e62a --- /dev/null +++ b/evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_base_commands_wo_rephrasing.py @@ -0,0 +1,56 @@ +import openai +import os +import csv +import time +import json + +# Set your OpenAI API key here +# openai.api_key = '******************' # aammar +# openai.api_key = '******************' # riotu free +# openai.api_key = '******************' # adel.ammar +openai.api_key = '******************' # riotu paid + +nb_commands = 1 +# nb_rephrasing = 5 + +# System prompt which instructs the model to generate commands and then rephrase +generate_command_prompt = """ +Generate 2 different commands for a ground robot, without any other introduction, comment, numbers, nor conclusion. Commands should include various cases, distances, velocities, and/or duration. +Examples: +"Move 1 meter forward for two seconds." +"Rotate clockwise by 45 degrees." +"Turn right and move forward for 3 meters." +"Go to the kitchen and stop." +""" +# rephrase_instruction = "Generate 5 different wordings for the following ground robot command, without any other introduction, comment, numbers, nor conclusion." + +def issue_commands(prompt, system_prompt=generate_command_prompt): + response = openai.ChatCompletion.create( + model="gpt-3.5-turbo", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + assistant_reply = response.choices[0].message['content'] + return assistant_reply + +with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_Groubd_Robot_base_commands.txt", "a") as file: + for i in range(nb_commands): + print(i) + # First, generate a base command + try: + base_command = issue_commands("", system_prompt=generate_command_prompt) + # rephrased_commands = issue_commands(base_command) + print((f"{base_command}\n")) + file.write(f"{base_command}\n") + + except Exception as e: + print(f"An error occurred: {e}") + + # file.write("Rephrased Commands:\n") + # for idx, rep_cmd in enumerate(rephrased_commands.split('\n'), 1): + # print((f"{rep_cmd}\n")) + # file.write(f"{rep_cmd}\n") + # file.write("\n") diff --git a/evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_base_commands_wo_rephrasing_including irrelevant.py b/evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_base_commands_wo_rephrasing_including irrelevant.py new file mode 100644 index 0000000..6a4add9 --- /dev/null +++ b/evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_base_commands_wo_rephrasing_including irrelevant.py @@ -0,0 +1,55 @@ +import openai +import os +import csv +import time +import json + +# Set your OpenAI API key here +# openai.api_key = '******************' # aammar +# openai.api_key = '******************' # riotu free +# openai.api_key = '******************' # adel.ammar +openai.api_key = '******************' # riotu paid + +nb_commands = 1 +# nb_rephrasing = 5 + +# System prompt which instructs the model to generate commands and then rephrase +generate_command_prompt = """ +Generate 10 different commands for a ground robot, without any other introduction, comment, numbers, nor conclusion. Commands should include various cases, distances, velocities, and/or duration, and an additional irrelevant action for a robot. +Examples: +"Move 1 meter forward for two seconds, and take a photo." +"Rotate clockwise by 45 degrees, then swim." +"Turn right and move forward for 3 meters, then desintegrate." +""" +# rephrase_instruction = "Generate 5 different wordings for the following ground robot command, without any other introduction, comment, numbers, nor conclusion." + +def issue_commands(prompt, system_prompt=generate_command_prompt): + response = openai.ChatCompletion.create( + model="gpt-3.5-turbo", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + assistant_reply = response.choices[0].message['content'] + return assistant_reply + +with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_Ground_Robot_base_commands_with_irrelevant.txt", "a") as file: + for i in range(nb_commands): + print(i) + # First, generate a base command + try: + base_command = issue_commands("", system_prompt=generate_command_prompt) + # rephrased_commands = issue_commands(base_command) + print((f"{base_command}\n")) + file.write(f"{base_command}\n") + + except Exception as e: + print(f"An error occurred: {e}") + + # file.write("Rephrased Commands:\n") + # for idx, rep_cmd in enumerate(rephrased_commands.split('\n'), 1): + # print((f"{rep_cmd}\n")) + # file.write(f"{rep_cmd}\n") + # file.write("\n") diff --git a/evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_commands.py b/evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_commands.py new file mode 100644 index 0000000..d64178d --- /dev/null +++ b/evaluation/1_Generate_Natural_Language_base_commands/1_Generate_Natural_Language_commands.py @@ -0,0 +1,54 @@ +import openai +import os +import csv +import time +import json + +# Set your OpenAI API key here +# openai.api_key = '******************' # aammar +# openai.api_key = '******************' # riotu free +# openai.api_key = '******************' # adel.ammar +openai.api_key = '******************' # riotu paid + +nb_commands = 41 +# nb_rephrasing = 5 + +# System prompt which instructs the model to generate commands and then rephrase +generate_command_prompt = """ +Generate a command for a ground robot, without any other introduction, comment, numbers, nor conclusion. +Examples: +"Move 1 meter forward for two seconds." +"Rotate clockwise by 45 degrees." +"Turn right and move forward for 3 meters." +"Go to the kitchen and stop." +""" +rephrase_instruction = "Generate 5 different wordings for the following ground robot command, without any other introduction, comment, numbers, nor conclusion." + +def issue_commands(prompt, system_prompt=rephrase_instruction): + response = openai.ChatCompletion.create( + model="gpt-3.5-turbo", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + assistant_reply = response.choices[0].message['content'] + return assistant_reply + +with open("NL_commands_Groubd_Robot.txt", "a") as file: + for i in range(nb_commands): + print(i) + # First, generate a base command + try: + base_command = issue_commands("", system_prompt=generate_command_prompt) + rephrased_commands = issue_commands(base_command) + + except Exception as e: + print(f"An error occurred: {e}") + + # file.write("Rephrased Commands:\n") + for idx, rep_cmd in enumerate(rephrased_commands.split('\n'), 1): + print((f"{rep_cmd}\n")) + file.write(f"{rep_cmd}\n") + # file.write("\n") diff --git a/evaluation/1_Generate_Natural_Language_base_commands/1_Robotic_Arm_Generate_Natural_Language_base_commands_wo_rephrasing_including_irrelevant.py b/evaluation/1_Generate_Natural_Language_base_commands/1_Robotic_Arm_Generate_Natural_Language_base_commands_wo_rephrasing_including_irrelevant.py new file mode 100644 index 0000000..1a0c077 --- /dev/null +++ b/evaluation/1_Generate_Natural_Language_base_commands/1_Robotic_Arm_Generate_Natural_Language_base_commands_wo_rephrasing_including_irrelevant.py @@ -0,0 +1,58 @@ +import openai +import os +import csv +import time +import json + +# Set your OpenAI API key here +# openai.api_key = '******************' # aammar +# openai.api_key = '******************' # riotu free +# openai.api_key = '******************' # adel.ammar +openai.api_key = '******************' # riotu paid + +nb_commands = 1 +# nb_rephrasing = 5 + +# System prompt which instructs the model to generate commands and then rephrase +generate_command_prompt = """ +Generate 16 different commands for a robotic arm, without any other introduction, comment, numbers, nor conclusion. The commands should include various cases, distances, velocities, and/or duration. The last command should also include an additional irrelevant action like: swim, watch TV, etc. +Examples: + "Extend the arm by 15 centimeters." + "Rotate the wrist joint clockwise by 45 degrees." + "Grip the object with 5 kilograms of force." + "Move to position X:10, Y:20, Z:30." + "Retract the arm and store in standby position, then smile." +""" +# rephrase_instruction = "Generate 5 different wordings for the following ground robot command, without any other introduction, comment, numbers, nor conclusion." + +def issue_commands(prompt, system_prompt=generate_command_prompt): + response = openai.ChatCompletion.create( + model="gpt-3.5-turbo", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + assistant_reply = response.choices[0].message['content'] + return assistant_reply + +# with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_UAV_base_commands_with_irrelevant.txt", "a") as file: +with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_Robotic_Arm_base_commands_with_irrelevant.txt", "a") as file: + for i in range(nb_commands): + print(i) + # First, generate a base command + try: + base_command = issue_commands("", system_prompt=generate_command_prompt) + # rephrased_commands = issue_commands(base_command) + print((f"{base_command}\n")) + file.write(f"{base_command}\n") + + except Exception as e: + print(f"An error occurred: {e}") + + # file.write("Rephrased Commands:\n") + # for idx, rep_cmd in enumerate(rephrased_commands.split('\n'), 1): + # print((f"{rep_cmd}\n")) + # file.write(f"{rep_cmd}\n") + # file.write("\n") diff --git a/evaluation/1_Generate_Natural_Language_base_commands/1_UAV_Generate_Natural_Language_base_commands_wo_rephrasing_including_irrelevant.py b/evaluation/1_Generate_Natural_Language_base_commands/1_UAV_Generate_Natural_Language_base_commands_wo_rephrasing_including_irrelevant.py new file mode 100644 index 0000000..e296758 --- /dev/null +++ b/evaluation/1_Generate_Natural_Language_base_commands/1_UAV_Generate_Natural_Language_base_commands_wo_rephrasing_including_irrelevant.py @@ -0,0 +1,57 @@ +import openai +import os +import csv +import time +import json + +# Set your OpenAI API key here +# openai.api_key = '******************' # aammar +# openai.api_key = '******************' # riotu free +# openai.api_key = '******************' # adel.ammar +openai.api_key = '******************' # riotu paid + +nb_commands = 10 +# nb_rephrasing = 5 + +# System prompt which instructs the model to generate commands and then rephrase +generate_command_prompt = """ +Generate 20 different commands for a UAV, without any other introduction, comment, numbers, nor conclusion. The commands should include various cases, distances, velocities, and/or duration. The last command should also include an additional irrelevant action like: swin, watch TV, etc. +Examples: + "Ascend to an altitude of 300 meters." + "Fly forward for 2 kilometers at a speed of 60 km/h." + "Hover in place for 5 minutes." + "Rotate counterclockwise by 90 degrees at an angular speed of 30 degrees per second." + "Land at the designated landing zone, then sing lowdly." +""" +# rephrase_instruction = "Generate 5 different wordings for the following ground robot command, without any other introduction, comment, numbers, nor conclusion." + +def issue_commands(prompt, system_prompt=generate_command_prompt): + response = openai.ChatCompletion.create( + model="gpt-3.5-turbo", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + assistant_reply = response.choices[0].message['content'] + return assistant_reply + +with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_UAV_base_commands_with_irrelevant.txt", "a") as file: + for i in range(nb_commands): + print(i) + # First, generate a base command + try: + base_command = issue_commands("", system_prompt=generate_command_prompt) + # rephrased_commands = issue_commands(base_command) + print((f"{base_command}\n")) + file.write(f"{base_command}\n") + + except Exception as e: + print(f"An error occurred: {e}") + + # file.write("Rephrased Commands:\n") + # for idx, rep_cmd in enumerate(rephrased_commands.split('\n'), 1): + # print((f"{rep_cmd}\n")) + # file.write(f"{rep_cmd}\n") + # file.write("\n") diff --git a/evaluation/2_rephrase_commands/2_rephrase_commands.py b/evaluation/2_rephrase_commands/2_rephrase_commands.py new file mode 100644 index 0000000..efa6b19 --- /dev/null +++ b/evaluation/2_rephrase_commands/2_rephrase_commands.py @@ -0,0 +1,47 @@ +import openai + +# OpenAI API setup (assuming you've already set up the openai library) +OPENAI_API_KEY = '****************************' +openai.api_key = OPENAI_API_KEY + + +def rephrase_command(command, num_rephrases=4): + system_prompt = f"Rephrase the following command {num_rephrases} different ways." + rephrased_cmds = [] + while len(rephrased_cmds) < num_rephrases: + try: + response = openai.ChatCompletion.create( + model="gpt-3.5-turbo", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": command}, + {"role": "assistant", "content": ""}, + ] + ) + rephrased_cmds.extend(response.choices[0].message['content'].split('\n')) + except Exception as e: + print(f"Error occurred while rephrasing: {e}") + continue + + return rephrased_cmds[:num_rephrases] # Ensure only the required number of rephrasings is returned + +# Reading input commands from the file +# with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_Ground_Robot_base_commands_with_irrelevant.txt", "r") as infile: +# with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_UAV_base_commands_with_irrelevant.txt", "r") as infile: +with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_Robotic_Arm_base_commands_with_irrelevant.txt", "r") as infile: + commands = infile.readlines() + +# Processing each command and writing to the output file +# with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_Groubd_Robot_commands_with_5rephrasings.txt", "a") as outfile: +# with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_UAV_with_5rephrasings.txt", "a") as outfile: +with open("/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/NL_commands_Robotic_Arm_with_5rephrasings.txt", "a") as outfile: + ind = 1 + for cmd in commands: + print(ind) + cmd = cmd.strip() + rephrased_cmds = rephrase_command(cmd) + outfile.write(f"{cmd}\n") + for idx, rep_cmd in enumerate(rephrased_cmds, 1): + outfile.write(f"{rep_cmd}\n") + # outfile.write("\n") + ind+=1 diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_GPT.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_GPT.py new file mode 100644 index 0000000..e36a53c --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_GPT.py @@ -0,0 +1,57 @@ +import os +import openai + + +openai.api_key = '******************' + +instruction = """ +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}} +{"action": "move", "params": {"linear_speed": linear_speed, "distance": distance, "is_forward": is_forward}} +{"action": "rotate", "params": {"angular_velocity": angular_velocity, "angle": angle, "is_clockwise": is_clockwise}} +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples. +prompt: "Move forward for 1 meter at a speed of 0.5 meters per second." +returns: {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +prompt: "Rotate 60 degree in clockwise direction at 10 degrees per second and make pizza." +returns: {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +""" + +def convert_command_to_json(prompt, system_prompt=instruction): + + response = openai.ChatCompletion.create( + model="gpt-3.5-turbo", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + output = response.choices[0].message['content'].split('\n') + print("Json:", output) + return output + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + json_output = convert_command_to_json(line) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{json_output}\n') + i += 1 + + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_Ground_Robot_commands_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/Converted_JSON_commands_Ground_Robot.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_GPT4.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_GPT4.py new file mode 100644 index 0000000..83b329f --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_GPT4.py @@ -0,0 +1,57 @@ +import os +import openai + + +openai.api_key = '******************' + +instruction = """ +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}} +{"action": "move", "params": {"linear_speed": linear_speed, "distance": distance, "is_forward": is_forward}} +{"action": "rotate", "params": {"angular_velocity": angular_velocity, "angle": angle, "is_clockwise": is_clockwise}} +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples. +prompt: "Move forward for 1 meter at a speed of 0.5 meters per second." +returns: {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +prompt: "Rotate 60 degree in clockwise direction at 10 degrees per second and make pizza." +returns: {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +""" + +def convert_command_to_json(prompt, system_prompt=instruction): + + response = openai.ChatCompletion.create( + model="gpt-4", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + output = response.choices[0].message['content'].split('\n') + print("Json:", output) + return output + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + json_output = convert_command_to_json(line) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{json_output}\n') + i += 1 + + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_Ground_Robot_commands_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/Converted_JSON_commands_Ground_Robot_GPT4.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA-7b.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA-7b.py new file mode 100644 index 0000000..f53be71 --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA-7b.py @@ -0,0 +1,212 @@ +import os +import sys +import json +import fire +import torch +import transformers +from peft import PeftModel +from transformers import GenerationConfig, LlamaForCausalLM, LlamaTokenizer + +if torch.cuda.is_available(): + device = "cuda" +else: + device = "cpu" + +try: + if torch.backends.mps.is_available(): + device = "mps" +except: # noqa: E722 + pass + + +def main( + load_8bit: bool = False, + base_model: str = "yahma/llama-7b-hf", + lora_weights: str = "", + share_gradio: bool = False, + input_file: str="/media/akoubaa/new_ssd/Adel/LLM-Adapters/ROSGPT/NL_commands_Ground_Robot_commands_with_5rephrasings.txt", + output_file: str="/media/akoubaa/new_ssd/Adel/LLM-Adapters/ROSGPT/Converted_JSON_commands_Ground_Robot.txt" + +): + assert ( + base_model + ), "Please specify a --base_model, e.g. --base_model='decapoda-research/llama-7b-hf'" + + # assert ( + # json_file + # ), "Please specify a --json_file test input file" + + tokenizer = LlamaTokenizer.from_pretrained(base_model) + if device == "cuda": + model = LlamaForCausalLM.from_pretrained( + base_model, + load_in_8bit=load_8bit, + torch_dtype=torch.float16, + device_map="auto", + trust_remote_code=True, + ) + model = PeftModel.from_pretrained( + model, + lora_weights, + torch_dtype=torch.float16, + ) + elif device == "mps": + model = LlamaForCausalLM.from_pretrained( + base_model, + device_map={"": device}, + torch_dtype=torch.float16, + ) + model = PeftModel.from_pretrained( + model, + lora_weights, + device_map={"": device}, + torch_dtype=torch.float16, + ) + else: + model = LlamaForCausalLM.from_pretrained( + base_model, device_map={"": device}, low_cpu_mem_usage=True + ) + model = PeftModel.from_pretrained( + model, + lora_weights, + device_map={"": device}, + ) + + # unwind broken decapoda-research config + model.config.pad_token_id = tokenizer.pad_token_id = 0 # unk + model.config.bos_token_id = 1 + model.config.eos_token_id = 2 + + if not load_8bit: + model.half() # seems to fix bugs for some users. + + model.eval() + if torch.__version__ >= "2" and sys.platform != "win32": + model = torch.compile(model) + + def evaluate( + instruction, + input=None, + temperature=0.1, + top_p=0.75, + top_k=40, + num_beams=4, + max_new_tokens=128, + **kwargs, + ): + prompt = generate_prompt(instruction, input) + inputs = tokenizer(prompt, return_tensors="pt") + input_ids = inputs["input_ids"].to(device) + generation_config = GenerationConfig( + temperature=temperature, + top_p=top_p, + top_k=top_k, + num_beams=num_beams, + **kwargs, + ) + with torch.no_grad(): + generation_output = model.generate( + input_ids=input_ids, + generation_config=generation_config, + return_dict_in_generate=True, + output_scores=True, + max_new_tokens=max_new_tokens, + ) + s = generation_output.sequences[0] + output = tokenizer.decode(s) + return output.split("### Response:")[1].strip() + + + GR_instruction = """ + Consider the following ontology: + {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}} + {"action": "move", "params": {"linear_speed": linear_speed, "distance": distance, "is_forward": is_forward}} + {"action": "rotate", "params": {"angular_velocity": angular_velocity, "angle": angle, "is_clockwise": is_clockwise}} + You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples. + prompt: "Move forward for 1 meter at a speed of 0.5 meters per second." + returns: {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} + prompt: "Rotate 60 degree in clockwise direction at 10 degrees per second and make pizza." + returns: {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} + """ + + # json_file = '' + import json + + # with open(json_file, 'r') as f: + # data = json.load(f) # Load the JSON data into a Python object + + # with open(output_file, 'w') as f: + # i = 0 + # for item in data: + # if 'input' in item: + # i += 1 + # print(i) + # instruction = GR_instruction + + # input_field = item['input'] + # output_field = item['output'] + # try: + # response = evaluate(instruction, input=input_field) + + # f.write( + # str(i) + '\n' + + # 'Case' + '\n' + + # input_field + '\n' + + # 'Decision (predicted)' + '\n' + + # response + '\n' + + # 'Decision (GT)' + '\n' + + # output_field + '\n\n' + # ) + # except: + # print('Exception!') + + start_from = 1 + i = 1 + with open(input_file, 'r') as input_file: + with open(output_file, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + json_output = evaluate(GR_instruction, input=line) + print(json_output) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{json_output}\n') + i += 1 + + + # print("Instruction:", instruction) + # print("Response:", evaluate(instruction)) + # print() + + +def generate_prompt(instruction, input=None): + if input: + return f"""Below is an instruction that describes a task, paired with an input that provides further context. Write a response that appropriately completes the request. + +### Instruction: +{instruction} + +### Input: +{input} + +### Response: +""" # noqa: E501 + else: + return f"""Below is an instruction that describes a task. Write a response that appropriately completes the request. + +### Instruction: +{instruction} + +### Response: +""" # noqa: E501 + + +if __name__ == "__main__": + fire.Fire(main) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA2-70b.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA2-70b.py new file mode 100644 index 0000000..a221011 --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA2-70b.py @@ -0,0 +1,71 @@ +import os +import requests + +API_URL = "https://api-inference.huggingface.co/models/meta-llama/Llama-2-70b-chat-hf" +headers = {"Authorization": "***********"} + +instruction = """ +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}} +{"action": "move", "params": {"linear_speed": linear_speed, "distance": distance, "is_forward": is_forward}} +{"action": "rotate", "params": {"angular_velocity": angular_velocity, "angle": angle, "is_clockwise": is_clockwise}} +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples. +prompt: "Move forward for 1 meter at a speed of 0.5 meters per second." +returns: {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +prompt: "Rotate 60 degree in clockwise direction at 10 degrees per second and make pizza." +returns: {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +""" + +def query(payload): + response = requests.post(API_URL, headers=headers, json=payload) + return response.json() + +def convert_command_to_json(prompt, system_prompt=instruction): + payload = { + # "instruction": instruction, + "inputs": instruction+'\nNow give the JSON corresponding to this prompt:\n'+prompt+'\nYour answer: ', + "parameters": { + "max_new_tokens": 256, + "top_k": 40, + "top_p": 0.1, + "temperature": 0.5, + "stream": True + } + } + + response = query(payload) + # output = response.get('outputs', {}).get('text', '').split('\n') + # print("Json:", output) + return response + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + answer='No JSON' + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'a') as output_file: + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() + if line: + try: + json_output = convert_command_to_json(line) + print(json_output) + answer = json_output[0]['generated_text'].split('\nYour answer: \n\n')[-1].split('}}')[0]+'}}' + print('-----------') + if answer=='': answer = 'No JSON' + print(answer) + print('-----------') + + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{answer}\n') + i += 1 + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_Ground_Robot_commands_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_Ground_Robot_LLaMA2-70b.txt" +process_input_file(input_file, output_file, start_from=462) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA2-7b.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA2-7b.py new file mode 100644 index 0000000..7d8672a --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Ground_Robot_commands_to_json_using_LLaMA2-7b.py @@ -0,0 +1,71 @@ +import os +import requests + +API_URL = "https://api-inference.huggingface.co/models/meta-llama/Llama-2-7b-chat-hf" +headers = {"Authorization": "***********"} + +instruction = """ +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}} +{"action": "move", "params": {"linear_speed": linear_speed, "distance": distance, "is_forward": is_forward}} +{"action": "rotate", "params": {"angular_velocity": angular_velocity, "angle": angle, "is_clockwise": is_clockwise}} +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples. +prompt: "Move forward for 1 meter at a speed of 0.5 meters per second." +returns: {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +prompt: "Rotate 60 degree in clockwise direction at 10 degrees per second and make pizza." +returns: {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +""" + +def query(payload): + response = requests.post(API_URL, headers=headers, json=payload) + return response.json() + +def convert_command_to_json(prompt, system_prompt=instruction): + payload = { + # "instruction": instruction, + "inputs": instruction+'\nNow give the JSON corresponding to this prompt:\n'+prompt+'\nYour answer: ', + "parameters": { + "max_new_tokens": 256, + "top_k": 40, + "top_p": 0.1, + "temperature": 0.5, + "stream": True + } + } + + response = query(payload) + # output = response.get('outputs', {}).get('text', '').split('\n') + # print("Json:", output) + return response + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + answer='No JSON' + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() + if line: + try: + json_output = convert_command_to_json(line) + print(json_output) + answer = json_output[0]['generated_text'].split('\nYour answer: \n\n')[-1].split('}}')[0]+'}}' + print('-----------') + if answer=='': answer = 'No JSON' + print(answer) + print('-----------') + + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{answer}\n') + i += 1 + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_Ground_Robot_commands_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Ground_Robot_LLaMA2-7b_run2.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_GPT.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_GPT.py new file mode 100644 index 0000000..29ccf13 --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_GPT.py @@ -0,0 +1,178 @@ +import os +import openai + + +openai.api_key = '******************' + +instruction = """ +Consider the following ontology for robotic arm commands: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 45.0 + }, + "direction": { + "type": "str", + "value": "clockwise" + }, + "speed": { + "type": "float", + "value": 0.5 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } + }, + { + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 10.0 + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } + }, + { + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 5.0 + }, + "duration": { + "type": "float", + "value": 2.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } + }, + { + "action": "release_grip", + "params": {} + }, + { + "action": "set_orientation", + "params": { + "orientation": { + "type": "str", + "value": "upright" + } + } + } + +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples: +prompt: "Rotate the elbow joint 90 degrees counterclockwise at a speed of 1 degree per second." +returns: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 90.0 + }, + "direction": { + "type": "str", + "value": "counterclockwise" + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } +} + +prompt: "Extend the arm 20 centimeters at a speed of 2 centimeters per second." +returns: +{ + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 20.0 + }, + "speed": { + "type": "float", + "value": 2.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } +} + +prompt: "Grip the object with a force of 10 newtons for 3 seconds." +returns: +{ + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 10.0 + }, + "duration": { + "type": "float", + "value": 3.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } +} +""" + +def convert_command_to_json(prompt, system_prompt=instruction): + + response = openai.ChatCompletion.create( + model="gpt-3.5-turbo", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + output = response.choices[0].message['content'].split('\n') + print("Json:", output) + return output + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + json_output = convert_command_to_json(line) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{json_output}\n') + i += 1 + + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_Robotic_Arm_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/Converted_JSON_commands_Robotic_Arm.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_GPT4.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_GPT4.py new file mode 100644 index 0000000..b40c09b --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_GPT4.py @@ -0,0 +1,178 @@ +import os +import openai + + +openai.api_key = '******************' + +instruction = """ +Consider the following ontology for robotic arm commands: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 45.0 + }, + "direction": { + "type": "str", + "value": "clockwise" + }, + "speed": { + "type": "float", + "value": 0.5 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } + }, + { + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 10.0 + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } + }, + { + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 5.0 + }, + "duration": { + "type": "float", + "value": 2.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } + }, + { + "action": "release_grip", + "params": {} + }, + { + "action": "set_orientation", + "params": { + "orientation": { + "type": "str", + "value": "upright" + } + } + } + +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples: +prompt: "Rotate the elbow joint 90 degrees counterclockwise at a speed of 1 degree per second." +returns: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 90.0 + }, + "direction": { + "type": "str", + "value": "counterclockwise" + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } +} + +prompt: "Extend the arm 20 centimeters at a speed of 2 centimeters per second." +returns: +{ + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 20.0 + }, + "speed": { + "type": "float", + "value": 2.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } +} + +prompt: "Grip the object with a force of 10 newtons for 3 seconds." +returns: +{ + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 10.0 + }, + "duration": { + "type": "float", + "value": 3.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } +} +""" + +def convert_command_to_json(prompt, system_prompt=instruction): + + response = openai.ChatCompletion.create( + model="gpt-4", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + output = response.choices[0].message['content'].split('\n') + print("Json:", output) + return output + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + json_output = convert_command_to_json(line) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{json_output}\n') + i += 1 + + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_Robotic_Arm_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/Converted_JSON_commands_Robotic_Arm_GPT4.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA-7b.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA-7b.py new file mode 100644 index 0000000..b5206da --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA-7b.py @@ -0,0 +1,333 @@ +import os +import sys +import json +import fire +import torch +import transformers +from peft import PeftModel +from transformers import GenerationConfig, LlamaForCausalLM, LlamaTokenizer + +if torch.cuda.is_available(): + device = "cuda" +else: + device = "cpu" + +try: + if torch.backends.mps.is_available(): + device = "mps" +except: # noqa: E722 + pass + + +def main( + load_8bit: bool = False, + base_model: str = "yahma/llama-7b-hf", + lora_weights: str = "", + share_gradio: bool = False, + input_file: str="/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_UAV_with_5rephrasings.txt", + output_file: str="/media/akoubaa/new_ssd/Adel/LLM-Adapters/ROSGPT/Converted_JSON_commands_Robotic_Arm.txt" + +): + assert ( + base_model + ), "Please specify a --base_model, e.g. --base_model='decapoda-research/llama-7b-hf'" + + # assert ( + # json_file + # ), "Please specify a --json_file test input file" + + tokenizer = LlamaTokenizer.from_pretrained(base_model) + if device == "cuda": + model = LlamaForCausalLM.from_pretrained( + base_model, + load_in_8bit=load_8bit, + torch_dtype=torch.float16, + device_map="auto", + trust_remote_code=True, + ) + model = PeftModel.from_pretrained( + model, + lora_weights, + torch_dtype=torch.float16, + ) + elif device == "mps": + model = LlamaForCausalLM.from_pretrained( + base_model, + device_map={"": device}, + torch_dtype=torch.float16, + ) + model = PeftModel.from_pretrained( + model, + lora_weights, + device_map={"": device}, + torch_dtype=torch.float16, + ) + else: + model = LlamaForCausalLM.from_pretrained( + base_model, device_map={"": device}, low_cpu_mem_usage=True + ) + model = PeftModel.from_pretrained( + model, + lora_weights, + device_map={"": device}, + ) + + # unwind broken decapoda-research config + model.config.pad_token_id = tokenizer.pad_token_id = 0 # unk + model.config.bos_token_id = 1 + model.config.eos_token_id = 2 + + if not load_8bit: + model.half() # seems to fix bugs for some users. + + model.eval() + if torch.__version__ >= "2" and sys.platform != "win32": + model = torch.compile(model) + + def evaluate( + instruction, + input=None, + temperature=0.1, + top_p=0.75, + top_k=40, + num_beams=4, + max_new_tokens=128, + **kwargs, + ): + prompt = generate_prompt(instruction, input) + inputs = tokenizer(prompt, return_tensors="pt") + input_ids = inputs["input_ids"].to(device) + generation_config = GenerationConfig( + temperature=temperature, + top_p=top_p, + top_k=top_k, + num_beams=num_beams, + **kwargs, + ) + with torch.no_grad(): + generation_output = model.generate( + input_ids=input_ids, + generation_config=generation_config, + return_dict_in_generate=True, + output_scores=True, + max_new_tokens=max_new_tokens, + ) + s = generation_output.sequences[0] + output = tokenizer.decode(s) + return output.split("### Response:")[1].strip().split('\n') + + + GR_instruction = """ +Consider the following ontology for robotic arm commands: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 45.0 + }, + "direction": { + "type": "str", + "value": "clockwise" + }, + "speed": { + "type": "float", + "value": 0.5 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } + }, + { + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 10.0 + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } + }, + { + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 5.0 + }, + "duration": { + "type": "float", + "value": 2.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } + }, + { + "action": "release_grip", + "params": {} + }, + { + "action": "set_orientation", + "params": { + "orientation": { + "type": "str", + "value": "upright" + } + } + } + +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples: +prompt: "Rotate the elbow joint 90 degrees counterclockwise at a speed of 1 degree per second." +returns: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 90.0 + }, + "direction": { + "type": "str", + "value": "counterclockwise" + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } +} + +prompt: "Extend the arm 20 centimeters at a speed of 2 centimeters per second." +returns: +{ + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 20.0 + }, + "speed": { + "type": "float", + "value": 2.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } +} + +prompt: "Grip the object with a force of 10 newtons for 3 seconds." +returns: +{ + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 10.0 + }, + "duration": { + "type": "float", + "value": 3.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } +} + """ + + # json_file = '' + import json + + # with open(json_file, 'r') as f: + # data = json.load(f) # Load the JSON data into a Python object + + # with open(output_file, 'w') as f: + # i = 0 + # for item in data: + # if 'input' in item: + # i += 1 + # print(i) + # instruction = GR_instruction + + # input_field = item['input'] + # output_field = item['output'] + # try: + # response = evaluate(instruction, input=input_field) + + # f.write( + # str(i) + '\n' + + # 'Case' + '\n' + + # input_field + '\n' + + # 'Decision (predicted)' + '\n' + + # response + '\n' + + # 'Decision (GT)' + '\n' + + # output_field + '\n\n' + # ) + # except: + # print('Exception!') + + start_from = 1 + i = 1 + with open(input_file, 'r') as input_file: + with open(output_file, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + json_output = evaluate(GR_instruction, input=line) + print(json_output) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{json_output}\n') + i += 1 + + + # print("Instruction:", instruction) + # print("Response:", evaluate(instruction)) + # print() + + +def generate_prompt(instruction, input=None): + if input: + return f"""Below is an instruction that describes a task, paired with an input that provides further context. Write a response that appropriately completes the request. + +### Instruction: +{instruction} + +### Input: +{input} + +### Response: +""" # noqa: E501 + else: + return f"""Below is an instruction that describes a task. Write a response that appropriately completes the request. + +### Instruction: +{instruction} + +### Response: +""" # noqa: E501 + + +if __name__ == "__main__": + fire.Fire(main) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA2-70b.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA2-70b.py new file mode 100644 index 0000000..5d7342e --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA2-70b.py @@ -0,0 +1,192 @@ +import os +import requests + +API_URL = "https://api-inference.huggingface.co/models/meta-llama/Llama-2-70b-chat-hf" +headers = {"Authorization": "***********"} + +instruction = """ +Consider the following ontology for robotic arm commands: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 45.0 + }, + "direction": { + "type": "str", + "value": "clockwise" + }, + "speed": { + "type": "float", + "value": 0.5 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } + }, + { + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 10.0 + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } + }, + { + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 5.0 + }, + "duration": { + "type": "float", + "value": 2.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } + }, + { + "action": "release_grip", + "params": {} + }, + { + "action": "set_orientation", + "params": { + "orientation": { + "type": "str", + "value": "upright" + } + } + } + +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples: +prompt: "Rotate the elbow joint 90 degrees counterclockwise at a speed of 1 degree per second." +returns: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 90.0 + }, + "direction": { + "type": "str", + "value": "counterclockwise" + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } +} + +prompt: "Extend the arm 20 centimeters at a speed of 2 centimeters per second." +returns: +{ + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 20.0 + }, + "speed": { + "type": "float", + "value": 2.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } +} + +prompt: "Grip the object with a force of 10 newtons for 3 seconds." +returns: +{ + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 10.0 + }, + "duration": { + "type": "float", + "value": 3.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } +} +""" + +def query(payload): + response = requests.post(API_URL, headers=headers, json=payload) + return response.json() + +def convert_command_to_json(prompt, system_prompt=instruction): + payload = { + # "instruction": instruction, + "inputs": instruction+'\nNow give the JSON corresponding to this prompt:\n'+prompt+'\nYour answer: ', + "parameters": { + "max_new_tokens": 256, + "top_k": 40, + "top_p": 0.1, + "temperature": 0.5, + "stream": True + } + } + + response = query(payload) + # output = response.get('outputs', {}).get('text', '').split('\n') + # print("Json:", output) + return response + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + answer='No JSON' + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() + if line: + try: + json_output = convert_command_to_json(line) + print(json_output) + answer = json_output[0]['generated_text'].split('\nYour answer: \n')[-1].split('\n\n')[0]#+'}}' + print('-----------') + if answer=='': answer = 'No JSON' + print(answer) + print('-----------') + + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{answer}\n') + i += 1 + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_Robotic_Arm_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_Robotic_Arm_LLaMA2-70b.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA2-7b.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA2-7b.py new file mode 100644 index 0000000..08f4d92 --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_Robotic_Arm_commands_to_json_using_LLaMA2-7b.py @@ -0,0 +1,192 @@ +import os +import requests + +API_URL = "https://api-inference.huggingface.co/models/meta-llama/Llama-2-7b-chat-hf" +headers = {"Authorization": "***********"} + +instruction = """ +Consider the following ontology for robotic arm commands: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 45.0 + }, + "direction": { + "type": "str", + "value": "clockwise" + }, + "speed": { + "type": "float", + "value": 0.5 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } + }, + { + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 10.0 + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } + }, + { + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 5.0 + }, + "duration": { + "type": "float", + "value": 2.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } + }, + { + "action": "release_grip", + "params": {} + }, + { + "action": "set_orientation", + "params": { + "orientation": { + "type": "str", + "value": "upright" + } + } + } + +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples: +prompt: "Rotate the elbow joint 90 degrees counterclockwise at a speed of 1 degree per second." +returns: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 90.0 + }, + "direction": { + "type": "str", + "value": "counterclockwise" + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } +} + +prompt: "Extend the arm 20 centimeters at a speed of 2 centimeters per second." +returns: +{ + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 20.0 + }, + "speed": { + "type": "float", + "value": 2.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } +} + +prompt: "Grip the object with a force of 10 newtons for 3 seconds." +returns: +{ + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 10.0 + }, + "duration": { + "type": "float", + "value": 3.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } +} +""" + +def query(payload): + response = requests.post(API_URL, headers=headers, json=payload) + return response.json() + +def convert_command_to_json(prompt, system_prompt=instruction): + payload = { + # "instruction": instruction, + "inputs": instruction+'\nNow give the JSON corresponding to this prompt:\n'+prompt+'\nYour answer: ', + "parameters": { + "max_new_tokens": 256, + "top_k": 40, + "top_p": 0.1, + "temperature": 0.5, + "stream": True + } + } + + response = query(payload) + # output = response.get('outputs', {}).get('text', '').split('\n') + # print("Json:", output) + return response + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + answer='No JSON' + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() + if line: + try: + json_output = convert_command_to_json(line) + print(json_output) + answer = json_output[0]['generated_text'].split('\nYour answer: \n')[-1].split('\n\n')[0].replace('\n',' ')#+'}}' + print('-----------') + if answer=='': answer = 'No JSON' + print(answer) + print('-----------') + + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{answer}\n') + i += 1 + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_Robotic_Arm_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Robotic_Arm_LLaMA2-7b.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_GPT.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_GPT.py new file mode 100644 index 0000000..d85fb33 --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_GPT.py @@ -0,0 +1,153 @@ +import os +import openai +import time + +openai.api_key = '******************' + +instruction = """ +Consider the following ontology: +{ + "action": "navigate_to_point", + "params": { + "coordinates": { + "type": "tuple", + "value": "(latitude, longitude, altitude)" + } + } + }, + { + "action": "fly", + "params": { + "speed": 10.5, + "altitude": 100, + "direction": { + "type": "str", + "value": "north" + }, + "duration": 10, + "unit_speed": "m/s", + "unit_altitude": "meters", + "unit_duration": "seconds" + } + }, + { + "action": "hover", + "params": { + "duration": { + "type": "float", + "value": 15.0 + }, + "altitude": { + "type": "float", + "value": 50.0 + }, + "unit_duration": "seconds", + "unit_altitude": "meters" + } + }, + { + "action": "rotate", + "params": { + "angular_velocity": 0.5, + "angle": 90, + "is_clockwise": true, + "unit": "degrees" + } + }, + { + "action": "land", + "params": { + "location": { + "type": "tuple", + "value": "(latitude, longitude)" + } + } + } +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples: +prompt: "Navigate to coordinates 37.7749° N, 122.4194° W at an altitude of 100 meters." +returns: +{ + "action": "navigate_to_point", + "params": { + "coordinates": { + "type": "tuple", + "value": "(37.7749, -122.4194, 100)" + } + } +} +prompt: "Fly north at a speed of 12 m/s for 20 seconds at an altitude of 120 meters." +returns: +{ + "action": "fly", + "params": { + "speed": 12.0, + "altitude": 120, + "direction": { + "type": "str", + "value": "north" + }, + "duration": 20, + "unit_speed": "m/s", + "unit_altitude": "meters", + "unit_duration": "seconds" + } +} +prompt: "Hover for 30 seconds at 70 meters, then dance." +returns: +{ + "action": "hover", + "params": { + "duration": { + "type": "float", + "value": 30.0 + }, + "altitude": { + "type": "float", + "value": 70.0 + }, + "unit_duration": "seconds", + "unit_altitude": "meters" + } +} +""" + +def convert_command_to_json(prompt, system_prompt=instruction): + + response = openai.ChatCompletion.create( + model="gpt-3.5-turbo", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + output = response.choices[0].message['content'].split('\n') + print("Json:", output) + return output + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + json_output = convert_command_to_json(line) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + time.sleep(5) + + output_file.write(f'{line},{json_output}\n') + i += 1 + + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_UAV_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/Converted_JSON_commands_UAV.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_GPT4.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_GPT4.py new file mode 100644 index 0000000..a6f08df --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_GPT4.py @@ -0,0 +1,154 @@ +import os +import openai +import time + +# openai.api_key = '******************' +openai.api_key = '******************' + +instruction = """ +Consider the following ontology: +{ + "action": "navigate_to_point", + "params": { + "coordinates": { + "type": "tuple", + "value": "(latitude, longitude, altitude)" + } + } + }, + { + "action": "fly", + "params": { + "speed": 10.5, + "altitude": 100, + "direction": { + "type": "str", + "value": "north" + }, + "duration": 10, + "unit_speed": "m/s", + "unit_altitude": "meters", + "unit_duration": "seconds" + } + }, + { + "action": "hover", + "params": { + "duration": { + "type": "float", + "value": 15.0 + }, + "altitude": { + "type": "float", + "value": 50.0 + }, + "unit_duration": "seconds", + "unit_altitude": "meters" + } + }, + { + "action": "rotate", + "params": { + "angular_velocity": 0.5, + "angle": 90, + "is_clockwise": true, + "unit": "degrees" + } + }, + { + "action": "land", + "params": { + "location": { + "type": "tuple", + "value": "(latitude, longitude)" + } + } + } +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples: +prompt: "Navigate to coordinates 37.7749° N, 122.4194° W at an altitude of 100 meters." +returns: +{ + "action": "navigate_to_point", + "params": { + "coordinates": { + "type": "tuple", + "value": "(37.7749, -122.4194, 100)" + } + } +} +prompt: "Fly north at a speed of 12 m/s for 20 seconds at an altitude of 120 meters." +returns: +{ + "action": "fly", + "params": { + "speed": 12.0, + "altitude": 120, + "direction": { + "type": "str", + "value": "north" + }, + "duration": 20, + "unit_speed": "m/s", + "unit_altitude": "meters", + "unit_duration": "seconds" + } +} +prompt: "Hover for 30 seconds at 70 meters, then dance." +returns: +{ + "action": "hover", + "params": { + "duration": { + "type": "float", + "value": 30.0 + }, + "altitude": { + "type": "float", + "value": 70.0 + }, + "unit_duration": "seconds", + "unit_altitude": "meters" + } +} +""" + +def convert_command_to_json(prompt, system_prompt=instruction): + + response = openai.ChatCompletion.create( + model="gpt-4", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + output = response.choices[0].message['content'].split('\n') + print("Json:", output) + return output + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'a') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + json_output = convert_command_to_json(line) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + time.sleep(5) + + output_file.write(f'{line},{json_output}\n') + i += 1 + + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_UAV_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/Converted_JSON_commands_UAV_GPT4.txt" +process_input_file(input_file, output_file, start_from=19) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA-7b.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA-7b.py new file mode 100644 index 0000000..3626928 --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA-7b.py @@ -0,0 +1,307 @@ +import os +import sys +import json +import fire +import torch +import transformers +from peft import PeftModel +from transformers import GenerationConfig, LlamaForCausalLM, LlamaTokenizer + +if torch.cuda.is_available(): + device = "cuda" +else: + device = "cpu" + +try: + if torch.backends.mps.is_available(): + device = "mps" +except: # noqa: E722 + pass + + +def main( + load_8bit: bool = False, + base_model: str = "yahma/llama-7b-hf", + lora_weights: str = "", + share_gradio: bool = False, + input_file: str="/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_UAV_with_5rephrasings.txt", + output_file: str="/media/akoubaa/new_ssd/Adel/LLM-Adapters/ROSGPT/Converted_JSON_commands_UAV.txt" + +): + assert ( + base_model + ), "Please specify a --base_model, e.g. --base_model='decapoda-research/llama-7b-hf'" + + # assert ( + # json_file + # ), "Please specify a --json_file test input file" + + tokenizer = LlamaTokenizer.from_pretrained(base_model) + if device == "cuda": + model = LlamaForCausalLM.from_pretrained( + base_model, + load_in_8bit=load_8bit, + torch_dtype=torch.float16, + device_map="auto", + trust_remote_code=True, + ) + model = PeftModel.from_pretrained( + model, + lora_weights, + torch_dtype=torch.float16, + ) + elif device == "mps": + model = LlamaForCausalLM.from_pretrained( + base_model, + device_map={"": device}, + torch_dtype=torch.float16, + ) + model = PeftModel.from_pretrained( + model, + lora_weights, + device_map={"": device}, + torch_dtype=torch.float16, + ) + else: + model = LlamaForCausalLM.from_pretrained( + base_model, device_map={"": device}, low_cpu_mem_usage=True + ) + model = PeftModel.from_pretrained( + model, + lora_weights, + device_map={"": device}, + ) + + # unwind broken decapoda-research config + model.config.pad_token_id = tokenizer.pad_token_id = 0 # unk + model.config.bos_token_id = 1 + model.config.eos_token_id = 2 + + if not load_8bit: + model.half() # seems to fix bugs for some users. + + model.eval() + if torch.__version__ >= "2" and sys.platform != "win32": + model = torch.compile(model) + + def evaluate( + instruction, + input=None, + temperature=0.1, + top_p=0.75, + top_k=40, + num_beams=4, + max_new_tokens=128, + **kwargs, + ): + prompt = generate_prompt(instruction, input) + inputs = tokenizer(prompt, return_tensors="pt") + input_ids = inputs["input_ids"].to(device) + generation_config = GenerationConfig( + temperature=temperature, + top_p=top_p, + top_k=top_k, + num_beams=num_beams, + **kwargs, + ) + with torch.no_grad(): + generation_output = model.generate( + input_ids=input_ids, + generation_config=generation_config, + return_dict_in_generate=True, + output_scores=True, + max_new_tokens=max_new_tokens, + ) + s = generation_output.sequences[0] + output = tokenizer.decode(s) + return output.split("### Response:")[1].strip().split('\n') + + + GR_instruction = """ + Consider the following ontology: +{ + "action": "navigate_to_point", + "params": { + "coordinates": { + "type": "tuple", + "value": "(latitude, longitude, altitude)" + } + } + }, + { + "action": "fly", + "params": { + "speed": 10.5, + "altitude": 100, + "direction": { + "type": "str", + "value": "north" + }, + "duration": 10, + "unit_speed": "m/s", + "unit_altitude": "meters", + "unit_duration": "seconds" + } + }, + { + "action": "hover", + "params": { + "duration": { + "type": "float", + "value": 15.0 + }, + "altitude": { + "type": "float", + "value": 50.0 + }, + "unit_duration": "seconds", + "unit_altitude": "meters" + } + }, + { + "action": "rotate", + "params": { + "angular_velocity": 0.5, + "angle": 90, + "is_clockwise": true, + "unit": "degrees" + } + }, + { + "action": "land", + "params": { + "location": { + "type": "tuple", + "value": "(latitude, longitude)" + } + } + } +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples: +prompt: "Navigate to coordinates 37.7749° N, 122.4194° W at an altitude of 100 meters." +returns: +{ + "action": "navigate_to_point", + "params": { + "coordinates": { + "type": "tuple", + "value": "(37.7749, -122.4194, 100)" + } + } +} +prompt: "Fly north at a speed of 12 m/s for 20 seconds at an altitude of 120 meters." +returns: +{ + "action": "fly", + "params": { + "speed": 12.0, + "altitude": 120, + "direction": { + "type": "str", + "value": "north" + }, + "duration": 20, + "unit_speed": "m/s", + "unit_altitude": "meters", + "unit_duration": "seconds" + } +} +prompt: "Hover for 30 seconds at 70 meters, then dance." +returns: +{ + "action": "hover", + "params": { + "duration": { + "type": "float", + "value": 30.0 + }, + "altitude": { + "type": "float", + "value": 70.0 + }, + "unit_duration": "seconds", + "unit_altitude": "meters" + } +} + """ + + # json_file = '' + import json + + # with open(json_file, 'r') as f: + # data = json.load(f) # Load the JSON data into a Python object + + # with open(output_file, 'w') as f: + # i = 0 + # for item in data: + # if 'input' in item: + # i += 1 + # print(i) + # instruction = GR_instruction + + # input_field = item['input'] + # output_field = item['output'] + # try: + # response = evaluate(instruction, input=input_field) + + # f.write( + # str(i) + '\n' + + # 'Case' + '\n' + + # input_field + '\n' + + # 'Decision (predicted)' + '\n' + + # response + '\n' + + # 'Decision (GT)' + '\n' + + # output_field + '\n\n' + # ) + # except: + # print('Exception!') + + start_from = 1 + i = 1 + with open(input_file, 'r') as input_file: + with open(output_file, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + json_output = evaluate(GR_instruction, input=line) + print(json_output) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{json_output}\n') + i += 1 + + + # print("Instruction:", instruction) + # print("Response:", evaluate(instruction)) + # print() + + +def generate_prompt(instruction, input=None): + if input: + return f"""Below is an instruction that describes a task, paired with an input that provides further context. Write a response that appropriately completes the request. + +### Instruction: +{instruction} + +### Input: +{input} + +### Response: +""" # noqa: E501 + else: + return f"""Below is an instruction that describes a task. Write a response that appropriately completes the request. + +### Instruction: +{instruction} + +### Response: +""" # noqa: E501 + + +if __name__ == "__main__": + fire.Fire(main) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA2-70b.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA2-70b.py new file mode 100644 index 0000000..f7672cf --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA2-70b.py @@ -0,0 +1,92 @@ +import os +import requests + +API_URL = "https://api-inference.huggingface.co/models/meta-llama/Llama-2-70b-chat-hf" +headers = {"Authorization": "***********"} + +instruction = """ +Consider the following ontology: +{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)"}}}, {"action": "fly", "params": { "speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" + }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" + } + }, {"action": "hover", "params": { "duration": { "type": "float", "value": 15.0 + }, "altitude": { "type": "float", "value": 50.0 + }, "unit_duration": "seconds", "unit_altitude": "meters" + } + }, {"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" + } + }, {"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" + } + } + } +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples: +prompt: "Navigate to coordinates 37.7749° N, 122.4194° W at an altitude of 100 meters." +returns: +{ + "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" + } + } +} +prompt: "Fly north at a speed of 12 m/s for 20 seconds at an altitude of 120 meters." +returns: +{ + "action": "fly", "params": {"speed": 12.0, "altitude": 120, "direction": { "type": "str", "value": "north" + }, "duration": 20, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" + } +} +prompt: "Hover for 30 seconds at 70 meters, then dance." +returns: +{ + "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 + }, "altitude": { "type": "float", "value": 70.0 + }, "unit_duration": "seconds", "unit_altitude": "meters" + } +} +""" + +def query(payload): + response = requests.post(API_URL, headers=headers, json=payload) + return response.json() + +def convert_command_to_json(prompt, system_prompt=instruction): + payload = { # "instruction": instruction, + "inputs": instruction+'\nNow give the JSON corresponding to this prompt:\n'+prompt+'\nYour answer: ', "parameters": { "max_new_tokens": 256, "top_k": 40, "top_p": 0.1, "temperature": 0.5, "stream": True + } + } + + response = query(payload) + # output = response.get('outputs', {}).get('text', '').split('\n') + # print("Json:", output) + return response + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + answer='No JSON' + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() + if line: + try: + json_output = convert_command_to_json(line) + print(json_output) + answer = json_output[0]['generated_text'].split('\nYour answer: \n')[-1].split('\n\n')[0].replace('\n',' ')#+'}}' + print('-----------') + if answer=='': answer = 'No JSON' + print(answer) + print('-----------') + + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{answer}\n') + i += 1 + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_UAV_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_UAV_LLaMA2-70b_run2.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA2-7b.py b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA2-7b.py new file mode 100644 index 0000000..783238f --- /dev/null +++ b/evaluation/3_convert_NL_Ground_Robot_commands_to_json/3_convert_NL_UAV_commands_to_json_using_LLaMA2-7b.py @@ -0,0 +1,92 @@ +import os +import requests + +API_URL = "https://api-inference.huggingface.co/models/meta-llama/Llama-2-7b-chat-hf" +headers = {"Authorization": "***********"} + +instruction = """ +Consider the following ontology: +{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)"}}}, {"action": "fly", "params": { "speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" + }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" + } + }, {"action": "hover", "params": { "duration": { "type": "float", "value": 15.0 + }, "altitude": { "type": "float", "value": 50.0 + }, "unit_duration": "seconds", "unit_altitude": "meters" + } + }, {"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" + } + }, {"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" + } + } + } +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples: +prompt: "Navigate to coordinates 37.7749° N, 122.4194° W at an altitude of 100 meters." +returns: +{ + "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" + } + } +} +prompt: "Fly north at a speed of 12 m/s for 20 seconds at an altitude of 120 meters." +returns: +{ + "action": "fly", "params": {"speed": 12.0, "altitude": 120, "direction": { "type": "str", "value": "north" + }, "duration": 20, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" + } +} +prompt: "Hover for 30 seconds at 70 meters, then dance." +returns: +{ + "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 + }, "altitude": { "type": "float", "value": 70.0 + }, "unit_duration": "seconds", "unit_altitude": "meters" + } +} +""" + +def query(payload): + response = requests.post(API_URL, headers=headers, json=payload) + return response.json() + +def convert_command_to_json(prompt, system_prompt=instruction): + payload = { # "instruction": instruction, + "inputs": instruction+'\nNow give the JSON corresponding to this prompt:\n'+prompt+'\nYour answer: ', "parameters": { "max_new_tokens": 256, "top_k": 40, "top_p": 0.1, "temperature": 0.5, "stream": True + } + } + + response = query(payload) + # output = response.get('outputs', {}).get('text', '').split('\n') + # print("Json:", output) + return response + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + answer='No JSON' + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() + if line: + try: + json_output = convert_command_to_json(line) + print(json_output) + answer = json_output[0]['generated_text'].split('\nYour answer: \n')[-1].split('\n\n')[0].replace('\n',' ')#+'}}' + print('-----------') + if answer=='': answer = 'No JSON' + print(answer) + print('-----------') + + except Exception as e: + print(f"Error processing line '{line}': {e}") + json_output=f"ERROR: {e}" + '\n' + + output_file.write(f'{line},{answer}\n') + i += 1 + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/final-NL-commands/NL_commands_UAV_with_5rephrasings.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_UAV_LLaMA2-7b_run2.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_Ground_Robot_commands_using_GPT4.py b/evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_Ground_Robot_commands_using_GPT4.py new file mode 100644 index 0000000..d06ebd8 --- /dev/null +++ b/evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_Ground_Robot_commands_using_GPT4.py @@ -0,0 +1,85 @@ +import os +import openai + + +openai.api_key = '******************' # GPT4 Nov2023 +# openai.api_key = '******************' +# openai.api_key = '******************' + +instruction = """ +Compare the following natural language command to the JSON structure(s) next to it in the same line. Then give a conformity score from 0 to 5, according to the matching between the natural language command and the JSON information and its conformity with the keys of this sample ontology: +{ +"action": "go_to_goal", +"params": { +"location": { +"type": "str", +"value": "Kitchen" +} +} +} +{ +"action": "move", +"params": { +"linear_speed": 0.5, +"distance": distance, +"is_forward": True +"unit": "meter" +} +} +{ +"action": "rotate", +"params": { +"angular_velocity": 0.35, +"angle": 40, +"is_clockwise": is_clockwise +"unit": "degrees" +} +} + +Commands that don't exist in the sample keys should not be converted to JSON. +If a parameter's value is not specified in the natural language command, any reasonable value in the JSON is accepted. +Format your response as: Score; Justification. +Example: 5; Exactly conform. +""" + +def compare_fields(prompt, system_prompt=instruction): + + response = openai.ChatCompletion.create( + model="gpt-4", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + output = response.choices[0].message['content'].split('\n') + print("Json:", output) + return output + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + score_and_justification = compare_fields(line, instruction) + print(score_and_justification) + # score, justification = score_and_justification.split("; ", 1) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + score_and_justification=f"ERROR: {e}" + '\n' + + output_file.write(f'{line};{score_and_justification}\n') + i += 1 + + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/GPT4/Converted_JSON_commands_Ground_Robot_GPT4.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_Robotic_Arm_commands_using_GPT4.py b/evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_Robotic_Arm_commands_using_GPT4.py new file mode 100644 index 0000000..8a9a785 --- /dev/null +++ b/evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_Robotic_Arm_commands_using_GPT4.py @@ -0,0 +1,123 @@ +import os +import openai + +openai.api_key = '******************' # GPT4 Nov2023 +# openai.api_key = '******************' +# openai.api_key = '******************' + +instruction = """ +Compare the following natural language command to the JSON structure(s) next to it in the same line. Then give a conformity score from 0 to 5, according to the matching between the natural language command and the JSON information and its conformity with the keys of this sample ontology: +{ + "action": "move_joint", + "params": { + "joint_name": { + "type": "str", + "value": "elbow" + }, + "angle": { + "type": "float", + "value": 45.0 + }, + "direction": { + "type": "str", + "value": "clockwise" + }, + "speed": { + "type": "float", + "value": 0.5 + }, + "unit": "degrees", + "unit_speed": "degrees/s" + } + }, + { + "action": "extend_arm", + "params": { + "extension_length": { + "type": "float", + "value": 10.0 + }, + "speed": { + "type": "float", + "value": 1.0 + }, + "unit_length": "centimeters", + "unit_speed": "cm/s" + } + }, + { + "action": "grip_object", + "params": { + "force": { + "type": "float", + "value": 5.0 + }, + "duration": { + "type": "float", + "value": 2.0 + }, + "unit_force": "newtons", + "unit_duration": "seconds" + } + }, + { + "action": "release_grip", + "params": {} + }, + { + "action": "set_orientation", + "params": { + "orientation": { + "type": "str", + "value": "upright" + } + } + } + +Commands that don't exist in the sample keys should not be converted to JSON. +If a parameter's value is not specified in the natural language command, any reasonable value in the JSON is accepted. +Format your response as: Score; Justification. +Example: 5; Exactly conform. +""" + +def compare_fields(prompt, system_prompt=instruction): + + response = openai.ChatCompletion.create( + model="gpt-4", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + output = response.choices[0].message['content'].split('\n') + print("Json:", output) + return output + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + score_and_justification = compare_fields(line, instruction) + print(score_and_justification) + # score, justification = score_and_justification.split("; ", 1) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + score_and_justification=f"ERROR: {e}" + '\n' + + output_file.write(f'{line};{score_and_justification}\n') + i += 1 + + +# Example of usage: +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Robotic_Arm_LLaMA2-7b.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Robotic_Arm.txt" +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_UAV_commands_using_GPT4.py b/evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_UAV_commands_using_GPT4.py new file mode 100644 index 0000000..b478017 --- /dev/null +++ b/evaluation/4_evaluate_Json_Ground_Robot_commands/4_evaluate_Json_UAV_commands_using_GPT4.py @@ -0,0 +1,115 @@ +import os +import openai + +openai.api_key = '******************' # GPT4 Nov2023 +# openai.api_key = '******************' + +instruction = """ +Compare the following natural language command to the JSON structure(s) next to it in the same line. Then give a conformity score from 0 to 5, according to the matching between the natural language command and the JSON information and its conformity with the keys of this sample ontology: +{ + "action": "navigate_to_point", + "params": { + "coordinates": { + "type": "tuple", + "value": "(latitude, longitude, altitude)" + } + } + }, + { + "action": "fly", + "params": { + "speed": 10.5, + "altitude": 100, + "direction": { + "type": "str", + "value": "north" + }, + "duration": 10, + "unit_speed": "m/s", + "unit_altitude": "meters", + "unit_duration": "seconds" + } + }, + { + "action": "hover", + "params": { + "duration": { + "type": "float", + "value": 15.0 + }, + "altitude": { + "type": "float", + "value": 50.0 + }, + "unit_duration": "seconds", + "unit_altitude": "meters" + } + }, + { + "action": "rotate", + "params": { + "angular_velocity": 0.5, + "angle": 90, + "is_clockwise": true, + "unit": "degrees" + } + }, + { + "action": "land", + "params": { + "location": { + "type": "tuple", + "value": "(latitude, longitude)" + } + } + } + +Commands that don't exist in the sample keys should not be converted to JSON. +If a parameter's value is not specified in the natural language command, any reasonable value in the JSON is accepted. +Format your response as: Score; Justification. +Example: 5; Exactly conform. +""" + +def compare_fields(prompt, system_prompt=instruction): + + response = openai.ChatCompletion.create( + model="gpt-4", + messages=[ + {"role": "system", "content": system_prompt}, + {"role": "user", "content": prompt}, + {"role": "assistant", "content": ""}, + ] + ) + output = response.choices[0].message['content'].split('\n') + print("Json:", output) + return output + +def process_input_file(input_file_name, output_file_name, start_from=1): + i = 1 + with open(input_file_name, 'r') as input_file: + with open(output_file_name, 'w') as output_file: # 'a' mode to append in case of restarts + for line in input_file: + print(i) + if i >= start_from: + line = line.strip() # remove any trailing or leading whitespaces + if line: # make sure line is not empty + try: + score_and_justification = compare_fields(line, instruction) + print(score_and_justification) + # score, justification = score_and_justification.split("; ", 1) + # Save the result to the output file immediately + except Exception as e: + print(f"Error processing line '{line}': {e}") + score_and_justification=f"ERROR: {e}" + '\n' + + output_file.write(f'{line};{score_and_justification}\n') + i += 1 + + +# Example of usage: +# model='' +input_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/JSON-converted-commands/GPT4/Converted_JSON_commands_UAV_GPT4.txt" +output_file = "/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV.txt" + +process_input_file(input_file, output_file, start_from=1) +print('Output saved in: ',output_file) diff --git a/evaluation/5_extract_scores_from_evaluation/5_extract_scores_from_evaluation_and_draw_boxplot.py b/evaluation/5_extract_scores_from_evaluation/5_extract_scores_from_evaluation_and_draw_boxplot.py new file mode 100644 index 0000000..d34b2ec --- /dev/null +++ b/evaluation/5_extract_scores_from_evaluation/5_extract_scores_from_evaluation_and_draw_boxplot.py @@ -0,0 +1,74 @@ +import re +import matplotlib.pyplot as plt + +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/Evaluated_JSON_commands_UAV.txt' +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/Evaluated_JSON_commands_Robotic_Arm.txt' +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations//Ground-Robot/Evaluated_JSON_commands_Ground_Robot_v2.txt' +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLamA-7b/Evaluated_JSON_commands_LLaMA7b_Ground_Robot.txt' +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_UAV.txt' +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_Robotic_Arm.txt' +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot.txt' +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_UAV.txt' +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Robotic_Arm.txt' +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot.txt' +# input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/GPT4/Evaluated_JSON_commands_GPT4_Robotic_Arm.txt' +input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV.txt' + +# output_file = input_file[:-4]+'-LLaMA2-7b-SCORES-only.txt' +# output_figure = input_file[:-4]+'-LLaMA2-7b-plots.png' +# output_file = input_file[:-4]+'-LLaMA2-70b-SCORES-only.txt' +# output_figure = input_file[:-4]+'-LLaMA2-70b-plots.png' +# output_file = input_file[:-4]+'-GPT3.5-SCORES-only.txt' +# output_figure = input_file[:-4]+'-GPT3.5-plots.png' +output_file = input_file[:-4]+'-GPT4-SCORES-only.txt' +output_figure = input_file[:-4]+'-GPT4-plots.png' + +# 1. Read the file and extract numbers +numbers = [] +with open(input_file, 'r') as f: + for line in f: + # match = re.search(r";\['(\d+)", line) + match = re.search(r";\[['\"](\d+(?:\.\d+)?)", line) + if match: + numbers.append(float(match.group(1))) + +# 2. Save the numbers to a new file +with open(output_file, 'w') as f: + for num in numbers: + f.write(str(num) + '\n') + +print(f'Scores saved in {output_file}') + +# 3. Calculate the average +average = sum(numbers) / len(numbers) +print('len=',len(numbers)) +print(f"Average: {average:.2f}") + +# 4. Plot a box-plot +# Plot a box-plot +plt.figure(figsize=(10, 5)) + +# Subplot for boxplot +plt.subplot(1, 2, 1) +plt.boxplot(numbers) +plt.title("Box plot of GPT4 scores") +plt.ylabel("Value") +plt.xticks([]) # This removes the x-ticks for the first subplot + +# Subplot for histogram +plt.subplot(1, 2, 2) +# plt.hist(numbers, bins=5, range=(0, 5))#, align='left', alpha=0.7) +# Specify the bins explicitly to ensure 0 and 5 are included as edges. +# bins = [0, 1, 2, 3, 4, 5] +# plt.hist(numbers, bins=bins, edgecolor='black') +plt.hist(numbers, bins=5, range=(0, 5), edgecolor='black') +plt.title("Histogram of GPT4 scores") +plt.xlabel("Value") +plt.ylabel("Frequency") +plt.xticks(range(6)) # Ensure we have ticks for all integer values +# plt.xticks(bins) + +plt.tight_layout() +# Save the figure to a file +plt.savefig(output_figure, dpi=300) +plt.show() \ No newline at end of file diff --git a/evaluation/5_extract_scores_from_evaluation/5b_extract_scores_from_evaluation_and_draw_hist.py b/evaluation/5_extract_scores_from_evaluation/5b_extract_scores_from_evaluation_and_draw_hist.py new file mode 100644 index 0000000..3ceef42 --- /dev/null +++ b/evaluation/5_extract_scores_from_evaluation/5b_extract_scores_from_evaluation_and_draw_hist.py @@ -0,0 +1,61 @@ +import re +import matplotlib.pyplot as plt + +# for input_file in ['/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/GPT-3.5/Evaluated_JSON_commands_UAV.txt']: +# for input_file in ['/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/GPT3.5/Evaluated_JSON_commands_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations//Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v2.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLamA-7b/Evaluated_JSON_commands_LLaMA7b_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_UAV.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_UAV.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/GPT4/Evaluated_JSON_commands_GPT4_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV.txt']: + +for input_file in ['/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Robotic_Arm.txt']: + + + output_figure = input_file[:-4]+'-HIST.png' + + # 1. Read the file and extract numbers + numbers = [] + with open(input_file, 'r') as f: + for line in f: + # match = re.search(r";\['(\d+)", line) + match = re.search(r";\[['\"](\d+(?:\.\d+)?)", line) + if match: + numbers.append(float(match.group(1))) + + # 2. Save the numbers to a new file + # with open(output_file, 'w') as f: + # for num in numbers: + # f.write(str(num) + '\n') + + # print(f'Scores saved in {output_file}') + + # 3. Calculate the average + average = sum(numbers) / len(numbers) + print('len=',len(numbers)) + print(f"Average: {average:.2f}") + + # 4. Plot a box-plot + # Plot a box-plot + plt.figure(figsize=(10, 5)) + + # Subplot for boxplot + # plt.subplot(1, 2, 1) + # plt.boxplot(numbers) + # plt.title("Box plot of GPT4 scores") + # plt.ylabel("Value") + # plt.xticks([]) # This removes the x-ticks for the first subplot + + # # Subplot for histogram + # plt.subplot(1, 2, 2) + # plt.hist(numbers, bins=5, range=(0, 5))#, align='left', alpha=0.7) + # Specify the bins explicitly to ensure 0 and 5 are included as edges. + # bins = [0, 1, 2, 3, 4, 5] + # plt.hist(numbers, bins=bins, edgecolor='black') + plt.hist(numbers, bins=5, range=(0, 5.01), edgecolor='black') + # plt.title("Histogram of GPT4 scores") + # plt.xlabel("Value") + # plt.ylabel("Frequency") + plt.xticks(range(6),size=20) # Ensure we have ticks for all integer values + plt.yticks(size=20) + # plt.xticks(bins) + + plt.tight_layout() + # Save the figure to a file + plt.savefig(output_figure, dpi=300) + # plt.show() \ No newline at end of file diff --git a/evaluation/5_extract_scores_from_evaluation/5c_extract_avg_and_sem_from_GPT_evaluation.py b/evaluation/5_extract_scores_from_evaluation/5c_extract_avg_and_sem_from_GPT_evaluation.py new file mode 100644 index 0000000..4e3fa9f --- /dev/null +++ b/evaluation/5_extract_scores_from_evaluation/5c_extract_avg_and_sem_from_GPT_evaluation.py @@ -0,0 +1,42 @@ +import re +import matplotlib.pyplot as plt +import os +import numpy as np + +for input_file in ['/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV.txt','/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/GPT3.5/Evaluated_JSON_commands_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations//Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v2.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLaMA-7b/Evaluated_JSON_commands_LLaMA7b_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_UAV.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_UAV.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/GPT4/Evaluated_JSON_commands_GPT4_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV.txt','/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Robotic_Arm.txt']: + + + print(input_file) + + # 1. Read the file and extract numbers + numbers = [] + with open(input_file, 'r') as f: + for line in f: + # match = re.search(r";\['(\d+)", line) + match = re.search(r";\[['\"](\d+(?:\.\d+)?)", line) + if match: + numbers.append(float(match.group(1))) + + # 2. Save the numbers to a new file + # with open(output_file, 'w') as f: + # for num in numbers: + # f.write(str(num) + '\n') + + # print(f'Scores saved in {output_file}') + + # 3. Calculate the average + average = sum(numbers) / len(numbers) + sem = np.std(numbers)/np.sqrt(len(numbers)) + margin = sem*1.96 # For 95% confidence interval + # print('len=',len(numbers)) + # print(f"Average: {average:.2f}") + output_f = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/average_and_SEM_GPT4_score.txt' + with open(output_f, 'a') as output_file: + model = input_file.split('/')[-2] + case = input_file.split('/')[-3] + # Your print statement will write directly to the file + # output_file.write(f"{model},{case},{average:.2f},{sem:.2f}\n") + output_file.write(f"{model},{case},{average:.2f} \pm {margin:.2f}\n") + + +print(f'Results saved in {output_f}') \ No newline at end of file diff --git a/evaluation/5_extract_scores_from_evaluation/5d_extract_avg_and_confidence_TOTAL_from_GPT_evaluation.py b/evaluation/5_extract_scores_from_evaluation/5d_extract_avg_and_confidence_TOTAL_from_GPT_evaluation.py new file mode 100644 index 0000000..a401cf8 --- /dev/null +++ b/evaluation/5_extract_scores_from_evaluation/5d_extract_avg_and_confidence_TOTAL_from_GPT_evaluation.py @@ -0,0 +1,42 @@ +import re +import matplotlib.pyplot as plt +import os +import numpy as np + +numbers = {} + +for input_file in ['/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV.txt','/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/GPT3.5/Evaluated_JSON_commands_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations//Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v2.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLaMA-7b/Evaluated_JSON_commands_LLaMA7b_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_UAV.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_UAV.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/GPT4/Evaluated_JSON_commands_GPT4_Robotic_Arm.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV.txt','/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Ground-Robot/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Ground_Robot.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV.txt', '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Robotic_Arm.txt']: + + + print(input_file) + + model = input_file.split('/')[-2] + case = input_file.split('/')[-3] + + if not(model in numbers): + numbers[model] = [] + + # 1. Read the file and extract numbers + + with open(input_file, 'r') as f: + + for line in f: + # match = re.search(r";\['(\d+)", line) + match = re.search(r";\[['\"](\d+(?:\.\d+)?)", line) + if match: + numbers[model].append(float(match.group(1))) + + +output_f = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/average_and_confidence_GPT4score_total_per_model.txt' + +for model in numbers: + # 3. Calculate the average + average = sum(numbers[model]) / len(numbers[model]) + sem = np.std(numbers[model])/np.sqrt(len(numbers[model])) + margin = sem*1.96 # For 95% confidence interval + + with open(output_f, 'a') as output_file: + output_file.write(f"{model},{average:.2f} \pm {margin:.2f}\n") + + +print(f'Results saved in {output_f}') \ No newline at end of file diff --git a/evaluation/6_select_random_lines_for_manual_evaluation/6_select_random_lines_for_manual_evaluation.py b/evaluation/6_select_random_lines_for_manual_evaluation/6_select_random_lines_for_manual_evaluation.py new file mode 100644 index 0000000..8c81058 --- /dev/null +++ b/evaluation/6_select_random_lines_for_manual_evaluation/6_select_random_lines_for_manual_evaluation.py @@ -0,0 +1,26 @@ +import random + +def select_random_lines(input_filename, output_filename, percentage=5): + with open(input_filename, 'r') as infile: + lines = infile.readlines() + + # Determine how many lines to select + total_lines = len(lines) + num_to_select = int(total_lines * (percentage / 100.0)) + + # Randomly select line indices without replacement + selected_indices = random.sample(range(total_lines), num_to_select) + + with open(output_filename, 'w') as outfile: + for idx in selected_indices: + # Write the selected line along with its index in the original file + outfile.write(f"{idx + 1}: {lines[idx]}") + + +input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Robotic_Arm.txt' +output_file = input_file[:-4]+'_SELECTED_5pct_for_manual_eval.txt' + +if __name__ == "__main__": + # Example usage + select_random_lines(input_file, output_file) + print(f'Output saved in: {output_file}') diff --git a/evaluation/7b_extract_average_scores_from_manual_evaluation/7_extract_scores_from_manual_evaluation_and_draw_boxplot.py b/evaluation/7b_extract_average_scores_from_manual_evaluation/7_extract_scores_from_manual_evaluation_and_draw_boxplot.py new file mode 100644 index 0000000..9332ea4 --- /dev/null +++ b/evaluation/7b_extract_average_scores_from_manual_evaluation/7_extract_scores_from_manual_evaluation_and_draw_boxplot.py @@ -0,0 +1,52 @@ +import re +import matplotlib.pyplot as plt +import pandas as pd +import numpy as np + +input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/Robotic-Arm/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Robotic_Arm_SELECTED_5pct_for_manual_eval.txt' +# output_file = 'scores.txt' +output_figure = input_file[:-4]+'-scores-PLOT.png' + +# Read the CSV file using pandas +df = pd.read_csv(input_file, delimiter=';') + +# Extract the 'Human score' column from index 0 to 49 +# scores = df['Human score'][0:50] +scores = df['Human'][0:50].dropna() +print(list(scores)) + +# Save the scores to a new file +# with open(output_file, 'w') as f: +# for score in scores: +# f.write(str(score) + '\n') + +# print(f'Scores saved in {output_file}') + +# Calculate the average +average = scores.mean() +sem = scores.std()/np.sqrt(50) +print(f"Average: {average:.2f}") + +# Plot the box-plot and histogram +plt.figure(figsize=(10, 5)) + +# Subplot for boxplot +plt.subplot(1, 2, 1) +plt.boxplot(scores) +plt.title("Box plot of Human scores") +plt.ylabel("Value") +plt.xticks([]) + +# Subplot for histogram +plt.subplot(1, 2, 2) +plt.hist(scores, bins=5, range=(0, 5), edgecolor='black') +plt.title("Histogram of Human scores") +plt.xlabel("Value") +plt.ylabel("Frequency") +plt.xticks(range(6)) + +plt.tight_layout() + +# Save the figure to a file +plt.savefig(output_figure, dpi=300) +plt.show() diff --git a/evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_TOTAL_per_model_manual_evaluation.py b/evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_TOTAL_per_model_manual_evaluation.py new file mode 100644 index 0000000..fae6c63 --- /dev/null +++ b/evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_TOTAL_per_model_manual_evaluation.py @@ -0,0 +1,60 @@ +import re +import matplotlib.pyplot as plt +import pandas as pd +import numpy as np +import os + + +models = ['LLaMA-7b','LLaMA2-7b','LLaMA2-70b','GPT3.5','GPT4'] +cases = ['Ground_Robot','UAV','Robotic_Arm'] + +def find_files(folder_path): + # List all files in the specified folder + files = os.listdir(folder_path) + + # Filter files based on the criteria + selected_files = [file for file in files if '5pct' in file and file.endswith('.txt')] + + return selected_files + +for model in models: + print(model) + scores = pd.Series() + for case in cases: + print(case) + case2 = case.replace('_','-') + # input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/'+case2+'/'+model+'/Evaluated_JSON_commands_'+model+'_'+case+'_5pct_for_manual_eval.txt' + folder = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/'+case2+'/'+model + print(folder) + folder_exists = os.path.exists(folder) + print(folder_exists) + if folder_exists: + selected_files = find_files(folder) + print(selected_files) + if len(selected_files)>0: + input_file = os.path.join(folder,selected_files[0]) + print(input_file) + # try: + df = pd.read_csv(input_file, delimiter=';') + + + # Extract the 'Human score' column from index 0 to 49 + # scores = df['Human score'][0:50] + scores = pd.concat([scores, df['Human'][0:50].dropna()], ignore_index=True) + print(list(scores)) + + # Calculate the average + average = scores.mean() + sem = scores.std()/np.sqrt(len(scores)) + margin = sem*1.96 # For 95% confidence interval + print(f"*********{model} / {case}: {average:.2f} +- {margin:.2f}") + output_file_path = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/average_and_SEM_TOTAL_per_model_human_score.txt' + with open(output_file_path, 'a') as output_file: + # Your print statement will write directly to the file + # output_file.write(f"{model},{case},{average:.2f},{sem:.2f}\n") + output_file.write(f"{model},{average:.2f} \pm {margin:.2f}\n") + # except: + # print('Problem') + + # plt.show() +print(f'Results saved in {output_file_path}') diff --git a/evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_from_manual_evaluation.py b/evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_from_manual_evaluation.py new file mode 100644 index 0000000..8ac1d0a --- /dev/null +++ b/evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_from_manual_evaluation.py @@ -0,0 +1,67 @@ +import re +import matplotlib.pyplot as plt +import pandas as pd +import numpy as np +import os + + +models = ['LLaMA-7b','LLaMA2-7b','LLaMA2-70b','GPT3.5','GPT4'] +cases = ['Ground_Robot','UAV','Robotic_Arm'] + +def find_files(folder_path): + # List all files in the specified folder + files = os.listdir(folder_path) + + # Filter files based on the criteria + selected_files = [file for file in files if '5pct' in file and file.endswith('.txt')] + + return selected_files + +for model in models: + print(model) + for case in cases: + print(case) + case2 = case.replace('_','-') + # input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/'+case2+'/'+model+'/Evaluated_JSON_commands_'+model+'_'+case+'_5pct_for_manual_eval.txt' + folder = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/'+case2+'/'+model + print(folder) + folder_exists = os.path.exists(folder) + print(folder_exists) + if folder_exists: + selected_files = find_files(folder) + print(selected_files) + if len(selected_files)>0: + input_file = os.path.join(folder,selected_files[0]) + print(input_file) + try: + df = pd.read_csv(input_file, delimiter=';') + + + # Extract the 'Human score' column from index 0 to 49 + # scores = df['Human score'][0:50] + scores = df['Human'][0:50].dropna() + print(list(scores)) + + # Save the scores to a new file + # with open(output_file, 'w') as f: + # for score in scores: + # f.write(str(score) + '\n') + + # print(f'Scores saved in {output_file}') + + # Calculate the average + average = scores.mean() + sem = scores.std()/np.sqrt(50) + margin = sem*1.96 # For 95% confidence interval + print(f"*********{model} / {case}: {average:.2f} +- {margin:.2f}") + output_f = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/average_and_SEM_human_score.txt' + with open(output_f, 'a') as output_file: + # Your print statement will write directly to the file + # output_file.write(f"{model},{case},{average:.2f},{sem:.2f}\n") + output_file.write(f"{model},{case},{average:.2f} \pm {margin:.2f}\n") + except: + print('Problem') + + # plt.show() + +print(f'Results saved in {output_f}') diff --git a/evaluation/7b_extract_average_scores_from_manual_evaluation/7c_extract_average_scores_from_manual_evaluation_and_plot_hists.py b/evaluation/7b_extract_average_scores_from_manual_evaluation/7c_extract_average_scores_from_manual_evaluation_and_plot_hists.py new file mode 100644 index 0000000..0c7e2d6 --- /dev/null +++ b/evaluation/7b_extract_average_scores_from_manual_evaluation/7c_extract_average_scores_from_manual_evaluation_and_plot_hists.py @@ -0,0 +1,53 @@ +import re +import matplotlib.pyplot as plt +import pandas as pd +import numpy as np +import os + + +models = ['LLaMA-7b','LLaMA2-7b','LLaMA2-70b','GPT3.5','GPT4'] +cases = ['Ground_Robot','UAV','Robotic_Arm'] + +def find_files(folder_path): + # List all files in the specified folder + files = os.listdir(folder_path) + + # Filter files based on the criteria + selected_files = [file for file in files if '5pct' in file and file.endswith('.txt')] + + return selected_files + +for model in models: + print(model) + for case in cases: + print(case) + case2 = case.replace('_','-') + # input_file = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/'+case2+'/'+model+'/Evaluated_JSON_commands_'+model+'_'+case+'_5pct_for_manual_eval.txt' + folder = '/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/'+case2+'/'+model + print(folder) + folder_exists = os.path.exists(folder) + print(folder_exists) + if folder_exists: + selected_files = find_files(folder) + print(selected_files) + if len(selected_files)>0: + input_file = os.path.join(folder,selected_files[0]) + print(input_file) + output_figure = input_file[:-4]+'-HIST.png' + try: + df = pd.read_csv(input_file, delimiter=';') + + # Extract the 'Human score' column from index 0 to 49 + # scores = df['Human score'][0:50] + scores = df['Human'][0:50].dropna() + print(list(scores)) + plt.figure(figsize=(10, 5)) + plt.hist(scores, bins=5, range=(0, 5.01), edgecolor='black') + plt.xticks(range(6),size=20) # Ensure we have ticks for all integer values + plt.yticks(size=20) + plt.tight_layout() + # Save the figure to a file + plt.savefig(output_figure, dpi=300) + except: + print('Problem') + diff --git a/evaluation/8_calculate_intersections_btw_confidence_intervals/8_calculate_intersections_btw_confidence_intervals.py b/evaluation/8_calculate_intersections_btw_confidence_intervals/8_calculate_intersections_btw_confidence_intervals.py new file mode 100644 index 0000000..8e14a94 --- /dev/null +++ b/evaluation/8_calculate_intersections_btw_confidence_intervals/8_calculate_intersections_btw_confidence_intervals.py @@ -0,0 +1,30 @@ +import pandas as pd +from sympy import Interval + +# Read the first CSV file +file1 = pd.read_csv('/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/average_and_SEM_human_score.txt', header=None, names=['Model', 'Case', 'Interval']) +file1[['avg', 'confid']] = file1['Interval'].str.extract(r'(\S+) \\pm (\S+)').astype(float) +print(file1[['avg', 'confid']]) + +# Read the second CSV file +file2 = pd.read_csv('/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/average_and_SEM_GPT4_score.txt', header=None, names=['Model', 'Case', 'Interval']) +file2[['avg', 'confid']] = file2['Interval'].str.extract(r'(\S+) \\pm (\S+)').astype(float) +print(file2[['avg', 'confid']]) + +# Initialize a counter for intersections +intersection_count = 0 + +# Iterate through each index in both files +for index in range(len(file1)): + # Check if intervals intersect + interval1 = Interval(file1.at[index, 'avg'] - file1.at[index, 'confid'], file1.at[index, 'avg'] + file1.at[index, 'confid']) + interval2 = Interval(file2.at[index, 'avg'] - file2.at[index, 'confid'], file2.at[index, 'avg'] + file2.at[index, 'confid']) + + print(interval1,interval2) + + if interval1.intersect(interval2): + print(f"Intersection: {file1.at[index, 'Model']} - {file1.at[index, 'Case']} and {file2.at[index, 'Model']} - {file2.at[index, 'Case']}") + intersection_count += 1 + +# Print the total number of intersections +print(f"Total number of intersections: {intersection_count}") diff --git a/evaluation/9_plot_squares_in_GPT4_Human_space/9_plot_squares_in_GPT4_Human_space.py b/evaluation/9_plot_squares_in_GPT4_Human_space/9_plot_squares_in_GPT4_Human_space.py new file mode 100644 index 0000000..a180630 --- /dev/null +++ b/evaluation/9_plot_squares_in_GPT4_Human_space/9_plot_squares_in_GPT4_Human_space.py @@ -0,0 +1,50 @@ +import pandas as pd +from sympy import Interval +import matplotlib.pyplot as plt +import numpy as np + +# Read the first CSV file +file1 = pd.read_csv('/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/average_and_SEM_TOTAL_per_model_human_score.txt', header=None, names=['Model', 'Interval']) +file1[['avg', 'confid']] = file1['Interval'].str.extract(r'(\S+) \\pm (\S+)').astype(float) +file1['lower'] = file1['avg'] - file1['confid'] +file1['upper'] = file1['avg'] + file1['confid'] +# print(file1[['lower', 'upper']]) +print(file1) + +# Read the second CSV file +file2 = pd.read_csv('/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/evaluations/average_and_confidence_GPT4score_total_per_model.txt', header=None, names=['Model', 'Interval']) +file2[['avg', 'confid']] = file2['Interval'].str.extract(r'(\S+) \\pm (\S+)').astype(float) +file2['lower'] = file2['avg'] - file2['confid'] +file2['upper'] = file2['avg'] + file2['confid'] +# print(file2[['lower', 'upper']]) +print(file2) + +# Create the figure and axis +fig, ax = plt.subplots() + +# Plot rectangles +colors = ['blue' if model.startswith('LLaMA') else 'green' for model in file1['Model']] +for i, model in enumerate(file1['Model']): + rect = plt.Rectangle((file1['lower'][i], file2['lower'][i]), + file1['upper'][i] - file1['lower'][i], + file2['upper'][i] - file2['lower'][i], + linewidth=1, edgecolor='black', facecolor=colors[i]) + ax.add_patch(rect) + plt.text((file1['lower'][i] + file1['upper'][i]) / 2, (file2['lower'][i] + file2['upper'][i]) / 2, model, + ha='center', va='center', color='white', size=13, weight='bold') # if model.startswith('GPT') else 'black') + +# Set axis labels +plt.xlabel('Human score',size=22) +plt.ylabel('GPT score',size=22) + +# Set plot limits +plt.xlim(0, 5) +plt.ylim(0, 5) +plt.xticks(size=22) +plt.yticks(size=22) +# Add grid with interrupted points +plt.grid(True, linestyle='--', linewidth=0.5) + +plt.savefig('/home/riotu/Dropbox/Adel/ChatGPT/ROSGPT/Figures/average_and_confid_squares.png') +# Show the plot +plt.show() diff --git a/evaluation/Figures/.~lock.sample_scoring_table_v2.docx# b/evaluation/Figures/.~lock.sample_scoring_table_v2.docx# new file mode 100644 index 0000000..3218965 --- /dev/null +++ b/evaluation/Figures/.~lock.sample_scoring_table_v2.docx# @@ -0,0 +1 @@ +,riotu,riotu-MSI,09.11.2023 14:02,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file diff --git a/evaluation/Figures/1_NL_to_JSON_prompt_uav.png b/evaluation/Figures/1_NL_to_JSON_prompt_uav.png new file mode 100644 index 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a/evaluation/GPT_instructions.txt b/evaluation/GPT_instructions.txt new file mode 100644 index 0000000..198cc0f --- /dev/null +++ b/evaluation/GPT_instructions.txt @@ -0,0 +1,42 @@ +I want to create an ontology that converts natural language commands to a robot into a JSON structure of this type: + +{ +"action": "go_to_goal", +"params": { +"location": { +"type": "str", +"value": "Kitchen" +} +} +} +{ +"action": "move", +"params": { +"linear_speed": 0.5, +"distance": distance, +"is_forward": True +"unit": "meter" +} +} +{ +"action": "rotate", +"params": { +"angular_velocity": 0.35, +"angle": 40, +"is_clockwise": is_clockwise +"unit": "degrees" +} +} + +Propose 3 ontologies for the following 3 use-cases: +1) Ground robot +2) UAV +3) Robotic arm + +---------------------------------------------------- + +Provide 5 commands of this type for a ground robot, each formulated in 3 different wordings: +- "Move 1 meter forward for two seconds." +- "Rotate clockwise by 45 degrees." +- "Turn right and move forward for 3 meters." +- "Go to the kitchen and stop." \ No newline at end of file diff --git a/evaluation/GPT_instructions_conversion.txt b/evaluation/GPT_instructions_conversion.txt new file mode 100644 index 0000000..f5f3a9a --- /dev/null +++ b/evaluation/GPT_instructions_conversion.txt @@ -0,0 +1,7 @@ +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}} +{"action": "move", "params": {"linear_speed": linear_speed, "distance": distance, "is_forward": is_forward}} +{"action": "rotate", "params": {"angular_velocity": angular_velocity, "angle": angle, "is_clockwise": is_clockwise}} +You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. Return only the json without any introduction, comments, nor conclusion. Here are some examples. +prompt: "Move forward for 1 meter at a speed of 0.5 meters per second."returns: {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +prompt: "Rotate 60 degree in clockwise direction at 10 degrees per second and make pizza." returns: {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} diff --git a/evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_Ground_Robot.txt b/evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_Ground_Robot.txt new file mode 100644 index 0000000..98872d5 --- /dev/null +++ b/evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_Ground_Robot.txt @@ -0,0 +1,1000 @@ +Move forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Proceed straight ahead covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1.0, "is_forward": true}}'] +Advance by 1 meter in the forward direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true}}'] +Take a step forward spanning 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Move ahead for a length of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate in an anti-clockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Spin in the opposite direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move backward for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Go backwards for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "duration": 2, "is_forward": false, "unit": "seconds"}}'] +Reverse your direction and travel for a span of 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Retreat for a time frame of 2 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "time_frame": 2, "unit": "seconds"}}'] +Take two seconds to move in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'] +Turn left and move forward for 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Move forward for 5 meters, then turn left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false}}'] +Proceed for 5 meters, then make a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Take a left turn and continue moving forward for 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Make a leftward turn and advance for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Rotate by 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": true}}'] +Execute a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Move forward at a velocity of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "m"}}'] +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'] +Advance at 0.5 meters per second for a total of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5.0, "is_forward": true}}'] +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Turn right and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true}}'] +Proceed forward for a distance of 3 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'] +After turning right, continue straight for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Make a right turn and advance for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Execute a rightward turn and then travel straight ahead for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Move backward at a velocity of 1 meter per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "second"}}'] +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "second"}}'] +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 4, "is_forward": false, "unit": "seconds"}}'] +Rotate counterclockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'] +Rotate 270 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Perform a counterclockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'] +Rotate in the opposite direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'] +Move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'] +Proceed ahead by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Advance for a span of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Travel forward, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'] +Move straight ahead, going 2 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true}}'] +Rotate clockwise by 45 degrees and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Move forward for 1 meter while rotating 45 degrees clockwise.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Turn left and move forward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "seconds"}}'] +Proceed straight for 3 seconds after taking a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Take a left turn and continue advancing for 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Make a left turn and proceed forward for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +After turning left, move straight ahead for 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Move backward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Reverse direction and travel 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Go back for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Retreat for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false}}'] +Take one step backward covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Rotate counterclockwise by 120 degrees and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}} {"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'] +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 120, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 120, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 120, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Move forward at full speed for 20 seconds.;['{"action": "move", "params": {"linear_speed": "full_speed", "distance": 20, "is_forward": true}}'] +Proceed ahead at maximum velocity for a duration of 20 seconds.;['{"action": "move", "params": {"linear_speed": "maximum", "distance": "undetermined", "is_forward": true, "unit": "meter", "duration": 20, "unit_duration": "second"}}'] +Travel straight ahead at top speed for a duration of 20 seconds.;['{"action": "move", "params": {"linear_speed": "top speed", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'] +Advance forward with utmost speed for a period of 20 seconds.;['{"action": "move", "params": {"linear_speed": "utmost", "distance": 20, "is_forward": true, "unit": "seconds"}}'] +Go straight ahead at full throttle for a duration of 20 seconds.;['{"action": "move", "params": {"linear_speed": "full_throttle", "distance": 0, "is_forward": true, "duration": 20, "unit": "seconds"}}'] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 60, "is_clockwise": true}}'] +Turn right by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Perform a clockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Rotate in a clockwise direction, making a 60-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Rotate to the right, making a 60-degree angle.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true}}'] +Move backward at a velocity of 0.75 meters per second for 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "seconds"}}'] +Reverse at 0.75 meters per second for a duration of 8 seconds.;['{"action": "move", "params": {"linear_speed": -0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meters", "duration": 8, "unit_duration": "seconds"}}'] +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 8, "is_forward": false, "unit": "second"}}'] +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Take a right turn and proceed straight ahead for a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Make a right turn and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Rotate to the right and advance ahead for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Go to the right and keep moving straight for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Move forward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true}}'] +Advance ahead 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true}}'] +Go forward a total of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Travel straight for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true, "unit": "second"}}'] +Turn left 90 degrees and proceed forward for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Make a left turn of 90 degrees and proceed forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_VALUE, "angle": 90, "is_clockwise": DEFAULT_VALUE}} ', '{"action": "move", "params": {"linear_speed": DEFAULT_VALUE, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'] +Proceed ahead a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Advance for a total of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Travel straight ahead covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Go forward a length of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'] +Turn left and continue for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}', '{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Make a left turn and keep going for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Go left and continue for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "seconds"}}'] +Take a left turn and continue for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter", "duration": 10, "unit_of_time": "seconds"}}'] +Proceed by turning left and maintaining that direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate in the opposite direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Perform a counterclockwise rotation of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 90, "is_clockwise": false}}'] +Move in a counterclockwise direction, turning by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'] +Back up 2 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -2, "is_forward": false, "unit": "meter"}}'] +Move back a distance of 2 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Reverse by 2 meters and come to a stop.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Retreat 2 meters and bring yourself to a standstill.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Step backward 2 meters and cease movement.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Move forward at a speed of 0.5 meters per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'] +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}}'] +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Make a right turn and proceed ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Take a right turn and continue moving straight for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Head to the right and advance forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Rotate right and proceed ahead for a length of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Turn in a clockwise direction until you have rotated 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 180, "is_clockwise": true}}'] +Rotate 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 180, "is_clockwise": true}}'] +Turn to the right until you are facing the opposite direction.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Go in reverse for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Reverse your movement for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Backtrack for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": false, "unit": "meter"}}'] +Take a 3-second step backwards.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "second"}}'] +Turn left and continue for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Take a left turn and proceed straight ahead for a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Make a left turn and keep going for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": "undetermined", "distance": 7, "is_forward": true, "unit": "meter"}}'] +Go left and carry on for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 7, "is_forward": false, "unit": "meters"}}'] +Head to the left and continue for a length of 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": false, "unit": "meters"}}'] +Move forward at a speed of 1 meter per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'] +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "second"}}'] +Advance for 4 seconds, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'] +Travel forward for 4 seconds, moving at a rate of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'] +For a period of 4 seconds, move ahead at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Change the orientation by 45 degrees in a counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Rotate anticlockwise by an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Go straight for 8 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Proceed in a straight line for a distance of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Continue in a straight direction for a span of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Maintain a straight path for a duration of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Stay on course for a distance of 8 meters ahead.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Turn right and move forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "second"}}'] +Proceed straight for 2 seconds after making a right turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Take a right turn and continue moving ahead for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} {"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'] +Make a right turn and advance forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "second"}}'] +After turning right, keep moving forward for a period of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": default_angle, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Move backward for 4 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false}}'] +Reverse for a distance of 4 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Go back for 4 meters and then come to a stop.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'] +Take 4 meters in reverse and cease movement.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Travel in the opposite direction for a distance of 4 meters and then pause.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}', '{"action": "pause"}'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true}}'] +Turn to the right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 270, "is_clockwise": false}}'] +Move in a clockwise direction, rotating 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'] +Spin in a clockwise manner, completing a 270 degree rotation.;['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 270 degrees in a clockwise fashion.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 270, "is_clockwise": true}}'] +Turn left and continue for 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Make a left turn and keep going for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Proceed straight for 3 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +After turning left, travel straight for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Take a left and continue on for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Move forward at a speed of 0.3 meters per second for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter", "duration": 5, "time_unit": "second"}}'] +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Advance at a rate of 0.3 meters per second for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true}}'] +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "second"}}'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Turn 60 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": false}}'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Rotate to the left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Make a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'] +Go straight for 6 seconds.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Proceed in a straight line for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Keep moving forward in a straight path for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}}'] +Maintain a straight course for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}}'] +Continue in a straight direction for a period of 6 seconds.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": default_linear_speed * 6, "is_forward": true, "unit": "seconds"}}'] +Turn right and move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Take a right turn and proceed straight ahead for a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Make a right-hand turn and continue moving forward for a length of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Head to the right side and advance for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Rotate to the right and travel straight for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Move 2 meters forward.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'] +Proceed straight ahead by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'] +Advance 2 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Take a step forward for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Move straight ahead, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meters"}}'] +Turn left and move forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Move forward for 5 seconds after turning left.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +After making a left turn, proceed forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Take a left turn and continue moving forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "second"}}'] +Start moving forward for 5 seconds after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 5, "is_forward": true}}'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'] +Perform a counterclockwise rotation of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate by 90 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Move 3 meters backward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meters"}}'] +Go back 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Retreat 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Step 3 meters in reverse.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Travel in the opposite direction for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Take a right turn and proceed straight ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 90, "is_clockwise": true}, "action": "move", "params": {"linear_speed": "default", "distance": 1, "is_forward": true, "unit": "meter"}}'] +Make a right turn and advance ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Head to the right and continue moving forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": true}, "action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'] +Please proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living room"}}'] +Make your way to the living room and cease moving.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Head to the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "living room"}}'] +Move towards the living room and come to a stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Move 4 meters forward at a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true}}'] +Turn 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Turn in a clockwise fashion, rotating 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": true}}'] +Turn left and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Make a left turn and proceed straight ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Take a left and continue moving forward, covering a span of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate to the left and advance for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'] +Shift towards the left and travel straight for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Move 2 meters backward at a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Back up 2 meters with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -2, "is_forward": false, "unit": "meter"}}'] +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'] +Please proceed to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Make your way to the bedroom and cease your movement.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "bedroom"}}}'] +Head to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Go to the bedroom and stand still.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Turn 45 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Rotate anticlockwise at an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Perform a 45-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'] +Proceed forward for a distance of 4 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Take a right and continue moving ahead for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 1.0, "angle": 90, "is_clockwise": true}} {"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "meters"}}'] +After making a right turn, advance straight for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Make a right-hand turn and proceed forward for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'] +Move 1 meter forward at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Proceed ahead by 1 meter with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Go one meter ahead, moving at a rate of one meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Travel forward for 1 meter while maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Turn 270 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 270 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Execute a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true}}'] +Shift the orientation by 270 degrees in a clockwise fashion.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Proceed forward for 2 seconds, then make a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}} ', '{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Take a left turn and continue moving straight ahead for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": -90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Make a left turn and drive forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true}}'] +After turning left, continue moving straight for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Move 3 meters backward at a speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meters"}}'] +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go to the dining room and stop.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'] +Proceed to the dining room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'] +Head over to the dining room and pause.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'] +Make your way to the dining room and bring yourself to a stop.;['{"action": "go_to_goal", "params": {"location": "dining room"}}'] +Move towards the dining room and cease your motion.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}}}'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Execute a 60-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anticlockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Advance straight ahead for 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true}}'] +Travel forward for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Go in the forward direction for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'] +Rotate to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'] +Change the orientation to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": false}}'] +Reverse for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "duration": 3, "unit": "seconds"}}'] +Go in reverse for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "time": 3, "is_forward": false, "unit": "seconds"}}'] +Travel backwards for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Move in the opposite direction for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Turn left and move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'] +Proceed forward for 2 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meters"}}'] +Make a left turn and advance for 2 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meters"}}'] +Take a left and continue forward for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Move ahead for 2 meters after making a leftward turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Make a U-turn and move in the opposite direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "second"}}'] +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": false, "unit": "degrees"}}'] +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn around and travel in the opposite direction for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Perform a U-turn and move in the opposite direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180.0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": false, "duration": 10}}'] +Rotate clockwise by 180 degrees and stop.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true}}'] +Perform a 180-degree clockwise rotation and then come to a halt.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'] +Execute a clockwise rotation of 180 degrees and then cease movement.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn right by 180 degrees and then stop.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in a clockwise direction by 180 degrees and then come to a stop.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Move diagonally to the right for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Go right at an angle for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meters"}}'] +Travel in a diagonal direction to the right covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1.414, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Proceed at a diagonal towards the right, moving 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'] +Move to the right diagonally, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true}}'] +Make a right turn and proceed one meter forward.;['{"action": "rotate", "params": {"angular_velocity": , "angle": , "is_clockwise": true}, "action": "move", "params": {"linear_speed": , "distance": 1, "is_forward": true, "unit": "meter"}}'] +Take a right and continue moving ahead for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Rotate to the right and advance straight ahead for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Facing towards the right, progress forward for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Move in a zigzag pattern for 8 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true}}'] +Perform a zigzag movement continuously for a duration of 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'] +Traverse in a serpentine motion for 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters", "traversal_mode": "serpentine", "traversal_time": 8}}'] +Alternate your path in a zigzagging pattern for the next 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}}'] +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 45 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Turn left by 45 degrees and advance for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 45, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Move backward and stop at the nearest obstacle.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'] +Reverse and come to a halt once you reach the closest object in your path.;['{"action": "stop"}'] +Back up and cease movement upon reaching the nearest obstruction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -1, "is_forward": false, "unit": "meter"}}'] +Retreat and come to a stop when you encounter the closest barrier.;['{"action": "go_to_goal", "params": {"location": "Kitchen"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false}}'] +Go in reverse and stop once you reach the nearest obstacle.;['{"action": "move", "params": {"linear_speed": -1, "distance": "nearest_obstacle", "is_forward": false}}'] +Turn left and move in a curved path for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": false}, "action": "move", "params": {"linear_speed": "undetermined", "distance": 6, "is_forward": true, "unit": "meter"}}'] +Make a leftward turn and proceed along a curving route spanning 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Go left and follow a curved path for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 6, "is_forward": false, "path_type": "curved", "unit": "meters"}}'] +Regulate your movement to the left and travel in a curved trajectory for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Move forward at a speed of 1 meter per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Advance at a rate of 1 meter per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "second"}}'] +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Travel forward for 10 seconds, covering a distance of 1 meter per second.;['{"action": "move","params": {"linear_speed": 1,"distance": 10,"is_forward": true, "unit": "second"}}'] +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "meters"}}', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}'] +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meters"}}'] +After rotating 30 degrees clockwise, continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 30, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Move in a circular path with a radius of 2 meters for 7 seconds.;['{"action": "move", "params": {"linear_speed": 2*pi*2/7, "distance": 2*pi*2, "is_forward": True, "unit": "meter"}}'] +Circle around with a radius of 2 meters for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.2857142857142857, "distance": 12.571428571428571, "is_forward": true, "unit": "meter"}}'] +Perform circular movement with a radius of 2 meters for 7 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.286, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": false, "radius": 2, "time": 7, "unit": "seconds"}}'] +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 2/7, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Turn right and move forward for 5 seconds, then revert back.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}}'] +Make a right turn and proceed forward for 5 seconds, then return back.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Take a right turn and advance ahead for 5 seconds, then go back in reverse.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'] +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "second"}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": false, "unit": "second"}}'] +Change direction to the right and go forward for 5 seconds, then reverse back.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'] +Move along the perimeter of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "minute"}}'] +Walk around the edges of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "second"}}'] +Circulate along the boundary of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": "unknown", "is_forward": true, "unit": "meter"}}'] +Patrol the perimeter of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "meter"}}'] +Traverse the outer edges of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "meters"}}'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate anticlockwise by 60 degrees and advance 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Make a 60-degree left turn and move forward 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Move forward at a variable speed for 10 seconds.;['{"action": "move", "params": {"linear_speed": "variable", "distance": 0, "is_forward": true, "unit": "seconds"}}'] +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 10, "unit": "seconds"}}'] +Advance for a period of 10 seconds, with variable speed.;['{"action": "move", "params": {"linear_speed": "variable", "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Travel forward, varying the speed, for a total of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Move ahead for 10 seconds, adjusting the speed accordingly.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Move backward and stop 1 meter away from the designated target.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Reverse direction and come to a halt at a distance of 1 meter from the specified target.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Go in the opposite direction and pause when you are 1 meter away from the assigned target.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}}'] +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Move forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Proceed ahead by 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'] +Advance for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Travel in a forward direction for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Go straight for a span of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Spin counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": ???, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move backward for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Go backward for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Reverse direction and continue for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false, "unit": "meter", "duration": 2, "is_continuous": true}}'] +Retreat for a period of 2 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "seconds"}}'] +Take a step back and hold for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": -1, "is_forward": false, "unit": "meter"}}'] +Turn left and move forward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'] +Take a left turn and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate to the left and proceed forward, covering a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true}}'] +Go left and move straight ahead for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Move at a speed of 2 meters per second for 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Travel with a velocity of 2 meters per second for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Maintain a pace of 2 meters per second for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Perform movement with a speed of 2 meters per second over a span of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Cover a distance at 2 meters per second for a time period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Rotate by 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Perform a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Turn 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Rotate in a clockwise fashion, making a 180-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Move forward for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'] +Proceed straight ahead, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Advance forward, spanning 4 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true}}'] +Take 4 steps in the forward direction.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "steps"}}'] +Travel a distance of 4 meters, moving in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 4, "is_forward": true}}'] +Turn right and move backward for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false}} ', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}}'] +Rotate to the right and travel in reverse for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false}}'] +Make a right turn and proceed backwards for a length of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Face right and move backwards, covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anti-clockwise by a 45-degree angle.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Rotate in a counterclockwise direction by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}}'] +Rotate to the left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Move forward for 10 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'] +Proceed straight ahead for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 10, "is_forward": true}}'] +Advance continuously for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Travel forwards for a span of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Progress ahead for a time interval of 10 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "undetermined", "time_interval": 10}}'] +Turn left and move at a speed of 1 meter per second for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'] +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}'] +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go back 3 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Reverse your direction and travel 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Take 3 steps backwards.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false}}'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 270, "is_clockwise": true}}'] +Rotate 270 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'] +Perform a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'] +Turn right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 270, "is_clockwise": true}}'] +Rotate by 270 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'] +Advance 5 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'] +Take 5 meter steps forward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Go ahead and travel a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'] +Turn right and move at a speed of 1.5 meters per second for 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meters"}}'] +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meters"}}'] +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": false, "unit": "meters"}}'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'] +Move in an anti-clockwise direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Perform a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 60, "is_clockwise": false}}'] +Move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'] +Proceed straight ahead for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Advance onward by 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'] +Travel straight ahead, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Take 2 meters forward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'] +Turn left and move at a speed of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meters"}}'] +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meter"}}'] +Face left and advance at a pace of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Go back 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Reverse direction and move 6 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Travel in the opposite direction and cover a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": default, "distance": 6, "is_forward": false}}'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Proceed straight ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Advance by 5 meters in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'] +Go ahead for a span of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Cover a distance of 5 meters by moving forward.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate in a counterclockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate anti-clockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Make a 90-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Stop.;['{}'] +Cease.;['{}'] +Halt.;['{}'] +Pause.;['{"action": "pause"}'] +Terminate.;["I apologize for any confusion, but I can't proceed without a valid prompt. If you have any questions or need assistance, please let me know."] +Reverse for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 0, "is_clockwise": false, "unit": "seconds"}}'] +Reverse for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false, "duration": 2, "unit": "seconds"}}'] +Go back for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Move in reverse for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Go in the opposite direction for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Turn left and move forward for 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'] +Proceed forward for a distance of 10 meters after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true}}'] +Make a left-hand turn and continue straight ahead for a distance of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'] +After turning left, continue moving straight ahead for a total of 10 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Execute a left turn and then travel forward for a distance of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Go back for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 3, "is_forward": false, "unit": "seconds"}}'] +Reverse movement for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Retreat for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": false, "unit": "meter"}}'] +Take a step back for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Turn right and rotate 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a rotation of 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Turn right and move forward for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": true, "unit": "meters"}}'] +Proceed forward for a distance of 8 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'] +Take a right turn and continue moving straight ahead for a duration of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": , "distance": 8, "is_forward": true, "unit": "meter"}}'] +After making a right-hand turn, advance 8 meters in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Rotate to the right, then travel straight ahead for a distance of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Move forward for 1 meter and stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead for a distance of 1 meter and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Advance one meter ahead and then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Travel in the forward direction for a length of 1 meter and then cease movement.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true}}'] +Move ahead for a distance of 1 meter, and then bring the movement to a stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 135 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'] +Rotate 135 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false}}'] +Turn 135 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false}}'] +Rotate anticlockwise by 135 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'] +Perform a 135 degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meters"}}'] +Go in reverse for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Take 6 steps back.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false}}'] +Retreat 6 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) +Travel 6 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Turn left and move forward for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'] +Take a left turn and proceed straight ahead for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter", "duration": 4, "duration_unit": "seconds"}}'] +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 4, "is_forward": true, "unit": "seconds"}}'] +Pivot to the left and advance forward for a period of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 4, "unit": "seconds"}}'] +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.;['{"action": "move", "params": {"linear_speed": default_value, "distance": default_value, "is_forward": true, "duration": 4, "unit": "seconds"}}'] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Turn 60 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Rotate the object by 60 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Move in a clockwise direction, making a 60 degree turn.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Rotate 60 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Move forward for 7 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Proceed straight for a distance of 7 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Advance ahead covering a distance of 7 meters and then cease movement.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Go forward 7 meters and then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Move straight ahead, covering a distance of 7 meters, and then halt.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Reverse for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false}}'] +Reverse for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2.5, "is_forward": false, "unit": "meters", "duration": 5, "unit_duration": "seconds"}}'] +Perform a 5-second reverse.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "second"}}'] +Execute a reverse motion for 5 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 5, "is_forward": false, "unit": "seconds"}}'] +Go backwards for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 5, "is_forward": false, "unit": "seconds"}}'] +Turn right and move forward for 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true, "unit": "meters"}}'] +Move forward for 9 meters after turning right.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true}}'] +After turning right, proceed ahead for a distance of 9 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true, "unit": "meter"}}'] +Take a right turn, then continue moving straight for a distance of 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'] +Make a right turn and travel forward for 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'] +Move forward for 2 seconds and stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "duration": 2, "unit": "seconds"}}'] +Go ahead for 2 seconds and then halt.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Advance for a period of 2 seconds and then cease movement.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'] +Travel forward for 2 seconds before stopping.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'] +Turn 30 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'] +Rotate in the anticlockwise direction by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Rotate to the left by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'] +Rotate in a counterclockwise direction, making a 30-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'] +Reverse for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Move back for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Go in reverse for a span of 4 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Retreat 4 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Travel backwards, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Turn left and move forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true}}'] +Proceed forward for 6 seconds after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Make a left turn and advance for 6 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Move ahead for 6 seconds after turning to the left.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +After veering left, continue straight for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Advance straight on and cover a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Head forward and travel 5 meters in that direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'] +Move straight ahead and go a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Move ahead for 2 seconds after turning left.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +After turning to the left, proceed forward for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Take a left turn and then proceed straight for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Make a left turn and continue moving forward for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Turn in the opposite direction by an angle of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Spin to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false}}'] +Twist counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go in reverse for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Travel three meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false}}'] +Reverse your movement and cover a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Proceed forward for 1 meter after turning to the right.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Take a right turn and continue moving straight ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +After making a right turn, proceed ahead for 1 meter.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 1, "is_forward": true}}'] +Rotate to the right and then advance for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}, "action": "move", "params": {"linear_velocity": 0.0, "distance": 1, "is_forward": true, "unit": "meters"}}'] +Move forward at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Proceed ahead with a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true}}'] +Advance with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'] +Go forward at a rate of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": , "is_forward": true, "unit": "meters"}}'] +Travel in a forward direction at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true}}'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Turn by 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Rotate in a clockwise manner, completing a 180-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Execute a clockwise rotation, rotating by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Move forward for 10 meters at a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Go ahead for 10 meters, moving at a pace of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Turn left and move forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "seconds"}}'] +Make a left turn and proceed straight ahead for a duration of 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "duration": 5, "unit": "seconds"}}'] +Take a left and advance in a forward direction for a span of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2.5, "is_forward": true, "unit": "seconds"}}'] +Rotate to the left and proceed ahead for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Veer left and move forward for an interval of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Move backward at a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": "default", "is_forward": false, "unit": "meter"}}'] +Go in reverse at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": false, "unit": "meter"}}'] +Travel backwards with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": "undetermined", "is_forward": false, "unit": "meter"}}'] +Move in the opposite direction at a rate of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": false, "unit": "meter"}}'] +Go backward at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false}}'] +Rotate 45 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Rotate in an anticlockwise direction by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 45, "is_clockwise": false}}'] +Rotate to the left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true}}'] +Proceed ahead for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Advance 7 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true}}'] +Travel straight ahead for a length of 7 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Go straight for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Take a right turn and proceed ahead for a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Make a right turn and advance straight ahead covering a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Rotate towards the right and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'] +Go right and travel straight ahead, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Move forward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "seconds"}}'] +Go straight ahead for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "meter"}}'] +Proceed in a forward direction for a span of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true}}'] +Advance ahead for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Travel forward for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'] +Turn left and move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'] +Proceed straight for a distance of 2 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +For a span of 2 meters, continue moving forward after taking a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Make a left turn and advance ahead for 2 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +After turning left, go straight for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'] +Turn to the right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a clockwise direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'] +Perform a 270-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 270, "is_clockwise": true}}'] +Rotate by 270 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Reverse direction and travel a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": false}}'] +Go back 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Move in the opposite direction for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Turn right and move forward for 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Take a right turn and proceed ahead for a duration of 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Make a right turn and continue moving straight for 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Go right and advance for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Shift to the right and travel in a forward direction for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Move forward at a velocity of 0.3 meters per second for 10 meters.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'] +Rotate 120 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": false}}'] +Perform a counterclockwise rotation of 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 120, "is_clockwise": false}}'] +Turn left by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false}}'] +Rotate in the opposite direction by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false}}'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate anti-clockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate in the opposite direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false}}'] +Rotate counter to the clockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Proceed straight ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'] +Advance ahead by 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'] +Travel in a forward direction, covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'] +Move straight ahead and travel a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0, "distance": 5, "is_forward": true}}'] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'] +Proceed forward for 2 seconds after turning left.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true, "unit": "second"}}'] +After making a left turn, continue straight ahead for 2 seconds.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Take a left turn and then advance forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Rotate to the left and travel straight for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Stop and wait.;['{"action": "stop"}'] +Cease and remain still.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}'] +Halt and stay put.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}'] +Pause and remain stationary.;['{"action": "pause"}'] +Desist and await further instruction.;['{}'] +Move backward for 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'] +Go back a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 10, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": false, "unit": "meter"}}'] +Reverse your direction and travel 10 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 10, "is_forward": false}}'] +Take 10 steps backward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false}}'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Turn by 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Execute a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Turn right and move forward for 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": 90, "is_clockwise": true}} ', '', '{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Make a right turn and proceed forward for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "undetermined", "duration": 3, "unit_duration": "seconds"}}'] +Take a right and continue moving straight ahead for a total of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "meter"}}'] +Rotate to the right and advance for a period of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true, "unit": "degrees"}}'] +Face towards the right and travel forward for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 3, "unit": "seconds"}}'] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Move to the living room and cease all movement.;['{"action": "go_to_goal", "params": {"location": "Living room"}}'] +Make your way to the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'] +Head to the living room and remain stationary.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Move 2 meters to the left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Shift your position by 2 meters towards the left.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Change your location by 2 meters in a leftward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Relocate yourself 2 meters to the left.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Move to the left by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Execute a counterclockwise rotation of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Rotate anticlockwise by an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'] +Perform a 45-degree rotation in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}}'] +Move forward at a speed of 0.5 meters per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'] +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Turn left and move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Make a left turn and proceed straight ahead covering a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Take a left turn and continue moving ahead, advancing 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Head to the left and travel straight for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Rotate in the left direction and proceed forward, covering a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Stop and reverse direction.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'] +Come to a halt and begin moving in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'] +Cease forward motion and start moving backwards.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 0, "is_forward": false}}'] +Bring yourself to a stop and change your direction to the opposite way.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Halt your movement and proceed in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}}'] +Move 3 meters to the right.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Shift 3 meters towards the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Go 3 meters horizontally in the right direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Change your position by moving 3 meters to the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Traverse a distance of 3 meters towards the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Perform a clockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 60, "is_clockwise": true}}'] +Rotate 60 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Turn to the right by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Rotate to the right by an angle of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'] +Turn right and move forward for 1 second.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": DEFAULT_ANGLE, "is_clockwise": true}, "sub_actions": [{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 1, "is_forward": true}}]}'] +Take a right turn and proceed straight ahead for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}}'] +Make a right turn and advance for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "second"}}'] +Rotate to the right and move forward for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter", "duration": 1, "unit": "second"}}'] +Go right and continue moving forward for 1 second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'] +Head to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Make your way to the bedroom and cease all movement.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'] +Proceed to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Go to the bedroom and stand still.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'] +Move backward for 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": false, "unit": "meter"}}'] +Go 8 meters in reverse.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 8, "is_forward": false, "unit": "meters"}}'] +Travel 8 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": false, "unit": "meter"}}'] +Reverse 8 meters.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 8, "is_forward": false, "unit": "meters"}}'] +Rotate counterclockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anti-clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'] +Rotate in the opposite direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Perform a 270-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": false}}'] +Turn left and move forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}'] +Go forward for 6 seconds after turning left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true}}'] +Take a left turn and proceed straight for 6 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +After turning left, continue moving forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": true}}'] +Make a left turn and move ahead for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true}}'] +Turn left and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": default, "distance": 5, "is_forward": true}}'] +Take a left turn and proceed ahead covering a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'] +Make a left turn and continue moving straight, covering a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Go left and advance forward, traveling a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'] +Execute a left turn and proceed straight, ensuring a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Turn 90 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate anti-clockwise at a 90-degree angle.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Spin to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the counterclockwise direction, making a 90-degree turn.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Go in reverse for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "second"}}'] +Take a step back and continue for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Reverse your movement and maintain it for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "duration": 3, "unit": "seconds"}}'] +Retreat for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Turn right and move forward for 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Proceed forward for 10 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Take a right and continue moving ahead for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Make a right turn and travel straight ahead for a total of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 10, "is_forward": true, "unit": "meter"}}'] +After turning right, advance forward and cover a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 180, "is_clockwise": true}}'] +Turn in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Execute a rotation of 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Rotate by 180 degrees, following the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Move forward at a speed of 0.5 meters per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Go ahead for 4 seconds at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "seconds"}}'] +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 4, "unit": "seconds"}}'] +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "seconds"}}'] +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Turn left and move backward for 2 meters.;['{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": false}}'] +Take a left turn and proceed backwards for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 2, "is_forward": false}}'] +Make a left turn and travel in reverse for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Rotate left and proceed in reverse for a total distance of 2 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Shift to the left and move backwards covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meters"}}'] +Move forward for 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3.5, "is_forward": true, "unit": "seconds"}}'] +Proceed ahead for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "duration": 7.0, "is_forward": true, "unit": "seconds"}}'] +Advance for a period of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3.5, "is_forward": true, "unit": "seconds"}}'] +Keep moving forward for 7 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'] +Continue ahead for a total of 7 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'] +Rotate counterclockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'] +Turn left by an angle of 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'] +Rotate anticlockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": Default, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Make a 30 degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'] +Move backward at a speed of 1 meter per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false}}'] +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'] +Travel backwards for 6 seconds at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "second"}}'] +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 6, "is_forward": false, "unit": "meter", "duration": 6, "unit_duration": "seconds"}}'] +Turn right and move forward for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}, "unit": "degree"}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Proceed for 8 meters after taking a right turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meters"}}'] +Take a right and continue straight ahead for a distance of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Make a right turn and then proceed ahead for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 8, "is_forward": true, "unit": "meters"}}'] +After turning right, cover a distance of 8 meters by moving forward.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 8, "is_forward": true, "unit": "meters"}}'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'] +Turn 270 degrees to the right.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'] +Turn three-quarters of a full rotation to the right.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 270, "is_clockwise": true}}'] +Perform a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in the clockwise direction, making a 270-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Move forward and then immediately stop.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'] +Proceed forward and promptly come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'] +Advance and instantaneously cease movement.;['{"action": "stop", "params": {}}'] +Go forward and abruptly pause.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'] +Move ahead and promptly end motion.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true}}'] +Turn left and move backward for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Make a left turn and proceed backwards for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Go in the opposite direction and turn to the left, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Rotate to your left and travel in the reverse direction, moving 4 meters behind.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} {"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Head left and travel in reverse for a total of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Move forward for 10 seconds at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3.0, "is_forward": true}}'] +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 60, "is_clockwise": false}}'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Make a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Rotate leftwards by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false}}'] +Move backward and then immediately stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": false}}'] +Reverse and come to a sudden halt.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false}}'] +Go in reverse and abruptly cease.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'] +Back up and instantly come to a standstill.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'] +Move backwards and promptly come to a stop.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'] +Turn right and move forward for 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Make a right turn and proceed straight ahead for a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Go to your right and continue moving forward for a total of 6 meters.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Right"}}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meters"}}'] +Take a right turn and advance ahead, covering a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Head towards the right and maintain a straight path for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 120, "is_clockwise": true}}'] +Turn 120 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'] +Move in a clockwise rotation by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": true}}'] +Adjust the rotation by 120 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'] +Execute a 120-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'] +Move forward and then backward for 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Proceed ahead and then return in reverse for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Advance forward and then retract for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Go straight ahead and then move backward covering a span of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Propel forward and then reverse, covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Move forward for 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true}}'] +Proceed straight for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Advance ahead by 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Go straight ahead covering a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Travel in a forward direction for 10 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) +Turn left and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}}'] +Make a left turn and proceed ahead for a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Take a leftward turn and advance for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "meters"}}'] +Face left and go straight for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Rotate in an anticlockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'] +Perform a 90-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false}}'] +Anti-rotate by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go in reverse for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Retreat by 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Step back 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Reverse direction and travel 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'] +Turn right and move forward at 0.5 m/s for 20 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "seconds"}}'] +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "seconds"}}'] +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Please proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Make your way to the living room and cease movement.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Head over to the living room and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'] +Walk into the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Move forward for 2 seconds at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'] +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Move ahead at a rate of 1 meter per second for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Perform a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180, "is_clockwise": true}}'] +Rotate 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'] +Turn in a clockwise direction and rotate by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 180, "is_clockwise": true}}'] +Move forward for 4 meters and then turn left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'] +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Go straight for a distance of 4 meters followed by a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Advance in the forward direction, covering 4 meters, and then make a leftward turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move ahead for 4 meters and then change direction by turning left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'] +Proceed to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'] +Make your way to the bedroom and cease your movement.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'] +Head towards the bedroom and come to a standstill.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'] +Move to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'] +Move backward for 7 meters at a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'] +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'] +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'] +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'] +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meters"}}'] +Turn left and move forward for 5 meters at a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 2, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Back up for 1 meter and then execute a 90-degree turn to the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Reverse for 1 meter and then make a right turn of 90 degrees.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.;['{"action":"move", "params":{"linear_speed":-1, "distance":1, "is_forward":false, "unit":"meter"}}', '{"action":"rotate", "params":{"angular_velocity":1, "angle":90, "is_clockwise":false, "unit":"degrees"}}'] +Retreat by 1 meter and then make a right turn of 90 degrees.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Take a step back for 1 meter and then execute a 90-degree right turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Navigate to the specified GPS coordinates and play a pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "coordinates", "value": {"latitude": "latitude_value", "longitude": "longitude_value"}}}}'] +Please go to the given GPS coordinates and play the pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "GPS coordinates", "value": "given"}, "play_message": true}}'] +Can you navigate to the provided GPS coordinates and start playing the recorded message?;['{"action": "go_to_goal", "params": {"location": {"type": "GPS_coordinates"}}}'] +Follow the given GPS coordinates and play the message that has been prerecorded.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS_coordinates"}}}'] +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS coordinates"}}}'] +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 10, "is_forward": true, "pattern": "zigzag", "unit": "meter"}}'] +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Spin around in a circle three times and then stop abruptly.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a full circle three times before coming to an abrupt halt.;['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 360, "is_clockwise": true, "unit": "degrees"}}'] +Perform three complete rotations in a circular motion and then abruptly come to a stop.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'] +Turn around in a complete circle three times and then suddenly cease movement.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true}}'] +Spin in a circle three times and then bring yourself to an immediate halt.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'] +Move forward at a constant speed of 1 meter per second for 30 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "seconds"}}'] +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "second"}}'] +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "second"}}'] +Advance for 30 seconds with a consistent velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "seconds"}}'] +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'] +Turn right and follow a curved path for 2 meters, then stop and beep.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.;['{"action": "rotate", "params": {"angular_velocity": 0.8, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}', '', '{"action": "beep", "params": {}}'] +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meters"}} ', '{"action": "pause", "params": {"duration": 1}} ', '{"action": "produce_sound", "params": {"sound_type": "beep"}}'] +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} ', '{"action": "stop_movement"} ', '{"action": "beep"}'] +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move forward for 5 meters and then reverse for 2 meters, repeating twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meters"}}'] +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0.5, "is_forward": true, "unit": "second"}}'] +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 0, "is_forward": true, "duration": 3, "unit": "seconds"}}'] +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": random_distance, "is_forward": true, "unit": "second"}}'] +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": true, "duration": 4, "unit": "seconds"}}'] +Perform a 180-degree turn, then launch a small drone from your back.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a 180-degree rotation and subsequently release a compact drone from your rear.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true}}'] +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true}}'] +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false}}'] +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": false}}'] diff --git a/evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_Robotic_Arm.txt b/evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_Robotic_Arm.txt new file mode 100644 index 0000000..e607e93 --- /dev/null +++ b/evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_Robotic_Arm.txt @@ -0,0 +1,1002 @@ +Lift the object with a force of 10 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 10 Newton force to lift the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10 Newton force to raise the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 10 Newtons to elevate the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Employ a 10 Newton force to hoist the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the shoulder joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint anti-clockwise at a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a counterclockwise direction, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a counterclockwise manner, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in the opposite direction of the clock by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:50, Y:30, Z:15.,['{}'] +Change your location to coordinates X:50, Y:30, Z:15.,['{}'] +Transfer yourself to the position with the coordinates X:50, Y:30, Z:15.,['{}'] +Relocate to the coordinates X:50, Y:30, Z:15.,['{}'] +Go to the point specified by X:50, Y:30, Z:15.,['{}'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by an additional 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's reach by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with a force of 15 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 15 kilograms to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 150.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 15 kilogram force to hold onto the object.,['{}'] +Securely hold the object with a 15 kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 150.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 15 kilograms to get a firm grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the elbow joint clockwise by 60 degrees.,['{"action": "move_joint", "params": {"joint_name": {"type": "str", "value": "elbow"}, "angle": {"type": "float", "value": 60.0}, "direction": {"type": "str", "value": "clockwise"}, "speed": {"type": "float", "value": 0.5}, "unit": "degrees", "unit_speed": "degrees/s"}}'] +Turn the elbow joint in a clockwise direction, rotating it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Clockwise rotate the elbow joint by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint in the clockwise direction, making a 60 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint to the right, moving it 60 degrees in a clockwise rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the object to a height of 1 meter.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the object to a 1-meter height.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the object to a height of 1 meter.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Hoist the object to a 1-meter elevation.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the object up to a height of 1 meter.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:25, Y:40, Z:10 at a velocity of 10 cm/s.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 25.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 10.0', ' }', ' }', '}'] +Proceed to coordinates X:25, Y:40, Z:10 with a speed of 10 cm/s.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 25.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Travel to position X:25, Y:40, Z:10 traveling at a pace of 10 cm/s.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:25, Y:40, Z:10"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_speed": "cm/s"', ' }', '}'] +Transfer yourself to X:25, Y:40, Z:10 while maintaining a velocity of 10 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 25.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Journey to coordinates X:25, Y:40, Z:10 at a rate of 10 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint anticlockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a counterclockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint to the left by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the position of the wrist joint by rotating it counterclockwise 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back by a distance of 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm, reducing its length by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back, shortening it by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Decrease the length of the arm by 25 centimeters through retraction.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with a force of 20 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 20 Newton force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a grip on the object with a 20 Newton force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 20 Newtons of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Ensure a 20 Newton force is applied when gripping the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint in a clockwise direction for a 45-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint by 45 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a clockwise manner, moving it 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:15, Y:25, Z:5 at a velocity of 5 cm/s.,['{', ' "action": "move_to_position",', ' "params": {', ' "position_x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "position_y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "position_z": {', ' "type": "float",', ' "value": 5.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "centimeters",', ' "unit_velocity": "cm/s"', ' }', '}'] +Travel to coordinates X:15, Y:25, Z:5 with a speed of 5 cm/s.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_speed": "cm/s"', ' }', '}'] +Go to location X:15, Y:25, Z:5 with a velocity of 5 cm/s.,['{}'] +Proceed towards position X:15, Y:25, Z:5 at a rate of 5 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": ""', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit": "degrees",', ' "unit_speed": "cm/s"', ' }', '}'] +Travel at a speed of 5 cm/s to reach coordinates X:15, Y:25, Z:5.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by an additional 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elongate the arm to add 30 centimeters to its length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's reach by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lift the object to a height of 2 meters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the object to a height measuring 2 meters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the object to a 2 meter height.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Hoist the object up to a vertical distance of 2 meters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Ascend the object to a 2 meter elevation.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint counterclockwise by 75 degrees.,['{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 75.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" } }'] +Twist the elbow joint in the opposite direction by an angle of 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "opposite"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint anticlockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint in a counterclockwise direction, making a 75 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the elbow joint by rotating it counterclockwise with a 75 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:35, Y:50, Z:20.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 35.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "units",', ' "unit_speed": "units/s"', ' }', '}'] +Go to coordinates X:35, Y:50, Z:20.,['{}'] +Transfer yourself to the location with coordinates X:35, Y:50, Z:20.,['{}'] +Change your position to X:35, Y:50, Z:20.,['{}'] +Relocate yourself to the coordinates X:35, Y:50, Z:20.,['{}'] +Retract the arm by 10 centimeters at a velocity of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm by a distance of 10 centimeters, moving at a speed of 15 cm/s.,['{', ' "action": "withdraw_arm",', ' "params": {', ' "withdraw_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back by 10 centimeters, with a velocity of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back by a length of 10 centimeters, traveling at a rate of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm backwards by 10 centimeters at a speed of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with a force of 25 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 250.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 25-kilogram force to grip the object.,['{ "action": "grip_object", "params": { "force": { "type": "float", "value": 25.0 }, "duration": { "type": "float", "value": 2.0 }, "unit_force": "kilograms", "unit_duration": "seconds" } }'] +Use a force of 25 kilograms to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 250.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 25 kilograms of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 250.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a grip to the object, using a 25-kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the wrist joint clockwise by 90 degrees and dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Dance while rotating the wrist joint 90 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 90-degree clockwise wrist joint rotation and then dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Begin by rotating the wrist joint 90 degrees clockwise, followed by dancing.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Start by turning the wrist joint clockwise by 90 degrees, then proceed to dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Hoist the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm up to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Make a 90-degree counterclockwise rotation of the base joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 30 centimeters and hold for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards, increasing its length by 30 centimeters for a duration of 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 30 centimeters and maintain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm by 30 centimeters and keep it in that state for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm forward, elongating it by 30 centimeters, and sustain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:100, Y:50, Z:80 with a velocity of 10 meters per second.,['{', ' "action": "move_xyz",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Travel to coordinates X:100, Y:50, Z:80 at a speed of 10 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Go to location X:100, Y:50, Z:80 at a rate of 10 meters per second.,['{}'] +Reach the point X:100, Y:50, Z:80 at a velocity of 10 meters per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "point_coordinates": {', ' "type": "dict",', ' "value": {', ' "X": 100,', ' "Y": 50,', ' "Z": 80', ' }', ' },', ' "velocity": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_velocity": "meters/s"', ' }', '}'] +Advance to position X:100, Y:50, Z:80 with a speed of 10 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Activate the grip mechanism with a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 800.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Engage the grip mechanism using a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8000.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 8 kilograms to activate the grip mechanism.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 80000.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 8 kilograms to activate the grip mechanism's gripping function.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Activate the grip mechanism by exerting a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 800.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the wrist joint clockwise by 30 degrees and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a clockwise direction, angling it by 30 degrees and maintaining the position for a duration of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint to the right by 30 degrees, keeping it in that position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to its home position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to its original position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Return the arm to the starting point.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Bring the arm back to its home position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm back to where it started.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:0, Y:0, Z:100 with a velocity of 5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Change your coordinates to X:0, Y:0, Z:100, and maintain a constant velocity of 5 meters per second.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Head towards position X:0, Y:0, Z:100 at a speed of 5 meters per second.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Set your destination to X:0, Y:0, Z:100 and travel at a velocity of 5 meters per second.,['{', ' "action": "set_destination",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_distance": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Travel to the location specified by X:0, Y:0, Z:100 with a constant velocity of 5 meters per second.,['{}'] +Grip the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 kilograms to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 10 kilograms of force to securely hold the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 98.1', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 10 kilograms of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a gripping force of 10 kilograms to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Extend the arm by 20 centimeters, then retract it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}', '', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 20 centimeters, then shorten it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 20 centimeters, then pull it back in by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 20 centimeters, then decrease it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm by 20 centimeters, then shrink it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '},', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint clockwise by 180 degrees and hold.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Please rotate the base joint in a clockwise direction by 180 degrees and maintain that position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint 180 degrees in a clockwise manner and keep it in place.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint in a clockwise direction by 180 degrees and hold that position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint in a clockwise fashion, making a 180-degree turn, and hold steady.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Go to coordinates X:50, Y:100, Z:0 at a speed of 7 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "coordinates"', ' },', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit_speed": "meters/s"', ' }', '}'] +Travel to the point X:50, Y:100, Z:0 with a velocity of 7 meters per second.,['{}'] +Change your position to X:50, Y:100, Z:0 at a rate of 7 meters per second.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "X:50, Y:100, Z:0"', ' }', ' }', '}'] +Reach the coordinates X:50, Y:100, Z:0 while moving at a speed of 7 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the arm to a height of 80 centimeters and hold for 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the arm to a height of 80 centimeters and maintain the position for 8 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 80.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Elevate the arm to a height of 80 centimeters and keep it there for a duration of 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Hoist the arm up to a height of 80 centimeters and remain in that position for a period of 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}', '', '{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}', '', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 0.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm upward to a height of 80 centimeters and hold steady for 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Retract the arm halfway and pause for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back to the middle point and wait for 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Bring the arm back halfway and hold for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm in reverse to reach the half position, then take a pause of 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}', '', '{', ' "action": "pause",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_duration": "seconds"', ' }', '}'] +Withdraw the arm to the midpoint, then wait for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint to the left by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint anticlockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a counterclockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint 60 degrees in the opposite direction of the clock.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Go to coordinates X:75, Y:25, Z:50 at a speed of 8 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Travel to X:75, Y:25, Z:50 at a velocity of 8 meters per second.,['{', ' "action": "move_to",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Proceed to position X:75, Y:25, Z:50 at a rate of 8 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Head towards X:75, Y:25, Z:50 with a speed of 8 meters per second.,['{', ' "action": "move_towards",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_speed": "m/s"', ' }', '}'] +Extend the arm by 25 centimeters and hold for 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm, increasing its length by 25 centimeters, and keep it in that position for 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 25 centimeters and maintain the position for a duration of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm, adding 25 centimeters to its length, and hold steady for a period of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elongate the arm by 25 centimeters and sustain the extension for a duration of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 6 kilograms of force, then release after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 600.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a pressure of 6 kilograms to secure your grip on the object, and then let go after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a force of 6 kilograms to grasp the object tightly, and then release it after a duration of 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Clamp onto the object with a force of 6 kilograms, and then loosen your grip after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6000.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 6 kilograms of pressure to firmly hold onto the object, and then release it after a 2-second interval.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the base joint counterclockwise by 270 degrees and hold.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint in an anti-clockwise direction by 270 degrees and maintain the new position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint by 270 degrees in a counterclockwise direction and keep it there.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Make a 270-degree counterclockwise rotation to the base joint and hold it.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base joint counterclockwise by 270 degrees and keep it steady.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:200, Y:150, Z:100 with a velocity of 12 meters per second and then dance.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 200.0', ' },', ' "y": {', ' "type": "float",', ' "value": 150.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 12.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Dance after moving to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 200.0', ' },', ' "y": {', ' "type": "float",', ' "value": 150.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 12.0', ' },', ' "unit_speed": "meters/s"', ' }', '}'] +After reaching the position X:200, Y:150, Z:100 with a velocity of 12 meters per second, start dancing.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Begin dancing once you have moved to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 200.0', ' },', ' "y": {', ' "type": "float",', ' "value": 150.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 12.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +After traveling to the position X:200, Y:150, Z:100 at a velocity of 12 meters per second, proceed to dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}', ''] +Turn the robot arm on.,['{}'] +Activate the robot arm.,['{}'] +Switch on the robot arm.,['{', ' "action": "unknown"', '}'] +Power up the robot arm.,['{}'] +Enable the robot arm.,['{}'] +Open the gripper completely.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Fully open the gripper.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Open the gripper all the way.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Ensure that the gripper is completely open.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Make sure the gripper is fully opened.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Move the arm to position X:50, Y:75, Z:100.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit": "units"', ' }', '}'] +Position the arm to coordinates X:50, Y:75, Z:100.,['{}'] +Adjust the arm to X:50, Y:75, Z:100.,['{}'] +Shift the arm to coordinates X:50, Y:75, Z:100.,['{}'] +Set the arm to position X:50, Y:75, Z:100.,['{}'] +Rotate the elbow joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in the counterclockwise direction, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint towards the left, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint counterclockwise, making a rotation of 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Spin the elbow joint in a counterclockwise manner, angling it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 20 centimeters at a velocity of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm length by 20 centimeters, moving at a speed of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm out by an additional 20 centimeters, with a velocity of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 20 centimeters, moving at a rate of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's reach by 20 centimeters at a speed of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 3 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 30.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 3-kilogram force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 3 kilograms of force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 9.8', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 3 kilograms to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object with a force of 3 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm by 30 centimeters at a velocity of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm backwards by a distance of 30 centimeters, with a speed of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm by 30 centimeters, advancing at a rate of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull back the arm by 30 centimeters, traveling at a velocity of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reverse the arm's position by 30 centimeters, with a speed of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Alter the position of the wrist joint in a counterclockwise direction by an angle of 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint counterclockwise with a rotation of 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a counterclockwise manner, shifting it by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 180 degree counterclockwise rotation on the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm to position X:100, Y:0, Z:50.,['{', ' "action": "move_arm",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:100, Y:0, Z:50"', ' }', ' }', '}'] +Adjust the position of the arm to X:100, Y:0, Z:50.,['{', ' "action": "adjust_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:100, Y:0, Z:50"', ' }', ' }', '}'] +Relocate the arm so that it is at X:100, Y:0, Z:50.,['{}'] +Shift the arm's position to X:100, Y:0, Z:50.,['{', ' "action": "move_arm",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' }', ' }', '}'] +Transfer the arm to the coordinates X:100, Y:0, Z:50.,['{}'] +Open the gripper halfway.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.5', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Partially open the gripper.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Open the gripper to a halfway position.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Adjust the gripper to a halfway open position.,['{', ' "action": "set_gripper",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "halfway"', ' }', ' }', '}'] +Set the gripper to open at a midpoint.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint in a clockwise direction at a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a clockwise motion, 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the shoulder joint by rotating it clockwise at a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 10 centimeters at a velocity of 8 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 10 centimeters at a speed of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 10 centimeters with a velocity of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 10 centimeters, moving at a speed of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's length by 10 centimeters, while maintaining a velocity of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 2 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 2 kilograms of force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a force of 2 kilograms to grab hold of the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 19.6 # 2 kilograms is approximately equal to 19.6 newtons', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold onto the object with a force of 2 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use 2 kilograms of for to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2000.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm by 15 centimeters at a velocity of 6 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back by 15 centimeters with a speed of 6 cm per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm, reducing its length by 15 centimeters, at a rate of 6 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull back the arm, decreasing its extension by 15 centimeters, moving at a pace of 6 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reverse the position of the arm, reducing its protrusion by 15 centimeters, traveling at a speed of 6 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint clockwise by 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint in a clockwise direction, turning it 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint to the right, rotating it by 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint in a clockwise manner, making a 135-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint to the right, adjusting it by 135 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm to position X:0, Y:100, Z:20.,['{', ' "action": "move_arm",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit": "mm"', ' }', '}'] +Adjust the position of the arm to X coordinate 0, Y coordinate 100, and Z coordinate 20.,['{"action": "adjust_position", "params": {"x_coordinate": {"type": "float", "value": 0.0}, "y_coordinate": {"type": "float", "value": 100.0}, "z_coordinate": {"type": "float", "value": 20.0}}}'] +Alter the arm's location to X:0, Y:100, Z:20.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Shift the arm's position to the coordinates X:0, Y:100, and Z:20.,['{}'] +Change the arm's placement to X coordinate 0, Y coordinate 100, and Z coordinate 20.,['{', ' "action": "set_arm_placement",', ' "params": {', ' "x_coordinate": {', ' "type": "int",', ' "value": 0', ' },', ' "y_coordinate": {', ' "type": "int",', ' "value": 100', ' },', ' "z_coordinate": {', ' "type": "int",', ' "value": 20', ' }', ' }', '}'] +Close the gripper completely.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Fully close the gripper.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Shut the gripper completely.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Ensure the gripper is completely closed.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Make sure the gripper is closed tightly.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the wrist joint clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint 90 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a clockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint by 90 degrees in a clockwise manner.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 90-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Swim.,['{}'] +Take a swim.,['{}'] +Go for a swim.,['{}'] +Jump in the water and swim.,['{}'] +Engage in swimming.,['{}'] +Watch TV.,['{}'] +Please turn on the television and start watching.,['{}'] +Begin watching television.,['{}'] +Start watching your favorite TV show.,['{}'] +Get ready to enjoy some television programming.,['{}'] +Lift the object and move it 30 centimeters to the left.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pick up the item and shift it 30 centimeters towards the left.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grasp the object and relocate it 30 centimeters towards the left.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Raise and transfer the item 30 centimeters to the left.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the object and shift it 30 centimeters in the leftward direction.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base in a counterclockwise direction, making a 90-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base in an anti-clockwise direction, making a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base counterclockwise, creating a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 20 centimeters and hold position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 20 centimeters and maintain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 20 centimeters and keep it still for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm by 20 centimeters and sustain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elongate the arm by 20 centimeters and stay in that position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Open the gripper and release the object gently.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Gently release the object by opening the gripper.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Carefully open the gripper to let go of the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Softly release the object by opening the gripper.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Open the gripper in a gentle manner to release the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position_x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "position_y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "position_z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_position": "meters",', ' "unit_velocity": "meters/s"', ' }', '}'] +Go to coordinates X:50, Y:20, Z:10 with a speed of 0.5 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Travel to X:50, Y:20, Z:10 with a velocity of 0.5 meters per second.,['{}'] +Reach position X:50, Y:20, Z:10 at a pace of 0.5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:50, Y:20, Z:10"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_distance": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Proceed to point X:50, Y:20, Z:10 at a rate of 0.5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_distance": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Bend the elbow joint to a 45-degree angle and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Flex the elbow joint at a 45-degree angle and maintain the position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "flex"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Angle the elbow joint to 45 degrees, and keep it in that position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}', '', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Curve the elbow joint to a 45-degree angle, and hold it for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Fold the elbow joint to a 45-degree angle and sustain the pose for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Readjust the wrist joint to a neutral position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the position of the wrist joint to a neutral stance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Correct the position of the wrist joint to a neutral alignment.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Realign the wrist joint to a neutral position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Reset the wrist joint to a neutral stance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm horizontally by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm in a horizontal direction by a full 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm sideways, making it complete a 180-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a horizontal rotation of the arm, spanning 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the arm horizontally, ensuring it moves precisely 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 10 newtons of force for 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 newtons to firmly hold onto the object for a duration of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Grasp the object firmly with a force of 10 newtons and maintain the grip for a period of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10-newton force to grip the object tightly for 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold onto the object with a force of 10 newtons for a duration of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:0, Y:0, Z:50 at a velocity of 1 meter per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Travel to the coordinates X:0, Y:0, Z:50 with a speed of 1 meter per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Proceed towards the position X:0, Y:0, Z:50 with a velocity of 1 meter per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:0, Y:0, Z:50"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "meter",', ' "unit_speed": "m/s"', ' }', '}'] +Go to the location at X:0, Y:0, Z:50 while moving at a rate of 1 meter per second.,['{', ' "action": "set_location",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Navigate to the point X:0, Y:0, Z:50 at a speed of 1 meter per second.,['{', ' "action": "navigate",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Retract the arm completely and hold in standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Fully withdraw the arm and keep it in standby mode.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Completely retract the arm and maintain it in a standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull back the arm entirely and remain in a standby state.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm fully and hold it in a standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the gripper 360 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the gripper in a clockwise direction for a full 360 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the gripper to the right by 360 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Make a complete clockwise rotation of 360 degrees with the gripper.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the gripper in a clockwise motion for an entire 360 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 30 centimeters and hold position for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 30 centimeters and maintain that position for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm by an additional 30 centimeters and keep it in that posture for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}', '{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 0.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Lengthen the arm by 30 centimeters and hold it steady for a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Straighten out the arm by adding 30 centimeters of length and maintain that pose for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}', ''] +Move to position X:30, Y:40, Z:10 at a velocity of 0.3 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Change your position to X:30, Y:40, Z:10 with a speed of 0.3 meters per second.,['{', ' "action": "set_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:30, Y:40, Z:10"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_speed": "meters/s"', ' }', '}'] +Go to the coordinates X:30, Y:40, Z:10 at a speed of 0.3 meters per second.,['{', ' "action": "move_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_speed": "m/s"', ' }', '}'] +Adjust your location to X:30, Y:40, Z:10 with a velocity of 0.3 meters per second.,['{}'] +Transition to position X:30, Y:40, Z:10, moving at a rate of 0.3 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:30, Y:40, Z:10"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_speed": "meters/s"', ' }', '}'] +Bend the elbow joint to a 90-degree angle and hold for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Flex the elbow joint to form a 90-degree angle and maintain the position for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Curve the elbow joint, bringing it to a 90-degree angle, and keep the posture for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Fold the elbow joint to create a 90-degree angle and sustain the position for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Crimp the elbow joint to a 90-degree angle and remain in this stance for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Open the gripper and close it with 7 kilograms of force.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Begin by opening the gripper, then apply 7 kilograms of force to close it.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Use 7 kilograms of force to close the gripper after initially opening it.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Start by opening the gripper, and proceed to close it by exerting 7 kilograms of force.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +After opening the gripper, apply 7 kilograms of force to seal it shut.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in an anti-clockwise manner by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the opposite direction to the clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Proceed to coordinates X:10, Y:50, Z:20 with a speed of 0.8 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Travel to point X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X"', ' },', ' "angle": {', ' "type": "float",', ' "value": 10.0', ' },', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit": "",', ' "unit_speed": "m/s"', ' }', '}'] +Relocate to position X:10, Y:50, Z:20 at a pace of 0.8 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "relocate"', ' },', ' "x_position": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y_position": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z_position": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Shift to the coordinates X:10, Y:50, Z:20 with a velocity of 0.8 meters per second.,['{', ' "action": "move_coordinate",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Retract the arm halfway and hold in a hovering position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Position the arm in a hovering state, maintaining a halfway retracted position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "hovering"', ' }', ' }', '}'] +Hold the arm halfway retracted and hover in place.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Hover while keeping the arm partially retracted.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Maintain a hovering position while retracting the arm halfway.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Swim in a circular motion while waving.,['{}'] +Wave your hand while swimming in a circular motion.,['{}'] +Perform circular motions while swimming and waving.,['{}'] +Swim in a circular pattern and wave at the same time.,['{}'] +Combine swimming in a circular motion with waving gestures.,['{}'] +Move the base of the arm 90 degrees to the left.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm's base 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pivot the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 20 centimeters at a velocity of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2/100.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Increase the arm length by 20 centimeters at a rate of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 20 centimeters, moving at a speed of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Lengthen the arm by 20 centimeters while moving with a velocity of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Propel the arm forward by 20 centimeters at a rate of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint counterclockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in the opposite direction (counterclockwise) by an angle of 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint anticlockwise, making a 60-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint counterclockwise, adjusting it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Spin the elbow joint to the left, rotating it 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 10 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 980.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 kilograms to firmly hold the object for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Squeeze the object with a force of 10 kilograms for a period of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 10 kilograms of pressure while grasping the object for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 98.1', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a grip on the object with a force of 10 kilograms for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Go to coordinates X:50, Y:50, Z:0 with a speed of 1 meter per second.,['{ "action": "move_to_coordinates", ', ' "params": { ', ' "x": { "type": "float", "value": 50.0 }, ', ' "y": { "type": "float", "value": 50.0 }, ', ' "z": { "type": "float", "value": 0.0 },', ' "speed": { "type":"float", "value": 1.0 },', ' "unit_distance": "meters",', ' "unit_speed": "m/s"', ' } ', '}'] +Travel to position X:50, Y:50, Z:0 with a velocity of 1 meter per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Reach the point X:50, Y:50, Z:0 at a speed of 1 meter per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Achieve the location X:50, Y:50, Z:0 with a velocity of 1 meter per second.,['{}'] +Retract the arm by 30 centimeters in 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm by a distance of 30 centimeters in a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back by 30 centimeters within a time frame of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back by 30 centimeters while taking 5 seconds to do so.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm away by 30 centimeters over the span of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint 90 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a clockwise manner, making a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a clockwise direction, creating a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by turning it 90 degrees in a clockwise fashion.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 2 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 19.6', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 2-kilogram force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 2 kilograms of force to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 19.6', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Grasp the object firmly with a force of 2 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Employ a 2-kilogram force to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:100, Y:0, Z:100 at a velocity of 0.5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Go to coordinates X:100, Y:0, Z:100 gradually with a speed of 0.5 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Travel to the point X:100, Y:0, Z:100 using a velocity of 0.5 meters per second.,['{', ' "action": "travel_to_point",', ' "params": {', ' "point": {', ' "type": "str",', ' "value": "X:100, Y:0, Z:100"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Reach the position X:100, Y:0, Z:100 while moving at a speed of 0.5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "position"', ' },', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_x": "meters",', ' "unit_y": "meters",', ' "unit_z": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Proceed towards X:100, Y:0, Z:100 at a rate of 0.5 meters per second.,['{', ' "action": "move_to",', ' "params": {', ' "position": {', ' "type": "dict",', ' "value": {', ' "X": {', ' "type": "int",', ' "value": 100', ' },', ' "Y": {', ' "type": "int",', ' "value": 0', ' },', ' "Z": {', ' "type": "int",', ' "value": 100', ' }', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_speed": "meters/s"', ' }', '}'] +Retract the arm to the starting position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back to the initial position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Withdraw the arm and return it to its original position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back to the starting point.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to the initial location.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 10 centimeters at a velocity of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Stretch out the arm by 10 centimeters, moving at a velocity of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Lengthen the arm by 10 centimeters while maintaining a speed of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Expand the arm by 10 centimeters, advancing at a rate of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Rotate the elbow joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint 30 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint to the right by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint in a clockwise motion, moving it 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the elbow joint by rotating it clockwise, making a 30 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 8 kilograms of force for 3 seconds.,['{"action": "grip_object",', '"params": {', ' "force": {', ' "type": "float",', ' "value": 800', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', '}}'] +Apply a force of 8 kilograms to hold onto the object for a duration of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use a grip strength of 8 kilograms to firmly hold the object for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 800.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 8 kilograms of pressure to maintain a hold on the object for a period of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 78.5', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Securely grasp the object with an 8 kilogram force for a duration of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "kilograms"', ' }', '}'] +Move to position X:0, Y:0, Z:50 at a velocity of 0.1 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:0, Y:0, Z:50"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Travel to coordinates X:0, Y:0, Z:50 with a speed of 0.1 m/s.,['{}'] +Go to position X:0, Y:0, Z:50 with a velocity of 0.1 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Shift to the location X:0, Y:0, Z:50 at a rate of 0.1 m/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Reach the point X:0, Y:0, Z:50 at a speed of 0.1 meters per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Retract the arm by 25 centimeters in 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Within a time frame of 4 seconds, pull the arm back by a distance of 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm, moving it backwards by 25 centimeters over a period of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Over the course of 4 seconds, decrease the arm's extension by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +In 4 seconds, bring the arm back by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in an anticlockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint to the left by an angle of 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a counterclockwise motion, angling it by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint anti-clockwise, changing its position by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 4 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 4-kilogram force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 4 kilograms of pressure to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 40.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Employ 4 kilograms of force to securely hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a grip force of 4 kilograms to firmly hold the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 40.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:75, Y:75, Z:75 at a velocity of 0.3 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_distance": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Adjust the coordinates to X:75, Y:75, Z:75 with a speed of 0.3 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "coordinates"', ' },', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Shift to position X:75, Y:75, Z:75 using a velocity of 0.3 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_speed": "meters/s"', ' }', '}'] +Go to X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,['{}'] +Travel to the location X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,['{', ' "action": "move_to_location",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Retract the arm to the standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Return the arm to its standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Withdraw the arm to the standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back into the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 15 centimeters, then do a little dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 15 centimeters before performing a small dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 15 centimeters and proceed to do a brief dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 15 centimeters and then perform a mini dance routine.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Extend the arm's reach by 15 centimeters, followed by a playful dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lift the object at a velocity of 5 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Elevate the object at a rate of 5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit": "degrees",', ' "unit_speed": "m/s"', ' }', '}'] +Raise the object with a speed of 5 meters per second.,['{', ' "action": "raise_object",', ' "params": {', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_speed": "m/s"', ' }', '}'] +Hoist the object at a velocity of 5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Ascend the object with a rate of 5 meters per second.,['{', ' "action": "N/A"', '}'] +Rotate the arm joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm joint in the opposite direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "opposite"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm joint anticlockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the arm joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm to a distance of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reach out the arm and stretch it to a length of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}', ''] +Increase the arm's length to 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm until it measures 50 centimeters in distance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:15, Y:25, Z:35 at a duration of 10 seconds.,['{}'] +Go to position X:15, Y:25, Z:35 within a duration of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "position"', ' },', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 35.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "units",', ' "unit_duration": "seconds"', ' }', '}'] +Travel to the coordinates X:15, Y:25, Z:35 in a span of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "coordinates"', ' },', ' "angle": {', ' "type": "float",', ' "value": 10.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "upright"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.5', ' },', ' "unit": "units",', ' "unit_speed": "units/s"', ' }', '}'] +Adjust your position to X:15, Y:25, Z:35 over a period of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "position"', ' },', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 35.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.5', ' },', ' "unit": "coordinates",', ' "unit_speed": "coordinates/s"', ' }', '}'] +Reach the specified location X:15, Y:25, Z:35 within 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "end_effector"', ' },', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 35.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.5', ' },', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with a force of 10 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 Newtons to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10 Newton force to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a 10 Newton force to tightly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a firm 10 Newton force to firmly seize the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm to its starting position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back to its initial position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Withdraw the arm and return it to its original location.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to its starting point.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Bring the arm back to its initial position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint 30 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint by 30 degrees in a clockwise manner.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a clockwise direction, moving it 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the clockwise direction, making a 30-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the object at a velocity of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Raise the object with a speed of 2 meters per second.,['{', ' "action": "raise_object",', ' "params": {', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_speed": "m/s"', ' }', '}'] +Elevate the object, moving at a velocity of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Hoist the object, maintaining a rate of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pick up the object, traveling at a speed of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Extend the arm to a distance of 30 centimeters and hold for 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm out to a length of 30 centimeters and maintain for a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reach the arm out to a span of 30 centimeters and keep it there for a period of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm to a distance of 30 centimeters and sustain the position for 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm to a distance of 30 centimeters and maintain the extension for a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:5, Y:10, Z:15 and halt immediately.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 5.0', ' },', ' "y": {', ' "type": "float",', ' "value": 10.0', ' },', ' "z": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "units/s"', ' }', '}'] +Immediately halt and move to position X:5, Y:10, Z:15.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "position",', ' "value": {', ' "X": 5,', ' "Y": 10,', ' "Z": 15', ' }', ' }', ' }', '}'] +Halt at once and move to the coordinates X:5, Y:10, Z:15.,['{}'] +Move to the specified coordinates X:5, Y:10, Z:15 and come to an immediate stop.,['{', ' "action": "move_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 5.0', ' },', ' "y": {', ' "type": "float",', ' "value": 10.0', ' },', ' "z": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "units/s"', ' }', '}'] +Come to a stop without delay after moving to the position X:5, Y:10, Z:15.,['{', ' "action": "move_to_position",', ' "params": {', ' "x_coordinate": {', ' "type": "float",', ' "value": 5.0', ' },', ' "y_coordinate": {', ' "type": "float",', ' "value": 10.0', ' },', ' "z_coordinate": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_distance": "units",', ' "unit_speed": "units/s"', ' }', '}'] +Grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 800.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 8 kilograms to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 800.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 8 kilograms of pressure to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 80.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 8 kilograms of force to tightly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Employ an 8-kilogram force to firmly grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm at a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm over a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -1.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull back the arm for a total of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -1.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back slowly for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Depress the arm gradually, taking 3 seconds to complete the action.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.3333', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm joint in a counterclockwise direction by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm joint in an anti-clockwise direction by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pivot the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm to a distance of 40 centimeters and hold for 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards to a length of 40 centimeters and keep it in that position for a duration of 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protrude the arm at a distance of 40 centimeters and maintain the position for 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm to 40 centimeters and sustain the extension for a period of 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reach out the arm to a distance of 40 centimeters and keep it there for a duration of 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lift the object at a velocity of 3 meters per second and move to position X:20, Y:30, Z:40.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}', '{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Move the object to position X:20, Y:30, Z:40 while lifting it at a velocity of 3 meters per second.,['{', ' "action": "move_object",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:20, Y:30, Z:40"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Lift the object at a speed of 3 meters per second and transport it to point X:20, Y:30, Z:40.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Raise the object at 3 meters per second and relocate it to coordinates X:20, Y:30, Z:40.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 3.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +With a velocity of 3 meters per second, elevate the object and shift it to position X:20, Y:30, Z:40.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 3.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}', '{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 20.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 40.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with a force of 15 Newtons and rotate the wrist joint clockwise by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Apply a force of 15 Newtons to grasp the object, then turn the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Exert a 15 Newton force to firmly hold the object, and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Use a force of 15 Newtons to grip the object and then twist the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grasp the object firmly with a 15 Newton force and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm to its starting position and hold for 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back to its initial position and maintain that position for a duration of 4 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Withdraw the arm to its original position and keep it there for a period of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to where it started and keep it stationary for 4 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pull the arm back to its starting point and hold it for 4 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the object at a velocity of 4 meters per second and extend the arm to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the object with a speed of 4 meters per second while stretching the arm to a length of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the object, moving at a velocity of 4 meters per second, and lengthen the arm to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the height of the object by lifting it at a rate of 4 meters per second and extending the arm to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Hoist the object, maintaining a speed of 4 meters per second, as the arm is extended to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Move to position X:10, Y:20, Z:30 at a duration of 8 seconds and rotate the arm joint counterclockwise by 45 degrees.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "z": {', ' "type": "float",', ' "value": 30.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_position": "units",', ' "unit_duration": "seconds"', ' }', '}'] +Adjust the position to X:10, Y:20, Z:30 over a period of 8 seconds, while rotating the arm joint 45 degrees in the counterclockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Transition to coordinates X:10, Y:20, Z:30 in 8 seconds, simultaneously rotating the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}', '', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Shift to the specified position (X:10, Y:20, Z:30) in 8 seconds, while also rotating the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Transfer to the designated coordinates (X:10, Y:20, Z:30) smoothly within an 8-second timeframe, while turning the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Swim.,['{}'] +Take a swim.,['{}'] +Engage in swimming.,['{}'] +Get in the water and swim.,['{}'] +Dive in and start swimming.,['{}'] +Move the robotic arm to position X:50, Y:100, Z:200.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:50, Y:100, Z:200"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_speed": "units/s"', ' }', '}'] +Position the robotic arm at X:50, Y:100, Z:200.,['{}'] +Set the robotic arm to coordinates X:50, Y:100, Z:200.,['{}'] +Adjust the robotic arm to reach X:50, Y:100, Z:200.,['{', ' "action": "adjust_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z": {', ' "type": "float",', ' "value": 200.0', ' }', ' }', '}'] +Move the robotic arm so that it is located at X:50, Y:100, Z:200.,['{}'] +Rotate the shoulder joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint counterclockwise, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a counterclockwise direction, reaching a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pivot the shoulder joint counterclockwise, achieving a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by an additional 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 30 centimeters to the arm's reach.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 10 pounds of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.536', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 pounds to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.44822', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 10 pounds of pressure to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.45', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 10 pounds of strength to tightly grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Securely hold the object with a force of 10 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm in a straight line at a velocity of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Adjust the arm to move in a linear path with a speed of 50 centimeters per second.,['{', ' "action": "move_linear",', ' "params": {', ' "speed": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_speed": "cm/s"', ' }', '}'] +Direct the arm to travel in a straight line at a rate of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Command the arm to execute a straight-line motion at a velocity of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Instruct the arm to move in a straight line, maintaining a speed of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in a clockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the elbow joint in a clockwise rotation, making a 60-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to its starting position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to its original position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Withdraw the arm and return it to its initial location.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back to where it started.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pull the arm back until it reaches its starting point.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the robotic arm to position X:0, Y:0, Z:0.,['{', ' "action": "set_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' }', ' }', '}'] +Adjust the robotic arm to coordinates X:0, Y:0, Z:0.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Shift the robotic arm to position X:0, Y:0, Z:0.,['{}'] +Realign the robotic arm to coordinates X:0, Y:0, Z:0.,['{}'] +Position the robotic arm at X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with a force of 20 newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 20 newton force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 20 newton force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 20 newtons to grip the object securely.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold onto the object with a 20 newton force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Extend the arm by 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm by an additional 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 10 inches to the arm's extension.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint anticlockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint in a counterclockwise rotation of 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by rotating it counterclockwise at a 30-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm in a curve with a radius of 50 centimeters.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a curved motion with the arm, ensuring a radius of 50 centimeters.,['{', ' "action": "curve_motion",', ' "params": {', ' "radius": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_radius": "centimeters"', ' }', '}'] +Rotate the arm in a circular path, maintaining a curvature with a radius measuring 50 centimeters.,['{}'] +Execute a curvilinear movement with the arm, guaranteeing a 50-centimeter radius.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Maneuver the arm in a curved trajectory, ensuring a radius spanning 50 centimeters.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a clockwise direction, turning it by an angle of 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint clockwise, rotating it by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a clockwise manner, changing its position by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in the clockwise direction, making a 45-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the robotic arm to position X:100, Y:50, Z:150.,['{}'] +Position the robotic arm at coordinates X:100, Y:50, Z:150.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Transfer the robotic arm to location X:100, Y:50, Z:150.,['{}'] +Shift the robotic arm to the X:100, Y:50, Z:150 position.,['{}'] +Adjust the robotic arm to the desired coordinates: X:100, Y:50, Z:150.,['{', ' "action": "adjust_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 150.0', ' }', ' }', '}'] +Grip the object with a force of 15 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 15-pound force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 15 pounds of force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Use a 15-pound grip to secure the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object firmly with a force of 15 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back by a distance of 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm inward, reducing its length by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back, shortening it by a measurement of 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in an anticlockwise direction, rotating it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 90-degree counterclockwise rotation of the elbow joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint counterclockwise, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm in a zigzag pattern with a velocity of 75 centimeters per second.,['{', ' "action": "move_arm",', ' "params": {', ' "pattern": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 75.0', ' },', ' "unit_velocity": "cm/s"', ' }', '}'] +The arm should be moved in a zigzag pattern at a speed of 75 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 75.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm with a velocity of 75 centimeters per second in a zigzag pattern.,['{', ' "action": "move_arm",', ' "params": {', ' "velocity": {', ' "type": "float",', ' "value": 75.0', ' },', ' "pattern": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "unit_velocity": "cm/s"', ' }', '}'] +With a speed of 75 centimeters per second, move the arm in a zigzag pattern.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 75.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +In a zigzag pattern, move the arm with a velocity of 75 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 75.0', ' },', ' "pattern": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "unit_speed": "cm/s"', ' }', '}'] +Extend the arm by 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by an additional 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards, adding 5 inches to its total length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's size by 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint clockwise by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a clockwise direction, angling it 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint to the right by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a clockwise motion, adjusting it by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint in a clockwise rotation, offsetting it by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Swim.,['{}'] +Take a swim.,['{}'] +Go for a swim.,['{}'] +Dive into the water.,['{}'] +Engage in swimming.,['{}'] +Lift the object 5 centimeters off the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the object to a height of 5 centimeters above the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the object so that it is positioned 5 centimeters above the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the height of the object by 5 centimeters from its current position on the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Ascend the object by 5 centimeters, lifting it away from the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint anti-clockwise by an angle of 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint in the counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Execute a 90-degree counterclockwise rotation of the base joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm to position X:50, Y:0, Z:80.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm to coordinates X:50, Y:0, Z:80.,['{}'] +Adjust the arm to reach position X:50, Y:0, Z:80.,['{', ' "action": "adjust_arm_position",', ' "params": {', ' "position": {', ' "X": 50.0,', ' "Y": 0.0,', ' "Z": 80.0', ' }', ' }', '}'] +Stretch out the arm until it reaches X:50, Y:0, Z:80.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Set the arm's coordinates to X:50, Y:0, Z:80.,['{', ' "action": "set_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 80.0', ' }', ' }', '}'] +Open the grip completely for 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Fully open the grip and hold for 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Release the grip completely for a duration of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 0.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Keep the grip wide open for a period of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Hold the grip in a fully extended position for 3 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second.,['{', ' "action": "move_object",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:20, Y:30, Z:10"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_position": "centimeters",', ' "unit_velocity": "cm/s"', ' }', '}'] +Transfer the item to coordinates X:20, Y:30, Z:10 with a speed of 10 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 20.0', ' },', ' "y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_speed": "cm/s"', ' }', '}'] +Relocate the object to X:20, Y:30, Z:10, moving at a rate of 10 centimeters per second.,['{}'] +Transport the item to position X:20, Y:30, Z:10 with a velocity of 10 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "x": {', ' "type": "float",', ' "value": 20.0', ' },', ' "y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_speed": "cm/s"', ' }', '}'] +Shift the object to coordinates X:20, Y:30, Z:10 at a speed of 10 centimeters per second.,['{', ' "action": "move_object",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 20.0', ' },', ' "y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Close the grip with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 10 kilograms of force to secure the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10-kilogram force to close the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 10 kilograms of pressure to tighten the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 10 kilograms of force to finalize the grip closure.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the wrist joint clockwise by 180 degrees.,['{"action": "move_joint", "params": {"joint_name": {"type": "str", "value": "wrist"}, "angle": {"type": "float", "value": 180.0}, "direction": {"type": "str", "value": "clockwise"}, "speed": {"type": "float", "value": 0.0}, "unit": "degrees", "unit_speed": "degrees/s"}}'] +Turn the wrist joint in a clockwise direction, making a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint by 180 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint clockwise, completing a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 180-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the arm to its maximum height and hold for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "height"', ' },', ' "angle": {', ' "type": "float",', ' "value": "max"', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Elevate the arm to its highest point and maintain for a duration of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Raise the arm as high as possible and keep it in that position for 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Hoist the arm to its utmost height and keep it there for a period of 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Ascend the arm to its peak height and hold the position for 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Retract the arm to standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back to its standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Return the arm to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Withdraw the arm and place it in the standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 150.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_distance": "centimeters",', ' "unit_velocity": "cm/s"', ' }', '}'] +Change your position to X:100, Y:50, Z:150 moving at a speed of 20 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "position"', ' },', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 150.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_distance": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Travel to coordinates X:100, Y:50, Z:150 with a velocity of 20 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "coordinates"', ' },', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 150.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Go to position X:100, Y:50, Z:150 at a speed of 20 centimeters per second.,['{', ' "action": "move_end_effector",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:100, Y:50, Z:150"', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_speed": "cm/s"', ' }', '}'] +Reach the coordinates X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 150.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit": "centimeters",', ' "unit_velocity": "cm/s"', ' }', '}'] +Open the grip halfway for 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Partially open the grip for a duration of 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Open the grip halfway and hold for 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.5', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Temporarily open the grip halfway for a period of 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Maintain the grip at a mid-point opening for 2 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm length by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elongate the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base joint in a clockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint in a clockwise manner, making a 45 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Shift the base joint to the right, rotating it by 45 degrees in a clockwise motion.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the object to position X:0, Y:0, Z:50 and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "upwards"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Elevate the object to coordinates X:0, Y:0, Z:50 and maintain that position for a duration of 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Hoist the object until it reaches the location X:0, Y:0, Z:50, and then keep it steady for a period of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Raise the object up to X:0, Y:0, Z:50, and keep it suspended in that spot for 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Carry out a vertical movement to position the object at coordinates X:0, Y:0, Z:50, and keep it in place for a duration of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "vertical"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "upward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "units",', ' "unit_speed": "units/s"', ' }', '}'] +Close the grip with 7 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7000.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "grams",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 7 kilograms to tighten the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Securely tighten the grip with a force of 7 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 700.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 7 kilograms of force to close the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 7 kilograms to firmly close the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 70.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:75, Y:25, Z:100 at a velocity of 15 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' }', ' },', ' "velocity": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Go to the coordinates X:75, Y:25, Z:100 with a speed of 15 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x_coordinate": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y_coordinate": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z_coordinate": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_speed": "cm/s"', ' }', '}'] +Travel to position X:75, Y:25, Z:100 at a rate of 15 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Change your location to X:75, Y:25, Z:100 with a velocity of 15 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Reach the coordinates X:75, Y:25, Z:100 at a speed of 15 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in the opposite direction by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "opposite"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint anti-clockwise by an angle of 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a counterclockwise direction, rotating it by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the counterclockwise direction, making a 270-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to standby position and wait for further instruction.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back to standby position and remain there until further instructions.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm back to its standby position and await further instruction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Withdraw the arm to the standby position and expect further guidance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Return the arm to its original position and stay there until you receive more instructions.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the arm by 20 centimeters and hold for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the arm by a distance of 20 centimeters and maintain the position for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the arm by 20 centimeters and keep it held for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the height of the arm by 20 centimeters, then hold steady for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lift the arm upwards by 20 centimeters and maintain the lifted position for a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint counterclockwise by 180 degrees and dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a counterclockwise rotation of 180 degrees on the base joint, then carry out a dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint in a counterclockwise direction, making a 180 degree rotation before proceeding to dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint 180 degrees in the counterclockwise direction, then showcase your dance moves.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Execute a 180 degree counterclockwise rotation on the base joint and follow it with a dance routine.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm to position X:50, Y:70, Z:90.,['{}'] +Adjust the arm's position to coordinates X:50, Y:70, Z:90.,['{', ' "action": "adjust_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 70.0', ' },', ' "z": {', ' "type": "float",', ' "value": 90.0', ' }', ' }', '}'] +Shift the arm to the designated coordinates of X:50, Y:70, Z:90.,['{}'] +Relocate the arm to the specified position of X:50, Y:70, Z:90.,['{', ' "action": "move_arm",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:50, Y:70, Z:90"', ' }', ' }', '}'] +Transpose the arm to the desired coordinates at X:50, Y:70, Z:90.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "desired_coordinates"', ' },', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 70.0', ' },', ' "z": {', ' "type": "float",', ' "value": 90.0', ' }', ' }', '}'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction, rotating it 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint anti-clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Clockwise rotation of the wrist joint by 90 degrees is not required; instead, rotate it counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +In order to achieve a 90-degree counterclockwise rotation, turn the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm by an additional 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by an extra 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 20 centimeters to the arm's current length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 kilograms to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 10 kilograms of force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 98.1', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a gripping force of 10 kilograms on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 10 kilograms of pressure to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:30, Y:40, Z:50.,['{', ' "action": "move_arm",', ' "params": {', ' "position": {', ' "type": "point",', ' "value": {', ' "X": 30,', ' "Y": 40,', ' "Z": 50', ' }', ' }', ' }', '}'] +Adjust the arm's position to X:30, Y:40, Z:50.,['{', ' "action": "adjust_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' }', ' }', '}'] +Set the arm's coordinates to X:30, Y:40, Z:50.,['{', ' "action": "set_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' }', ' }', '}'] +Move the arm's location to X:30, Y:40, Z:50.,['{}'] +Position the arm at X:30, Y:40, Z:50.,['{', ' "action": "move_arm_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' }', ' }', '}'] +Rotate the wrist joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 60-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint in a clockwise direction, turning it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Return the arm to the standby position.,['{}'] +Bring the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Take the arm back to the standby position.,['{}'] +Grip the object with 15 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 150.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a gripping force of 15 kilograms to the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 150.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 15 kilograms of force to hold onto the object.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Use a gripping strength of 15 kilograms to secure the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 150.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Grasp the object firmly with a 15-kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 150.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:70, Y:80, Z:90.,['{', ' "action": "move_arm",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:70, Y:80, Z:90"', ' }', ' }', '}'] +Adjust the arm's position to coordinates X:70, Y:80, Z:90.,['{', ' "action": "adjust_position",', ' "params": {', ' "x": {', ' "type": "int",', ' "value": 70', ' },', ' "y": {', ' "type": "int",', ' "value": 80', ' },', ' "z": {', ' "type": "int",', ' "value": 90', ' }', ' }', '}'] +Relocate the arm so that it is at position X:70, Y:80, Z:90.,['{}'] +Shift the arm's location to X:70, Y:80, Z:90.,['{}'] +Set the arm's coordinates to X:70, Y:80, Z:90.,['{', ' "action": "set_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 70.0', ' },', ' "y": {', ' "type": "float",', ' "value": 80.0', ' },', ' "z": {', ' "type": "float",', ' "value": 90.0', ' }', ' }', '}'] +Rotate the wrist joint counterclockwise by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint anti-clockwise by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in the counterclockwise direction by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint in a counterclockwise rotation by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm by an additional 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 25 centimeters to the arm's reach.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 20 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 200.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 20-kilogram force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 20 kilograms of force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 200.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a gripping force of 20 kilograms to secure the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 200.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply pressure equivalent to 20 kilograms to firmly hold the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 196.1334', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:10, Y:20, Z:30.,['{', ' "action": "move_arm",', ' "params": {', ' "position": {', ' "type": "dict",', ' "value": {', ' "X": 10.0,', ' "Y": 20.0,', ' "Z": 30.0', ' }', ' }', ' }', '}'] +Position the arm at X:10, Y:20, Z:30.,['{', ' "action": "set_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "(10, 20, 30)"', ' }', ' }', '}'] +Set the arm's coordinates to X:10, Y:20, Z:30.,['{', ' "action": "set_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "z": {', ' "type": "float",', ' "value": 30.0', ' }', ' }', '}'] +Adjust the arm's position to X:10, Y:20, Z:30.,['{}'] +Move the arm's location to X:10, Y:20, Z:30.,['{}'] +Rotate the wrist joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a clockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the clockwise direction, making a 30-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint to the right by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by turning it clockwise 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to the standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back into the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Return the arm to its standby position.,['{}'] +Bring the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 12 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 120.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 12 kilograms to tightly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 120.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a gripping force of 12 kilograms on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 120.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 12 kilograms of strength to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Tighten your grip on the object with a force of 12 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:80, Y:60, Z:40.,['{}'] +Position the arm at X:80, Y:60, Z:40.,['{', ' "action": "move_arm_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 80.0', ' },', ' "y": {', ' "type": "float",', ' "value": 60.0', ' },', ' "z": {', ' "type": "float",', ' "value": 40.0', ' }', ' }', '}'] +Set the arm's coordinates to X:80, Y:60, Z:40.,['{', ' "action": "set_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 80.0', ' },', ' "y": {', ' "type": "float",', ' "value": 60.0', ' },', ' "z": {', ' "type": "float",', ' "value": 40.0', ' }', ' }', '}'] +Adjust the arm to the location X:80, Y:60, Z:40.,['{}'] +Move the arm to the desired coordinates, X:80, Y:60, Z:40.,['{}'] +Rotate the wrist joint counterclockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint anti-clockwise at a 75-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the counterclockwise direction, making a 75-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint to the left by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by rotating it counterclockwise with a 75-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm, adding an additional 18 centimeters in length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards until it is 18 centimeters longer.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 800.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 8 kilograms of force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a force of 8 kilograms to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Securely grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 80.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object using a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:40, Y:50, Z:60.,['{', ' "action": "move_arm",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:40, Y:50, Z:60"', ' }', ' }', '}'] +Set the arm's position to X:40, Y:50, Z:60.,['{}'] +Adjust the arm's coordinates to X:40, Y:50, Z:60.,['{', ' "action": "adjust_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 40.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 60.0', ' }', ' }', '}'] +Position the arm at X:40, Y:50, Z:60.,['{}'] +Move the arm's location to X:40, Y:50, Z:60.,['{', ' "action": "move_arm_location",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 40.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 60.0', ' },', ' "unit": "centimeters"', ' }', '}'] +Rotate the wrist joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a clockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a clockwise manner by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the clockwise direction, making a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to standby position, then wave.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back to its initial position and subsequently perform a waving motion.,['{"action": "move_joint", "params": {"joint_name": {"type": "str", "value": "elbow"}, "angle": {"type": "float", "value": 0.0}, "direction": {"type": "str", "value": "clockwise"}, "speed": {"type": "float", "value": 1.0}, "unit": "degrees", "unit_speed": "degrees/s"}}'] +Revert the arm to its default position and proceed to wave.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Withdraw the arm to standby position before waving.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull back the arm and proceed to wave.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm out an additional 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 20 centimeters to the arm's extension.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction, rotating it by 90 degrees.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Rotate the wrist joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a counterclockwise rotation of the wrist joint, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by rotating it counterclockwise at a 90 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 kilograms to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Utilize 10 kilograms of force to grip the object firmly.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a grip on the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold onto the object with a force of 10 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 100.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:50, Y:75, Z:100.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "units",', ' "unit_speed": "units/s"', ' }', '}'] +Relocate to coordinates X:50, Y:75, Z:100.,['{}'] +Transfer to position with X coordinate of 50, Y coordinate of 75, and Z coordinate of 100.,['{', ' "action": "move_to_position",', ' "params": {', ' "x_coordinate": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y_coordinate": {', ' "type": "float",', ' "value": 75.0', ' },', ' "z_coordinate": {', ' "type": "float",', ' "value": 100.0', ' }', ' }', '}'] +Proceed to the location with X value 50, Y value 75, and Z value 100.,['{', ' "action": "move_to_location",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' }', ' }', '}'] +Change position to X:50, Y:75, Z:100.,['{', ' "action": "set_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:50, Y:75, Z:100"', ' }', ' }', '}'] +Retract the arm by 30 centimeters.,['{', ' "action": "retract_arm",', ' "params": {', ' "retraction_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back by a distance of 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back by a length of 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the shoulder joint clockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint in a clockwise direction, making a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a clockwise manner, making a complete 180-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint clockwise, turning it by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 180-degree clockwise rotation of the shoulder joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Release the object gently.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Gently let go of the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Softly loosen your grip on the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Carefully release the object in a gentle manner.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Handle the object with caution as you relinquish your hold on it.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Move to position X:0, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Proceed to coordinates X:0, Y:0, and Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Relocate yourself to the destination with the coordinates X:0, Y:0, and Z:50.,['{}'] +Shift your position to X:0, Y:0, Z:50.,['{', ' "action": "move_arm",', ' "params": {', ' "position": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_speed": "cm/s"', ' }', '}'] +Transfer yourself to the specified coordinates: X:0, Y:0, and Z:50.,['{}'] +Extend the arm by 10 centimeters at a velocity of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 10 centimeters, moving at a speed of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 10 centimeters to the arm's reach, advancing at a rate of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm forward by 10 centimeters, with a velocity of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 10 centimeters, moving at a pace of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 45 degrees at a velocity of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +- Turn the wrist joint to the left by 45 degrees at a speed of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +- Rotate the wrist joint in an anti-clockwise direction, making a 45 degree angle, at a rate of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +- Move the wrist joint counterclockwise for 45 degrees with a velocity of 90 degrees per second.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +- Adjust the wrist joint by rotating it counterclockwise at a speed of 90 degrees per second, achieving a 45 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 8 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 80.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 8 kilograms to the object for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 800.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object with a grip that exerts 8 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Grasp the object firmly, exerting a force of 8 kilograms, and maintain the grip for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 800.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 8 kilograms of force to firmly grip the object for a period of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:25, Y:50, Z:75 in 5 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:25, Y:50, Z:75"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_speed": "seconds"', ' }', '}'] +In 5 seconds, go to the coordinates X:25, Y:50, Z:75.,['{}'] +Reach the position X:25, Y:50, Z:75 within a span of 5 seconds.,['{', ' "action": "set_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 25.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_duration": "seconds"', ' }', '}'] +Within 5 seconds, relocate yourself to the coordinates X:25, Y:50, Z:75.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "relocator"', ' },', ' "angle": {', ' "type": "float",', ' "value": 25.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to X:25, Y:50, Z:75 within 5 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 25.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit": "seconds"', ' }', '}'] +Retract the arm by 15 centimeters at a velocity of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back by 15 centimeters at a speed of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm, reducing its length by 15 centimeters, while moving at a rate of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Decrease the arm's extension by 15 centimeters, moving it at a velocity of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back by 15 centimeters, maintaining a speed of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the shoulder joint clockwise by 270 degrees in 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +In a time span of 3 seconds, turn the shoulder joint in a clockwise direction by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 270-degree clockwise rotation of the shoulder joint within a 3-second timeframe.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a clockwise manner, covering a distance of 270 degrees, and complete this action within 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Within a duration of 3 seconds, turn the shoulder joint in a clockwise direction, making a rotation of 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:100, Y:100, Z:0 in 10 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:100, Y:100, Z:0"', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds"', ' }', '}'] +Go to coordinates X:100, Y:100, Z:0 within a time frame of 10 seconds.,['{}'] +Shift to position X:100, Y:100, Z:0 within a duration of 10 seconds.,['{', ' "action": "move_position",', ' "params": {', ' "position_x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "position_y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "position_z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_position": "units",', ' "unit_duration": "seconds"', ' }', '}'] +Transfer yourself to coordinates X:100, Y:100, Z:0 in a span of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Travel to position X:100, Y:100, Z:0 within a 10-second timeframe.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_distance": "units",', ' "unit_duration": "seconds"', ' }', '}'] +Extend the arm by 5 centimeters, then swim.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Swim after extending the arm by 5 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +After extending the arm by 5 centimeters, proceed to swim.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Extend the arm by 5 centimeters first, then start swimming.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +First, extend the arm by 5 centimeters, and then initiate swimming.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] diff --git a/evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_UAV.txt b/evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_UAV.txt new file mode 100644 index 0000000..60939ff --- /dev/null +++ b/evaluation/JSON-converted-commands/GPT3.5/Converted_JSON_commands_UAV.txt @@ -0,0 +1,1000 @@ +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase the elevation to a height of 500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'] +Climb to a height of 500 feet above ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an altitude of 500 feet above sea level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 500)"', ' }', ' }', '}'] +Ascend to a height of 500 feet in the air.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.027777777777777776,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a straight line for 1 mile, maintaining a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 60,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Move forward for a distance of 1 mile, traveling at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.027777777777777776,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 1 mile by flying forward at a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 17.8816,', ' "altitude": "default",', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": "default",', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in one spot for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold a stationary hover for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please ensure you touch down safely at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is essential that you land at the designated land zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make sure you reach the assigned landing zone for landing.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Ensure your landing takes place at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Descend to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Decrease your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower yourself to an altitude of 200 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) +Descend until you reach an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'] +Bring your altitude down to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 200)"', ' }', ' }', '}'] +Fly forward for 3 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 108,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 108,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 132,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.22222222,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 81,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in one place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold in mid-air without moving for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left at a rate of 10 degrees per second for a duration of 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": -10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {}', '}'] +Please arrive at the pre-assigned landing area.,['{', ' "action": "land",', ' "params": {}', '}'] +Make your way to the specified landing zone.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Ensure you land at the designated landing spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please touch down at the designated landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 1000 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 1000)"', ' }', ' }', '}'] +Go up to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Achieve a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 2 miles at a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly ahead for 2 miles while moving at a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.08904231625835189,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a speed of 45 mph while flying forward for a distance of 2 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "distance": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_distance": "miles"', ' }', '}'] +Hover in place for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Keep still for 20 minutes while floating in the air.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold position for 20 minutes without moving.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please make a landing at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ensure that you land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is necessary for you to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +The instruction is to land specifically at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Descend to an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -300)"', ' }', ' }', '}'] +Lower your altitude to 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "undetermined"', ' }', ' }', '}'] +Move down to an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 300)"', ' }', ' }', '}'] +Deescalate to a height of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 300)"', ' }', ' }', '}'] +Descend until you reach an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 300)"', ' }', ' }', '}'] +Fly forward for 4 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 19.44,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 4000,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "distance": {', ' "type": "float",', ' "value": 4000.0', ' }', ' }', '}'] +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 19.444444444444446,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain airborne without moving for a period of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Levitate motionlessly for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold position without any movement for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left by 135 degrees with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please ensure you land at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Your objective is to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +You are required to land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make sure you reach the designated landing area safely.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Ascend to an altitude of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0, ', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' }, ', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 1500,', ' "unit_altitude": "feet"', ' }', '}'] +Climb up to a height of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 1500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 1500)"', ' }', ' }', '}'] +Scale to a height of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 5 miles at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 13.411,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 13.471,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 6.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 2.259427848,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one spot for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a fixed position for the next half an hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in mid-air for the next 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold still for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please make your way to the designated landing zone and touch down.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +The designated landing zone is where you should aim to touch down.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +You are required to land at the specific landing zone as indicated.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ensure that you come to a safe landing at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(designated_latitude, designated_longitude)"', ' }', ' }', '}'] +Descend to an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 400)"', ' }', ' }', '}'] +Decrease your altitude to 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 400)"', ' }', ' }', '}'] +Lower yourself to an altitude of 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go down to an altitude of 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you reach an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 400)"', ' }', ' }', '}'] +Fly forward for 6 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 360,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.1,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0.1,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Fly straight ahead at 60 km/h for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forwards"', ' },', ' "duration": null,', ' "distance": 6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_distance": "kilometers"', ' }', '}'] +Hover in place for 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 35.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in mid-air for a duration of 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a fixed position in the air for the next 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary in the same spot for a period of 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep yourself suspended without moving for the next 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please make a landing at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ensure a safe landing at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +You are instructed to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {}', '}'] +It is requested that you land at the predetermined landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ascend to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0, ', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your elevation to a height of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 2000 feet above the ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to a height of 2000 feet above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 7 miles at a speed of 55 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 7,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "miles"', ' }', '}'] +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, undetermined)"', ' }', ' }', '}'] +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 7,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 60,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Hover in place for 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one position for a duration of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in the air without moving for a total of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for the next 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Levitate and hold your position for a period of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn right by 90 degrees with an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 90,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please touch down at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ensure that you arrive at the specified landing zone.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Make sure to land at the designated touchdown point.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is required that you land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Descend to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower yourself to a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Decrease your altitude to 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'] +Go down to an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'] +Reduce your height to 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'] +Fly forward for 8 kilometers at a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 18.05,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 222.2222,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.123456,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 18.05,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 266.6666666666667,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "distance": 8,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_distance": "kilometers"', ' }', '}'] +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 30.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Hover in place for 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in position for a duration of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Remain airborne without moving for a period of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep yourself elevated without any movement for a span of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please proceed to land at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make your way to the indicated landing zone and prepare for landing.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Follow the instructions and land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is required that you land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ascend to an altitude of 2500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 2500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 2500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 2500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 2500)"', ' }', ' }', '}'] +Scale to an altitude of 2500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your height to 2500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Fly forward for 9 miles at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 23.922,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Cover a distance of 9 miles by flying forward at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 2.72601718065,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a speed of 50 mph while traveling straight ahead for 9 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 23.73,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary position for 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in one spot for a period of 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 50.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Hold steady for 50 minutes without moving.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn 135 degrees to the right at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please touch down at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Descend and touch base at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make your approach and touch ground at the designated landing site.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please bring the aircraft to a stop at the approved landing zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend to an altitude of 600 meters and swin.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Swim after descending to an altitude of 600 meters.,['{}'] +Dive down to a depth of 600 meters and start swimming.,['{}'] +Lower yourself to an altitude of 600 meters and begin swimming.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Drop down to a height of 600 meters and begin your swim.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(-34.9285, 138.6007, 600)"', ' }', ' }', '}'] +Turn left at a 45-degree angle and fly straight for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Take a left turn at a 45-degree angle and proceed straight for 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "duration": 45,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1000 feet and maintain position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Climb to a height of 1000 feet and stay in that position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Increase your altitude to 1000 feet and remain at that level for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Go up to a height of 1000 feet and keep your position steady for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Perform a vertical climb to 200 meters at a speed of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": -1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": null,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "vertical"', ' },', ' "duration": null,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "upward"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly around in a circular pattern with a radius of 100 meters for 15 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Circle around with a 100-meter radius for a duration of 15 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place and capture aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended and take aerial photographs of the nearby area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary position and capture aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Levitate and snap aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain still and capture overhead photographs of the nearby area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 20,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 20,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "maintain"', ' },', ' "duration": 20,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 20,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.2222,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.1111,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 25,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 540,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 90,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 54,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone and conduct a visual inspection of the UAV.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(designated_latitude, designated_longitude)"', ' }', ' }', '}'] +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Hover in place and release a payload at a specified drop zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position and deploy a payload at a designated release zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot and discharge a payload at a predefined drop area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in a stationary hover and release a payload at a specified dropzone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold position in mid-air and deliver a payload at a designated drop zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 3600,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 3600,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 3600,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a barrel roll maneuver at a high velocity of 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a barrel roll maneuver at a rapid speed of 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Carry out a barrel roll maneuver at a high rate of 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 100.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h.,['{}'] +Fly forward for 500 meters and then execute a sharp turn to the right.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 45.45,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 5.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 47.61904761904761,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Move ahead for 500 meters and perform a quick right turn.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 45,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel straight for a distance of 500 meters before making a sharp right turn.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 45.24,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly in a figure-eight pattern with a total distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "distance": 2000,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_distance": "meters"', ' }', '}'] +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 114,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place and initiate a search for a lost object on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary and begin a search for a missing item on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep still and start looking for a lost object on the surface.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position and commence a search for a misplaced item on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend movement and initiate a search for a lost object on the floor.,['{}'] +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 0)"', ' }', ' }', '}'] +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(ground level)"', ' }', ' }', '}'] +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Fly to waypoint A at a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed to waypoint A, located at a distance of 1 kilometer, by flying.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Utilize flight to reach waypoint A, which is situated 1 kilometer away.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Cover a distance of 1 kilometer by flying towards waypoint A.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly towards waypoint A, which is precisely 1 kilometer away.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +- Descend to an altitude of 200 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reduce your altitude to 200 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go down until you reach an altitude of 200 meters above the ground.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -200)"', ' }', ' }', '}'] +Lower your altitude to 200 meters above the ground level.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend until you are flying at an altitude of 200 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Perform a vertical climb at a rate of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": null,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": null,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend vertically, maintaining a speed of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a vertical ascent, moving at a pace of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "upward"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Scale upwards in a straight line, advancing at a rate of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Carry out a vertical climb, sustaining a speed of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Fly in a zigzag pattern for 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a zigzag flight pattern for a duration of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a serpentine motion for a period of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a back-and-forth flying motion for a duration of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "back-and-forth"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Soar in a crisscross pattern for a total of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "crisscross"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +- Fly forward at a speed of 30 km/h for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "distance": 500,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_distance": "meters"', ' }', '}'] +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 8.33,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 60,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Glide forward at a rate of 30 km/h, covering a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "distance": 500.0,', ' "unit_distance": "meters"', ' }', '}'] +- Hover at a specific location for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary at a designated spot for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one place for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a fixed position for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold steady at a specific point for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +- Ascend to an altitude of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "",', ' "unit_altitude": "meters",', ' "unit_duration": ""', ' }', '}'] +Increase your height until you reach an altitude of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb up until you are at an altitude of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move upwards until you reach a height of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "upwards"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an altitude that is 500 meters above ground level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 500)"', ' }', ' }', '}'] +- Perform a horizontal slide to the left for 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "duration": 200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Slide 200 meters horizontally to the left.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, -200.0, 0.0)"', ' }', ' }', '}'] +Move to the left in a horizontal slide for a distance of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "duration": 18.95,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a horizontal leftward slide spanning 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, -200, 0)"', ' }', ' }', '}'] +Take a 200 meter horizontal slide towards the left.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, -200, 0)"', ' }', ' }', '}'] +- Circle around a fixed point at a radius of 100 meters for 5 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.0,', ' "angle": 0,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes.,['{', ' "action": "orbit",', ' "params": {', ' "radius": 100,', ' "duration": 300,', ' "unit_radius": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Fly backward at a speed of 40 km/h for 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 1,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100, ', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.11111111111111,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 54,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.111,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 3.6,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Descend rapidly at a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": -10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Quickly descend at a speed of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Drop down rapidly, maintaining a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": -10,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a swift descent, descending at a speed of 10 meters per second.,['{', ' "action": "descend",', ' "params": {', ' "speed": 10.0,', ' "unit_speed": "meters",', ' "unit_altitude": "seconds"', ' }', '}'] +Go down at a rapid pace, descending at a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": -10,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 0,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +- Fly in a figure-eight pattern for 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a figure-eight flight maneuver for a duration of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a pattern resembling the shape of an eight for a total of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "eight"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Ascend to an altitude of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Achieve an elevation of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 800 meters above sea level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 800)"', ' }', ' }', '}'] +Climb to an altitude of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move up to a height of 800 meters above sea level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 800)"', ' }', ' }', '}'] +- Hover in place while capturing photos for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary hover for a duration of 20 minutes, taking photos.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold position and take photographs for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one spot and capture photos continuously for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in the air and photograph for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +- Fly forward at a speed of 50 km/h for 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "forward" ', ' },', ' "duration": 0,', ' "distance": 2.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "unit_distance": "kilometers"', ' }', '}'] +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.889,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 5400,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "distance": 2000,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "unit_distance": "meters"', ' }', '}'] +Propel forward for 2 kilometers at a rate of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 72.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 500,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Descend to a low altitude of 50 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower your altitude to 50 meters above the ground.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 50)"', ' }', ' }', '}'] +Move down to an altitude of 50 meters above the ground.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -50)"', ' }', ' }', '}'] +Decrease your altitude until you are only 50 meters above the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend to a height of 50 meters above the ground level.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +- Perform a sudden stop and hover for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Execute an abrupt halt and remain stationary for a duration of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Achieve an instant stop and remain suspended in the air for a period of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Implement a sudden pause and hover motionless for a timeframe of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +- Land at the designated landing zone, then record a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +After landing at the specified landing area, proceed to film a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}', ''] +Upon arrival at the designated landing zone, commence recording a video.,['{', ' "action": "start_video_recording",', ' "params": {}', '}'] +Touch down at the designated landing zone and proceed to capture a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Once you have safely landed at the assigned landing area, begin filming a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'] +Achieve a position at an altitude of 500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'] +Ascend to a height of 500 feet above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude, default_altitude)"', ' }', ' }', '}'] +Move forward for a mile, traveling at a speed of 40 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 17.8806,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 112,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 17.8816,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.0568182,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel forward for a distance of 1 mile, with a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0.0277778,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'] +Reduce your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'] +Lower down to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 200,', ' "unit_altitude": "meters"', ' }', '}'] +Move downwards until you reach an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, -200)"', ' }', ' }', '}'] +Descend until you are flying at 200 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in the air for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remained fixed in mid-air for a time span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself without moving for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn clockwise by 180 degrees, at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 72,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 72,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "distance": 2.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_distance": "kilometers"', ' }', '}'] +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "distance": 2000,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_distance": "meters"', ' }', '}'] +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 5142.857142857143,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Move upward and maintain a height of 1000 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Fly forward for 5 miles at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100, ', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 29.5736,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a straight line for 5 miles, moving at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 5,', ' "unit_speed": "miles/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "distance": 5.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "unit_speed": "mph",', ' "unit_distance": "miles"', ' }', '}'] +Hover and take aerial photographs for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Capture aerial photographs by flying and hovering for a duration of 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Take aerial photos by hovering in the air for a total of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly and maintain a hover position for 20 minutes to capture aerial photographs.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Descend to an altitude of 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower down to an altitude of 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reduce your altitude to 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 100)"', ' }', ' }', '}'] +Move downward until you reach an altitude of 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you are at a height of 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0, // Default altitude', ' "direction": {', ' "type": "str",', ' "value": "clockwise" // Assumed direction since not specified', ' },', ' "duration": 0, // Default duration', ' "unit_speed": "km/h",', ' "unit_altitude": "meters", // Assumed unit since not specified', ' "unit_duration": "seconds" // Assumed unit since not specified', ' }', '}'] +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circle"', ' },', ' "radius": 500.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_radius": "meters"', ' }', '}'] +Circle at a speed of 20 km/h with a 500-meter radius.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 1000,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "distance": 2 * 3.14159 * 500', ' }', '}'] +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your elevation to a height of 1500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 1500)"', ' }', ' }', '}'] +Climb to a 1500-foot altitude.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to a level that is 1500 feet above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward and survey the area for 3 miles at a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": ,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3,', ' "unit_speed": "mph",', ' "unit_altitude": ,', ' "unit_duration": "miles"', ' }', '}'] +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": null,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover and drop a package at the designated location.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Carry a package and release it at the specified spot by slightly floating above it.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Gently float and deposit a package at the predetermined destination.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Utilize aerial suspension to transport and release a package precisely where directed.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Levitate above a designated area and carefully place a package down.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Descend to an altitude of 50 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default, default, 50)"', ' }', ' }', '}'] +Reduce your altitude to 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go down to a height of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower yourself to an altitude of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you reach a height of 50 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -50)"', ' }', ' }', '}'] +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 80,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 80,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "figure_eight"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Ascend to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 2000,', ' "unit_altitude": "feet"', ' }', '}'] +Climb to an elevation of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to a level that is 2000 feet above ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' } ', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward and inspect power lines for 4 miles at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.176,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 210.4,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 4,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, undetermined)"', ' }', ' }', '}'] +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.176,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 2148.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Land at the designated landing zone, then take a nap.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +After successfully reaching the designated landing zone, feel free to relax and take a nap.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Fly forward for 1 kilometer at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 22.22222222222222,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 15.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Ascend to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb up to an elevation of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move upwards until you are at an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "upwards"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Achieve a vertical position of 500 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in the air for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep yourself hovering in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a fixed position in the air for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 500 meters at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move straight ahead at 50 km/h for a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 500,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'] +Decrease your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'] +Bring your altitude down to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'] +Hover in place for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for a period of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold your position for a span of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Do not move for a total of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn to the left by 45 degrees at a rate of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Spin counterclockwise by 45 degrees, moving 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 3 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1000,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel straight ahead for 3 kilometers at a rate of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 30,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 162,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 800 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 800.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Climb to an elevation of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 800 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 800)"', ' }', ' }', '}'] +Go up to a height of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for the next 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in place without moving for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend motion for a time period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 2.5 kilometers at a speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 2.5,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0.13636363636363635,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Descend to an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 300)"', ' }', ' }', '}'] +Lower yourself to a height of 300 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reduce your altitude to 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 300)"', ' }', ' }', '}'] +Move down to a height of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 300)"', ' }', ' }', '}'] +Descend until you reach an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 300)"', ' }', ' }', '}'] +Hover in place for 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary position for a period of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend movement and remain in one spot for 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep hovering without moving for a total of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left at a rate of 25 degrees per second for 120 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": -25.0,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 4 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": null,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": null,', ' "unit_speed": "km/h",', ' "unit_altitude": null,', ' "unit_duration": null', ' }', '}'] +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 1800,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.2,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel at 80 km/h in a straight path for 4 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 17.77777777777778,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb up to an elevation of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Scale up to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in one spot for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay airborne without moving for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep stationary in mid-air for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend motion and hover in the same position for a duration of 20 minutes.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 2.7 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 162,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 27,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 27,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.27,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Descend to an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude, 400)"', ' }', ' }', '}'] +Reduce your altitude to 400 meters.,['{', ' "action": "fly", ', ' "params": {', ' "speed": 10.5, ', ' "altitude": 400, ', ' "direction": {', ' "type": "str", ', ' "value": "north"', ' }, ', ' "duration": 10, ', ' "unit_speed": "m/s", ', ' "unit_altitude": "meters", ', ' "unit_duration": "seconds"', ' }', '}'] +Move down until you are at an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 400)"', ' }', ' }', '}'] +Descend until you reach a height of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, -400)"', ' }', ' }', '}'] +Lower your altitude to 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 400)"', ' }', ' }', '}'] +Hover in place for 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one spot for a duration of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for a period of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep still for 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Do not move for a total of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 5 kilometers at a speed of 90 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 90,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 90.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 90.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 90.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 33.3,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your elevation to 1200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 1200)"', ' }', ' }', '}'] +Climb to a height of 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an altitude of 1200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1200)"', ' }', ' }', '}'] +Move upwards to a position of 1200 meters above ground level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 1200)"', ' }', ' }', '}'] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in place without moving for a period of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold your position in mid-air for a total of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55.0,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55.0,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55.0,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 3.2 kilometers at a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 300,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight for 3.2 kilometers at a pace of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower your altitude to 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Decrease your altitude to 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 500)"', ' }', ' }', '}'] +Descend until you reach an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 500)"', ' }', ' }', '}'] +Bring yourself down to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary hover for a duration of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one position for a period of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 18.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in the air for a total of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Do not move and stay at the same spot for the next 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": -45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 6 kilometers at a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 27.8,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Move forward for 6 kilometers while flying at a velocity of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "distance": 6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "unit_distance": "kilometers"', ' }', '}'] +Ascend to an altitude of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 1400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1400)"', ' }', ' }', '}'] +Scale to a height of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go up to an altitude of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0, ', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary position for the next half-hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain hovering without moving for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself in the air for the next 30 minutes without any movement.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 3.7 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3.7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 31.714285714285715,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3.7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": null,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend to an altitude of 600 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reduce your altitude to 600 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move down to an altitude of 600 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 600)"', ' }', ' }', '}'] +Decrease your altitude until you reach 600 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 600)"', ' }', ' }', '}'] +Descend until you are at 600 meters altitude.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, -600)"', ' }', ' }', '}'] +Hover in place for 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 22.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold your position for a period of 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Do not move for the next 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left by 210 degrees with a rotational velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.5556,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.23076923076923078,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your elevation to 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'] +Climb up to a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move upward to a height of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 500)"', ' }', ' }', '}'] +Fly forward for 10 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0.125,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Move forward at a rate of 80 km/h for a total of 10 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position without movement for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep floating in a fixed location for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in mid-air without any displacement for a total of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please touch down at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make your descent and land on the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is required for you to land at the designated area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ensure that you land precisely at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Descend to an altitude of 100 meters.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Reduce your altitude to 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Decrease your altitude to 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you reach an altitude of 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 100)"', ' }', ' }', '}'] +Bring yourself down to an altitude of 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 100)"', ' }', ' }', '}'] +Fly backward for 5 kilometers at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 7.2,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 7.2,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "reverse"', ' },', ' "duration": 90.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Circle around a specific location for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Perform a circular motion around a particular spot for a duration of 20 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Move in a circular pattern around a designated area for a period of 20 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Encircle a specific location for 20 minutes, continuously moving in a circular motion.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Follow a circular path around a particular place for a duration of 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Ascend to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 1000 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1000)"', ' }', ' }', '}'] +Climb up to an elevation of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase the altitude to 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 1000', ' }', '}'] +Achieve a vertical position of 1000 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1000)"', ' }', ' }', '}'] +Fly forward for 15 kilometers at a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 900,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 27.77777777777778,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 54.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 27.78,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0.54,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in midair for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain airborne without moving for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate to the right by 90 degrees at a rate of 30 degrees every second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 90,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please land at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ensure you land at the indicated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is important to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make sure to land precisely at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'] +Decrease your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'] +Lower yourself to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go down to a height of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 200)"', ' }', ' }', '}'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'] +Fly backward for 3 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 36,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.88888888888889,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 1000,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": null,', ' "direction": {', ' "type": "str",', ' "value": "reverse"', ' },', ' "duration": null,', ' "unit_speed": "kilometers/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Circle around a specific location for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Perform a 30-minute loop around a designated area.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go in a circular route around a specific spot for half an hour.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Complete a 30-minute circuit around a particular location.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Traverse in a circular path around a specific point for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90.0,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90.0,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Ascend to an altitude of 700 meters and swin.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude, 700)"', ' }', ' }', '}'] +Gain an elevation of 700 meters and swim.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 700)"', ' }', ' }', '}'] +Reach a height of 700 meters and engage in swimming.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 700,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to a 700-meter altitude and partake in swimming.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 700,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 700 meters and then swim.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 700,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 8 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 86.4,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 411.4285714285714,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 41,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly straight for a total of 8 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 400,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 20 minutes and watch TV.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "m"', ' }', '}'] +Stay stationary for a duration of 20 minutes while watching television.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position and engage in television viewing for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold a steady hover for 20 minutes while enjoying television watching.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in one place without moving for 20 minutes and entertain yourself by watching TV.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone, then sing loudly.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +After successfully landing at the designated landing zone, proceed to sing loudly.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Rise to a position 500 feet above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 1 mile at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0.0296,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 63.63636363636363,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel straight ahead for 1 mile at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.4112,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position without moving for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in mid-air without any motion for a time span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold a hover position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'] +Decrease your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'] +Lower your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'] +Move down to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -200)"', ' }', ' }', '}'] +Descend until reaching an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'] +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 36.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": default_value,', ' "direction": default_value,', ' "duration": 3.0,', ' "unit_speed": "km/h",', ' "unit_altitude": default_value,', ' "unit_duration": "hours"', ' }', '}'] +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 3,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Perform a barrel roll to the left.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a left barrel roll.,['{}'] +Rotate in a barrel roll towards the left.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a barrel roll in a counterclockwise direction.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Initiate a leftward barrel roll.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Ascend to an altitude of 1000 feet and maintain it for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your elevation to 1000 feet and sustain it for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Elevate to 1000 feet and retain that height for the next 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly backward for 500 meters at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 0.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "reverse"', ' },', ' "duration": 12.5,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 0.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Reverse your flight and go for 500 meters at a velocity of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.1111111111,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 45,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100, ', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": -15,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Descend to an altitude of 100 feet and hold for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -100)"', ' }', ' }', '}', '', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend until you reach an altitude of 100 feet and remain there for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "feet"', ' }', '}'] +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "circle"', ' },', ' "radius": 1000,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_radius": "meters"', ' }', '}'] +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 300 meters and maintain it for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Climb to a height of 300 meters and stay there for a duration of 30 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 30,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Scale up to an altitude of 300 meters and sustain it for 30 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 15 minutes and then proceed forward for 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": -1, ', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "duration": 1,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "miles"', ' }', '}'] +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": "default",', ' "direction": {', ' "type": "str",', ' "value": "serpent"', ' },', ' "duration": "default",', ' "unit_speed": "mph",', ' "unit_altitude": "default",', ' "unit_duration": "default"', ' }', '}'] +Fly in a zigzag pattern for a mile at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.176,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 28.339,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend to an altitude of 100 meters and hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Lower your altitude to 100 meters and remain stationary for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend until reaching an altitude of 100 meters and then hover for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 16.67,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10.8,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194)"', ' }', ' }', '}'] +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": "default",', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "default",', ' "unit_duration": "seconds"', ' }', '}', '', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}', '', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a loop-de-loop and then watch TV.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a loop-de-loop and subsequently engage in watching TV.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Carry out a loop-de-loop and proceed to view television.,['{}'] +Conduct a loop-de-loop before indulging in some TV time.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Maneuver a loop-de-loop and then enjoy some TV programming.,['{', ' "action": "undefined"', '}'] +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your height to 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb up to an elevation of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 500,', ' "unit_altitude": "feet"', ' }', '}'] +Reach an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 500,', ' "unit_altitude": "feet"', ' }', '}'] +Go up to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 1,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1,', ' "unit_speed": "miles per hour",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1.467,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 1,', ' "unit_speed": "miles per hour",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.02,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one spot for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Float in the same position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself in midair for a span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please land at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +You are required to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make sure to land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is important to secure a landing at the designated zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Fly sideways for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "sideways"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move horizontally for a distance of 500 meters while airborne.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 45.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a lateral flight movement covering a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "east"', ' },', ' "duration": 47.62,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Traverse 500 meters in a sideways direction while in flight.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "sideways"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel parallel to the ground for a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your elevation to 1000 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 1000)"', ' }', ' }', '}'] +Climb to a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an altitude of 1000 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Move upwards to a level of 1000 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude, 304.8)"', ' }', ' }', '}'] +Fly in a circular pattern with a radius of 500 meters for 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "radius": 500,', ' "unit_radius": "meters",', ' "pattern": "circular",', ' "pattern_duration": 1200,', ' "unit_pattern_duration": "seconds"', ' }', '}'] +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circles"', ' },', ' "duration": 20*60,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'] +Go down to a height of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower yourself to an elevation of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 200)"', ' }', ' }', '}'] +Decrease your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] diff --git a/evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_Ground_Robot_GPT4.txt b/evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_Ground_Robot_GPT4.txt new file mode 100644 index 0000000..35eaf9b --- /dev/null +++ b/evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_Ground_Robot_GPT4.txt @@ -0,0 +1,1000 @@ +Move forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead covering a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": null, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Advance by 1 meter in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Take a step forward spanning 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Move ahead for a length of 1 meter.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in an anti-clockwise direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate 90 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Spin in the opposite direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move backward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Go backwards for a duration of 2 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false}}'] +Reverse your direction and travel for a span of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Retreat for a time frame of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Take two seconds to move in the opposite direction.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Turn left and move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Move forward for 5 meters, then turn left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Proceed for 5 meters, then make a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}},', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Take a left turn and continue moving forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Make a leftward turn and advance for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 50, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn in a clockwise direction by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 180 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a clockwise rotation of 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Move forward at a velocity of 0.5 meters per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Advance at 0.5 meters per second for a total of 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Turn right and move forward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Proceed forward for a distance of 3 meters after making a right turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +After turning right, continue straight for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Make a right turn and advance for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Execute a rightward turn and then travel straight ahead for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Move backward at a velocity of 1 meter per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "second"}}'] +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Rotate counterclockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Rotate 270 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Perform a counterclockwise rotation of 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Move forward for 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Proceed ahead by a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Advance for a span of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Travel forward, covering a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Move straight ahead, going 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meters"}}'] +Rotate clockwise by 45 degrees and move forward for 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Move forward for 1 meter while rotating 45 degrees clockwise.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meters"}}'] +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Turn left and move forward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Proceed straight for 3 seconds after taking a left turn.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Take a left turn and continue advancing for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Make a left turn and proceed forward for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +After turning left, move straight ahead for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Move backward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Reverse direction and travel 1 meter.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Go back for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Retreat for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Take one step backward covering a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Rotate counterclockwise by 120 degrees and move forward for 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": null, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Move forward at full speed for 20 seconds.,['{"action": "move", "params": {"linear_speed": "full", "distance": 20, "is_forward": true, "unit": "seconds"}}'] +Proceed ahead at maximum velocity for a duration of 20 seconds.,['{"action": "move", "params": {"linear_speed": "maximum", "distance": "undetermined", "is_forward": true, "duration": 20, "unit": "seconds"}}'] +Travel straight ahead at top speed for a duration of 20 seconds.,['{"action": "move", "params": {"linear_speed": "top", "distance": 20, "is_forward": true, "unit": "seconds"}}'] +Advance forward with utmost speed for a period of 20 seconds.,['{"action": "move", "params": {"linear_speed": "maximum", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'] +Go straight ahead at full throttle for a duration of 20 seconds.,['{"action": "move", "params": {"linear_speed": "full_throttle", "distance": 0, "is_forward": true, "duration": 20}}'] +Rotate clockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Turn right by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Perform a clockwise rotation of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a clockwise direction, making a 60-degree turn.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Rotate to the right, making a 60-degree angle.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Move backward at a velocity of 0.75 meters per second for 8 seconds.,['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Reverse at 0.75 meters per second for a duration of 8 seconds.,['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.,['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false}}'] +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.,['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.,['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Turn right and move forward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Take a right turn and proceed straight ahead for a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Make a right turn and continue moving forward for 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Rotate to the right and advance ahead for a distance of 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Go to the right and keep moving straight for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Move forward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Advance ahead 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Go forward a total of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Travel straight for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 45, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Turn left 90 degrees and proceed forward for a duration of 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 45, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.,['{"action": "rotate", "params": {"angular_velocity": 45, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "seconds"}}'] +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 45, "angle": 90, "is_clockwise": false, "unit": "degrees"}} {"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'] +Make a left turn of 90 degrees and proceed forward for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "duration": 2, "is_forward": true, "unit": "seconds"}}'] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Proceed ahead a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Advance for a total of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Travel straight ahead covering a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Go forward a length of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Turn left and continue for 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Make a left turn and keep going for 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Go left and continue for 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "seconds"}}'] +Take a left turn and continue for a duration of 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "seconds"}}'] +Proceed by turning left and maintaining that direction for 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "seconds"}}'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn 90 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Perform a counterclockwise rotation of 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move in a counterclockwise direction, turning by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Back up 2 meters and stop.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Move back a distance of 2 meters and come to a halt.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Reverse by 2 meters and come to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Retreat 2 meters and bring yourself to a standstill.,['{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Step backward 2 meters and cease movement.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Move forward at a speed of 0.5 meters per second for 6 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Turn right and move forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Make a right turn and proceed ahead for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Take a right turn and continue moving straight for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Head to the right and advance forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate right and proceed ahead for a length of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn in a clockwise direction until you have rotated 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate 180 degrees in the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn to the right until you are facing the opposite direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Move backward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'] +Go in reverse for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Reverse your movement for a total of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "second"}}'] +Backtrack for a period of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Take a 3-second step backwards.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'] +Turn left and continue for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Take a left turn and proceed straight ahead for a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Make a left turn and keep going for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Go left and carry on for a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": false, "unit": "meter"}}'] +Head to the left and continue for a length of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Move forward at a speed of 1 meter per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'] +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "second"}}'] +Advance for 4 seconds, maintaining a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'] +Travel forward for 4 seconds, moving at a rate of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'] +For a period of 4 seconds, move ahead at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Change the orientation by 45 degrees in a counterclockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anticlockwise by an angle of 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Go straight for 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Proceed in a straight line for a distance of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'] +Continue in a straight direction for a span of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Maintain a straight path for a duration of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Stay on course for a distance of 8 meters ahead.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Turn right and move forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'] +Proceed straight for 2 seconds after making a right turn.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Take a right turn and continue moving ahead for a duration of 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Make a right turn and advance forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +After turning right, keep moving forward for a period of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Move backward for 4 meters and stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Reverse for a distance of 4 meters and come to a halt.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Go back for 4 meters and then come to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meters"}}'] +Take 4 meters in reverse and cease movement.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Travel in the opposite direction for a distance of 4 meters and then pause.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Rotate clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Turn to the right by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Move in a clockwise direction, rotating 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Spin in a clockwise manner, completing a 270 degree rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 270 degrees in a clockwise fashion.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Turn left and continue for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Make a left turn and keep going for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Proceed straight for 3 meters after making a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +After turning left, travel straight for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Take a left and continue on for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Move forward at a speed of 0.3 meters per second for 5 seconds.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}}'] +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}}'] +Advance at a rate of 0.3 meters per second for a period of 5 seconds.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}}'] +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}}'] +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Turn 60 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Rotate to the left by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Make a counterclockwise rotation of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Go straight for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Proceed in a straight line for a duration of 6 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "second"}}'] +Keep moving forward in a straight path for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "second"}}'] +Maintain a straight course for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Continue in a straight direction for a period of 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Turn right and move forward for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Take a right turn and proceed straight ahead for a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Make a right-hand turn and continue moving forward for a length of 7 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Head to the right side and advance for a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Rotate to the right and travel straight for 7 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Move 2 meters forward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meters"}}'] +Proceed straight ahead by a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Advance 2 meters in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Take a step forward for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Move straight ahead, covering a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Turn left and move forward for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Move forward for 5 seconds after turning left.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +After making a left turn, proceed forward for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}}'] +Take a left turn and continue moving forward for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Start moving forward for 5 seconds after making a left turn.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate 90 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Perform a counterclockwise rotation of 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate by 90 degrees in the counterclockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move 3 meters backward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meters"}}'] +Go back 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Retreat 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Step 3 meters in reverse.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Travel in the opposite direction for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Turn right and move forward for 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Take a right turn and proceed straight ahead for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Make a right turn and advance ahead for a distance of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Head to the right and continue moving forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Go to the living room and stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'] +Please proceed to the living room and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'] +Make your way to the living room and cease moving.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living room"}}}'] +Head to the living room and stand still.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'] +Move towards the living room and come to a stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "living room"}}}'] +Move 4 meters forward at a speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn 180 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 180 degrees in the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn in a clockwise fashion, rotating 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn left and move forward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Make a left turn and proceed straight ahead for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'] +Take a left and continue moving forward, covering a span of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate to the left and advance for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Shift towards the left and travel straight for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Move 2 meters backward at a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Back up 2 meters with a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false}}'] +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Go to the bedroom and stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Please proceed to the bedroom and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "bedroom"}}}'] +Make your way to the bedroom and cease your movement.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Head to the bedroom and pause.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Go to the bedroom and stand still.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Rotate counterclockwise by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Turn 45 degrees in the counterclockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anticlockwise at an angle of 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Perform a 45-degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Turn right and move forward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Proceed forward for a distance of 4 meters after making a right turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Take a right and continue moving ahead for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +After making a right turn, advance straight for a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Make a right-hand turn and proceed forward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Move 1 meter forward at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Proceed ahead by 1 meter with a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Go one meter ahead, moving at a rate of one meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Travel forward for 1 meter while maintaining a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Turn 270 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 270 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Execute a clockwise rotation of 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Shift the orientation by 270 degrees in a clockwise fashion.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Turn left and move forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Proceed forward for 2 seconds, then make a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Take a left turn and continue moving straight ahead for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Make a left turn and drive forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'] +After turning left, continue moving straight for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Move 3 meters backward at a speed of 1.5 meters per second.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go to the dining room and stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}}}'] +Proceed to the dining room and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "dining room"}}}'] +Head over to the dining room and pause.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining room"}}}'] +Make your way to the dining room and bring yourself to a stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "dining room"}}}'] +Move towards the dining room and cease your motion.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "dining room"}}}'] +Rotate counterclockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Execute a 60-degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false}}'] +Rotate anticlockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Proceed ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Advance straight ahead for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Travel forward for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Go in the forward direction for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn 90 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anticlockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate to the left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Change the orientation to the left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move backward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Reverse for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": false, "unit": "seconds"}}'] +Go in reverse for a period of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "second"}}'] +Travel backwards for a total of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Move in the opposite direction for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Turn left and move forward for 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Proceed forward for 2 meters after making a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Make a left turn and advance for 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Take a left and continue forward for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Move ahead for 2 meters after making a leftward turn.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Make a U-turn and move in the opposite direction for 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "second"}}'] +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": false, "unit": "degrees"}}'] +Turn around and travel in the opposite direction for a duration of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "seconds"}}'] +Perform a U-turn and move in the opposite direction for 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "second"}}'] +Rotate clockwise by 180 degrees and stop.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation and then come to a halt.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a clockwise rotation of 180 degrees and then cease movement.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn right by 180 degrees and then stop.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a clockwise direction by 180 degrees and then come to a stop.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Move diagonally to the right for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Go right at an angle for a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Travel in a diagonal direction to the right covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Proceed at a diagonal towards the right, moving 4 meters.,['{"action": "move", "params": {"linear_speed": null, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Move to the right diagonally, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Turn right and move forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Make a right turn and proceed one meter forward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Take a right and continue moving ahead for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate to the right and advance straight ahead for 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Facing towards the right, progress forward for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Move in a zigzag pattern for 8 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'] +Perform a zigzag movement continuously for a duration of 8 seconds.,['{"action": "move", "params": {"linear_speed": "undefined", "distance": "undefined", "is_forward": true, "unit": "seconds"}}'] +Traverse in a serpentine motion for 8 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "seconds"}}'] +Alternate your path in a zigzagging pattern for the next 8 seconds.,['{"action": "ignore", "params": {}}'] +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'] +Rotate counterclockwise by 45 degrees and move forward for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Turn left by 45 degrees and advance for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Move backward and stop at the nearest obstacle.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": false}}'] +Reverse and come to a halt once you reach the closest object in your path.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Back up and cease movement upon reaching the nearest obstruction.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Retreat and come to a stop when you encounter the closest barrier.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Go in reverse and stop once you reach the nearest obstacle.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Turn left and move in a curved path for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meters"}}'] +Make a leftward turn and proceed along a curving route spanning 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Go left and follow a curved path for a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Regulate your movement to the left and travel in a curved trajectory for 6 meters.,['{"action": "move", "params": {"linear_speed": null, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Move forward at a speed of 1 meter per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Advance at a rate of 1 meter per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'] +Travel forward for 10 seconds, covering a distance of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}, ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}'] +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'] +After rotating 30 degrees clockwise, continue moving forward for 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Move in a circular path with a radius of 2 meters for 7 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "meter"}}'] +Circle around with a radius of 2 meters for a duration of 7 seconds.,['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": "undetermined"}}'] +Perform circular movement with a radius of 2 meters for 7 seconds.,['This action is not defined in the given ontology, hence it cannot be converted to json.'] +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.,['{"action": "rotate", "params": {"angular_velocity": 2, "angle": 7, "is_clockwise": true, "unit": "seconds"}}'] +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.,['{"action": "move", "params": {"linear_speed": 0.2857142857142857, "distance": 2, "is_forward": true, "unit": "meters"}}'] +Turn right and move forward for 5 seconds, then revert back.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Make a right turn and proceed forward for 5 seconds, then return back.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Take a right turn and advance ahead for 5 seconds, then go back in reverse.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'] +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.,['{"action": "rotate", "params": {"angular_velocity": "default", "angle": "default", "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": "default", "distance": "default", "is_forward": true, "unit": "seconds"}}, ', '{"action": "move", "params": {"linear_speed": "default", "distance": "default", "is_forward": false, "unit": "seconds"}}'] +Change direction to the right and go forward for 5 seconds, then reverse back.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'] +Move along the perimeter of the room for 1 minute.,['{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "unit": "minute"}}'] +Walk around the edges of the room for 1 minute.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "minute"}}'] +Circulate along the boundary of the room for 1 minute.,['{"action": "move", "params": {"linear_speed": 1, "distance": 60, "is_forward": true, "unit": "minutes"}}'] +Patrol the perimeter of the room for 1 minute.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Perimeter of the room"}}}'] +Traverse the outer edges of the room for 1 minute.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Outer edges of the room"}}}'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 60, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate anticlockwise by 60 degrees and advance 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Make a 60-degree left turn and move forward 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Move forward at a variable speed for 10 seconds.,['{"action": "move", "params": {"linear_speed": "variable", "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.,['{"action": "move", "params": {"linear_speed": "adjustable", "distance": "adjustable based on time and speed", "is_forward": true, "unit": "seconds"}}'] +Advance for a period of 10 seconds, with variable speed.,['{"action": "move", "params": {"linear_speed": "variable", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'] +Travel forward, varying the speed, for a total of 10 seconds.,['{"action": "move", "params": {"linear_speed": "varies", "distance": "undetermined", "is_forward": true, "unit": "second"}}'] +Move ahead for 10 seconds, adjusting the speed accordingly.,['{"action": "move", "params": {"linear_speed": "adjustable", "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Move backward and stop 1 meter away from the designated target.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": -1, "is_forward": false, "unit": "meter"}}'] +Reverse direction and come to a halt at a distance of 1 meter from the specified target.,['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": false}}'] +Go in the opposite direction and pause when you are 1 meter away from the assigned target.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.,['{"action": "move", "params": {"linear_speed": 0.1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Move forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Proceed ahead by 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Advance for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Travel in a forward direction for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Go straight for a span of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anticlockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate to the left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Spin counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move backward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false}}'] +Go backward for a duration of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Reverse direction and continue for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'] +Retreat for a period of 2 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false}}'] +Take a step back and hold for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "step"}}'] +Turn left and move forward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Take a left turn and proceed ahead for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Rotate to the left and proceed forward, covering a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Go left and move straight ahead for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Move at a speed of 2 meters per second for 5 seconds.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Travel with a velocity of 2 meters per second for a duration of 5 seconds.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Maintain a pace of 2 meters per second for a period of 5 seconds.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Perform movement with a speed of 2 meters per second over a span of 5 seconds.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Cover a distance at 2 meters per second for a time period of 5 seconds.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 180 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a clockwise rotation of 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn 180 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a clockwise fashion, making a 180-degree turn.,['{"action": "rotate", "params": {"angular_velocity": undefined, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Move forward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Advance forward, spanning 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Take 4 steps in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "step"}}'] +Travel a distance of 4 meters, moving in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Turn right and move backward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Rotate to the right and travel in reverse for a distance of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Make a right turn and proceed backwards for a length of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Face right and move backwards, covering a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Rotate counterclockwise by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anti-clockwise by a 45-degree angle.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in a counterclockwise direction by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate to the left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Move forward for 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Proceed straight ahead for a duration of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Advance continuously for a period of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Travel forwards for a span of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'] +Progress ahead for a time interval of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Turn left and move at a speed of 1 meter per second for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Move backward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go back 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Reverse your direction and travel 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Take 3 steps backwards.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "steps"}}'] +Rotate clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate 270 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Perform a clockwise rotation of 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Turn right by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 60, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 270 degrees in the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Proceed ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Advance 5 meters in the forward direction.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true}}'] +Take 5 meter steps forward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Go ahead and travel a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Turn right and move at a speed of 1.5 meters per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meters"}}'] +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}, {"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 15, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Move in an anti-clockwise direction by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Perform a counterclockwise rotation of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Move forward for 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Advance onward by 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'] +Travel straight ahead, covering a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Take 2 meters forward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Turn left and move at a speed of 0.5 meters per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Face left and advance at a pace of 0.5 meters per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Move backward for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Go back 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Reverse direction and move 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Travel in the opposite direction and cover a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Advance by 5 meters in a forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'] +Go ahead for a span of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Cover a distance of 5 meters by moving forward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn 90 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in a counterclockwise direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anti-clockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Make a 90-degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Stop.,['{"action": "", "params": {}}'] +Cease.,['{}'] +Halt.,['{}'] +Pause.,['{"action": "", "params": {}}'] +Terminate.,['{}'] +Reverse for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Reverse for a duration of 2 seconds.,['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false}}'] +Go back for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Move in reverse for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'] +Go in the opposite direction for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'] +Turn left and move forward for 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Proceed forward for a distance of 10 meters after making a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Make a left-hand turn and continue straight ahead for a distance of 10 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +After turning left, continue moving straight ahead for a total of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Execute a left turn and then travel forward for a distance of 10 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Move backward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'] +Go back for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "meters"}}'] +Reverse movement for a period of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'] +Retreat for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Take a step back for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 15, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a clockwise direction by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn right and rotate 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a rotation of 180 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn right and move forward for 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'] +Proceed forward for a distance of 8 meters after making a right turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'] +Take a right turn and continue moving straight ahead for a duration of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'] +After making a right-hand turn, advance 8 meters in a forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Rotate to the right, then travel straight ahead for a distance of 8 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Move forward for 1 meter and stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead for a distance of 1 meter and come to a halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Advance one meter ahead and then come to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Travel in the forward direction for a length of 1 meter and then cease movement.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Move ahead for a distance of 1 meter, and then bring the movement to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 135 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'] +Rotate 135 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'] +Turn 135 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anticlockwise by 135 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'] +Perform a 135 degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'] +Move backward for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Go in reverse for a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Take 6 steps back.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "steps"}}'] +Retreat 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Travel 6 meters in the opposite direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Turn left and move forward for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'] +Take a left turn and proceed straight ahead for a duration of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'] +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "second"}}'] +Pivot to the left and advance forward for a period of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'] +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "duration": 4, "unit": "seconds"}}'] +Rotate clockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Turn 60 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Rotate the object by 60 degrees in the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Move in a clockwise direction, making a 60 degree turn.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Rotate 60 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Move forward for 7 meters and stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Proceed straight for a distance of 7 meters and come to a halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Advance ahead covering a distance of 7 meters and then cease movement.,['{"action": "move", "params": {"distance": 7, "is_forward": true, "linear_speed": 1, "unit": "meter"}}'] +Go forward 7 meters and then come to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Move straight ahead, covering a distance of 7 meters, and then halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Reverse for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'] +Reverse for a duration of 5 seconds.,['{"action": "move", "params": {"linear_speed": 0.2, "distance": 1, "is_forward": false, "unit": "seconds"}}'] +Perform a 5-second reverse.,['{"action": "move", "params": {"linear_speed": 0.2, "distance": 1, "is_forward": false}}'] +Execute a reverse motion for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false}}'] +Go backwards for a period of 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false}}'] +Turn right and move forward for 9 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'] +Move forward for 9 meters after turning right.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true, "unit": "meter"}}'] +After turning right, proceed ahead for a distance of 9 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'] +Take a right turn, then continue moving straight for a distance of 9 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'] +Make a right turn and travel forward for 9 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'] +Move forward for 2 seconds and stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'] +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'] +Go ahead for 2 seconds and then halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Advance for a period of 2 seconds and then cease movement.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'] +Travel forward for 2 seconds before stopping.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Rotate counterclockwise by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Turn 30 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the anticlockwise direction by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Rotate to the left by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in a counterclockwise direction, making a 30-degree turn.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Reverse for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Move back for a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Go in reverse for a span of 4 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Retreat 4 meters in the opposite direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Travel backwards, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Turn left and move forward for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Proceed forward for 6 seconds after making a left turn.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Make a left turn and advance for 6 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Move ahead for 6 seconds after turning to the left.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +After veering left, continue straight for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Proceed ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Advance straight on and cover a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Head forward and travel 5 meters in that direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Move straight ahead and go a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Turn left and move forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Move ahead for 2 seconds after turning left.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +After turning to the left, proceed forward for a duration of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Take a left turn and then proceed straight for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'] +Make a left turn and continue moving forward for a duration of 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn in the opposite direction by an angle of 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anticlockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Spin to the left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Twist counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move backward for 3 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go in reverse for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Travel three meters in the opposite direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Reverse your movement and cover a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Turn right and move forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Proceed forward for 1 meter after turning to the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Take a right turn and continue moving straight ahead for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": true, "unit": "meter"}}'] +After making a right turn, proceed ahead for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate to the right and then advance for a distance of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Move forward at a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Proceed ahead with a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Advance with a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Go forward at a rate of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Travel in a forward direction at a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn by 180 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a clockwise manner, completing a 180-degree turn.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a clockwise rotation, rotating by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Move forward for 10 meters at a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Go ahead for 10 meters, moving at a pace of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Turn left and move forward for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}}'] +Make a left turn and proceed straight ahead for a duration of 5 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Take a left and advance in a forward direction for a span of 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'] +Rotate to the left and proceed ahead for a duration of 5 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Veer left and move forward for an interval of 5 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2.5, "is_forward": true, "unit": "second"}}'] +Move backward at a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Go in reverse at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": false, "unit": "meter"}}'] +Travel backwards with a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Move in the opposite direction at a rate of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Go backward at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "is_forward": false, "unit": "meter"}}'] +Rotate counterclockwise by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate 45 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in an anticlockwise direction by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate to the left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Move forward for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Proceed ahead for a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Advance 7 meters in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Travel straight ahead for a length of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Go straight for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Turn right and move forward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Take a right turn and proceed ahead for a distance of 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Make a right turn and advance straight ahead covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Rotate towards the right and continue moving forward for 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Go right and travel straight ahead, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Move forward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'] +Go straight ahead for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true}}'] +Proceed in a forward direction for a span of 3 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true}}'] +Advance ahead for a period of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Travel forward for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'] +Turn left and move forward for 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Proceed straight for a distance of 2 meters after making a left turn.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +For a span of 2 meters, continue moving forward after taking a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Make a left turn and advance ahead for 2 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meters"}}'] +After turning left, go straight for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Turn to the right by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a clockwise direction by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 270-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 270 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Move backward for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Reverse direction and travel a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Go back 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Move in the opposite direction for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meters"}}'] +Turn right and move forward for 5 seconds.,['{"action": "move", "params": {"linear_speed": "unspecified", "distance": "unspecified", "is_forward": true, "unit": "seconds"}}'] +Take a right turn and proceed ahead for a duration of 5 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Make a right turn and continue moving straight for 5 seconds.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Go right and advance for a period of 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'] +Shift to the right and travel in a forward direction for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}}'] +Move forward at a velocity of 0.3 meters per second for 10 meters.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'] +Rotate 120 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'] +Perform a counterclockwise rotation of 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anti-clockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate counter to the clockwise direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Proceed straight ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Advance ahead by 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Travel in a forward direction, covering a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Move straight ahead and travel a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Turn left and move forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Proceed forward for 2 seconds after turning left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}} ', '{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +After making a left turn, continue straight ahead for 2 seconds.,['{"action": "move", "params": {"linear_speed": "default", "distance": "default", "is_forward": true, "unit": "second"}}'] +Take a left turn and then advance forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Rotate to the left and travel straight for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Stop and wait.,['{"action": "", "params": {}}'] +Cease and remain still.,['{}'] +Halt and stay put.,[''] +Pause and remain stationary.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'] +Desist and await further instruction.,['{}'] +Move backward for 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'] +Go back a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false}}'] +Retreat for a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'] +Reverse your direction and travel 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'] +Take 10 steps backward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "steps"}}'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 60, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a clockwise direction by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn by 180 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a clockwise rotation of 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn right and move forward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Make a right turn and proceed forward for a duration of 3 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "is_forward": true, "duration": 3, "unit": "seconds"}}'] +Take a right and continue moving straight ahead for a total of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Rotate to the right and advance for a period of 3 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Face towards the right and travel forward for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance":"undetermined", "is_forward": true, "duration": 3, "orientation": "right"}}'] +Go to the living room and stop.,['{"action": "go_to_goal", "params": {"location": "Living room"}}'] +Proceed to the living room and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living room"}}}'] +Move to the living room and cease all movement.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'] +Make your way to the living room and stand still.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living room"}}}'] +Head to the living room and remain stationary.,['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Move 2 meters to the left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Shift your position by 2 meters towards the left.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": false, "unit": "meters"}}'] +Change your location by 2 meters in a leftward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Relocate yourself 2 meters to the left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Move to the left by a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Rotate counterclockwise by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Execute a counterclockwise rotation of 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anticlockwise by an angle of 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Perform a 45-degree rotation in the counterclockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'] +Move forward at a speed of 0.5 meters per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Turn left and move forward for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Make a left turn and proceed straight ahead covering a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Take a left turn and continue moving ahead, advancing 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'] +Head to the left and travel straight for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Rotate in the left direction and proceed forward, covering a distance of 7 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meters"}}'] +Stop and reverse direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Come to a halt and begin moving in the opposite direction.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}}'] +Cease forward motion and start moving backwards.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Bring yourself to a stop and change your direction to the opposite way.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'] +Halt your movement and proceed in the opposite direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Move 3 meters to the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Shift 3 meters towards the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go 3 meters horizontally in the right direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Change your position by moving 3 meters to the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Traverse a distance of 3 meters towards the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Perform a clockwise rotation of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Rotate 60 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Turn to the right by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Rotate to the right by an angle of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'] +Turn right and move forward for 1 second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}}'] +Take a right turn and proceed straight ahead for 1 second.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Make a right turn and advance for 1 second.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "seconds"}}'] +Rotate to the right and move forward for 1 second.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "second"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}}'] +Go right and continue moving forward for 1 second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}}'] +Go to the bedroom and stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Head to the bedroom and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Make your way to the bedroom and cease all movement.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Proceed to the bedroom and pause.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Go to the bedroom and stand still.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Move backward for 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'] +Go 8 meters in reverse.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'] +Travel 8 meters in the opposite direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'] +Retreat for a distance of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'] +Reverse 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'] +Rotate counterclockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anti-clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Perform a 270-degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'] +Turn left and move forward for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Go forward for 6 seconds after turning left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Take a left turn and proceed straight for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +After turning left, continue moving forward for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "second"}}'] +Make a left turn and move ahead for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'] +Turn left and move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Take a left turn and proceed ahead covering a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Make a left turn and continue moving straight, covering a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Go left and advance forward, traveling a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Execute a left turn and proceed straight, ensuring a distance of 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn 90 degrees in the counterclockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anti-clockwise at a 90-degree angle.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Spin to the left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the counterclockwise direction, making a 90-degree turn.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move backward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "second"}}'] +Go in reverse for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Take a step back and continue for a total of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Reverse your movement and maintain it for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Retreat for a period of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'] +Turn right and move forward for 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Proceed forward for 10 meters after making a right turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Take a right and continue moving ahead for a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Make a right turn and travel straight ahead for a total of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +After turning right, advance forward and cover a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn in a clockwise direction by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": undefined, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a rotation of 180 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate by 180 degrees, following the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Move forward at a speed of 0.5 meters per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Go ahead for 4 seconds at a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Turn left and move backward for 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meters"}}'] +Take a left turn and proceed backwards for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Make a left turn and travel in reverse for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Rotate left and proceed in reverse for a total distance of 2 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meters"}}'] +Shift to the left and move backwards covering a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Move forward for 7 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'] +Proceed ahead for a duration of 7 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'] +Advance for a period of 7 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'] +Keep moving forward for 7 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'] +Continue ahead for a total of 7 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'] +Rotate counterclockwise by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by an angle of 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Rotate anticlockwise by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Make a 30 degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'] +Move backward at a speed of 1 meter per second for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'] +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'] +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'] +Travel backwards for 6 seconds at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'] +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'] +Turn right and move forward for 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'] +Proceed for 8 meters after taking a right turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'] +Take a right and continue straight ahead for a distance of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'] +Make a right turn and then proceed ahead for 8 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'] +After turning right, cover a distance of 8 meters by moving forward.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meters"}}'] +Rotate clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Turn 270 degrees to the right.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Turn three-quarters of a full rotation to the right.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Perform a clockwise rotation of 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in the clockwise direction, making a 270-degree turn.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'] +Move forward and then immediately stop.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'] +Proceed forward and promptly come to a halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Advance and instantaneously cease movement.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'] +Go forward and abruptly pause.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Move ahead and promptly end motion.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'] +Turn left and move backward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Make a left turn and proceed backwards for a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Go in the opposite direction and turn to the left, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": false, "unit": "meters"}}'] +Rotate to your left and travel in the reverse direction, moving 4 meters behind.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": false, "unit":"degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meters"}}'] +Head left and travel in reverse for a total of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'] +Move forward for 10 seconds at a speed of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "seconds"}}'] +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in the opposite direction by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Make a counterclockwise rotation of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Rotate leftwards by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'] +Move backward and then immediately stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Reverse and come to a sudden halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Go in reverse and abruptly cease.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Back up and instantly come to a standstill.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'] +Move backwards and promptly come to a stop.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'] +Turn right and move forward for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Make a right turn and proceed straight ahead for a distance of 6 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit":"meter"}}'] +Go to your right and continue moving forward for a total of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Take a right turn and advance ahead, covering a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Head towards the right and maintain a straight path for 6 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'] +Rotate clockwise by 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": true, "unit": "degrees"}}'] +Turn 120 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": true, "unit": "degrees"}}'] +Move in a clockwise rotation by 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": true, "unit": "degrees"}}'] +Adjust the rotation by 120 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 120, "angle": 120, "is_clockwise": true, "unit": "degrees"}}'] +Execute a 120-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": true, "unit": "degrees"}}'] +Move forward and then backward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "meter"}}'] +Proceed ahead and then return in reverse for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "meter"}}'] +Advance forward and then retract for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Go straight ahead and then move backward covering a span of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "meter"}}'] +Propel forward and then reverse, covering a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Move forward for 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Proceed straight for a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Advance ahead by 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Go straight ahead covering a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": null, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Travel in a forward direction for 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Turn left and move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Make a left turn and proceed ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Take a leftward turn and advance for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Face left and go straight for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate in an anticlockwise direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Perform a 90-degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Turn left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Anti-rotate by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Move backward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Go in reverse for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Retreat by 3 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Step back 3 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Reverse direction and travel 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'] +Turn right and move forward at 0.5 m/s for 20 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true}}'] +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'] +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meters"}}'] +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "seconds"}}'] +Go to the living room and stop.,['{"action": "go_to_goal", "params": {"location": "Living Room"}}'] +Please proceed to the living room and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'] +Make your way to the living room and cease movement.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'] +Head over to the living room and pause.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "living room"}}}'] +Walk into the living room and stand still.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'] +Move forward for 2 seconds at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Move ahead at a rate of 1 meter per second for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Perform a clockwise rotation of 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Rotate 180 degrees in the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 15, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Turn in a clockwise direction and rotate by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Move forward for 4 meters and then turn left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'] +Go straight for a distance of 4 meters followed by a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Advance in the forward direction, covering 4 meters, and then make a leftward turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'] +Move ahead for 4 meters and then change direction by turning left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'] +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'] +Go to the bedroom and stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Proceed to the bedroom and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Make your way to the bedroom and cease your movement.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Head towards the bedroom and come to a standstill.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Move to the bedroom and pause.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'] +Move backward for 7 meters at a speed of 0.8 meters per second.,['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'] +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.,['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'] +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.,['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'] +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.,['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'] +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.,['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'] +Turn left and move forward for 5 meters at a speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'] +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}'] +Back up for 1 meter and then execute a 90-degree turn to the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Reverse for 1 meter and then make a right turn of 90 degrees.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}, ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Retreat by 1 meter and then make a right turn of 90 degrees.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Take a step back for 1 meter and then execute a 90-degree right turn.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}, ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'] +Navigate to the specified GPS coordinates and play a pre-recorded message.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "specified GPS coordinates"}}}'] +Please go to the given GPS coordinates and play the pre-recorded message.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS coordinates"}}}'] +Can you navigate to the provided GPS coordinates and start playing the recorded message?,['{}'] +Follow the given GPS coordinates and play the message that has been prerecorded.,['{}'] +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.,['{}'] +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'] +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'] +Spin around in a circle three times and then stop abruptly.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'] +Rotate in a full circle three times before coming to an abrupt halt.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'] +Perform three complete rotations in a circular motion and then abruptly come to a stop.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'] +Turn around in a complete circle three times and then suddenly cease movement.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'] +Spin in a circle three times and then bring yourself to an immediate halt.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'] +Move forward at a constant speed of 1 meter per second for 30 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'] +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'] +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'] +Advance for 30 seconds with a consistent velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'] +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'] +Turn right and follow a curved path for 2 meters, then stop and beep.,['{"action": "move", "params": {"linear_speed": 0.2, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meters"}}'] +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'] +Move forward for 5 meters and then reverse for 2 meters, repeating twice.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'] +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meters"}}'] +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meters"}}'] +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.,['{"action": "move", "params": {"linear_speed": "random", "distance": "random", "is_forward": true, "unit": "seconds"}}'] +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.,['{"action": "move", "params": {"linear_speed": "random", "distance": "random", "is_forward": true, "unit": "seconds"}}'] +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.,['{"action": "move", "params": {"linear_speed": "random", "distance": "random", "is_forward": true, "unit": "seconds"}}'] +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.,['{"action": "move", "params": {"linear_speed": "random", "distance": "random", "is_forward": true, "unit": "seconds"}}'] +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.,['{"action": "move", "params": {"linear_speed": "random", "distance": "random", "is_forward": true, "unit": "seconds"}}'] +Perform a 180-degree turn, then launch a small drone from your back.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Execute a 180-degree rotation and subsequently release a compact drone from your rear.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'] diff --git a/evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_Robotic_Arm_GPT4.txt b/evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_Robotic_Arm_GPT4.txt new file mode 100644 index 0000000..189df24 --- /dev/null +++ b/evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_Robotic_Arm_GPT4.txt @@ -0,0 +1,999 @@ +Lift the object with a force of 10 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 10 Newton force to lift the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10 Newton force to raise the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 10 Newtons to elevate the object.,['This action is not part of the given ontology so it should be ignored. The ontology includes actions for moving a joint, extending an arm, gripping an object, releasing a grip, and setting the orientation. There is no action for elevating or lifting an object. Please use a different action.'] +Employ a 10 Newton force to hoist the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the shoulder joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint anti-clockwise at a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a counterclockwise direction, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a counterclockwise manner, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in the opposite direction of the clock by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:50, Y:30, Z:15.,['The input action "Move to position" is not in the ontology, hence it must be ignored. Therefore, there is no applicable JSON to return.'] +Change your location to coordinates X:50, Y:30, Z:15.,['The provided action is not present in the provided ontology. Therefore, no valid JSON response can be generated.'] +Transfer yourself to the position with the coordinates X:50, Y:30, Z:15.,['This action is not in the ontology provided. Therefore, no command can be generated.'] +Relocate to the coordinates X:50, Y:30, Z:15.,['{ "action": "undefined", "params": {} }'] +Go to the point specified by X:50, Y:30, Z:15.,['{', ' "action": "set_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit": "cm"', ' }', '}'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by an additional 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's reach by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with a force of 15 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 15 kilograms to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 15 kilogram force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Securely hold the object with a 15 kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 15 kilograms to get a firm grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the elbow joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in a clockwise direction, rotating it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Clockwise rotate the elbow joint by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint in the clockwise direction, making a 60 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint to the right, moving it 60 degrees in a clockwise rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the object to a height of 1 meter.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "upward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "meters",', ' "unit_speed": "meters/s"', ' }', '}'] +Elevate the object to a 1-meter height.,['This action is not in the given ontology. So no JSON output can be formulated.'] +Raise the object to a height of 1 meter.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Hoist the object to a 1-meter elevation.,["This action isn't supported according to the provided ontology. Therefore, no action will be performed and no JSON conformant to the ontology can be returned."] +Bring the object up to a height of 1 meter.,['Your instruction could not be recognized based on the provided ontology for robot arm commands. The command does not specify which action to perform and lacks sufficient details to be mapped onto the available actions such as "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation".'] +Move to position X:25, Y:40, Z:10 at a velocity of 10 cm/s.,['The given action "Move to position" is not covered by the provided ontology. Therefore, it\'s impossible to convert this to a conformant JSON object. Please provide actions that are suitable for the ontology.'] +Proceed to coordinates X:25, Y:40, Z:10 with a speed of 10 cm/s.,['This action is not in the provided ontology and therefore cannot be translated into the required JSON format.'] +Travel to position X:25, Y:40, Z:10 traveling at a pace of 10 cm/s.,["I'm sorry, but the action of travelling to a coordinate is not defined in the given ontology. Therefore, I can't process this command."] +Transfer yourself to X:25, Y:40, Z:10 while maintaining a velocity of 10 cm/s.,['{', ' "action": "move_to_coords",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_coords": "centimeters",', ' "unit_velocity": "cm/s"', ' }', '}'] +Journey to coordinates X:25, Y:40, Z:10 at a rate of 10 cm/s.,['This action is not supported by the given ontology. Please provide a command within the functionality of the robotic arm such as moving a joint, extending the arm, gripping or releasing an object, or setting the orientation.'] +Rotate the wrist joint counterclockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint anticlockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a counterclockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint to the left by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the position of the wrist joint by rotating it counterclockwise 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back by a distance of 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm, reducing its length by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back, shortening it by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Decrease the length of the arm by 25 centimeters through retraction.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with a force of 20 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 20 Newton force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a grip on the object with a 20 Newton force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 20 Newtons of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Ensure a 20 Newton force is applied when gripping the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint in a clockwise direction for a 45-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint by 45 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a clockwise manner, moving it 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:15, Y:25, Z:5 at a velocity of 5 cm/s.,['The action provided in the prompt is not included in the ontology. Please provide a command from the following options: "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation".'] +Travel to coordinates X:15, Y:25, Z:5 with a speed of 5 cm/s.,['{', ' "action": "move_to_coords",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 15.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_coords": "cm",', ' "unit_speed": "cm/s"', ' }', '}'] +Go to location X:15, Y:25, Z:5 with a velocity of 5 cm/s.,['{', ' "action": "move_to_location",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 15.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 5.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_location": "centimeters",', ' "unit_velocity": "cm/s"', ' }', '}'] +Proceed towards position X:15, Y:25, Z:5 at a rate of 5 cm/s.,['The provided command is not in the ontology, therefore no valid output can be generated.'] +Travel at a speed of 5 cm/s to reach coordinates X:15, Y:25, Z:5.,['This action is not represented in the provided ontology. Therefore, it should be ignored and no compliant JSON can be generated.'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by an additional 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elongate the arm to add 30 centimeters to its length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's reach by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lift the object to a height of 2 meters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the object to a height measuring 2 meters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the object to a 2 meter height.,['This action is not defined in the ontology.'] +Hoist the object up to a vertical distance of 2 meters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Ascend the object to a 2 meter elevation.,['The provided action is not present the ontology. Therefore, it cannot be converted into the defined json format.'] +Rotate the elbow joint counterclockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint in the opposite direction by an angle of 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint anticlockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint in a counterclockwise direction, making a 75 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the elbow joint by rotating it counterclockwise with a 75 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:35, Y:50, Z:20.,['This action is not present in the ontology. Therefore, nothing can be returned as it must be ignored, as per the instruction.'] +Go to coordinates X:35, Y:50, Z:20.,['{', ' "action": "move_to_coordinate",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 35.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 20.0', ' }', ' }', '}'] +Transfer yourself to the location with coordinates X:35, Y:50, Z:20.,['This action is not supported by the ontology. Therefore, there is no JSON to return.'] +Change your position to X:35, Y:50, Z:20.,['{', ' "action": "set_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 35.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit": "centimeters"', ' }', '}'] +Relocate yourself to the coordinates X:35, Y:50, Z:20.,['{', ' "action": "",', ' "params": {}', '}'] +Retract the arm by 10 centimeters at a velocity of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm by a distance of 10 centimeters, moving at a speed of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back by 10 centimeters, with a velocity of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back by a length of 10 centimeters, traveling at a rate of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm backwards by 10 centimeters at a speed of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with a force of 25 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 25-kilogram force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 25 kilograms to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 25 kilograms of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a grip to the object, using a 25-kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the wrist joint clockwise by 90 degrees and dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Dance while rotating the wrist joint 90 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 90-degree clockwise wrist joint rotation and then dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Begin by rotating the wrist joint 90 degrees clockwise, followed by dancing.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Start by turning the wrist joint clockwise by 90 degrees, then proceed to dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the arm to a height of 50 centimeters.,['This action is not supported by the ontology.'] +Hoist the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm up to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Make a 90-degree counterclockwise rotation of the base joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 30 centimeters and hold for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards, increasing its length by 30 centimeters for a duration of 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 30 centimeters and maintain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm by 30 centimeters and keep it in that state for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm forward, elongating it by 30 centimeters, and sustain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:100, Y:50, Z:80 with a velocity of 10 meters per second.,["The action provided is not present in the given ontology. Therefore, no JSON can be returned per the ontology's constraints."] +Travel to coordinates X:100, Y:50, Z:80 at a speed of 10 meters per second.,['This action is not in the ontology, it must be ignored.'] +Go to location X:100, Y:50, Z:80 at a rate of 10 meters per second.,['This action is not supported by the provided ontology. Therefore, it cannot be converted to a corresponding JSON command.'] +Reach the point X:100, Y:50, Z:80 at a velocity of 10 meters per second.,['This action is not part of the provided ontology.'] +Advance to position X:100, Y:50, Z:80 with a speed of 10 meters per second.,['This action is not defined in the provided ontology.'] +Activate the grip mechanism with a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Engage the grip mechanism using a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 8 kilograms to activate the grip mechanism.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 8 kilograms to activate the grip mechanism's gripping function.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Activate the grip mechanism by exerting a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the wrist joint clockwise by 30 degrees and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a clockwise direction, angling it by 30 degrees and maintaining the position for a duration of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint to the right by 30 degrees, keeping it in that position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to its home position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to its original position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Return the arm to the starting point.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Bring the arm back to its home position.,['This action request is not represented in the provided ontology and therefore cannot be converted into a structured command.'] +Move the arm back to where it started.,['The given action is not in the ontology, the action cannot be represented in JSON.'] +Move to position X:0, Y:0, Z:100 with a velocity of 5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Change your coordinates to X:0, Y:0, Z:100, and maintain a constant velocity of 5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x_coordinate": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y_coordinate": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z_coordinate": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_coordinate": "meters",', ' "unit_speed": "meters/s"', ' }', '}'] +Head towards position X:0, Y:0, Z:100 at a speed of 5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0', ' },', ' "y": {', ' "type": "float",', ' "value": 0', ' },', ' "z": {', ' "type": "float",', ' "value": 100', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Set your destination to X:0, Y:0, Z:100 and travel at a velocity of 5 meters per second.,['This action is not supported in the current ontology. Please refer to the ontology for valid actions.'] +Travel to the location specified by X:0, Y:0, Z:100 with a constant velocity of 5 meters per second.,['This action is not in the ontology, thus it cannot be represented as a valid JSON command for the robotic arm.'] +Grip the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 kilograms to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 10 kilograms of force to securely hold the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 10 kilograms of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kgf",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a gripping force of 10 kilograms to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Extend the arm by 20 centimeters, then retract it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 20 centimeters, then shorten it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 20 centimeters, then pull it back in by 10 centimeters.,["Sorry, but the current ontology doesn't support this operation. Please refer to the provided ontology for supported operations."] +Increase the arm's length by 20 centimeters, then decrease it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm by 20 centimeters, then shrink it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint clockwise by 180 degrees and hold.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Please rotate the base joint in a clockwise direction by 180 degrees and maintain that position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint 180 degrees in a clockwise manner and keep it in place.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint in a clockwise direction by 180 degrees and hold that position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint in a clockwise fashion, making a 180-degree turn, and hold steady.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second.,['The provided command ("Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second.") is not outlined in the given ontology. Therefore, I am unable to return a corresponding JSON command.'] +Go to coordinates X:50, Y:100, Z:0 at a speed of 7 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Y"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Z"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Travel to the point X:50, Y:100, Z:0 with a velocity of 7 meters per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "point_X": {', ' "type": "float",', ' "value": 50.0', ' },', ' "point_Y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "point_Z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit_velocity": "m/s",', ' "unit_coordinates": "meters"', ' }', '}'] +Change your position to X:50, Y:100, Z:0 at a rate of 7 meters per second.,['{', ' "action": "set_position",', ' "params": {', ' "position": {', ' "type": "tuple",', ' "value": {', ' "x": {', ' "type": "int",', ' "value": 50', ' },', ' "y": {', ' "type": "int",', ' "value": 100', ' },', ' "z": {', ' "type": "int",', ' "value": 0', ' }', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit_position": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Reach the coordinates X:50, Y:100, Z:0 while moving at a speed of 7 meters per second.,['{', ' "action": "move_to_coordinate",', ' "params": {', ' "coord_x": {', ' "type": "float",', ' "value": 50.0', ' }, ', ' "coord_y": {', ' "type": "float",', ' "value": 100.0', ' }, ', ' "coord_z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit_coord": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Lift the arm to a height of 80 centimeters and hold for 8 seconds.,['This action is not supported by the ontology.'] +Raise the arm to a height of 80 centimeters and maintain the position for 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the arm to a height of 80 centimeters and keep it there for a duration of 8 seconds.,['This prompt does not align with the provided ontology. Therefore, it cannot be translated into a complying JSON object.'] +Hoist the arm up to a height of 80 centimeters and remain in that position for a period of 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm upward to a height of 80 centimeters and hold steady for 8 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Retract the arm halfway and pause for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back to the middle point and wait for 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Bring the arm back halfway and hold for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.5', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "ratio",', ' "unit_speed": "ratio/s"', ' }', '}'] +Move the arm in reverse to reach the half position, then take a pause of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.5', ' },', ' "speed": {', ' "type": "float",', ' "value": -1.0', ' },', ' "unit_length": "ratio",', ' "unit_speed": "ratio/s"', ' }', '}'] +Withdraw the arm to the midpoint, then wait for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint to the left by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint anticlockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a counterclockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint 60 degrees in the opposite direction of the clock.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second.,['I\'m sorry, but the given action "Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second" is not in the ontology. The available actions are "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation". Please provide a valid action.'] +Go to coordinates X:75, Y:25, Z:50 at a speed of 8 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "type": "dict",', ' "value": {', ' "X": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 50.0', ' }', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_coordinates": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Travel to X:75, Y:25, Z:50 at a velocity of 8 meters per second.,['This action is not in the ontology.'] +Proceed to position X:75, Y:25, Z:50 at a rate of 8 meters per second.,['The action requested does not correspond to the provided ontology for robotic arm commands. Therefore, no action JSON object can be generated.'] +Head towards X:75, Y:25, Z:50 with a speed of 8 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_position": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Extend the arm by 25 centimeters and hold for 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm, increasing its length by 25 centimeters, and keep it in that position for 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 25 centimeters and maintain the position for a duration of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm, adding 25 centimeters to its length, and hold steady for a period of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elongate the arm by 25 centimeters and sustain the extension for a duration of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 6 kilograms of force, then release after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a pressure of 6 kilograms to secure your grip on the object, and then let go after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a force of 6 kilograms to grasp the object tightly, and then release it after a duration of 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Clamp onto the object with a force of 6 kilograms, and then loosen your grip after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 6 kilograms of pressure to firmly hold onto the object, and then release it after a 2-second interval.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the base joint counterclockwise by 270 degrees and hold.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint in an anti-clockwise direction by 270 degrees and maintain the new position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint by 270 degrees in a counterclockwise direction and keep it there.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Make a 270-degree counterclockwise rotation to the base joint and hold it.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base joint counterclockwise by 270 degrees and keep it steady.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:200, Y:150, Z:100 with a velocity of 12 meters per second and then dance.,["The command is not consonant with the ontology and so it's disregarded."] +Dance after moving to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,['{', ' "action": "move_to_coords",', ' "params": {', ' "coord_x": {', ' "type": "float",', ' "value": 200.0', ' },', ' "coord_y": {', ' "type": "float",', ' "value": 150.0', ' },', ' "coord_z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 12.0', ' },', ' "unit_coords": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +After reaching the position X:200, Y:150, Z:100 with a velocity of 12 meters per second, start dancing.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X:200, Y:150, Z:100"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 12.0', ' },', ' "unit": "positions",', ' "unit_speed": "m/s"', ' }', '}'] +Begin dancing once you have moved to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,['This action is not described in the ontology and must be ignored.'] +After traveling to the position X:200, Y:150, Z:100 at a velocity of 12 meters per second, proceed to dance.,['{}'] +Turn the robot arm on.,['This action is not included in the provided ontology. Therefore, no JSON command can be generated.'] +Activate the robot arm.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Switch on the robot arm.,['{', ' "action": "turn_on",', ' "params": {}', '}'] +Power up the robot arm.,['{', ' "action": "power_up",', ' "params": {}', '}'] +Enable the robot arm.,['{', ' "action": "enable_arm",', ' "params": {}', '}'] +Open the gripper completely.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Fully open the gripper.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Open the gripper all the way.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Ensure that the gripper is completely open.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Make sure the gripper is fully opened.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Move the arm to position X:50, Y:75, Z:100.,['Since the action "move_arm_to_position" does not exist in the given ontology, we cannot provide a JSON for it. Only the actions "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation" exist in the ontology.'] +Position the arm to coordinates X:50, Y:75, Z:100.,['The command is not supported by the ontology.'] +Adjust the arm to X:50, Y:75, Z:100.,['The given prompt action "Adjust the arm to X:50, Y:75, Z:100." is not conformant to the ontology provided. Hence, it cannot be translated into the JSON format as per the ontology.'] +Shift the arm to coordinates X:50, Y:75, Z:100.,['The action provided in the prompt "Shift the arm to coordinates X:50, Y:75, Z:100" is not included in the ontology. Therefore, the action will be ignored.'] +Set the arm to position X:50, Y:75, Z:100.,['{', ' "action": "set_position",', ' "params": {', ' "coordinates": {', ' "type": "dict",', ' "value": {', ' "X": 50.0,', ' "Y": 75.0,', ' "Z": 100.0', ' }', ' },', ' "unit": "centimeters"', ' }', '}'] +Rotate the elbow joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in the counterclockwise direction, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint towards the left, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint counterclockwise, making a rotation of 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Spin the elbow joint in a counterclockwise manner, angling it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 20 centimeters at a velocity of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm length by 20 centimeters, moving at a speed of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm out by an additional 20 centimeters, with a velocity of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 20 centimeters, moving at a rate of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's reach by 20 centimeters at a speed of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 3 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 3-kilogram force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 3 kilograms of force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 3 kilograms to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kg",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object with a force of 3 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm by 30 centimeters at a velocity of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm backwards by a distance of 30 centimeters, with a speed of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm by 30 centimeters, advancing at a rate of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull back the arm by 30 centimeters, traveling at a velocity of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reverse the arm's position by 30 centimeters, with a speed of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Alter the position of the wrist joint in a counterclockwise direction by an angle of 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint counterclockwise with a rotation of 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a counterclockwise manner, shifting it by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 180 degree counterclockwise rotation on the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm to position X:100, Y:0, Z:50.,['The action mentioned in the prompt is not found in the provided ontology. The action must be one of the following: "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation". Therefore, no conforming json can be returned for this prompt.'] +Adjust the position of the arm to X:100, Y:0, Z:50.,['Sorry, this action is not within the ontology provided.'] +Relocate the arm so that it is at X:100, Y:0, Z:50.,['{', ' "action": "ignore",', ' "params": {}', '}'] +Shift the arm's position to X:100, Y:0, Z:50.,['The current ontology does not support the requested action. Therefore, no valid JSON command can be created for this prompt based on the existing ontology.'] +Transfer the arm to the coordinates X:100, Y:0, Z:50.,['This action is not present in the provided ontology. Therefore, no JSON can be returned.'] +Open the gripper halfway.,['This action is not in the ontology, so it has to be ignored according to the rules.'] +Partially open the gripper.,['The given prompt requires an action related to a partial grip or opening of the gripper which is not in the ontology. Therefore, this prompt cannot be represented in a JSON command based on the given ontology.'] +Open the gripper to a halfway position.,['This action is not in the ontology.'] +Adjust the gripper to a halfway open position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "unknown"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Set the gripper to open at a midpoint.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint in a clockwise direction at a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a clockwise motion, 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the shoulder joint by rotating it clockwise at a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 10 centimeters at a velocity of 8 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 10 centimeters at a speed of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 10 centimeters with a velocity of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 10 centimeters, moving at a speed of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's length by 10 centimeters, while maintaining a velocity of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 2 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 2 kilograms of force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a force of 2 kilograms to grab hold of the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Hold onto the object with a force of 2 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use 2 kilograms of force to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm by 15 centimeters at a velocity of 6 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back by 15 centimeters with a speed of 6 cm per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm, reducing its length by 15 centimeters, at a rate of 6 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull back the arm, decreasing its extension by 15 centimeters, moving at a pace of 6 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reverse the position of the arm, reducing its protrusion by 15 centimeters, traveling at a speed of 6 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint clockwise by 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint in a clockwise direction, turning it 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint to the right, rotating it by 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint in a clockwise manner, making a 135-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint to the right, adjusting it by 135 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm to position X:0, Y:100, Z:20.,['This action is not in the ontology.'] +Adjust the position of the arm to X coordinate 0, Y coordinate 100, and Z coordinate 20.,['This action is not within the provided ontology, so it cannot be converted into JSON according to the given rules.'] +Alter the arm's location to X:0, Y:100, Z:20.,['The action "alter the arm\'s location" is not recognized in the provided ontology, thus it should be ignored and no command created.'] +Shift the arm's position to the coordinates X:0, Y:100, and Z:20.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Change the arm's placement to X coordinate 0, Y coordinate 100, and Z coordinate 20.,['{', ' "action": "ignore",', ' "params": {}', '}'] +Close the gripper completely.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Fully close the gripper.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Shut the gripper completely.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Ensure the gripper is completely closed.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Make sure the gripper is closed tightly.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the wrist joint clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint 90 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a clockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint by 90 degrees in a clockwise manner.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 90-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Swim.,['{}'] +Take a swim.,['{}'] +Go for a swim.,['{}'] +Jump in the water and swim.,['{}'] +Engage in swimming.,['{}'] +Watch TV.,['{}'] +Please turn on the television and start watching.,['{', '}'] +Begin watching television.,['{}'] +Start watching your favorite TV show.,[''] +Get ready to enjoy some television programming.,['{}'] +Lift the object and move it 30 centimeters to the left.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pick up the item and shift it 30 centimeters towards the left.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grasp the object and relocate it 30 centimeters towards the left.,['Sorry, but the provided action is not existent in the given ontology. Please provide an action that is supported by the ontology.'] +Raise and transfer the item 30 centimeters to the left.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the object and shift it 30 centimeters in the leftward direction.,['This action is not specified in the ontology. The prompt must contain one of the following actions: "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation".'] +Rotate the base counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base in a counterclockwise direction, making a 90-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base in an anti-clockwise direction, making a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base counterclockwise, creating a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 20 centimeters and hold position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 20 centimeters and maintain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 20 centimeters and keep it still for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm by 20 centimeters and sustain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elongate the arm by 20 centimeters and stay in that position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Open the gripper and release the object gently.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Gently release the object by opening the gripper.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Carefully open the gripper to let go of the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Softly release the object by opening the gripper.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Open the gripper in a gentle manner to release the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position_x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "position_y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "position_z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Go to coordinates X:50, Y:20, Z:10 with a speed of 0.5 meters per second.,['{ "action": "ignore", "params": {} }'] +Travel to X:50, Y:20, Z:10 with a velocity of 0.5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Reach position X:50, Y:20, Z:10 at a pace of 0.5 meters per second.,['{', ' "action": "ignore",', ' "params": {}', '}'] +Proceed to point X:50, Y:20, Z:10 at a rate of 0.5 meters per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "x_coordinate": {', ' "type": "int",', ' "value": 50', ' },', ' "y_coordinate": {', ' "type": "int",', ' "value": 20', ' },', ' "z_coordinate": {', ' "type": "int",', ' "value": 10', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_coordinate": "meters",', ' "unit_speed": "meters/s"', ' }', '}'] +Bend the elbow joint to a 45-degree angle and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "undefined"', ' },', ' "speed": {', ' "type": "float",', ' "value": "undefined"', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Flex the elbow joint at a 45-degree angle and maintain the position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "flex"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Angle the elbow joint to 45 degrees, and keep it in that position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 9.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Curve the elbow joint to a 45-degree angle, and hold it for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 9.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Fold the elbow joint to a 45-degree angle and sustain the pose for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 9.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Readjust the wrist joint to a neutral position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the position of the wrist joint to a neutral stance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Correct the position of the wrist joint to a neutral alignment.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Realign the wrist joint to a neutral position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Reset the wrist joint to a neutral stance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm horizontally by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm in a horizontal direction by a full 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm sideways, making it complete a 180-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "sideways"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a horizontal rotation of the arm, spanning 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the arm horizontally, ensuring it moves precisely 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 10 newtons of force for 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "minutes"', ' }', '}'] +Apply a force of 10 newtons to firmly hold onto the object for a duration of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Grasp the object firmly with a force of 10 newtons and maintain the grip for a period of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10-newton force to grip the object tightly for 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold onto the object with a force of 10 newtons for a duration of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:0, Y:0, Z:50 at a velocity of 1 meter per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 0.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Travel to the coordinates X:0, Y:0, Z:50 with a speed of 1 meter per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_coordinates": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Proceed towards the position X:0, Y:0, Z:50 with a velocity of 1 meter per second.,['This action is not part of the robotic arm commands ontology specified. Therefore, it should be ignored, and no JSON should be returned.'] +Go to the location at X:0, Y:0, Z:50 while moving at a rate of 1 meter per second.,['The action described in the given prompt does not match the available actions in the ontology. Therefore, no JSON conforming to the ontology can be returned.'] +Navigate to the point X:0, Y:0, Z:50 at a speed of 1 meter per second.,["I'm afraid the command for navigating to specific coordinates is not listed in the given ontology. Only actions defined in the ontology can be issued to the robotic arm, such as moving a joint, extending the arm, gripping an object, releasing the grip, and setting the orientation."] +Retract the arm completely and hold in standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Fully withdraw the arm and keep it in standby mode.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Completely retract the arm and maintain it in a standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull back the arm entirely and remain in a standby state.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm fully and hold it in a standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the gripper 360 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the gripper in a clockwise direction for a full 360 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the gripper to the right by 360 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Make a complete clockwise rotation of 360 degrees with the gripper.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the gripper in a clockwise motion for an entire 360 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 30 centimeters and hold position for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 30 centimeters and maintain that position for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm by an additional 30 centimeters and keep it in that posture for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 30 centimeters and hold it steady for a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Straighten out the arm by adding 30 centimeters of length and maintain that pose for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:30, Y:40, Z:10 at a velocity of 0.3 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 30.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Change your position to X:30, Y:40, Z:10 with a speed of 0.3 meters per second.,['{', ' "action": "move_position",', ' "params": {', ' "x_coordinate": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y_coordinate": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z_coordinate": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_position": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Go to the coordinates X:30, Y:40, Z:10 at a speed of 0.3 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_distance": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Adjust your location to X:30, Y:40, Z:10 with a velocity of 0.3 meters per second.,['{', ' "action": "set_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_position": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Transition to position X:30, Y:40, Z:10, moving at a rate of 0.3 meters per second.,['The provided prompt is asking for an action ("Transition to position X:30, Y:40, Z:10, moving at a rate of 0.3 meters per second") that is not present in the ontology. Therefore, the prompt cannot be translated into a corresponding JSON command following the given ontology.'] +Bend the elbow joint to a 90-degree angle and hold for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Flex the elbow joint to form a 90-degree angle and maintain the position for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Curve the elbow joint, bringing it to a 90-degree angle, and keep the posture for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Fold the elbow joint to create a 90-degree angle and sustain the position for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "n/a"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Crimp the elbow joint to a 90-degree angle and remain in this stance for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Open the gripper and close it with 7 kilograms of force.,['{', ' "action": "release_grip",', ' "params": {}', '},', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Begin by opening the gripper, then apply 7 kilograms of force to close it.,['{', ' "action": "release_grip",', ' "params": {}', '},', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 68.68', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 7 kilograms of force to close the gripper after initially opening it.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Start by opening the gripper, and proceed to close it by exerting 7 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +After opening the gripper, apply 7 kilograms of force to seal it shut.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in an anti-clockwise manner by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the opposite direction to the clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,['I\'m sorry, but the provided ontology does not include a command for direct Cartesian movement. The existing commands are: "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation".'] +Proceed to coordinates X:10, Y:50, Z:20 with a speed of 0.8 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "X": {', ' "type": "float",', ' "value": 10.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 20.0', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_coordinates": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Travel to point X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Relocate to position X:10, Y:50, Z:20 at a pace of 0.8 meters per second.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "X:10, Y:50, Z:20"', ' }', ' }', '}'] +Shift to the coordinates X:10, Y:50, Z:20 with a velocity of 0.8 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_coordinates": "meters",', ' "unit_speed": "meters/s"', ' }', '}'] +Retract the arm halfway and hold in a hovering position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -0.5', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "percentage",', ' "unit_speed": "percentage/s"', ' }', '}'] +Position the arm in a hovering state, maintaining a halfway retracted position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "hovering"', ' }', ' }', '}'] +Hold the arm halfway retracted and hover in place.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Hover while keeping the arm partially retracted.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Maintain a hovering position while retracting the arm halfway.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "hover"', ' }', ' }', '}'] +Swim in a circular motion while waving.,['{}'] +Wave your hand while swimming in a circular motion.,['{}'] +Perform circular motions while swimming and waving.,['{}'] +Swim in a circular pattern and wave at the same time.,[''] +Combine swimming in a circular motion with waving gestures.,['{ "action": "ignored", "params": {} }'] +Move the base of the arm 90 degrees to the left.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm's base 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pivot the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 20 centimeters at a velocity of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Increase the arm length by 20 centimeters at a rate of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 20 centimeters, moving at a speed of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 20 centimeters while moving with a velocity of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Propel the arm forward by 20 centimeters at a rate of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint counterclockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in the opposite direction (counterclockwise) by an angle of 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint anticlockwise, making a 60-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint counterclockwise, adjusting it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Spin the elbow joint to the left, rotating it 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 10 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 kilograms to firmly hold the object for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Squeeze the object with a force of 10 kilograms for a period of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 10 kilograms of pressure while grasping the object for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a grip on the object with a force of 10 kilograms for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second.,['This action is not in the given ontology. Therefore, it should be ignored.'] +Go to coordinates X:50, Y:50, Z:0 with a speed of 1 meter per second.,['This action is not available in the given ontology. Actions not in the ontology must be ignored.'] +Travel to position X:50, Y:50, Z:0 with a velocity of 1 meter per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Reach the point X:50, Y:50, Z:0 at a speed of 1 meter per second.,['{', ' "action": "",', ' "params": {}', '}'] +Achieve the location X:50, Y:50, Z:0 with a velocity of 1 meter per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Retract the arm by 30 centimeters in 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm by a distance of 30 centimeters in a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back by 30 centimeters within a time frame of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back by 30 centimeters while taking 5 seconds to do so.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm away by 30 centimeters over the span of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint 90 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a clockwise manner, making a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a clockwise direction, creating a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by turning it 90 degrees in a clockwise fashion.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 2 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 2-kilogram force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 2 kilograms of force to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Grasp the object firmly with a force of 2 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Employ a 2-kilogram force to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:100, Y:0, Z:100 at a velocity of 0.5 meters per second.,['This action is not defined in the ontology and should be ignored.'] +Go to coordinates X:100, Y:0, Z:100 gradually with a speed of 0.5 meters per second.,['The prompt does not match with any action defined in the ontology. Therefore, it should be ignored and no JSON command can be returned.'] +Travel to the point X:100, Y:0, Z:100 using a velocity of 0.5 meters per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_distance": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Reach the position X:100, Y:0, Z:100 while moving at a speed of 0.5 meters per second.,['Action not available in the ontology.'] +Proceed towards X:100, Y:0, Z:100 at a rate of 0.5 meters per second.,['This action is not defined in the ontology. Therefore no ontology-based output can be provided.'] +Retract the arm to the starting position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back to the initial position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Withdraw the arm and return it to its original position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back to the starting point.,["This action cannot be accomplished because it's not covered by the ontology."] +Move the arm back to the initial location.,['This action is not in the provided ontology, so no conformant JSON can be generated.'] +Extend the arm by 10 centimeters at a velocity of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Stretch out the arm by 10 centimeters, moving at a velocity of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Lengthen the arm by 10 centimeters while maintaining a speed of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Expand the arm by 10 centimeters, advancing at a rate of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Rotate the elbow joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint 30 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint to the right by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint in a clockwise motion, moving it 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the elbow joint by rotating it clockwise, making a 30 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 8 kilograms of force for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 8 kilograms to hold onto the object for a duration of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a grip strength of 8 kilograms to firmly hold the object for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 8 kilograms of pressure to maintain a hold on the object for a period of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Securely grasp the object with an 8 kilogram force for a duration of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:0, Y:0, Z:50 at a velocity of 0.1 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 0.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Travel to coordinates X:0, Y:0, Z:50 with a speed of 0.1 m/s.,['The given action is not part of the provided ontology. Hence, it should be ignored as per the instructions.'] +Go to position X:0, Y:0, Z:50 with a velocity of 0.1 meters per second.,['The action and parameters provided in the prompt are not present in the given ontology. Therefore, no valid JSON can be returned.'] +Shift to the location X:0, Y:0, Z:50 at a rate of 0.1 m/s.,['The given command is not part of the specified ontology for robotic arm commands.'] +Reach the point X:0, Y:0, Z:50 at a speed of 0.1 meters per second.,['This action is not defined in the ontology.'] +Retract the arm by 25 centimeters in 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Within a time frame of 4 seconds, pull the arm back by a distance of 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm, moving it backwards by 25 centimeters over a period of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Over the course of 4 seconds, decrease the arm's extension by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +In 4 seconds, bring the arm back by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in an anticlockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint to the left by an angle of 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a counterclockwise motion, angling it by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint anti-clockwise, changing its position by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 4 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 4-kilogram force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 4 kilograms of pressure to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Employ 4 kilograms of force to securely hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a grip force of 4 kilograms to firmly hold the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:75, Y:75, Z:75 at a velocity of 0.3 meters per second.,['There is no provided ontology that supports the action of moving to a specific 3D position. Please refer to a suitable ontology using the actions "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation".'] +Adjust the coordinates to X:75, Y:75, Z:75 with a speed of 0.3 meters per second.,['The command falls outside of the provided ontology for robotic arm commands, thus cannot be converted into a JSON command structure.'] +Shift to position X:75, Y:75, Z:75 using a velocity of 0.3 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'] +Go to X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_position": "meters",', ' "unit_speed": "meters/s"', ' }', '}'] +Travel to the location X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,['{', ' "action": "travel_to_location",', ' "params": {', ' "location": {', ' "type": "object",', ' "value": {', ' "X": 75.0,', ' "Y": 75.0,', ' "Z": 75.0', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_location": "meters",', ' "unit_speed": "meters/s"', ' }', '}'] +Retract the arm to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Move the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Return the arm to its standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Withdraw the arm to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Pull the arm back into the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Extend the arm by 15 centimeters, then do a little dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 15 centimeters before performing a small dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 15 centimeters and proceed to do a brief dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 15 centimeters and then perform a mini dance routine.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Extend the arm's reach by 15 centimeters, followed by a playful dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lift the object at a velocity of 5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "undefined"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "upwards"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit": "degrees",', ' "unit_speed": "m/s"', ' }', '}'] +Elevate the object at a rate of 5 meters per second.,['This action is not in the ontology, so it should be ignored.'] +Raise the object with a speed of 5 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 1.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Hoist the object at a velocity of 5 meters per second.,['{', ' "action": "hoist_object",', ' "params": {', ' "velocity": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_speed": "m/s"', ' }', '}'] +Ascend the object with a rate of 5 meters per second.,['The action "ascend the object" is not defined in the given ontology. Therefore, there is no valid return for this prompt.'] +Rotate the arm joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm joint in the opposite direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm joint anticlockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the arm joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm to a distance of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reach out the arm and stretch it to a length of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length to 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm until it measures 50 centimeters in distance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:15, Y:25, Z:35 at a duration of 10 seconds.,['This action is not supported by the provided ontology. The provided ontology only supports "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation" actions.'] +Go to position X:15, Y:25, Z:35 within a duration of 10 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 35.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_position": "centimeters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel to the coordinates X:15, Y:25, Z:35 in a span of 10 seconds.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 35.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_coordinates": "meter",', ' "unit_duration": "seconds"', ' }', '}'] +Adjust your position to X:15, Y:25, Z:35 over a period of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "X:15, Y:25, Z:35"', ' }', ' }', '}'] +Reach the specified location X:15, Y:25, Z:35 within 10 seconds.,['{', ' "action": "move_to_location",', ' "params": {', ' "location": {', ' "type": "dict",', ' "value": {', ' "X": {', ' "type": "float",', ' "value": 15.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 35.0', ' }', ' }', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_location": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Grip the object with a force of 10 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 Newtons to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10 Newton force to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a 10 Newton force to tightly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a firm 10 Newton force to firmly seize the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm to its starting position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back to its initial position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Withdraw the arm and return it to its original location.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to its starting point.,['The provided prompt cannot be interpreted according to the given ontology as the action is not specified in the ontology.'] +Bring the arm back to its initial position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Rotate the wrist joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint 30 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint by 30 degrees in a clockwise manner.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a clockwise direction, moving it 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the clockwise direction, making a 30-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the object at a velocity of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 2.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Raise the object with a speed of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 2.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Elevate the object, moving at a velocity of 2 meters per second.,['This action is not defined in the ontology, so it will be ignored. Thus, no JSON example will be provided.'] +Hoist the object, maintaining a rate of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 2.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Pick up the object, traveling at a speed of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 1.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'] +Extend the arm to a distance of 30 centimeters and hold for 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm out to a length of 30 centimeters and maintain for a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reach the arm out to a span of 30 centimeters and keep it there for a period of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm to a distance of 30 centimeters and sustain the position for 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm to a distance of 30 centimeters and maintain the extension for a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:5, Y:10, Z:15 and halt immediately.,['{', ' "action": "set_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 5.0', ' },', ' "y": {', ' "type": "float",', ' "value": 10.0', ' },', ' "z": {', ' "type": "float",', ' "value": 15.0', ' },', ' "halt_immediately": {', ' "type": "bool",', ' "value": true', ' }', ' }', '}'] +Immediately halt and move to position X:5, Y:10, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X"', ' },', ' "angle": {', ' "type": "float",', ' "value": 5.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Y"', ' },', ' "angle": {', ' "type": "float",', ' "value": 10.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Z"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Halt at once and move to the coordinates X:5, Y:10, Z:15.,['{', ' "action": "",', ' "params": {}', '}'] +Move to the specified coordinates X:5, Y:10, Z:15 and come to an immediate stop.,['This action is not in the given ontology and should be ignored.'] +Come to a stop without delay after moving to the position X:5, Y:10, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X:5, Y:10, Z:15"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 8 kilograms to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 8 kilograms of pressure to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use 8 kilograms of force to tightly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Employ an 8-kilogram force to firmly grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 78.48', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm at a duration of 3 seconds.,['This action is not present in the ontology, therefore it cannot be represented as a json conformant to the ontology. Please provide another action.'] +Withdraw the arm over a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -1.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -0.33', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull back the arm for a total of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -3.33', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back slowly for a duration of 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Depress the arm gradually, taking 3 seconds to complete the action.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -3.33', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm joint in a counterclockwise direction by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm joint in an anti-clockwise direction by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pivot the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm to a distance of 40 centimeters and hold for 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards to a length of 40 centimeters and keep it in that position for a duration of 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protrude the arm at a distance of 40 centimeters and maintain the position for 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm to 40 centimeters and sustain the extension for a period of 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reach out the arm to a distance of 40 centimeters and keep it there for a duration of 2 seconds.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Lift the object at a velocity of 3 meters per second and move to position X:20, Y:30, Z:40.,['{', ' "action": "",', ' "params": {}', '}'] +Move the object to position X:20, Y:30, Z:40 while lifting it at a velocity of 3 meters per second.,['This action is not possible as it is not part of the given ontology.'] +Lift the object at a speed of 3 meters per second and transport it to point X:20, Y:30, Z:40.,['{', ' "action": "unsupported_action",', ' "params": {}', '}'] +Raise the object at 3 meters per second and relocate it to coordinates X:20, Y:30, Z:40.,['{', ' "action": "undefined",', ' "params": {}', '}'] +With a velocity of 3 meters per second, elevate the object and shift it to position X:20, Y:30, Z:40.,['This action does not match the ontology.'] +Grip the object with a force of 15 Newtons and rotate the wrist joint clockwise by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 15 Newtons to grasp the object, then turn the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Exert a 15 Newton force to firmly hold the object, and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 15 Newtons to grip the object and then twist the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grasp the object firmly with a 15 Newton force and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to its starting position and hold for 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back to its initial position and maintain that position for a duration of 4 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Withdraw the arm to its original position and keep it there for a period of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to where it started and keep it stationary for 4 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Pull the arm back to its starting point and hold it for 4 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the object at a velocity of 4 meters per second and extend the arm to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the object with a speed of 4 meters per second while stretching the arm to a length of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Elevate the object, moving at a velocity of 4 meters per second, and lengthen the arm to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the height of the object by lifting it at a rate of 4 meters per second and extending the arm to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'] +Hoist the object, maintaining a speed of 4 meters per second, as the arm is extended to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:10, Y:20, Z:30 at a duration of 8 seconds and rotate the arm joint counterclockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.625', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the position to X:10, Y:20, Z:30 over a period of 8 seconds, while rotating the arm joint 45 degrees in the counterclockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.625', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Transition to coordinates X:10, Y:20, Z:30 in 8 seconds, simultaneously rotating the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.625', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Shift to the specified position (X:10, Y:20, Z:30) in 8 seconds, while also rotating the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.625', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Transfer to the designated coordinates (X:10, Y:20, Z:30) smoothly within an 8-second timeframe, while turning the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.625', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Swim.,['{', ' "action": "invalid",', ' "params": {}', '}'] +Take a swim.,['{}'] +Engage in swimming.,['{}'] +Get in the water and swim.,['{}'] +Dive in and start swimming.,['The provided command is not acceptable according to the provided ontology, as it includes an action (swimming) that is not recognized. Therefore, no response could be generated.'] +Move the robotic arm to position X:50, Y:100, Z:200.,['This action is not defined in the ontology.'] +Position the robotic arm at X:50, Y:100, Z:200.,['{', ' "action": "set_position",', ' "params": {', ' "x_position": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y_position": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z_position": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit": "units"', ' }', '}'] +Set the robotic arm to coordinates X:50, Y:100, Z:200.,["The prompt requires an action which doesn't exist in the ontology, hence it must be ignored."] +Adjust the robotic arm to reach X:50, Y:100, Z:200.,["This action is not present in the robot arm's action ontology, it should be ignored."] +Move the robotic arm so that it is located at X:50, Y:100, Z:200.,['This action is not specified in the ontology. Therefore, according to the instructions, it must be ignored.'] +Rotate the shoulder joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint counterclockwise, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a counterclockwise direction, reaching a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pivot the shoulder joint counterclockwise, achieving a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by an additional 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 30 centimeters to the arm's reach.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 10 pounds of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 pounds to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 10 pounds of pressure to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Use 10 pounds of strength to tightly grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Securely hold the object with a force of 10 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm in a straight line at a velocity of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Adjust the arm to move in a linear path with a speed of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Direct the arm to travel in a straight line at a rate of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Command the arm to execute a straight-line motion at a velocity of 50 centimeters per second.,['The command does not match the ontology for robotic arm commands. Therefore no JSON object conferrable to the ontology can be produced.'] +Instruct the arm to move in a straight line, maintaining a speed of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in a clockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the elbow joint in a clockwise rotation, making a 60-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to its starting position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back to its original position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Withdraw the arm and return it to its initial location.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back to where it started.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Pull the arm back until it reaches its starting point.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the robotic arm to position X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the robotic arm to coordinates X:0, Y:0, Z:0.,['This action is not specified in the ontology and thus cannot be performed.'] +Shift the robotic arm to position X:0, Y:0, Z:0.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Realign the robotic arm to coordinates X:0, Y:0, Z:0.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Position the robotic arm at X:0, Y:0, Z:0.,["This action is not included in the ontology, therefore, it can't be returned in the JSON format."] +Grip the object with a force of 20 newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 20 newton force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 20 newton force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 20 newtons to grip the object securely.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold onto the object with a 20 newton force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Extend the arm by 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'] +Increase the arm's length by 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'] +Stretch the arm by an additional 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.4', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'] +Add 10 inches to the arm's extension.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint anticlockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint in a counterclockwise rotation of 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by rotating it counterclockwise at a 30-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm in a curve with a radius of 50 centimeters.,['{', ' "action": "Invalid",', ' "params": {}', '}'] +Perform a curved motion with the arm, ensuring a radius of 50 centimeters.,['This action is not supported by the ontology provided.'] +Rotate the arm in a circular path, maintaining a curvature with a radius measuring 50 centimeters.,['This action is not represented in the provided ontology, thus it should be ignored.'] +Execute a curvilinear movement with the arm, guaranteeing a 50-centimeter radius.,["The action 'execute a curvilinear movement' is not part of the provided ontology."] +Maneuver the arm in a curved trajectory, ensuring a radius spanning 50 centimeters.,['This action is not recognized by the current ontology. ', 'No json to return.'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a clockwise direction, turning it by an angle of 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint clockwise, rotating it by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a clockwise manner, changing its position by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in the clockwise direction, making a 45-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the robotic arm to position X:100, Y:50, Z:150.,['The action "move to position X:100, Y:50, Z:150" is not in the provided ontology. Thus, it is ignored.'] +Position the robotic arm at coordinates X:100, Y:50, Z:150.,['{', ' "action": "ignore",', ' "params": {}', '}'] +Transfer the robotic arm to location X:100, Y:50, Z:150.,['{', ' "action": "move_to_location",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 100.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 150.0', ' },', ' "unit": "centimeters"', ' }', '}'] +Shift the robotic arm to the X:100, Y:50, Z:150 position.,['{', ' "action": "set_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 100.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 150.0', ' },', ' "unit": "mm"', ' }', '}'] +Adjust the robotic arm to the desired coordinates: X:100, Y:50, Z:150.,['This action is not included in the provided ontology. Therefore, no JSON can be returned.'] +Grip the object with a force of 15 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 15-pound force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 15 pounds of force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'] +Use a 15-pound grip to secure the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 66.7231', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object firmly with a force of 15 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back by a distance of 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm inward, reducing its length by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back, shortening it by a measurement of 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in an anticlockwise direction, rotating it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 90-degree counterclockwise rotation of the elbow joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint counterclockwise, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm in a zigzag pattern with a velocity of 75 centimeters per second.,['{', ' "action": "ignore",', ' "params": {}', '}'] +The arm should be moved in a zigzag pattern at a speed of 75 centimeters per second.,['{', ' "action": "move_arm",', ' "params": {', ' "pattern": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "speed": {', ' "type": "float",', ' "value": 75.0', ' },', ' "unit_pattern": "none specified",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm with a velocity of 75 centimeters per second in a zigzag pattern.,['{', ' "action": "ignore",', ' "params": {}', '}'] +With a speed of 75 centimeters per second, move the arm in a zigzag pattern.,['{}'] +In a zigzag pattern, move the arm with a velocity of 75 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 75.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 75.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Extend the arm by 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'] +Increase the arm's length by 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'] +Lengthen the arm by an additional 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'] +Stretch the arm outwards, adding 5 inches to its total length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'] +Expand the arm's size by 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'] +Rotate the wrist joint clockwise by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a clockwise direction, angling it 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint to the right by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a clockwise motion, adjusting it by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint in a clockwise rotation, offsetting it by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Swim.,['{}'] +Take a swim.,['{}'] +Go for a swim.,['{}'] +Dive into the water.,['This action is not part of the ontology, so no command will be produced.'] +Engage in swimming.,['{}'] +Lift the object 5 centimeters off the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the object to a height of 5 centimeters above the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the object so that it is positioned 5 centimeters above the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the height of the object by 5 centimeters from its current position on the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Ascend the object by 5 centimeters, lifting it away from the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint anti-clockwise by an angle of 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint in the counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Execute a 90-degree counterclockwise rotation of the base joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm to position X:50, Y:0, Z:80.,['This action is not defined in the given ontology. The assistant should ignore it.'] +Move the arm to coordinates X:50, Y:0, Z:80.,["I'm sorry, but the ontology doesn't support moving the arm to specific coordinates."] +Adjust the arm to reach position X:50, Y:0, Z:80.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "X:50, Y:0, Z:80"', ' }', ' }', '}'] +Stretch out the arm until it reaches X:50, Y:0, Z:80.,['This action is not available in the ontology.'] +Set the arm's coordinates to X:50, Y:0, Z:80.,['The action does not conform to the ontology.'] +Open the grip completely for 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Fully open the grip and hold for 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Release the grip completely for a duration of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Keep the grip wide open for a period of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Hold the grip in a fully extended position for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second.,['This action is not in the ontology and therefore must be ignored.'] +Transfer the item to coordinates X:20, Y:30, Z:10 with a speed of 10 centimeters per second.,["This action can't be translated as it's not in the given ontology."] +Relocate the object to X:20, Y:30, Z:10, moving at a rate of 10 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 20.0', ' },', ' "y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_position": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Transport the item to position X:20, Y:30, Z:10 with a velocity of 10 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 20.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_position": "centimeters",', ' "unit_velocity": "cm/s"', ' }', '}'] +Shift the object to coordinates X:20, Y:30, Z:10 at a speed of 10 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "X": {', ' "type": "float",', ' "value": 20.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 10.0', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_coordinates": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Close the grip with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 10 kilograms of force to secure the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10-kilogram force to close the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 10 kilograms of pressure to tighten the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 10 kilograms of force to finalize the grip closure.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the wrist joint clockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a clockwise direction, making a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint by 180 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint clockwise, completing a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 180-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the arm to its maximum height and hold for 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Elevate the arm to its highest point and maintain for a duration of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Raise the arm as high as possible and keep it in that position for 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Hoist the arm to its utmost height and keep it there for a period of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Ascend the arm to its peak height and hold the position for 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Retract the arm to standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Bring the arm back to its standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Move the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Return the arm to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Withdraw the arm and place it in the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Move to position X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,['Sorry, but the current ontology does not support "move to position" action. Please specify a command within the given ontology.'] +Change your position to X:100, Y:50, Z:150 moving at a speed of 20 centimeters per second.,["This action doesn't fit the established ontology. The set of actions and parameters defined in the ontology doesn't include a command for changing position with coordinates or a movement speed expressed in centimeters per second."] +Travel to coordinates X:100, Y:50, Z:150 with a velocity of 20 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x_coordinate": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y_coordinate": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z_coordinate": {', ' "type": "float",', ' "value": 150.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Go to position X:100, Y:50, Z:150 at a speed of 20 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "xyz"', ' },', ' "angle": {', ' "type": "float",', ' "value": 150.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reach the coordinates X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "type": "dict",', ' "value": {', ' "X": 100.0,', ' "Y": 50.0,', ' "Z": 150.0', ' }', ' },', ' "velocity": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_coordinates": "cm",', ' "unit_velocity": "cm/s"', ' }', '}'] +Open the grip halfway for 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Partially open the grip for a duration of 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Open the grip halfway and hold for 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.5', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Temporarily open the grip halfway for a period of 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Maintain the grip at a mid-point opening for 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.5', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm length by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elongate the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base joint in a clockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint in a clockwise manner, making a 45 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Shift the base joint to the right, rotating it by 45 degrees in a clockwise motion.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the object to position X:0, Y:0, Z:50 and hold for 5 seconds.,['The action "lift and hold the object" is not present in the given ontology.'] +Elevate the object to coordinates X:0, Y:0, Z:50 and maintain that position for a duration of 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Hoist the object until it reaches the location X:0, Y:0, Z:50, and then keep it steady for a period of 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Raise the object up to X:0, Y:0, Z:50, and keep it suspended in that spot for 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Carry out a vertical movement to position the object at coordinates X:0, Y:0, Z:50, and keep it in place for a duration of 5 seconds.,['I\'m sorry but the prompt given doesn\'t fit in the ontology schema as it does not contain an action like "move_joint", "extend_arm", "grip_object", "release_grip" or "set_orientation". Therefore, I can\'t generate a valid JSON conformant to the ontology based on the prompt.'] +Close the grip with 7 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 7 kilograms to tighten the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Securely tighten the grip with a force of 7 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 7 kilograms of force to close the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 7 kilograms to firmly close the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:75, Y:25, Z:100 at a velocity of 15 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_position": "cm",', ' "unit_speed": "cm/s"', ' }', '}'] +Go to the coordinates X:75, Y:25, Z:100 with a speed of 15 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "type": "dict",', ' "value": {', ' "X": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 100.0', ' }', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_coordinate": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Travel to position X:75, Y:25, Z:100 at a rate of 15 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_position": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Change your location to X:75, Y:25, Z:100 with a velocity of 15 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x_position": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y_position": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z_position": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_position": "cm",', ' "unit_velocity": "cm/s"', ' }', '}'] +Reach the coordinates X:75, Y:25, Z:100 at a speed of 15 centimeters per second.,['Sorry, this action falls outside the ontology presented. The ontology does not provide commands for reaching specific coordinates. Please provide a command related to moving joints, extending the arm, gripping or releasing objects, or setting orientation.'] +Rotate the wrist joint counterclockwise by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in the opposite direction by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint anti-clockwise by an angle of 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a counterclockwise direction, rotating it by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the counterclockwise direction, making a 270-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to standby position and wait for further instruction.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Bring the arm back to standby position and remain there until further instructions.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Move the arm back to its standby position and await further instruction.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Withdraw the arm to the standby position and expect further guidance.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Return the arm to its original position and stay there until you receive more instructions.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Lift the arm by 20 centimeters and hold for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the arm by a distance of 20 centimeters and maintain the position for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the arm by 20 centimeters and keep it held for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the height of the arm by 20 centimeters, then hold steady for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lift the arm upwards by 20 centimeters and maintain the lifted position for a period of 3 seconds.,['This prompt does not contain a valid action according to the ontology provided.'] +Rotate the base joint counterclockwise by 180 degrees and dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a counterclockwise rotation of 180 degrees on the base joint, then carry out a dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint in a counterclockwise direction, making a 180 degree rotation before proceeding to dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint 180 degrees in the counterclockwise direction, then showcase your dance moves.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}', ''] +Execute a 180 degree counterclockwise rotation on the base joint and follow it with a dance routine.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm to position X:50, Y:70, Z:90.,['This action is not defined in the current ontology and therefore cannot be converted to a json format based on the ontology.'] +Adjust the arm's position to coordinates X:50, Y:70, Z:90.,['This action is not defined in the provided ontology, so it cannot be translated into a conformant JSON. The ontology only supports: move_joint, extend_arm, grip_object, release_grip, and set_orientation actions.'] +Shift the arm to the designated coordinates of X:50, Y:70, Z:90.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "type": "dict",', ' "value": {', ' "X": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 70.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 90.0', ' }', ' }', ' },', ' "unit": "centimeters"', ' }', '}'] +Relocate the arm to the specified position of X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Y"', ' },', ' "angle": {', ' "type": "float",', ' "value": 70.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Z"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Transpose the arm to the desired coordinates at X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction, rotating it 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint anti-clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Clockwise rotation of the wrist joint by 90 degrees is not required; instead, rotate it counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +In order to achieve a 90-degree counterclockwise rotation, turn the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm by an additional 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by an extra 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 20 centimeters to the arm's current length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 kilograms to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 10 kilograms of force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a gripping force of 10 kilograms on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 10 kilograms of pressure to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:30, Y:40, Z:50.,['This action is not supported by the provided ontology. Therefore, no valid JSON command can be returned in accordance with the ontology.'] +Adjust the arm's position to X:30, Y:40, Z:50.,['This action is not supported by the current ontology. Therefore, no command can be issued.'] +Set the arm's coordinates to X:30, Y:40, Z:50.,['This action is not in the ontology.'] +Move the arm's location to X:30, Y:40, Z:50.,['{', ' "action": "ignore",', ' "params": {}', '}'] +Position the arm at X:30, Y:40, Z:50.,['This action is not in the ontology and therefore must be ignored.'] +Rotate the wrist joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 60-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint in a clockwise direction, turning it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Move the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Return the arm to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Bring the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Take the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Grip the object with 15 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a gripping force of 15 kilograms to the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 15 kilograms of force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use a gripping strength of 15 kilograms to secure the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Grasp the object firmly with a 15-kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:70, Y:80, Z:90.,['Ignore this instruction as it does not conform to the provided ontology.'] +Adjust the arm's position to coordinates X:70, Y:80, Z:90.,['The action "Adjust the arm\'s position to coordinates" is not defined in the provided ontology. Action can\'t be executed.'] +Relocate the arm so that it is at position X:70, Y:80, Z:90.,['{', ' "action": "ignore",', ' "params": {}', '}'] +Shift the arm's location to X:70, Y:80, Z:90.,['This action is not supported in the provided ontology and thus should be ignored.'] +Set the arm's coordinates to X:70, Y:80, Z:90.,['This action is not defined in the given ontology and must be ignored.'] +Rotate the wrist joint counterclockwise by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint anti-clockwise by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in the counterclockwise direction by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint in a counterclockwise rotation by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm by an additional 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 25 centimeters to the arm's reach.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 20 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 20-kilogram force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 20 kilograms of force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use a gripping force of 20 kilograms to secure the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply pressure equivalent to 20 kilograms to firmly hold the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:10, Y:20, Z:30.,['The action "move the arm to position X:10, Y:20, Z:30" is not represented in the given ontology. Therefore, it cannot be translated into an appropriate JSON.'] +Position the arm at X:10, Y:20, Z:30.,['This action is not present in the ontology, thus it should be ignored.'] +Set the arm's coordinates to X:10, Y:20, Z:30.,['{', ' "action": "set_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "z": {', ' "type": "float",', ' "value": 30.0', ' },', ' "unit": "centimeters"', ' }', '}'] +Adjust the arm's position to X:10, Y:20, Z:30.,["This action doesn't match the ontology. Please ignore."] +Move the arm's location to X:10, Y:20, Z:30.,['{', ' "action": "ignore",', ' "params": {}', '}'] +Rotate the wrist joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a clockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the clockwise direction, making a 30-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint to the right by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by turning it clockwise 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Move the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Pull the arm back into the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Return the arm to its standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Bring the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Grip the object with 12 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 12 kilograms to tightly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a gripping force of 12 kilograms on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use 12 kilograms of strength to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Tighten your grip on the object with a force of 12 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:80, Y:60, Z:40.,['{', ' "action": "unknown_action",', ' "params": {}', '}'] +Position the arm at X:80, Y:60, Z:40.,["I'm sorry, but the current ontology doesn't support positioning the arm at specific X, Y, and Z coordinates."] +Set the arm's coordinates to X:80, Y:60, Z:40.,['This action is not stated in the ontology provided, therefore it will be ignored.'] +Adjust the arm to the location X:80, Y:60, Z:40.,['{', ' "action": "ignore",', ' "params": {}', '}'] +Move the arm to the desired coordinates, X:80, Y:60, Z:40.,['{', ' "action": "move_coordinates",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 80.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 60.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 40.0', ' },', ' "unit": "cm"', ' }', '}'] +Rotate the wrist joint counterclockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint anti-clockwise at a 75-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the counterclockwise direction, making a 75-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint to the left by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by rotating it counterclockwise with a 75-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm, adding an additional 18 centimeters in length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards until it is 18 centimeters longer.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 8 kilograms of force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a force of 8 kilograms to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Securely grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object using a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:40, Y:50, Z:60.,['The command to move the arm to a specific 3D coordinate is not included in the given ontology. The ontology only includes commands to move a joint, extend the arm, grip or release an object, and set the orientation. Please provide a different command.'] +Set the arm's position to X:40, Y:50, Z:60.,['The action described in the prompt is not available in the provided ontology. Therefore, there is no appropriate JSON response.'] +Adjust the arm's coordinates to X:40, Y:50, Z:60.,['{', ' "action": "",', ' "params": {}', '}'] +Position the arm at X:40, Y:50, Z:60.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "X:40, Y:50, Z:60"', ' }', ' }', '}'] +Move the arm's location to X:40, Y:50, Z:60.,['The command does not match any action from the ontology. Therefore, no corresponding JSON command can be generated.'] +Rotate the wrist joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a clockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a clockwise manner by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in the clockwise direction, making a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to standby position, then wave.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Bring the arm back to its initial position and subsequently perform a waving motion.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Revert the arm to its default position and proceed to wave.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "default"', ' }', ' }', '}'] +Withdraw the arm to standby position before waving.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'] +Pull back the arm and proceed to wave.,['{', ' "action": "",', ' "params": {}', '}'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm out an additional 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 20 centimeters to the arm's extension.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction, rotating it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a counterclockwise rotation of the wrist joint, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by rotating it counterclockwise at a 90 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 kilograms to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Utilize 10 kilograms of force to grip the object firmly.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a grip on the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold onto the object with a force of 10 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:50, Y:75, Z:100.,['This action is not supported by the given ontology. Hence, it cannot be converted into a valid JSON message.'] +Relocate to coordinates X:50, Y:75, Z:100.,['This action does not fit the ontology provided and should be ignored. As per instruction if a command does not fit into the ontology it should be ignored.'] +Transfer to position with X coordinate of 50, Y coordinate of 75, and Z coordinate of 100.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 100.0', ' }', ' }', '}'] +Proceed to the location with X value 50, Y value 75, and Z value 100.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit": "units"', ' }', '}'] +Change position to X:50, Y:75, Z:100.,['This command is not included in the provided ontology and should therefore be ignored.'] +Retract the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back by a distance of 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back by a length of 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Bring the arm back 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the shoulder joint clockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint in a clockwise direction, making a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a clockwise manner, making a complete 180-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint clockwise, turning it by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 180-degree clockwise rotation of the shoulder joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Release the object gently.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Gently let go of the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Softly loosen your grip on the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Carefully release the object in a gentle manner.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Handle the object with caution as you relinquish your hold on it.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Move to position X:0, Y:0, Z:50.,['This action is not defined in the given ontology. Return an error message or ignore.'] +Proceed to coordinates X:0, Y:0, and Z:50.,['This action is not in the provided ontology, hence, cannot be converted into a JSON conformant to the ontology.'] +Relocate yourself to the destination with the coordinates X:0, Y:0, and Z:50.,['This action is not indicated in the given ontology. Therefore, it cannot be transformed into a JSON command.'] +Shift your position to X:0, Y:0, Z:50.,['This action is not defined in the given ontology. Therefore, no suitable JSON can be generated.'] +Transfer yourself to the specified coordinates: X:0, Y:0, and Z:50.,["This action is not defined in the given ontology, therefore it can't be done."] +Extend the arm by 10 centimeters at a velocity of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 10 centimeters, moving at a speed of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 10 centimeters to the arm's reach, advancing at a rate of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm forward by 10 centimeters, with a velocity of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 10 centimeters, moving at a pace of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 45 degrees at a velocity of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +- Turn the wrist joint to the left by 45 degrees at a speed of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +- Rotate the wrist joint in an anti-clockwise direction, making a 45 degree angle, at a rate of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +- Move the wrist joint counterclockwise for 45 degrees with a velocity of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +- Adjust the wrist joint by rotating it counterclockwise at a speed of 90 degrees per second, achieving a 45 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 8 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 8 kilograms to the object for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object with a grip that exerts 8 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Grasp the object firmly, exerting a force of 8 kilograms, and maintain the grip for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 8 kilograms of force to firmly grip the object for a period of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:25, Y:50, Z:75 in 5 seconds.,['{', ' "action": "set_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "time": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "centimeters",', ' "unit_time": "seconds"', ' }', '}'] +In 5 seconds, go to the coordinates X:25, Y:50, Z:75.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 25.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "coordinates",', ' "unit_duration": "seconds"', ' }', '}'] +Reach the position X:25, Y:50, Z:75 within a span of 5 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 25.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "centimeters",', ' "unit_duration": "seconds"', ' }', '}'] +Within 5 seconds, relocate yourself to the coordinates X:25, Y:50, Z:75.,['The given action is not defined within the provided ontology, therefore, it cannot be converted into a valid command.'] +Move to X:25, Y:50, Z:75 within 5 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 25.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "units",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm by 15 centimeters at a velocity of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm back by 15 centimeters at a speed of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm, reducing its length by 15 centimeters, while moving at a rate of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Decrease the arm's extension by 15 centimeters, moving it at a velocity of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back by 15 centimeters, maintaining a speed of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the shoulder joint clockwise by 270 degrees in 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +In a time span of 3 seconds, turn the shoulder joint in a clockwise direction by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 270-degree clockwise rotation of the shoulder joint within a 3-second timeframe.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a clockwise manner, covering a distance of 270 degrees, and complete this action within 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Within a duration of 3 seconds, turn the shoulder joint in a clockwise direction, making a rotation of 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:100, Y:100, Z:0 in 10 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 100.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_position": "centimeters",', ' "unit_duration": "seconds"', ' }', '}'] +Go to coordinates X:100, Y:100, Z:0 within a time frame of 10 seconds.,['{', ' "action": "move_to_coordinate",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "time_frame": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_coordinate": "centimeters",', ' "unit_time": "seconds"', ' }', '}'] +Shift to position X:100, Y:100, Z:0 within a duration of 10 seconds.,['This action is not present in the ontology.'] +Transfer yourself to coordinates X:100, Y:100, Z:0 in a span of 10 seconds.,['This action is not supported by the current ontology. All actions must be one of the following: "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation".'] +Travel to position X:100, Y:100, Z:0 within a 10-second timeframe.,['This action is not in the ontology.'] +Extend the arm by 5 centimeters, then swim.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Swim after extending the arm by 5 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +After extending the arm by 5 centimeters, proceed to swim.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Extend the arm by 5 centimeters first, then start swimming.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +First, extend the arm by 5 centimeters, and then initiate swimming.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] diff --git a/evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_UAV_GPT4.txt b/evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_UAV_GPT4.txt new file mode 100644 index 0000000..e3626fc --- /dev/null +++ b/evaluation/JSON-converted-commands/GPT4/Converted_JSON_commands_UAV_GPT4.txt @@ -0,0 +1,998 @@ +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase the elevation to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 500 feet above ground.,['This prompt does not map directly to any action in the provided ontology, leading to an empty response. But as a similar mapping could be considered as hovering at a height, in this case, assuming 1 foot = 0.3048 meters, 500 feet would convert to 152.4 meters. ', '', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 152.4', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Reach an altitude of 500 feet above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to a height of 500 feet in the air.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 90,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a straight line for 1 mile, maintaining a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 90,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward for a distance of 1 mile, traveling at a speed of 40 mph.,['This action is not part of the available ontology. Thus, it will be ignored, and no valid JSON will be returned.'] +Cover a distance of 1 mile by flying forward at a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in one spot for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold a stationary hover for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Please ensure you touch down safely at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is essential that you land at the designated land zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Make sure you reach the assigned landing zone for landing.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ensure your landing takes place at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude_default, longitude_default, 200)"', ' }', ' }', '}'] +Decrease your altitude to 200 meters.,['The provided instruction "Decrease your altitude to 200 meters" does not correspond to any specific "action" in the ontology. Therefore, it cannot be translated into a JSON conformant to the ontology.'] +Lower yourself to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Bring your altitude down to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 3 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 120,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, undetermined)"', ' }', ' }', '}'] +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h.,["This action is not defined in the ontology, so it cannot be executed. However, you can approximate this with the 'fly' action from the ontology. It's just required to convert the provided values to match the units specified in the ontology (m/s for speed and seconds for duration).", '', 'If we convert 80 km/h to m/s, we get approximately 22.22 m/s. Similarly, to calculate the duration for travelling 3 kilometers at 80 km/h, we get approximately 135 seconds.', '', 'The generated JSON would look like this:', '', '```', '{', ' "action": "fly",', ' "params": {', ' "speed": 22.22,', ' "altitude": 100, // Default value, as no specific altitude was provided in the prompt.', ' "direction": {', ' "type": "str",', ' "value": "north" // Default value, as no specific direction was provided in the prompt.', ' },', ' "duration": 135,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '```'] +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['The action "Move ahead for a distance" is not present in the ontology. Therefore, no JSON can be produced.'] +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 135,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary for a duration of 15 minutes.,['The action "Stay stationary for a duration of 15 minutes" is not supported as per the ontology. Therefore, there is no JSON object generated for this action.'] +Maintain a hovering position for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in one place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold in mid-air without moving for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left at a rate of 10 degrees per second for a duration of 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Please arrive at the pre-assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make your way to the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'] +Ensure you land at the designated landing spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(-1, -1)"', ' }', ' }', '}'] +Please touch down at the designated landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 1000 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Reach an elevation of 1000 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1000)"', ' }', ' }', '}'] +Go up to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Achieve a height of 1000 feet.,['{"action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }}'] +Fly forward for 2 miles at a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph.,["I'm sorry, but the provided instruction does not fit into the predefined ontology, as the ontology includes specific fields such as direction, duration, and altitude, which are not provided in the instruction. Therefore, it's impossible to construct a valid JSON response with the current information.", ''] +Fly ahead for 2 miles while moving at a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 2,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "miles"', ' }', '}'] +Maintain a speed of 45 mph while flying forward for a distance of 2 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "miles"', ' }', '}'] +Hover in place for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep still for 20 minutes while floating in the air.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold position for 20 minutes without moving.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Please make a landing at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Ensure that you land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is necessary for you to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(Undetermined, Undetermined)"', ' }', ' }', '}'] +The instruction is to land specifically at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Descend to an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 300)"', ' }', ' }', '}'] +Lower your altitude to 300 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move down to an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 300)"', ' }', ' }', '}'] +Deescalate to a height of 300 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend until you reach an altitude of 300 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 4 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.429', ' },', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 240,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 19.44,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 720,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/hr",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 19.4,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "duration": 738,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain airborne without moving for a period of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Levitate motionlessly for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold position without any movement for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left by 135 degrees with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Please ensure you land at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Your objective is to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +You are required to land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make sure you reach the designated landing area safely.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Ascend to an altitude of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 1500 feet.,['The current ontology does not have an action related to increasing altitude.'] +Climb up to a height of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 457.2,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 1500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1500)"', ' }', ' }', '}'] +Scale to a height of 1500 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Fly forward for 5 miles at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {"type": "float", "value": 6.0},', ' "unit_speed": "mph",', ' "unit_duration": "minutes"', ' }', '}'] +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 360,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 6,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph.,['The action "navigate_distance" is not in the ontology, so we cannot return a conformant JSON.'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one spot for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a fixed position for the next half an hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in mid-air for the next 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold still for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Please make your way to the designated landing zone and touch down.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +The designated landing zone is where you should aim to touch down.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'] +You are required to land at the specific landing zone as indicated.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Ensure that you come to a safe landing at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'] +Descend to an altitude of 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Decrease your altitude to 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower yourself to an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 400)"', ' }', ' }', '}'] +Go down to an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 400)"', ' }', ' }', '}'] +Descend until you reach an altitude of 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 6 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h.,['The action "proceed straight ahead for a distance" is not recognized in the ontology. Please provide actions in the ontology only.'] +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward.,['{', ' "action": "fly",', ' "params": {', ' "speed": 16.67,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 1080,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly straight ahead at 60 km/h for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 16.67,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 1080,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in mid-air for a duration of 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a fixed position in the air for the next 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary in the same spot for a period of 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep yourself suspended without moving for the next 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Please make a landing at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Ensure a safe landing at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +You are instructed to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'] +It is requested that you land at the predetermined landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'] +Ascend to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "upwards"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your elevation to a height of 2000 feet.,['This action is not present in the provided ontology.'] +Reach a height of 2000 feet above the ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to a height of 2000 feet above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 7 miles at a speed of 55 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7.6,', ' "unit_speed": "m/h",', ' "unit_duration": "minutes",', ' "unit_altitude": "meters",', ' "altitude": 100', ' }', '}'] +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph.,['This action is not present in the defined ontology. Therefore, no valid JSON can be provided.'] +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7.625,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "miles",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one position for a duration of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in the air without moving for a total of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for the next 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Levitate and hold your position for a period of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn right by 90 degrees with an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please touch down at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'] +Ensure that you arrive at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'] +Make sure to land at the designated touchdown point.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0.0, 0.0)"', ' }', ' }', '}'] +It is required that you land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'] +Descend to an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 500)"', ' }', ' }', '}'] +Lower yourself to a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Decrease your altitude to 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go down to an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 500)"', ' }', ' }', '}'] +Reduce your height to 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 8 kilometers at a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 7.4,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "duration": 7.4,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "altitude": 100,', ' "unit_speed": "km/h",', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers.,["I'm sorry, but the provided ontology doesn't support actions with specified distance. Action and parameters should match the ones specified in the ontology, such as navigate_to_point, fly, hover, rotate, and land. Please modify your request."] +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 8,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'] +Hover in place for 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in position for a duration of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain airborne without moving for a period of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep yourself elevated without any movement for a span of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'] +Please proceed to land at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0.0, 0.0)"', ' }', ' }', '}'] +Make your way to the indicated landing zone and prepare for landing.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Follow the instructions and land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(unknown_latitude, unknown_longitude)"', ' }', ' }', '}'] +It is required that you land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ascend to an altitude of 2500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 2500 feet.,['The action "climb" is not included in the ontology. The closest available action, "fly", will be used as a default action. ', '', '{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 762, ', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 2500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude, 2500)"', ' }', ' }', '}'] +Scale to an altitude of 2500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 2500)"', ' }', ' }', '}'] +Increase your height to 2500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 762,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 9 miles at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph.,['This action is not covered in the provided ontology. Hence, it cannot be translated into a JSON conformant to the ontology.'] +Cover a distance of 9 miles by flying forward at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10.8,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Maintain a speed of 50 mph while traveling straight ahead for 9 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "miles"', ' }', '}'] +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary position for 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in one spot for a period of 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold steady for 50 minutes without moving.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn 135 degrees to the right at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Please touch down at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'] +Descend and touch base at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make your approach and touch ground at the designated landing site.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please bring the aircraft to a stop at the approved landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'] +Descend to an altitude of 600 meters and swin.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 600.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Swim after descending to an altitude of 600 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, -600)"', ' }', ' }', '}'] +Dive down to a depth of 600 meters and start swimming.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": -600,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower yourself to an altitude of 600 meters and begin swimming.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 600.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Drop down to a height of 600 meters and begin your swim.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 600.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Turn left at a 45-degree angle and fly straight for 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Take a left turn at a 45-degree angle and proceed straight for 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Ascend to an altitude of 1000 feet and maintain position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Climb to a height of 1000 feet and stay in that position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Increase your altitude to 1000 feet and remain at that level for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Go up to a height of 1000 feet and keep your position steady for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Perform a vertical climb to 200 meters at a speed of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly around in a circular pattern with a radius of 100 meters for 15 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circular"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Circle around with a 100-meter radius for a duration of 15 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius.,['The provided action is not listed in the ontology. Therefore, the action cannot be executed.'] +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes.,['{', ' "action": null,', ' "params": {}', '}'] +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circular"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place and capture aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended and take aerial photographs of the nearby area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary position and capture aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Levitate and snap aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain still and capture overhead photographs of the nearby area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 1200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "undefined"', ' },', ' "duration": 1200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50.0,', ' "direction": {', ' "type": "str",', ' "value": "downward"', ' },', ' "duration": 1200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "duration": 1200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "duration": 20,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 1,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes.,[''] +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.1111,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 90,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag pattern"', ' },', ' "duration": 150,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s.,['Prompt: "Rotate 90 degrees clockwise at a speed of 0.5 degrees per second."', 'returns: ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 150,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "duration": 150,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 150,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone and conduct a visual inspection of the UAV.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'] +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Hover in place and release a payload at a specified drop zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position and deploy a payload at a designated release zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot and discharge a payload at a predefined drop area.,['This action does not match any actions present in the ontology.'] +Remain in a stationary hover and release a payload at a specified dropzone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold position in mid-air and deliver a payload at a designated drop zone.,['This prompt does not conform to any action described in the provided ontology. Therefore, no JSON response can be produced.'] +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 30.48)"', ' }', ' }', '}'] +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 100)"', ' }', ' }', '}'] +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Perform a barrel roll maneuver at a high velocity of 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 100.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "km/h"', ' }', '}'] +Execute a barrel roll maneuver at a rapid speed of 100 km/h.,['This action is not defined in the ontology, and therefore cannot be translated to JSON format.'] +Carry out a barrel roll maneuver at a high rate of 100 km/h.,['This action is not included in the provided ontology. No valid JSON can be returned.'] +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 100,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "km/h"', ' }', '}'] +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 1.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 500 meters and then execute a sharp turn to the right.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 47.62,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(500, 90)"', ' }', ' }', '},', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 50,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead for 500 meters and perform a quick right turn.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "North"', ' },', ' "duration": 500 / 10.5,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel straight for a distance of 500 meters before making a sharp right turn.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "east"', ' },', ' "duration": 50,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a figure-eight pattern with a total distance of 2 kilometers.,['The action "Fly in a figure-eight pattern" is not in the ontology, thus it should be ignored.'] +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers.,['This action is not supported by the ontology. Therefore, no response JSON can be created.'] +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total.,["The provided prompt describes an action that doesn't match any actions in the available ontology. Therefore, no conformant JSON can be generated."] +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,['This action is not defined in the ontology, so it cannot be converted into a corresponding JSON action.'] +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place and initiate a search for a lost object on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary and begin a search for a missing item on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep still and start looking for a lost object on the surface.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position and commence a search for a misplaced item on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend movement and initiate a search for a lost object on the floor.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'] +- Fly to waypoint A at a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "waypoint A"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed to waypoint A, located at a distance of 1 kilometer, by flying.,["This action doesn't exist in the given ontology."] +Utilize flight to reach waypoint A, which is situated 1 kilometer away.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 100,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 1 kilometer by flying towards waypoint A.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "waypoint A"', ' },', ' "duration": 95,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly towards waypoint A, which is precisely 1 kilometer away.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "unknown"', ' },', ' "duration": 95,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Descend to an altitude of 200 meters above ground level.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Reduce your altitude to 200 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go down until you reach an altitude of 200 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str", ', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower your altitude to 200 meters above the ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you are flying at an altitude of 200 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Perform a vertical climb at a rate of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend vertically, maintaining a speed of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a vertical ascent, moving at a pace of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Scale upwards in a straight line, advancing at a rate of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Carry out a vertical climb, sustaining a speed of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Fly in a zigzag pattern for 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a zigzag flight pattern for a duration of 10 minutes.,['{}'] +Fly in a serpentine motion for a period of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a back-and-forth flying motion for a duration of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Soar in a crisscross pattern for a total of 10 minutes.,['{}'] +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +- Fly forward at a speed of 30 km/h for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 8.33,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Glide forward at a rate of 30 km/h, covering a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 60.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Hover at a specific location for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary at a designated spot for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one place for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a fixed position for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold steady at a specific point for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +- Ascend to an altitude of 500 meters above ground level.,['This prompt does not fit into the provided ontology. None of the actions in the ontology corresponds to "ascend" with an altitude parameter.'] +Increase your height until you reach an altitude of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb up until you are at an altitude of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move upwards until you reach a height of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an altitude that is 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Perform a horizontal slide to the left for 200 meters.,['This action is not supported by the provided ontology.'] +Slide 200 meters horizontally to the left.,['{', ' "action": "slide",', ' "params": {', ' "distance": 200,', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "unit_distance": "meters"', ' }', '}'] +Move to the left in a horizontal slide for a distance of 200 meters.,['{ }'] +Execute a horizontal leftward slide spanning 200 meters.,['This action is not defined in the ontology, so no JSON can be provided according to the given ontology.'] +Take a 200 meter horizontal slide towards the left.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "west"', ' },', ' "duration": 19.05,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Circle around a fixed point at a radius of 100 meters for 5 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 1.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes.,['This action is not covered in the ontology.'] +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes.,['This action is not available in the ontology.'] +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 100)"', ' }', ' }', '}'] +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 100)"', ' }', ' }', '}'] +- Fly backward at a speed of 40 km/h for 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Descend rapidly at a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Quickly descend at a speed of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Drop down rapidly, maintaining a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a swift descent, descending at a speed of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go down at a rapid pace, descending at a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +- Fly in a figure-eight pattern for 10 minutes.,[''] +Perform a figure-eight flight maneuver for a duration of 10 minutes.,['This action is not in the ontology. Therefore, it will be ignored.'] +Fly in a pattern resembling the shape of an eight for a total of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes.,['Sorry, but your instruction does not match any actions in the given ontology. Please provide a valid action such as navigating to a point, flying, hovering, rotating, or landing.'] +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes.,['{}'] +- Ascend to an altitude of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Achieve an elevation of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 800 meters above sea level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(unknown, unknown, 800)"', ' }', ' }', '}'] +Climb to an altitude of 800 meters above sea level.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 800.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Move up to a height of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Hover in place while capturing photos for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary hover for a duration of 20 minutes, taking photos.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold position and take photographs for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one spot and capture photos continuously for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in the air and photograph for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +- Fly forward at a speed of 50 km/h for 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 144,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,['This action does not belong to the available ontology. Therefore, it cannot be converted into a JSON object as per the given instructions.'] +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 144,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Propel forward for 2 kilometers at a rate of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 540,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 144,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Descend to a low altitude of 50 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower your altitude to 50 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move down to an altitude of 50 meters above the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Decrease your altitude until you are only 50 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend to a height of 50 meters above the ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +- Perform a sudden stop and hover for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Execute an abrupt halt and remain stationary for a duration of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Achieve an instant stop and remain suspended in the air for a period of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Implement a sudden pause and hover motionless for a timeframe of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +- Land at the designated landing zone, then record a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +After landing at the specified landing area, proceed to film a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Upon arrival at the designated landing zone, commence recording a video.,['{}'] +Touch down at the designated landing zone and proceed to capture a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Once you have safely landed at the assigned landing area, begin filming a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'] +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 15,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Achieve a position at an altitude of 500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 152.4)"', ' }', ' }', '}'] +Ascend to a height of 500 feet above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 1.5,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Move forward for a mile, traveling at a speed of 40 miles per hour.,['This action is not available in the ontology and it should be ignored.'] +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 90,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel forward for a distance of 1 mile, with a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 17.88,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 101.376,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 200)"', ' }', ' }', '}'] +Reduce your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower down to an altitude of 200 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Move downwards until you reach an altitude of 200 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend until you are flying at 200 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in the air for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remained fixed in mid-air for a time span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself without moving for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn clockwise by 180 degrees, at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 2.4,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 144,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,["This action is not within the ontology, hence it can't be returned as a json."] +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers.,['This action is not defined in the ontology, hence no valid JSON output can be generated.'] +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 2.4,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move upward and maintain a height of 1000 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly forward for 5 miles at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a straight line for 5 miles, moving at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 10,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles.,['This action is not present in the ontology, so it cannot be transformed into the required JSON format. The only actions present in the ontology are "navigate_to_point", "fly", "hover", "rotate", "land". None of these actions contain parameters relating to distance or speed in mph.'] +Hover and take aerial photographs for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Capture aerial photographs by flying and hovering for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Take aerial photos by hovering in the air for a total of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly and maintain a hover position for 20 minutes to capture aerial photographs.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Descend to an altitude of 100 meters.,["Your prompt doesn't correspond to any action from the given ontology. Therefore, it can't be translated into a comparable JSON action. Please provide a different instruction."] +Lower down to an altitude of 100 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Reduce your altitude to 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move downward until you reach an altitude of 100 meters.,['The request is not conformant to the given ontology. The possible actions in the ontology include "navigate_to_point", "fly", "hover", "rotate", and "land". "Moving downward" does not match any of the available actions. Please provide a request that matches the available actions in the ontology.'] +Descend until you are at a height of 100 meters.,['This action is not in the ontology.'] +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circle"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circular"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Circle at a speed of 20 km/h with a 500-meter radius.,['This action is not defined in the ontology and therefore, no action can be executed in response to this prompt.'] +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circular"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h.,['This action is not present in the ontology.'] +Ascend to an altitude of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 457.2,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your elevation to a height of 1500 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Climb to a 1500-foot altitude.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 457.2,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to a level that is 1500 feet above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 457.2,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward and survey the area for 3 miles at a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour.,['The provided action does not conform to the available actions in the ontology. Hence, no JSON output can be produced.'] +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph.,['This action is not in the provided ontology.'] +Hover and drop a package at the designated location.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Carry a package and release it at the specified spot by slightly floating above it.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Gently float and deposit a package at the predetermined destination.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, undetermined)"', ' }', ' }', '}'] +Utilize aerial suspension to transport and release a package precisely where directed.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'] +Levitate above a designated area and carefully place a package down.,['This action is not defined in the provided ontology. Therefore, it cannot be translated into the defined JSON format.'] +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Descend to an altitude of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reduce your altitude to 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go down to a height of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower yourself to an altitude of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you reach a height of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0 / 45.0 * 3600.0', ' },', ' "unit_speed": "km/h",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h.,['This action is not identified in the ontology. Therefore, the request cannot be converted to a valid json format according to the provided ontology. Please provide a different action.'] +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h.,['The action "Execute a figure-eight maneuver" is not part of the ontology, so it cannot be translated into a conformant json object as per the provided ontology.'] +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 80.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to an elevation of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to a level that is 2000 feet above ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward and inspect power lines for 4 miles at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 9.65606,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 9.656,', ' "unit_speed": "mph",', ' "unit_duration": "minutes"', ' }', '}'] +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "ahead"', ' },', ' "duration": 9.66,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Land at the designated landing zone, then take a nap.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +After successfully reaching the designated landing zone, feel free to relax and take a nap.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'] +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Fly forward for 1 kilometer at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.111,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 270.27,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 900,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "duration": 900,', ' "unit_speed": "km/h",', ' "unit_duration": "seconds",', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "altitude": 100,', ' "unit_altitude": "meters"', ' }', '}'] +Ascend to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb up to an elevation of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move upwards until you are at an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Achieve a vertical position of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in the air for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep yourself hovering in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a fixed position in the air for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 500 meters at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 129.032,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move straight ahead at 50 km/h for a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 129.59,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 129,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 200)"', ' }', ' }', '}'] +Decrease your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 200)"', ' }', ' }', '}'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Bring your altitude down to 200 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hover in place for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for a period of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold your position for a span of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Do not move for a total of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn to the left by 45 degrees at a rate of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Spin counterclockwise by 45 degrees, moving 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 3 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 2.57,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Travel straight ahead for 3 kilometers at a rate of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": {', ' "type": "float",', ' "value": 155.2', ' },', ' "unit_speed": "km/h",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60*(3/70),', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": {', ' "type": "float",', ' "value": 155.6', ' },', ' "unit_speed": "km/h",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to an elevation of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go up to a height of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for the next 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in place without moving for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend motion for a time period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 2.5 kilometers at a speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 2.5,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'] +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.72', ' },', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Descend to an altitude of 300 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower yourself to a height of 300 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Reduce your altitude to 300 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move down to a height of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 300)"', ' }', ' }', '}'] +Descend until you reach an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 300)"', ' }', ' }', '}'] +Hover in place for 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary position for a period of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend movement and remain in one spot for 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep hovering without moving for a total of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left at a rate of 25 degrees per second for 120 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 4 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,["I'm sorry but there is no action matching this instruction in the ontology."] +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Travel at 80 km/h in a straight path for 4 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your altitude to 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb up to an elevation of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Scale up to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in one spot for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay airborne without moving for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep stationary in mid-air for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend motion and hover in the same position for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 2.7 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 2.7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'] +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 2.7,', ' "unit_speed": "km/h",', ' "unit_duration": "km"', ' }', '}'] +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "unknown"', ' },', ' "duration": 2.7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'] +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 2.7,', ' "unit_speed": "km/h",', ' "unit_duration": "kilometers"', ' }', '}'] +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 2.7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Descend to an altitude of 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reduce your altitude to 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move down until you are at an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(_, _, 400)"', ' }', ' }', '}'] +Descend until you reach a height of 400 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 400.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Lower your altitude to 400 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 400.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hover in place for 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one spot for a duration of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for a period of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep still for 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Do not move for a total of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 5 kilometers at a speed of 90 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 90.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 5,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'] +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.83,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour.,["The prompt doesn't specify a relevant action from the ontology. Therefore, this action cannot be performed."] +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 720,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 720,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your elevation to 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an altitude of 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move upwards to a position of 1200 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in place without moving for a period of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold your position in mid-air for a total of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55.0,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55.0,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 3.2 kilometers at a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight for 3.2 kilometers at a pace of 65 km/h.,[''] +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend to an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 500)"', ' }', ' }', '}'] +Lower your altitude to 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Decrease your altitude to 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you reach an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Bring yourself down to an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 500)"', ' }', ' }', '}'] +Hover in place for 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary hover for a duration of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one position for a period of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in the air for a total of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Do not move and stay at the same spot for the next 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.45,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 6 kilometers at a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h.,['This action does not correspond to an action specified in the ontology, thus it cannot be converted into a corresponding JSON.'] +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward for 6 kilometers while flying at a velocity of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 27.78,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 720,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Scale to a height of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go up to an altitude of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary position for the next half-hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain hovering without moving for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself in the air for the next 30 minutes without any movement.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 3.7 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['This action is not in the ontology.'] +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 197,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0528571', ' },', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Descend to an altitude of 600 meters.,['The action "descend" is not specified in the ontology. Please provide a different direction.'] +Reduce your altitude to 600 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move down to an altitude of 600 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Decrease your altitude until you reach 600 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you are at 600 meters altitude.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold your position for a period of 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Do not move for the next 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left by 210 degrees with a rotational velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 228,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'] +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 7.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'] +Ascend to an altitude of 500 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Increase your elevation to 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 500)"', ' }', ' }', '}'] +Climb up to a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move upward to a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 10 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h.,['I\'m sorry, but as per the given ontology, there are no matching actions to "Proceed straight ahead for a distance". However, "fly" action could be considered if direction and duration are given.'] +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.22,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 450,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 7.5,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Move forward at a rate of 80 km/h for a total of 10 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.22,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 1611.4,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position without movement for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep floating in a fixed location for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in mid-air without any displacement for a total of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please touch down at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0.0, 0.0)"', ' }', ' }', '}'] +Make your descent and land on the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +It is required for you to land at the designated area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Ensure that you land precisely at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Descend to an altitude of 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 100)"', ' }', ' }', '}'] +Reduce your altitude to 100 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Decrease your altitude to 100 meters.,['I\'m sorry, but the ontology does not support the action "decrease altitude". Therefore, it is not possible to create a specific JSON for this action.'] +Descend until you reach an altitude of 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Bring yourself down to an altitude of 100 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly backward for 5 kilometers at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Circle around a specific location for 20 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a circular motion around a particular spot for a duration of 20 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Move in a circular pattern around a designated area for a period of 20 minutes.,['This action is not in the provided ontology. But it sounds closest to the "hover" action, but the duration unit should be converted to seconds (from minutes).', '', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Encircle a specific location for 20 minutes, continuously moving in a circular motion.,['This action is not in the ontology.'] +Follow a circular path around a particular place for a duration of 20 minutes.,['This action is not present in your ontology. Please provide an activity which is present in the given ontology.'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Ascend to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb up to an elevation of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase the altitude to 1000 meters.,['This prompt does not align with the provided ontology as there is no specific action present for just increasing the altitude. Actions according to the ontology include "navigate_to_point", "fly", "hover", "rotate" and "land". Therefore, following the given instructions, no valid JSON could be returned.'] +Achieve a vertical position of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 15 kilometers at a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.15', ' },', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 540,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 15,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'] +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0.15,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'] +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 540,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in midair for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain airborne without moving for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate to the right by 90 degrees at a rate of 30 degrees every second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(unknown, unknown)"', ' }', ' }', '}'] +Please land at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Ensure you land at the indicated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(unknown, unknown)"', ' }', ' }', '}'] +It is important to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Make sure to land precisely at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'] +Descend to an altitude of 200 meters.,['The action "descend to an altitude" is not defined in the given ontology, therefore, it can\'t be converted into a JSON format based on the ontology.'] +Decrease your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower yourself to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go down to a height of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly backward for 3 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 12,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 3.6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}', ''] +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "duration": 3.6,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "unit_speed": "km/h",', ' "unit_duration": "hours"', ' }', '}'] +Circle around a specific location for 30 minutes.,['This action is not part of the ontology, therefore cannot be translated into a JSON structure following the ontology.'] +Perform a 30-minute loop around a designated area.,['This action is not represented in the ontology.'] +Go in a circular route around a specific spot for half an hour.,['The action "Go in a circular route around a specific spot for half an hour." is not defined in the current ontology. Therefore, no action can be returned.'] +Complete a 30-minute circuit around a particular location.,['This action is not defined in the given ontology. Therefore, no JSON can be returned that conforms to the ontology.'] +Traverse in a circular path around a specific point for a duration of 30 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90.0,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90.0,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Ascend to an altitude of 700 meters and swin.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Gain an elevation of 700 meters and swim.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 700,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach a height of 700 meters and engage in swimming.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 700.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Ascend to a 700-meter altitude and partake in swimming.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 700.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Increase your altitude to 700 meters and then swim.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 700)"', ' }', ' }', '}'] +Fly forward for 8 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {', ' "type": "float",', ' "value": ((8/70)*3600)', ' },', ' "altitude": 100,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": (8000/70)*3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": (8 / 70) * 3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly straight for a total of 8 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 411.43,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 20 minutes and watch TV.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary for a duration of 20 minutes while watching television.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position and engage in television viewing for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold a steady hover for 20 minutes while enjoying television watching.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in one place without moving for 20 minutes and entertain yourself by watching TV.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone, then sing loudly.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +After successfully landing at the designated landing zone, proceed to sing loudly.,['{}'] +Ascend to an altitude of 500 feet.,["This action does not fit into the ontology provided, as there's no action specific for ascension."] +Increase your altitude to 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 14.52,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an elevation of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 15,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Rise to a position 500 feet above ground level.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 152.4', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly forward for 1 mile at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 120,', ' "unit_speed": "miles per hour",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 120.0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', ''] +Travel straight ahead for 1 mile at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 120,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 120,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 2,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a hovering position without moving for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in mid-air without any motion for a time span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold a hover position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Descend to an altitude of 200 meters.,['I\'m sorry, but the action "Descend" is not present in the ontology. As a result, it is not possible to create a JSON format that corresponds with the ontology.'] +Decrease your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move down to an altitude of 200 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend until reaching an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 3.6,', ' "unit_speed": "km/h",', ' "unit_duration": "hours"', ' }', '}'] +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 810,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 3.6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hour"', ' }', '}'] +Perform a barrel roll to the left.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a left barrel roll.,['{', ' "action":"rotate",', ' "params":{', ' "angular_velocity":0.5,', ' "angle":360,', ' "is_clockwise":false,', ' "unit":"degrees"', ' }', '}'] +Rotate in a barrel roll towards the left.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a barrel roll in a counterclockwise direction.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Initiate a leftward barrel roll.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Ascend to an altitude of 1000 feet and maintain it for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Increase your elevation to 1000 feet and sustain it for the next 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Elevate to 1000 feet and retain that height for the next 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly backward for 500 meters at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 45,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h.,[''] +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.11,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "altitude": 0,', ' "duration": 45.0', ' }', '}'] +Reverse your flight and go for 500 meters at a velocity of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 45,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'] +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.11,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 162.16,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Descend to an altitude of 100 feet and hold for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'] +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend until you reach an altitude of 100 feet and remain there for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h.,['This action is not present in the provided ontology, so no JSON response can be constructed.'] +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h.,['The action described in the prompt is not represented in the ontology. Therefore, no JSON output can be generated.'] +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circle"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer.,['This action is not defined in the ontology, thus it cannot be translated into a JSON conformant to the ontology.'] +Ascend to an altitude of 300 meters and maintain it for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Climb to a height of 300 meters and stay there for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Scale up to an altitude of 300 meters and sustain it for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hover in place for 15 minutes and then proceed forward for 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "duration": 144.0,', ' "direction": {', ' "type": "str",', ' "value": "unknown"', ' },', ' "unit_speed": "mph",', ' "unit_duration": "seconds",', ' "altitude": 100,', ' "unit_altitude": "meters"', ' }', '}'] +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 120,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly in a zigzag pattern for a mile at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend to an altitude of 100 meters and hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Lower your altitude to 100 meters and remain stationary for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Descend until reaching an altitude of 100 meters and then hover for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 3,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'] +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'] +Perform a loop-de-loop and then watch TV.,[''] +Execute a loop-de-loop and subsequently engage in watching TV.,['{}'] +Carry out a loop-de-loop and proceed to view television.,['{}'] +Conduct a loop-de-loop before indulging in some TV time.,['{}'] +Maneuver a loop-de-loop and then enjoy some TV programming.,[''] +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your height to 500 feet.,['Your prompt does not match any actions in the ontology exactly. Therefore, the appropriate JSON cannot be produced.'] +Climb up to an elevation of 500 feet.,['Your instruction does not match any action in the provided ontology. Please provide a command that matches the existing actions: navigate_to_point, fly, hover, rotate, or land.'] +Reach an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Go up to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "mph",', ' "unit_duration": "seconds"', ' }', '}'] +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['The provided action "Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph." is not defined in the ontology and therefore is ignored.'] +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph.,['This action is not compatible with the given ontology.'] +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one spot for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Float in the same position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself in midair for a span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please land at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0,0)"', ' }', ' }', '}'] +You are required to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make sure to land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'] +It is important to secure a landing at the designated zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'] +Fly sideways for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "sideways"', ' },', ' "duration": 47.62,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move horizontally for a distance of 500 meters while airborne.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "duration": 47.62,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a lateral flight movement covering a distance of 500 meters.,['This action is not available in the provided ontology. Therefore, we cannot generate a JSON response for it.'] +Traverse 500 meters in a sideways direction while in flight.,['This action is not in the ontology.'] +Travel parallel to the ground for a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "east"', ' },', ' "duration": 47.62,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Increase your elevation to 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Climb to a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'] +Reach an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Move upwards to a level of 1000 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 305)"', ' }', ' }', '}'] +Fly in a circular pattern with a radius of 500 meters for 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circle"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes.,['The action "perform a circular flight with a radius of 500 meters for a duration of 20 minutes" is not defined in the provided ontology, the prompt cannot be translated into a JSON conformant to the ontology.'] +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center.,['This action is not supported by the given ontology. So, there is no appropriate JSON that could be produced.'] +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes.,["This action is not specified in the ontology, thus can't be transformed to a JSON following the ontology rules."] +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters.,['This action cannot be represented using the given ontology as it does not support "flight time", "trajectory" or "radius".'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 200)"', ' }', ' }', '}'] +Go down to a height of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Lower yourself to an elevation of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 200)"', ' }', ' }', '}'] +Decrease your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(Undetermined, Undetermined, 200)"', ' }', ' }', '}'] diff --git a/evaluation/JSON-converted-commands/LLaMA-7b/Converted_JSON_commands_Ground_Robot.txt b/evaluation/JSON-converted-commands/LLaMA-7b/Converted_JSON_commands_Ground_Robot.txt new file mode 100644 index 0000000..664a473 --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA-7b/Converted_JSON_commands_Ground_Robot.txt @@ -0,0 +1,1000 @@ +Move forward for 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Proceed straight ahead covering a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Advance by 1 meter in the forward direction.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Take a step forward spanning 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Move ahead for a length of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate in an anti-clockwise direction by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by 90 degrees.,The response is, "Turn left by 90 degrees." +Rotate 90 degrees counterclockwise.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Spin in the opposite direction by 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": -10, "angle": 180, "is_clockwise": false, "unit": "degrees"}}" +Move backward for 2 seconds.,The response is, "Move backward for 2 seconds." +Go backwards for a duration of 2 seconds.,The response is, {"action": "go_back", "params": {"duration": 2}} +Reverse your direction and travel for a span of 2 seconds.,Reverse your direction and travel for a span of 2 seconds. +Retreat for a time frame of 2 seconds.,The response is, "Retreat for a time frame of 2 seconds." +Take two seconds to move in the opposite direction.,The response is, "Move backward for 2 seconds at a speed of 0.5 meters per second." +Turn left and move forward for 5 meters.,The response is, "Turn left and move forward for 5 meters." +Move forward for 5 meters, then turn left.,The response is, "Move forward for 5 meters, then turn left." +Proceed for 5 meters, then make a left turn.,The response is, "Proceed for 5 meters, then make a left turn." +Take a left turn and continue moving forward for 5 meters.,The response is, "Move forward for 5 meters at a speed of 0.5 meters per second." +Make a leftward turn and advance for 5 meters.,The response would be, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}" +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Perform a 180-degree clockwise rotation.,The response is 180. +Turn in a clockwise direction by 180 degrees.,The response is, "Turn in a clockwise direction by 180 degrees." +Rotate by 180 degrees in a clockwise manner.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Execute a clockwise rotation of 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Move forward at a velocity of 0.5 meters per second for 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}} +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}. +Advance at 0.5 meters per second for a total of 10 seconds.,The response above. +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}. +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}} +Turn right and move forward for 3 meters.,The response is, "Turn right and move forward for 3 meters." +Proceed forward for a distance of 3 meters after making a right turn.,The response is, "Make a right turn and proceed forward for a distance of 3 meters." +After turning right, continue straight for 3 meters.,The response is, "Continue straight for 3 meters." +Make a right turn and advance for a distance of 3 meters.,The response is, "Make a right turn and advance for a distance of 3 meters." +Execute a rightward turn and then travel straight ahead for 3 meters.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}." +Move backward at a velocity of 1 meter per second for 4 seconds.,The response is, "Move backward at a velocity of 1 meter per second for 4 seconds." +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.,The response is, "{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}" +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.,Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds. +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.,The response is, "{"action": "move", "params": {"linear_speed": 1, "distance": -4, "is_forward": false, "unit": "meter"}}" +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.,The response is, "Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds." +Rotate counterclockwise by 270 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 270, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate 270 degrees counterclockwise.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 270, "is_clockwise": false, "unit": "degrees"}}" +Turn left by 270 degrees.,The response is, "Turn left by 270 degrees." +Perform a counterclockwise rotation of 270 degrees.,The response is 270. +Rotate in the opposite direction by 270 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Move forward for 2 meters.,The response is, {"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}} +Proceed ahead by a distance of 2 meters.,The response would be, "Proceed ahead by a distance of 2 meters." +Advance for a span of 2 meters.,The answer is 2. +Travel forward, covering a distance of 2 meters.,The response is, "Move forward for 2 meters at a speed of 0.5 meters per second." +Move straight ahead, going 2 meters.,The response is, {"action": "move", "params": {"linear_speed": 2, "distance": 0, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 45 degrees and move forward for 1 meter.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": true, "unit": "degrees"}} +Move forward for 1 meter while rotating 45 degrees clockwise.,The response is, "Move forward for 1 meter while rotating 45 degrees clockwise." +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.,The response would be,{ "action": "rotate", "params": { "angular_velocity": 45, "angle": 0, "is_clockwise": true, "unit": "degree" } }{ "action": "move", "params": { "linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter" } } +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": true, "unit": "degrees"}} +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 1, "is_clockwise": true, "unit": "degree"}} +Turn left and move forward for 3 seconds.,The response is, "Turn left and move forward for 3 seconds." +Proceed straight for 3 seconds after taking a left turn.,The response is, "Proceed straight for 3 seconds after taking a left turn." +Take a left turn and continue advancing for 3 seconds.,The response would be, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}" +Make a left turn and proceed forward for a duration of 3 seconds.,The response is, "Make a left turn and proceed forward for a duration of 3 seconds." +After turning left, move straight ahead for 3 seconds.,The response is, "After turning left, move straight ahead for 3 seconds." +Move backward for 1 meter.,The response is, "Move backward for 1 meter." +Reverse direction and travel 1 meter.,Reverse direction and travel 1 meter. +Go back for a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Retreat for 1 meter.,The response is, "Retreat for 1 meter." +Take one step backward covering a distance of 1 meter.,The response is, "The action is 'move' and the params are 'linear_speed' = 1, 'distance' = 1, 'is_forward' = true, 'unit' = 'meter'." +Rotate counterclockwise by 120 degrees and move forward for 5 meters.,The response is, +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.,The response would be,{ "action": "rotate", "params": { "angular_velocity": 120, "angle": 120, "is_clockwise": false, "unit": "degrees" } },{ "action": "move", "params": { "linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter" } } +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 120, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.,The response is, "Turn to the left by an angle of 120 degrees and then move forward for 5 meters." +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.,The response is, "{"action": "rotate", "params": {"angular_velocity": 120, "angle": 0, "is_clockwise": false, "unit": "degrees"}}." +Move forward at full speed for 20 seconds.,The response is, "Move forward at full speed for 20 seconds." +Proceed ahead at maximum velocity for a duration of 20 seconds.,The response is, "Proceed ahead at maximum velocity for a duration of 20 seconds." +Travel straight ahead at top speed for a duration of 20 seconds.,The response is, "Move forward for 20 seconds at top speed." +Advance forward with utmost speed for a period of 20 seconds.,The answer is 20. +Go straight ahead at full throttle for a duration of 20 seconds.,The answer is 20. +Rotate clockwise by 60 degrees.,The response above. +Turn right by 60 degrees.,The response is, "Turn right by 60 degrees." +Perform a clockwise rotation of 60 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}". +Rotate in a clockwise direction, making a 60-degree turn.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Rotate to the right, making a 60-degree angle.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Move backward at a velocity of 0.75 meters per second for 8 seconds.,The response is, "Move backward at a velocity of 0.75 meters per second for 8 seconds." +Reverse at 0.75 meters per second for a duration of 8 seconds.,The response is, "Reverse at 0.75 meters per second for a duration of 8 seconds." +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.,The response is, "Move backward for 8 seconds at a speed of 0.75 meters per second." +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.,The response is, "Move backward for 8 seconds at a velocity of 0.75 meters per second." +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.,The response is, "Move in reverse at a rate of 0.75 meters per second for the next 8 seconds." +Turn right and move forward for 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}}" +Take a right turn and proceed straight ahead for a distance of 4 meters.,The response would be, "Move forward for 4 meters at a speed of 1 meter per second." +Make a right turn and continue moving forward for 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}" +Rotate to the right and advance ahead for a distance of 4 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Go to the right and keep moving straight for 4 meters.,The response is, "Go to the right and keep moving straight for 4 meters." +Move forward for 3 meters.,The response is, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 3 meters.,The response is, "Move forward for 3 meters at a speed of 3 meters per second." +Advance ahead 3 meters.,The response is, "The advance ahead 3 meters." +Go forward a total of 3 meters.,The response is, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}} +Travel straight for a distance of 3 meters.,The response above is acceptable. +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left 90 degrees and proceed forward for a duration of 2 seconds.,The response is, "Turn left 90 degrees and proceed forward for a duration of 2 seconds." +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.,The response would be,{ "action": "rotate", "params": { "angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees" } }{ "action": "move", "params": { "linear_speed": 2, "distance": 0, "is_forward": true, "unit": "meter" } } +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Make a left turn of 90 degrees and proceed forward for 2 seconds.,The response is, "Make a left turn of 90 degrees and proceed forward for 2 seconds." +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed ahead a distance of 5 meters.,The response is, "The distance traveled is 5 meters." +Advance for a total of 5 meters.,The answer is 5. +Travel straight ahead covering a distance of 5 meters.,The response is, "{"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}}" +Go forward a length of 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}} +Turn left and continue for 10 seconds.,The response is, "Turn left and continue for 10 seconds." +Make a left turn and keep going for 10 seconds.,The response is, "Make a left turn and keep going for 10 seconds." +Go left and continue for 10 seconds.,The response is, "Go left and continue for 10 seconds." +Take a left turn and continue for a duration of 10 seconds.,The response would be, "Take a left turn and continue for a duration of 10 seconds." +Proceed by turning left and maintaining that direction for 10 seconds.,The response is, "Turn left for 10 seconds." +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn 90 degrees counterclockwise.,The response is, "Turn 90 degrees counterclockwise." +Rotate in the opposite direction by 90 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}". +Move in a counterclockwise direction, turning by 90 degrees.,The response is, "Move in a counterclockwise direction, turning by 90 degrees." +Back up 2 meters and stop.,The response is, "Back up 2 meters and stop." +Move back a distance of 2 meters and come to a halt.,The response is, "Move back a distance of 2 meters and come to a halt." +Reverse by 2 meters and come to a stop.,Reverse by 2 meters and come to a stop. +Retreat 2 meters and bring yourself to a standstill.,The response is, "Retreat 2 meters and bring yourself to a standstill." +Step backward 2 meters and cease movement.,The response is, "{"action": "move", "params": {"linear_speed": -2, "distance": 0, "is_forward": false, "unit": "meter"}}" +Move forward at a speed of 0.5 meters per second for 6 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}} +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.,The response is, "Proceed ahead for 6 seconds at a velocity of 0.5 meters per second." +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.,The response is, "Move forward for 6 seconds at a speed of 0.5 meters per second." +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.,The response is, "Move forward for 6 seconds, covering a distance of 0.5 meters in each second." +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}". +Turn right and move forward for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Make a right turn and proceed ahead for a distance of 1 meter.,The response would be, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Take a right turn and continue moving straight for a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Head to the right and advance forward for 1 meter.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}" +Rotate right and proceed ahead for a length of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Turn in a clockwise direction until you have rotated 180 degrees.,The response is 180. +Perform a 180-degree clockwise rotation.,The response is 180. +Rotate 180 degrees in the clockwise direction.,The response is 180 degrees in the clockwise direction. +Turn to the right until you are facing the opposite direction.,The response is, "Turn to the right until you are facing the opposite direction." +Move backward for 3 seconds.,The response is, "Move backward for 3 seconds." +Go in reverse for a duration of 3 seconds.,The response is, {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}. +Reverse your movement for a total of 3 seconds.,Reverse your movement for a total of 3 seconds. The answer is 3. +Backtrack for a period of 3 seconds.,The answer is 3. +Take a 3-second step backwards.,The answer is 3. +Turn left and continue for 7 meters.,The response is, "Turn left and continue for 7 meters." +Take a left turn and proceed straight ahead for a distance of 7 meters.,The response would be, "Move forward for 7 meters at a speed of 0.5 meters per second." +Make a left turn and keep going for 7 meters.,The response is, "Make a left turn and keep going for 7 meters." +Go left and carry on for a distance of 7 meters.,The response is, "Go left and carry on for a distance of 7 meters." +Head to the left and continue for a length of 7 meters.,The response is, "Head to the left and continue for a length of 7 meters." +Move forward at a speed of 1 meter per second for 4 seconds.,The response is, "Move forward for 4 seconds at a speed of 1 meter per second." +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.,The response is 4 seconds. +Advance for 4 seconds, maintaining a speed of 1 meter per second.,The response is, "Move forward for 4 seconds at a speed of 1 meter per second." +Travel forward for 4 seconds, moving at a rate of 1 meter per second.,The response is, "{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}" +For a period of 4 seconds, move ahead at a speed of 1 meter per second.,The response would be, "{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}" +Rotate counterclockwise by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Change the orientation by 45 degrees in a counterclockwise direction.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}" +Turn left by 45 degrees.,The response is, "Turn left by 45 degrees." +Rotate anticlockwise by an angle of 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": false, "unit": "degrees"}}" +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.,The response is, "The position has been adjusted by rotating in the counterclockwise direction with an angle of 45 degrees." +Go straight for 8 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Proceed in a straight line for a distance of 8 meters.,The response is, "The person proceeded in a straight line for a distance of 8 meters." +Continue in a straight direction for a span of 8 meters.,The response is, "Move forward for 8 meters at a speed of 1 meter per second." +Maintain a straight path for a duration of 8 meters.,The response is, "Maintain a straight path for a duration of 8 meters." +Stay on course for a distance of 8 meters ahead.,The response is, "The distance ahead is 8 meters." +Turn right and move forward for 2 seconds.,The response is, "Turn right and move forward for 2 seconds." +Proceed straight for 2 seconds after making a right turn.,The response is, "Proceed straight for 2 seconds after making a right turn." +Take a right turn and continue moving ahead for a duration of 2 seconds.,The response would be, {"action": "move", "params": {"linear_speed": 2, "distance": 0, "is_forward": true, "unit": "second"}} +Make a right turn and advance forward for 2 seconds.,The response is, "Make a right turn and advance forward for 2 seconds." +After turning right, keep moving forward for a period of 2 seconds.,The answer is 2. +Move backward for 4 meters and stop.,The response is, "Move backward for 4 meters and stop." +Reverse for a distance of 4 meters and come to a halt.,Reverse for a distance of 4 meters and come to a halt. +Go back for 4 meters and then come to a stop.,The response is, "Go back for 4 meters and then come to a stop." +Take 4 meters in reverse and cease movement.,The response is, "Move backward for 4 meters and cease movement." +Travel in the opposite direction for a distance of 4 meters and then pause.,The response is, "Move backward for a distance of 4 meters and then pause." +Rotate clockwise by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Turn to the right by 270 degrees.,The response is, "Turn to the right by 270 degrees." +Move in a clockwise direction, rotating 270 degrees.,The response is, "Move in a clockwise direction, rotating 270 degrees." +Spin in a clockwise manner, completing a 270 degree rotation.,The answer is 270. +Rotate by 270 degrees in a clockwise fashion.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Turn left and continue for 3 meters.,The response is, "Turn left and continue for 3 meters." +Make a left turn and keep going for a distance of 3 meters.,The response is, "Make a left turn and keep going for a distance of 3 meters." +Proceed straight for 3 meters after making a left turn.,The response is, "Proceed straight for 3 meters after making a left turn." +After turning left, travel straight for 3 meters.,The response is, "After turning left, travel straight for 3 meters." +Take a left and continue on for a distance of 3 meters.,The response is, "Take a left and continue on for a distance of 3 meters." +Move forward at a speed of 0.3 meters per second for 5 seconds.,The response is, "Move forward for 5 seconds at a speed of 0.3 meters per second." +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.,The response is, "Proceed ahead for 5 seconds at a velocity of 0.3 meters per second." +Advance at a rate of 0.3 meters per second for a period of 5 seconds.,The response is 0.3 * 5 = 1.5 meters. +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.,The response is, "Move forward for 5 seconds at a speed of 0.3 meters per second." +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 0.3, "distance": 5, "is_forward": true, "unit": "meter"}}" +Rotate counterclockwise by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn 60 degrees counterclockwise.,The response is 60 degrees counterclockwise. +Rotate in the opposite direction by 60 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": -60, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Make a counterclockwise rotation of 60 degrees.,The response is, "Make a counterclockwise rotation of 60 degrees." +Go straight for 6 seconds.,The answer is 6. +Proceed in a straight line for a duration of 6 seconds.,The answer is 6. +Keep moving forward in a straight path for 6 seconds.,The answer is 6. +Maintain a straight course for 6 seconds.,The answer is 6. +Continue in a straight direction for a period of 6 seconds.,The answer is 6. +Turn right and move forward for 7 meters.,The response is, "Turn right and move forward for 7 meters." +Take a right turn and proceed straight ahead for a distance of 7 meters.,The response would be, "Move forward for 7 meters at a speed of 0.5 meters per second." +Make a right-hand turn and continue moving forward for a length of 7 meters.,The response is, "Make a right-hand turn and continue moving forward for a length of 7 meters." +Head to the right side and advance for a distance of 7 meters.,The response is, "{"action": "move", "params": {"linear_speed": 7, "distance": 7, "is_forward": true, "unit": "meter"}}" +Rotate to the right and travel straight for 7 meters.,The response is, "{"action": "rotate", "params": {"angular_velocity": 7, "angle": 0, "is_clockwise": false, "unit": "meter"}}" +Move 2 meters forward.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Proceed straight ahead by a distance of 2 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Advance 2 meters in the forward direction.,The response is, "Move forward for 2 meters at a speed of 0.5 meters per second." +Take a step forward for a distance of 2 meters.,The response would be, {"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}} +Move straight ahead, covering a distance of 2 meters.,The response is, "{"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}}" +Turn left and move forward for 5 seconds.,The response is, "Turn left and move forward for 5 seconds." +Move forward for 5 seconds after turning left.,The response is, "Move forward for 5 seconds after turning left." +After making a left turn, proceed forward for 5 seconds.,The answer is 5. +Take a left turn and continue moving forward for 5 seconds.,The response would be, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "second"}}" +Start moving forward for 5 seconds after making a left turn.,The response is, "Start moving forward for 5 seconds after making a left turn." +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate 90 degrees counterclockwise.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}". +Rotate by 90 degrees in the counterclockwise direction.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Turn left by 90 degrees.,The response is, "Turn left by 90 degrees." +Move 3 meters backward.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Go back 3 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Retreat 3 meters.,The response is, "Retreat 3 meters." +Step 3 meters in reverse.,The answer is 3. +Travel in the opposite direction for 3 meters.,The response is, "Move backward for 3 meters." +Turn right and move forward for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Take a right turn and proceed straight ahead for a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Make a right turn and advance ahead for a distance of 1 meter.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Head to the right and continue moving forward for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Go to the living room and stop.,The response is, "Go to the living room and stop." +Please proceed to the living room and come to a halt.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Make your way to the living room and cease moving.,The response is, "Make your way to the living room and cease moving." +Head to the living room and stand still.,The response is, "Head to the living room and stand still." +Move towards the living room and come to a stop.,The response is, "Move towards the living room and come to a stop." +Move 4 meters forward at a speed of 2 meters per second.,The response is, "Move 4 meters forward at a speed of 2 meters per second." +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.,The response is, "Proceed ahead by 4 meters while maintaining a velocity of 2 meters per second." +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.,The response is, "Move forward for 4 meters with a constant speed of 2 meters per second." +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.,The response would be, "Move forward for 4 meters at a velocity of 2 meters per second." +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.,The response is, "Move forward for 4 meters at a rate of 2 meters per second." +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Turn 180 degrees in a clockwise direction.,The response is 180. +Perform a 180-degree clockwise rotation.,The response is 180. +Rotate by 180 degrees in the clockwise direction.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Turn in a clockwise fashion, rotating 180 degrees.,The response is, "Turn in a clockwise fashion, rotating 180 degrees." +Turn left and move forward for 3 meters.,The response is, "Turn left and move forward for 3 meters." +Make a left turn and proceed straight ahead for a distance of 3 meters.,The response is, "Make a left turn and proceed straight ahead for a distance of 3 meters." +Take a left and continue moving forward, covering a span of 3 meters.,The response would be, "Move forward for 3 meters at a speed of 0.5 meters per second." +Rotate to the left and advance for 3 meters.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}" +Shift towards the left and travel straight for a distance of 3 meters.,The response is, "Move forward for 3 meters at a speed of 3 meters per second." +Move 2 meters backward at a speed of 0.5 meters per second.,The response is, "Move 2 meters backward at a speed of 0.5 meters per second." +Back up 2 meters with a velocity of 0.5 meters per second.,The response is, "Move forward for 2 meters at a velocity of 0.5 meters per second." +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.,The response is, "Move backward for a distance of 2 meters at a rate of 0.5 meters per second." +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.,The response is, "Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters." +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.,The response is, "Move backward for 2 meters at a speed of 0.5 meters per second." +Go to the bedroom and stop.,The response is, "Go to the bedroom and stop." +Please proceed to the bedroom and come to a halt.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Make your way to the bedroom and cease your movement.,The response is, "Make your way to the bedroom and cease your movement." +Head to the bedroom and pause.,The response is, "Head to the bedroom and pause." +Go to the bedroom and stand still.,The response is, "Go to the bedroom and stand still." +Rotate counterclockwise by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn 45 degrees in the counterclockwise direction.,The response is, "Turn 45 degrees in the counterclockwise direction." +Rotate anticlockwise at an angle of 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": false, "unit": "degrees"}}" +Rotate left by 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}}" +Perform a 45-degree counterclockwise rotation.,The response is 45. +Turn right and move forward for 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}}" +Proceed forward for a distance of 4 meters after making a right turn.,The response is, "Make a right turn and proceed forward for a distance of 4 meters." +Take a right and continue moving ahead for 4 meters.,The response is, "Move forward for 4 meters at a speed of 0.5 meters per second." +After making a right turn, advance straight for a distance of 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}}" +Make a right-hand turn and proceed forward for 4 meters.,The response is, "Make a right-hand turn and proceed forward for 4 meters." +Move 1 meter forward at a speed of 1 meter per second.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Proceed ahead by 1 meter with a velocity of 1 meter per second.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.,The response is, +Go one meter ahead, moving at a rate of one meter per second.,The response is, "{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}" +Travel forward for 1 meter while maintaining a speed of 1 meter per second.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}. +Rotate clockwise by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Turn 270 degrees in a clockwise direction.,The response is 270 degrees. +Rotate by 270 degrees in a clockwise manner.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Execute a clockwise rotation of 270 degrees.,The response is 270. +Shift the orientation by 270 degrees in a clockwise fashion.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Turn left and move forward for 2 seconds.,The response is, "Turn left and move forward for 2 seconds." +Proceed forward for 2 seconds, then make a left turn.,The response is, "Proceed forward for 2 seconds, then make a left turn." +Take a left turn and continue moving straight ahead for 2 seconds.,The response is, "Take a left turn and continue moving straight ahead for 2 seconds." +Make a left turn and drive forward for 2 seconds.,The response is, "Make a left turn and drive forward for 2 seconds." +After turning left, continue moving straight for 2 seconds.,The response is, "Continue moving straight for 2 seconds." +Move 3 meters backward at a speed of 1.5 meters per second.,The response is, "Move 3 meters backward at a speed of 1.5 meters per second." +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}} +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.,The response is, "Move backward for 3 meters at a speed of 1.5 meters per second." +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.,The response is, "Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second." +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 1.5, "distance": -3, "is_forward": false, "unit": "meter"}}" +Go to the dining room and stop.,The response is, "Go to the dining room and stop." +Proceed to the dining room and come to a halt.,The response is, "The person came to a halt in the dining room." +Head over to the dining room and pause., +Make your way to the dining room and bring yourself to a stop.,The response is, {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}}}. +Move towards the dining room and cease your motion.,The response is, "Move towards the dining room and cease your motion." +Rotate counterclockwise by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by 60 degrees.,The response is, "Turn left by 60 degrees." +Rotate in the opposite direction by 60 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": -60, "is_clockwise": false, "unit": "degrees"}} +Execute a 60-degree counterclockwise rotation.,The response is 60 degrees counterclockwise. +Rotate anticlockwise by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed ahead for a distance of 5 meters.,The response is, "The distance traveled is 5 meters." +Advance straight ahead for 5 meters.,The response is, "The action is 'move' and the params are 'linear_speed' = 5, 'distance' = 5, 'is_forward' = true, 'unit' = 'meter'." +Travel forward for a distance of 5 meters.,The response is, "Move forward for a distance of 5 meters." +Go in the forward direction for 5 meters.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}" +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn 90 degrees counterclockwise.,The response is, "Turn 90 degrees counterclockwise." +Rotate anticlockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}}" +Change the orientation to the left by 90 degrees.,The response would be, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Move backward for 3 seconds.,The response is, "Move backward for 3 seconds." +Reverse for a duration of 3 seconds.,Reverse for a duration of 3 seconds. +Go in reverse for a period of 3 seconds.,The response is, "Reverse for a period of 3 seconds." +Travel backwards for a total of 3 seconds.,The response is, "The travel backwards for a total of 3 seconds." +Move in the opposite direction for 3 seconds.,The response is, "Move in the opposite direction for 3 seconds." +Turn left and move forward for 2 meters.,The response is, "Turn left and move forward for 2 meters." +Proceed forward for 2 meters after making a left turn.,The response is, "Proceed forward for 2 meters after making a left turn." +Make a left turn and advance for 2 meters.,The response is, {"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}} +Take a left and continue forward for a distance of 2 meters.,The response is, "Take a left and continue forward for a distance of 2 meters." +Move ahead for 2 meters after making a leftward turn.,The response is, "Move ahead for 2 meters after making a leftward turn." +Make a U-turn and move in the opposite direction for 10 seconds.,The response is, "Make a U-turn and move in the opposite direction for 10 seconds." +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.,The answer is 180 degrees. +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.,The response would be something like this: +Turn around and travel in the opposite direction for a duration of 10 seconds.,The response is, "Move backward for 10 seconds at a speed of 0.5 meters per second." +Perform a U-turn and move in the opposite direction for 10 seconds.,The response is, "Move in the opposite direction for 10 seconds." +Rotate clockwise by 180 degrees and stop.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Perform a 180-degree clockwise rotation and then come to a halt.,The 180-degree clockwise rotation will take 180/360 = 0.5 seconds. The halt will take 0.5 seconds. So in total it will take 0.5 + 0.5 = 1 second. +Execute a clockwise rotation of 180 degrees and then cease movement.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Turn right by 180 degrees and then stop.,The response is, "Turn right by 180 degrees and then stop." +Rotate in a clockwise direction by 180 degrees and then come to a stop.,The response is, {"action": "rotate", "params": {"angular_velocity": 180, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Move diagonally to the right for 4 meters.,The response is, "Move diagonally to the right for 4 meters." +Go right at an angle for a distance of 4 meters.,The response is, "Go right at an angle for a distance of 4 meters." +Travel in a diagonal direction to the right covering a distance of 4 meters.,The response is, "Move forward for 4 meters at a speed of 4 meters per second." +Proceed at a diagonal towards the right, moving 4 meters.,The response is, "Move forward for 4 meters at a speed of 4 meters per second." +Move to the right diagonally, covering a distance of 4 meters.,The response is, "Move to the right diagonally, covering a distance of 4 meters." +Turn right and move forward for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Make a right turn and proceed one meter forward.,The response is, "Make a right turn and proceed one meter forward." +Take a right and continue moving ahead for a distance of 1 meter.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Rotate to the right and advance straight ahead for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Facing towards the right, progress forward for a distance of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Move in a zigzag pattern for 8 seconds.,The response is, "Move in a zigzag pattern for 8 seconds." +Perform a zigzag movement continuously for a duration of 8 seconds.,The response is, "The zigzag movement was performed continuously for a duration of 8 seconds." +Traverse in a serpentine motion for 8 seconds.,The response is, "The serpentine motion for 8 seconds." +Alternate your path in a zigzagging pattern for the next 8 seconds.,The answer is 8. +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.,The answer is 8. +Rotate counterclockwise by 45 degrees and move forward for 3 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by 45 degrees and advance for a distance of 3 meters.,The response is, "Turn left by 45 degrees and advance for a distance of 3 meters." +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.,The response is, "Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters." +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.,The response is, "Move forward for 3 meters at a speed of 45 degrees per second." +Move backward and stop at the nearest obstacle.,The response is, "Move backward and stop at the nearest obstacle." +Reverse and come to a halt once you reach the closest object in your path.,Reverse and come to a halt once you reach the closest object in your path. +Back up and cease movement upon reaching the nearest obstruction.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Retreat and come to a stop when you encounter the closest barrier., +Go in reverse and stop once you reach the nearest obstacle.,The response is, "Go in reverse and stop once you reach the nearest obstacle." +Turn left and move in a curved path for 6 meters.,The response is, "Turn left and move in a curved path for 6 meters." +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}} +Make a leftward turn and proceed along a curving route spanning 6 meters.,The answer is 6. +Go left and follow a curved path for a distance of 6 meters.,The response is, "Go left and follow a curved path for a distance of 6 meters." +Regulate your movement to the left and travel in a curved trajectory for 6 meters.,The response is, +Move forward at a speed of 1 meter per second for 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}. +Advance at a rate of 1 meter per second for 10 seconds.,The response is { "action": "move", "params": { "linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter" } }. +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Travel forward for 10 seconds, covering a distance of 1 meter per second.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "second"}} +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 30, "is_clockwise": true, "unit": "degrees"}} +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.,The response is, {"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}} +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 30, "is_clockwise": true, "unit": "degrees"}} +After rotating 30 degrees clockwise, continue moving forward for 4 meters.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}} +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Move in a circular path with a radius of 2 meters for 7 seconds.,The response is, "Move in a circular path with a radius of 2 meters for 7 seconds." +Circle around with a radius of 2 meters for a duration of 7 seconds.,The radius of the circle is 2 meters. The duration of the circle is 7 seconds. So the area of the circle is 2 * 2 * 7 = 42 square meters. The answer is 42. +Perform circular movement with a radius of 2 meters for 7 seconds.,The response would be, "{"action": "rotate", "params": {"angular_velocity": 2, "angle": 7, "is_clockwise": true, "unit": "meter"}}" +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.,The response would be, "{"action": "rotate", "params": {"angular_velocity": 2, "angle": 7, "is_clockwise": true, "unit": "meter"}}" +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.,The answer is 2 * 7 = 14 meters. +Turn right and move forward for 5 seconds, then revert back.,The response is, "Turn right and move forward for 5 seconds, then revert back." +Make a right turn and proceed forward for 5 seconds, then return back.,The response is, "Make a right turn and proceed forward for 5 seconds, then return back." +Take a right turn and advance ahead for 5 seconds, then go back in reverse.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "second"}} +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.,The response would be, "Rotate to the right and move straight ahead for 5 seconds, then reverse the direction." +Change direction to the right and go forward for 5 seconds, then reverse back.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "second"}}" +Move along the perimeter of the room for 1 minute.,The response is 1 * 60 = 60 seconds. +Walk around the edges of the room for 1 minute.,The answer is 60. +Circulate along the boundary of the room for 1 minute.,Circulate along the boundary of the room for 1 minute. +Patrol the perimeter of the room for 1 minute.,Patrol the perimeter of the room for 1 minute. +Traverse the outer edges of the room for 1 minute.,Traversing the outer edges of the room for 1 minute would take 1 minute. The answer is 1. +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,The response is, +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,The response is, "Turn left by 60 degrees and proceed ahead for a distance of 3 meters." +Rotate anticlockwise by 60 degrees and advance 3 meters.,The response is, +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.,The response is, "Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise." +Make a 60-degree left turn and move forward 3 meters.,The response would be, "Make a 60-degree left turn and move forward 3 meters." +Move forward at a variable speed for 10 seconds.,The response is, "Move forward at a variable speed for 10 seconds." +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.,The response is 10 seconds. +Advance for a period of 10 seconds, with variable speed.,The answer is 10. +Travel forward, varying the speed, for a total of 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "second"}} +Move ahead for 10 seconds, adjusting the speed accordingly.,The response is, "Move ahead for 10 seconds, adjusting the speed accordingly." +Move backward and stop 1 meter away from the designated target.,The response is, "Move backward and stop 1 meter away from the designated target." +Reverse direction and come to a halt at a distance of 1 meter from the specified target.,Reverse direction and come to a halt at a distance of 1 meter from the specified target. +Go in the opposite direction and pause when you are 1 meter away from the assigned target.,The response is, "Move backward for 1 meter at a speed of 0.5 meters per second." +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.,The response is, "Move in a reverse motion and cease motion once you are 1 meter away from the specified target." +Move forward for 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Proceed ahead by 1 meter.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Advance for a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Travel in a forward direction for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Go straight for a span of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by 90 degrees.,The response is, "Turn left by 90 degrees." +Rotate anticlockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}}" +Spin counterclockwise by 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}}" +Move backward for 2 seconds.,The response is, "Move backward for 2 seconds." +Go backward for a duration of 2 seconds.,The response is, "Go backward for a duration of 2 seconds." +Reverse direction and continue for 2 seconds.,Reverse direction and continue for 2 seconds. +Retreat for a period of 2 seconds.,The response is, "Retreat for a period of 2 seconds." +Take a step back and hold for 2 seconds.,The response is, "Hold for 2 seconds." +Turn left and move forward for 3 meters.,The response is, "Turn left and move forward for 3 meters." +Take a left turn and proceed ahead for a distance of 3 meters.,The response would be, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}} +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.,The response would be, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}} +Rotate to the left and proceed forward, covering a distance of 3 meters.,The response is, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}} +Go left and move straight ahead for 3 meters.,The response is, "{"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}}" +Move at a speed of 2 meters per second for 5 seconds.,The response is, "Move at a speed of 2 meters per second for 5 seconds." +Travel with a velocity of 2 meters per second for a duration of 5 seconds.,The response is 2 * 5 = 10 meters. +Maintain a pace of 2 meters per second for a period of 5 seconds.,The response is 2 * 5 = 10 meters. +Perform movement with a speed of 2 meters per second over a span of 5 seconds.,The response is 2 * 5 = 10 meters. +Cover a distance at 2 meters per second for a time period of 5 seconds.,The response is 2 * 5 = 10 meters. +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Rotate by 180 degrees in a clockwise direction.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Perform a clockwise rotation of 180 degrees.,The response is 180. +Turn 180 degrees in a clockwise manner.,The response is 180. +Rotate in a clockwise fashion, making a 180-degree turn.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Move forward for 4 meters.,The response is, {"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}} +Proceed straight ahead, covering a distance of 4 meters.,The response is, "The distance covered is 4 meters." +Advance forward, spanning 4 meters.,The response is, "Move forward for 4 meters at a speed of 0.5 meters per second." +Take 4 steps in the forward direction.,The response with an explanation would be, "4 steps in the forward direction." +Travel a distance of 4 meters, moving in the forward direction.,The response is, "Move forward for 4 meters at a speed of 1 meter per second." +Turn right and move backward for 1 meter.,The response is, "Move backward for 1 meter at a speed of 0.5 meters per second." +Rotate to the right and travel in reverse for a distance of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": -0.5, "distance": 1, "is_forward": false, "unit": "meter"}} +Make a right turn and proceed backwards for a length of 1 meter.,The response is, "Make a right turn and proceed backwards for a length of 1 meter." +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Face right and move backwards, covering a distance of 1 meter.,The response is, "Face right and move backwards, covering a distance of 1 meter." +Rotate counterclockwise by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate anti-clockwise by a 45-degree angle.,The response would be {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by 45 degrees.,The response is, "Turn left by 45 degrees." +Rotate in a counterclockwise direction by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}}" +Move forward for 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 10, "distance": 1, "is_forward": true, "unit": "second"}} +Proceed straight ahead for a duration of 10 seconds.,The response is, "Move forward for 10 seconds at a speed of 1 meter per second." +Advance continuously for a period of 10 seconds.,The response is 10. +Travel forwards for a span of 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "second"}} +Progress ahead for a time interval of 10 seconds.,The answer is 10. +Turn left and move at a speed of 1 meter per second for 2 seconds.,The response is, "Turn left and move at a speed of 1 meter per second for 2 seconds." +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.,The response is, "Make a left turn and proceed forward for 2 seconds at a speed of 1 meter per second." +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.,The response would be, "Move forward for 1 meter at a speed of 1 meter per second for a duration of 2 seconds." +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.,The response is, "Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second." +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.,The response is, "Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second." +Move backward for 3 meters.,The response is, "Move backward for 3 meters." +Go back 3 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Reverse your direction and travel 3 meters.,Reverse your direction and travel 3 meters. +Retreat for a distance of 3 meters.,The response is, "Retreat for a distance of 3 meters." +Take 3 steps backwards.,The response is 3. +Rotate clockwise by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Rotate 270 degrees in a clockwise direction.,The response is 270. +Perform a clockwise rotation of 270 degrees.,The answer is 270. +Turn right by 270 degrees.,The response is, "Turn right by 270 degrees." +Rotate by 270 degrees in the clockwise direction.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed ahead for a distance of 5 meters.,The response is, "The distance traveled is 5 meters." +Advance 5 meters in the forward direction.,The response is, "Move forward for 5 meters at a speed of 0.5 meters per second." +Take 5 meter steps forward.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Go ahead and travel a distance of 5 meters.,The response is, "The distance traveled is 5 meters." +Turn right and move at a speed of 1.5 meters per second for 4 seconds.,The response is, "Turn right and move at a speed of 1.5 meters per second for 4 seconds." +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.,The response is, "Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds." +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.,The response is, +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.,The response would be, "{"action": "move", "params": {"linear_speed": 1.5, "distance": 4, "is_forward": true, "unit": "meter"}}" +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.,The response would be, "Move right for 4 seconds at a speed of 1.5 meters per second." +Rotate counterclockwise by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by 60 degrees.,The response is, "Turn left by 60 degrees." +Move in an anti-clockwise direction by 60 degrees.,The response is, "Move in an anti-clockwise direction by 60 degrees." +Rotate in the opposite direction by 60 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": -60, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 60 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}". +Move forward for 2 meters.,The response is, {"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 2 meters.,The response is, "Move forward for 2 meters at a speed of 2 meters per second." +Advance onward by 2 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Travel straight ahead, covering a distance of 2 meters.,The response is, "{"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}}". +Take 2 meters forward.,The response is, "Move forward for 2 meters at a speed of 0.5 meters per second." +Turn left and move at a speed of 0.5 meters per second for 10 seconds.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": false, "unit": "meter"}} +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.,The response would be, "Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds." +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.,The response is, +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}} +Face left and advance at a pace of 0.5 meters per second for 10 seconds.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second for 10 seconds." +Move backward for 6 meters.,The response is, "Move backward for 6 meters." +Go back 6 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Reverse direction and move 6 meters.,Reverse direction and move 6 meters. +Retreat for a distance of 6 meters.,The response is, "Retreat for a distance of 6 meters." +Travel in the opposite direction and cover a distance of 6 meters.,The response is, "Move backward for 6 meters at a speed of 0.5 meters per second." +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 5 meters.,The response would be, "Move forward for 5 meters." +Advance by 5 meters in a forward direction.,The response is, "Move forward for 5 meters at a speed of 0.5 meters per second." +Go ahead for a span of 5 meters.,The response is, "The span of 5 meters is covered at a speed of 0.5 meters per second." +Cover a distance of 5 meters by moving forward.,The response is, "Move forward for 5 meters at a speed of 1 meter per second." +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn 90 degrees counterclockwise.,The response is, "Turn 90 degrees counterclockwise." +Rotate in a counterclockwise direction by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate anti-clockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Make a 90-degree counterclockwise rotation.,The answer is 90. +Stop., +Cease., +Halt., +Pause.,The response is, +Terminate., +Reverse for 2 seconds.,Reverse for 2 seconds. +Reverse for a duration of 2 seconds.,Reverse for a duration of 2 seconds. +Go back for 2 seconds.,The response is, "Go back for 2 seconds." +Move in reverse for 2 seconds.,The response is, "Move in reverse for 2 seconds." +Go in the opposite direction for 2 seconds.,The response is, "Move backward for 2 seconds." +Turn left and move forward for 10 meters.,The response would be, {"action": "move", "params": {"linear_speed": 10, "distance": 10, "is_forward": true, "unit": "meter"}} +Proceed forward for a distance of 10 meters after making a left turn.,The response is, "Make a left turn and proceed forward for a distance of 10 meters." +Make a left-hand turn and continue straight ahead for a distance of 10 meters.,The response would be, "Make a left-hand turn and continue straight ahead for a distance of 10 meters." +After turning left, continue moving straight ahead for a total of 10 meters.,The response is, "Move forward for 10 meters at a speed of 1 meter per second." +Execute a left turn and then travel forward for a distance of 10 meters.,The response would be, "Move forward for 10 meters at a speed of 0.5 meters per second." +Move backward for 3 seconds.,The response is, "Move backward for 3 seconds." +Go back for a duration of 3 seconds.,The response is, "Go back for a duration of 3 seconds." +Reverse movement for a period of 3 seconds.,Reverse movement for a period of 3 seconds. +Retreat for 3 seconds.,The response is, "Retreat for 3 seconds." +Take a step back for a duration of 3 seconds.,The response is, "The action is 'take_a_step_back' and the duration is 3 seconds." +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Perform a 180-degree clockwise rotation.,The response is 180. +Rotate in a clockwise direction by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Turn right and rotate 180 degrees.,The response is, "Turn right and rotate 180 degrees." +Execute a rotation of 180 degrees in a clockwise direction.,The response is 180. +Turn right and move forward for 8 meters.,The response is, "Turn right and move forward for 8 meters." +Proceed forward for a distance of 8 meters after making a right turn.,The response is, "Make a right turn and proceed forward for a distance of 8 meters." +Take a right turn and continue moving straight ahead for a duration of 8 meters.,The response would be, {"action": "move", "params": {"linear_speed": 8, "distance": 8, "is_forward": true, "unit": "meter"}} +After making a right-hand turn, advance 8 meters in a forward direction.,The response is, "Move forward for 8 meters at a speed of 0.5 meters per second." +Rotate to the right, then travel straight ahead for a distance of 8 meters.,The response is, "Rotate to the right, then travel straight ahead for a distance of 8 meters." +Move forward for 1 meter and stop.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 1 meter and come to a halt.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Advance one meter ahead and then come to a stop.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Travel in the forward direction for a length of 1 meter and then cease movement.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Move ahead for a distance of 1 meter, and then bring the movement to a stop.,The response is, "Move ahead for a distance of 1 meter, and then bring the movement to a stop." +Rotate counterclockwise by 135 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 135, "angle": 135, "is_clockwise": false, "unit": "degrees"}}" +Rotate 135 degrees counterclockwise.,The response is, {"action": "rotate", "params": {"angular_velocity": 135, "angle": 135, "is_clockwise": false, "unit": "degrees"}} +Turn 135 degrees counterclockwise.,The response is 135 degrees counterclockwise. +Rotate anticlockwise by 135 degrees.,The response is { "action": "rotate", "params": { "angular_velocity": 135, "angle": 135, "is_clockwise": false, "unit": "degrees" } }. +Perform a 135 degree counterclockwise rotation.,The response is 135 degrees counterclockwise. +Move backward for 6 meters.,The response is, "Move backward for 6 meters." +Go in reverse for a distance of 6 meters.,The response is, "Reverse for a distance of 6 meters." +Take 6 steps back.,The response is 6. +Retreat 6 meters.,The response is, "Retreat 6 meters." +Travel 6 meters in the opposite direction.,The response is, "Travel 6 meters in the opposite direction." +Turn left and move forward for 4 seconds.,The response is, "Turn left and move forward for 4 seconds." +Take a left turn and proceed straight ahead for a duration of 4 seconds.,The response would be, "Move forward for 4 seconds at a speed of 0.5 meters per second." +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.,The response is, "Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds." +Pivot to the left and advance forward for a period of 4 seconds.,The response is, "Pivot to the left and advance forward for a period of 4 seconds." +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.,The response is, +Rotate clockwise by 60 degrees.,The response above. +Turn 60 degrees in a clockwise direction.,The response is 60 degrees. +Rotate the object by 60 degrees in the clockwise direction.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}" +Move in a clockwise direction, making a 60 degree turn.,The response would be, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Rotate 60 degrees in a clockwise manner.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Move forward for 7 meters and stop.,The response is, "{"action": "move", "params": {"linear_speed": 7, "distance": 7, "is_forward": true, "unit": "meter"}}" +Proceed straight for a distance of 7 meters and come to a halt.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Advance ahead covering a distance of 7 meters and then cease movement.,The answer is 7. +Go forward 7 meters and then come to a stop.,The response is, "The action is 'move' and the params are 'linear_speed' = 7, 'distance' = 7, 'is_forward' = true, 'unit' = 'meter'." +Move straight ahead, covering a distance of 7 meters, and then halt.,The response is, "Move straight ahead, covering a distance of 7 meters, and then halt." +Reverse for 5 seconds.,Reverse for 5 seconds. +Reverse for a duration of 5 seconds.,Reverse for a duration of 5 seconds. +Perform a 5-second reverse.,The answer is 5. +Execute a reverse motion for 5 seconds.,The response is, "The reverse motion was executed for 5 seconds." +Go backwards for a period of 5 seconds.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Turn right and move forward for 9 meters.,The response is, "Turn right and move forward for 9 meters." +Move forward for 9 meters after turning right.,The response is, "Move forward for 9 meters after turning right." +After turning right, proceed ahead for a distance of 9 meters.,The response is, "After turning right, proceed ahead for a distance of 9 meters." +Take a right turn, then continue moving straight for a distance of 9 meters.,The response is, "Move forward for 9 meters at a speed of 0.5 meters per second." +Make a right turn and travel forward for 9 meters.,The response is, "{"action": "move", "params": {"linear_speed": 9, "distance": 9, "is_forward": true, "unit": "meter"}}" +Move forward for 2 seconds and stop.,The response is, "Move forward for 2 seconds and stop." +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.,The answer is 2. +Go ahead for 2 seconds and then halt.,The response is 2. +Advance for a period of 2 seconds and then cease movement.,The answer is 2. +Travel forward for 2 seconds before stopping.,The response is, "The travel time is 2 seconds." +Rotate counterclockwise by 30 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn 30 degrees counterclockwise.,The response is, "Turn 30 degrees counterclockwise." +Rotate in the anticlockwise direction by 30 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 30 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}}" +Rotate in a counterclockwise direction, making a 30-degree turn.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Reverse for 4 meters.,Reverse for 4 meters. +Move back for a distance of 4 meters.,The response is, "Move back for a distance of 4 meters." +Go in reverse for a span of 4 meters.,The response would be, "{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}" +Retreat 4 meters in the opposite direction.,The response is, "Retreat 4 meters in the opposite direction." +Travel backwards, covering a distance of 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}" +Turn left and move forward for 6 seconds.,The response is, "Turn left and move forward for 6 seconds." +Proceed forward for 6 seconds after making a left turn.,The response is 6. +Make a left turn and advance for 6 seconds.,The response is, "Make a left turn and advance for 6 seconds." +Move ahead for 6 seconds after turning to the left.,The response is, "Move ahead for 6 seconds after turning to the left." +After veering left, continue straight for 6 seconds.,The response is, "Continue straight for 6 seconds." +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed ahead for a distance of 5 meters.,The response is, "The distance traveled is 5 meters." +Advance straight on and cover a distance of 5 meters.,The response would be, "Move forward for 5 meters at a speed of 1 meter per second." +Head forward and travel 5 meters in that direction.,The response is, "Head forward and travel 5 meters in that direction." +Move straight ahead and go a distance of 5 meters.,The response is, "{"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}}" +Turn left and move forward for 2 seconds.,The response is, "Turn left and move forward for 2 seconds." +Move ahead for 2 seconds after turning left.,The response is, "Move ahead for 2 seconds after turning left." +After turning to the left, proceed forward for a duration of 2 seconds.,The response is, "After turning to the left, proceed forward for a duration of 2 seconds." +Take a left turn and then proceed straight for 2 seconds.,The response is, "Take a left turn and then proceed straight for 2 seconds." +Make a left turn and continue moving forward for a duration of 2 seconds.,The response is, "Make a left turn and continue moving forward for a duration of 2 seconds." +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn in the opposite direction by an angle of 90 degrees.,The response is, "Turn in the opposite direction by an angle of 90 degrees." +Rotate anticlockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Spin to the left by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Twist counterclockwise by 90 degrees.,The response is, "Twist counterclockwise by 90 degrees." +Move backward for 3 meters.,The response is, "Move backward for 3 meters." +Go in reverse for a distance of 3 meters.,The response is, "Reverse for a distance of 3 meters." +Travel three meters in the opposite direction.,The response is, "Travel three meters in the opposite direction." +Retreat for a distance of 3 meters.,The response is, "Retreat for a distance of 3 meters." +Reverse your movement and cover a distance of 3 meters.,Reverse your movement and cover a distance of 3 meters. +Turn right and move forward for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Proceed forward for 1 meter after turning to the right.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Take a right turn and continue moving straight ahead for a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +After making a right turn, proceed ahead for 1 meter.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}" +Rotate to the right and then advance for a distance of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Move forward at a velocity of 0.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}} +Proceed ahead with a speed of 0.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}. +Advance with a velocity of 0.5 meters per second.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Go forward at a rate of 0.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}}. +Travel in a forward direction at a velocity of 0.5 meters per second.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Perform a 180-degree clockwise rotation.,The response is 180. +Turn by 180 degrees in a clockwise direction.,The response is 180. +Rotate in a clockwise manner, completing a 180-degree turn.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Execute a clockwise rotation, rotating by 180 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 180, "angle": 0, "is_clockwise": true, "unit": "degrees"}} +Move forward for 10 meters at a velocity of 2 meters per second.,The response is, "Move forward for 10 meters at a velocity of 2 meters per second." +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.,The response is, "Move forward for 10 meters at a speed of 2 meters per second." +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.,The response is, "Move forward for 10 meters at a velocity of 2 meters per second." +Go ahead for 10 meters, moving at a pace of 2 meters per second.,The response is, "Move forward for 10 meters at a pace of 2 meters per second." +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.,The response would be, "Move forward for 10 meters at a velocity of 2 meters per second." +Turn left and move forward for 5 seconds.,The response is, "Turn left and move forward for 5 seconds." +Make a left turn and proceed straight ahead for a duration of 5 seconds.,The response would be, "Make a left turn and proceed straight ahead for a duration of 5 seconds." +Take a left and advance in a forward direction for a span of 5 seconds.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "second"}} +Rotate to the left and proceed ahead for a duration of 5 seconds.,The response is, {"action": "rotate", "params": {"angular_velocity": 5, "angle": 0, "is_clockwise": false, "unit": "second"}} +Veer left and move forward for an interval of 5 seconds.,Veer left and move forward for an interval of 5 seconds. +Move backward at a velocity of 1 meter per second.,The response is, "Move backward at a velocity of 1 meter per second." +Go in reverse at a speed of 1 meter per second.,The response is, "Move backward for 1 meter at a speed of 1 meter per second." +Travel backwards with a velocity of 1 meter per second.,The response is, "Move backward for 1 meter at a speed of 1 meter per second." +Move in the opposite direction at a rate of 1 meter per second.,The response is, "Move in the opposite direction at a rate of 1 meter per second." +Go backward at a speed of 1 meter per second.,The response is, "Move backward for 1 meter at a speed of 1 meter per second." +Rotate counterclockwise by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate 45 degrees counterclockwise.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Turn left by 45 degrees.,The response is, "Turn left by 45 degrees." +Rotate in an anticlockwise direction by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}}" +Move forward for 7 meters.,The response is, {"action": "move", "params": {"linear_speed": 7, "distance": 7, "is_forward": true, "unit": "meter"}} +Proceed ahead for a distance of 7 meters.,The response with an explanation would be, "Proceed ahead for 7 meters." +Advance 7 meters in the forward direction.,The response is, "Move forward for 7 meters at a speed of 0.5 meters per second." +Travel straight ahead for a length of 7 meters.,The response above is acceptable. +Go straight for 7 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Turn right and move forward for 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}}" +Take a right turn and proceed ahead for a distance of 4 meters.,The response would be, "{"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}}" +Make a right turn and advance straight ahead covering a distance of 4 meters.,The response would be, {"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}} +Rotate towards the right and continue moving forward for 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}" +Go right and travel straight ahead, covering a distance of 4 meters.,The response would be, "Go right and travel straight ahead, covering a distance of 4 meters." +Move forward for 3 seconds.,The response is, {"action": "move", "params": {"linear_speed": 3, "distance": 0, "is_forward": true, "unit": "second"}} +Go straight ahead for a duration of 3 seconds.,The response is, {"action": "move", "params": {"linear_speed": 3, "distance": 0, "is_forward": true, "unit": "second"}} +Proceed in a forward direction for a span of 3 seconds.,The response would be 3 * 0.5 = 1.5 meters. +Advance ahead for a period of 3 seconds.,The answer is 3. +Travel forward for a duration of 3 seconds.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}}" +Turn left and move forward for 2 meters.,The response is, "Turn left and move forward for 2 meters." +Proceed straight for a distance of 2 meters after making a left turn.,The response is, "Proceed straight for a distance of 2 meters after making a left turn." +For a span of 2 meters, continue moving forward after taking a left turn.,The response would be,{ "action": "move", "params": { "linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter" } } +Make a left turn and advance ahead for 2 meters.,The response would be, {"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}} +After turning left, go straight for a distance of 2 meters.,The response is, "Go straight for a distance of 2 meters." +Rotate clockwise by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Turn to the right by 270 degrees.,The response is, "Turn to the right by 270 degrees." +Rotate in a clockwise direction by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Perform a 270-degree clockwise rotation.,The response is 270. +Rotate by 270 degrees in a clockwise manner.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Move backward for 6 meters.,The response is, "Move backward for 6 meters." +Reverse direction and travel a distance of 6 meters.,Reverse direction and travel a distance of 6 meters. +Go back 6 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Retreat for a distance of 6 meters.,The response is, "Retreat for a distance of 6 meters." +Move in the opposite direction for 6 meters.,The response is, "Move in the opposite direction for 6 meters." +Turn right and move forward for 5 seconds.,The response is, "Turn right and move forward for 5 seconds." +Take a right turn and proceed ahead for a duration of 5 seconds.,The response would be, {"action": "turn", "params": {"direction": "right", "duration": 5, "unit": "second"}} +Make a right turn and continue moving straight for 5 seconds.,The response is, "Make a right turn and continue moving straight for 5 seconds." +Go right and advance for a period of 5 seconds.,The response would be, "{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}}" +Shift to the right and travel in a forward direction for 5 seconds.,The response is, "Move forward for 5 seconds." +Move forward at a velocity of 0.3 meters per second for 10 meters.,The response is, {"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}} +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.,The response is, "Move forward for 10 meters at a speed of 0.3 meters per second." +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.,The response is, "Move forward for 10 meters, maintaining a velocity of 0.3 meters per second." +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.,The response is, "Move forward for 10 meters at a speed of 0.3 meters per second." +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.,The response is, "Move forward for 10 meters at a velocity of 0.3 meters per second." +Rotate counterclockwise by 120 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 120, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate 120 degrees counterclockwise.,The response is, {"action": "rotate", "params": {"angular_velocity": 120, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 120 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 120, "angle": 120, "is_clockwise": false, "unit": "degrees"}}" +Turn left by 120 degrees.,The response is, "Turn left by 120 degrees." +Rotate in the opposite direction by 120 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by 90 degrees.,The response is, "Turn left by 90 degrees." +Rotate anti-clockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 90 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Rotate counter to the clockwise direction by 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": true, "unit": "degrees"}}" +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 5 meters.,The response would be, "Move forward for 5 meters." +Advance ahead by 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}} +Travel in a forward direction, covering a distance of 5 meters.,The response is, "Move forward for 5 meters at a speed of 0.5 meters per second." +Move straight ahead and travel a distance of 5 meters.,The response is, "{"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}}" +Turn left and move forward for 2 seconds.,The response is, "Turn left and move forward for 2 seconds." +Proceed forward for 2 seconds after turning left.,The response is, "Proceed forward for 2 seconds after turning left." +After making a left turn, continue straight ahead for 2 seconds.,The answer is 2. +Take a left turn and then advance forward for 2 seconds.,The response would be, "{"action": "move", "params": {"linear_speed": 2, "distance": 0, "is_forward": true, "unit": "second"}}" +Rotate to the left and travel straight for 2 seconds.,The response is, "Rotate to the left and travel straight for 2 seconds." +Stop and wait., +Cease and remain still., +Halt and stay put., +Pause and remain stationary., +Desist and await further instruction., +Move backward for 10 meters.,The response is, "Move backward for 10 meters." +Go back a distance of 10 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Retreat for a distance of 10 meters.,The response is, "Retreat for a distance of 10 meters." +Reverse your direction and travel 10 meters.,Reverse your direction and travel 10 meters. +Take 10 steps backward.,The response is, "The person took 10 steps backward." +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Perform a 180-degree clockwise rotation.,The response is 180. +Rotate in a clockwise direction by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Turn by 180 degrees in a clockwise manner.,The response is 180. +Execute a clockwise rotation of 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Turn right and move forward for 3 seconds.,The response is, "Turn right and move forward for 3 seconds." +Make a right turn and proceed forward for a duration of 3 seconds.,The response is, "Make a right turn and proceed forward for a duration of 3 seconds." +Take a right and continue moving straight ahead for a total of 3 seconds.,The answer is 3. +Rotate to the right and advance for a period of 3 seconds.,The response is, "{"action": "rotate", "params": {"angular_velocity": 3, "angle": 0, "is_clockwise": false, "unit": "second"}}" +Face towards the right and travel forward for a duration of 3 seconds.,The response is, "Face towards the right and travel forward for a duration of 3 seconds." +Go to the living room and stop.,The response is, "Go to the living room and stop." +Proceed to the living room and come to a halt.,The response is, "The person came to a halt in the living room." +Move to the living room and cease all movement.,The response is, "Move to the living room and cease all movement." +Make your way to the living room and stand still.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Head to the living room and remain stationary., +Move 2 meters to the left.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Shift your position by 2 meters towards the left.,The response is, "The action is move. The params are linear_speed: 0.5, distance: 2, is_forward: true, unit: meter." +Change your location by 2 meters in a leftward direction.,The response is, "Move forward for 2 meters at a speed of 0.5 meters per second." +Relocate yourself 2 meters to the left.,The response is, "Relocate yourself 2 meters to the left." +Move to the left by a distance of 2 meters.,The response is, "Move to the left by a distance of 2 meters." +Rotate counterclockwise by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by 45 degrees.,The response is, "Turn left by 45 degrees." +Execute a counterclockwise rotation of 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}}" +Rotate anticlockwise by an angle of 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": false, "unit": "degrees"}}" +Perform a 45-degree rotation in the counterclockwise direction.,The 45-degree rotation in the counterclockwise direction would be 180 - 45 = 135 degrees. The answer is 135. +Move forward at a speed of 0.5 meters per second for 4 seconds.,The response is, "Move forward for 4 seconds at a speed of 0.5 meters per second." +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.,The response would be, "Move forward for 4 seconds at a velocity of 0.5 meters per second." +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.,The response is, "Move forward for 4 seconds at a speed of 0.5 meters per second." +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}} +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}" +Turn left and move forward for 7 meters.,The response is, "Turn left and move forward for 7 meters." +Make a left turn and proceed straight ahead covering a distance of 7 meters.,The response is, "Make a left turn and proceed straight ahead covering a distance of 7 meters." +Take a left turn and continue moving ahead, advancing 7 meters.,The response is, "Move forward for 7 meters at a speed of 0.5 meters per second." +Head to the left and travel straight for 7 meters.,The response is, "Head to the left and travel straight for 7 meters." +Rotate in the left direction and proceed forward, covering a distance of 7 meters.,The response is, +Stop and reverse direction.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Come to a halt and begin moving in the opposite direction.,The response is, {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}. +Cease forward motion and start moving backwards.,The response is, "{"action": "move", "params": {"linear_speed": -0.5, "distance": 1, "is_forward": false, "unit": "meter"}}" +Bring yourself to a stop and change your direction to the opposite way.,The response is, {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}. +Halt your movement and proceed in the opposite direction.,The response is, "Move backward for 1 meter at a speed of 0.5 meters per second." +Move 3 meters to the right.,The response is, "The action is move. The params are linear_speed: 3, distance: 3, is_forward: true, unit: meter." +Shift 3 meters towards the right.,The response is, "Shift 3 meters towards the right." +Go 3 meters horizontally in the right direction.,The response is, "Go 3 meters horizontally in the right direction." +Change your position by moving 3 meters to the right.,The response would be, "{"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}}" +Traverse a distance of 3 meters towards the right.,The response would be, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 60 degrees.,The response above. +Perform a clockwise rotation of 60 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}". +Rotate 60 degrees in a clockwise direction.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Turn to the right by 60 degrees.,The response is, "Turn to the right by 60 degrees." +Rotate to the right by an angle of 60 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}" +Turn right and move forward for 1 second.,The response is, "Turn right and move forward for 1 second." +Take a right turn and proceed straight ahead for 1 second.,The response would be, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}" +Make a right turn and advance for 1 second.,The response is, "Make a right turn and advance for 1 second." +Rotate to the right and move forward for 1 second.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}} +Go right and continue moving forward for 1 second.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}" +Go to the bedroom and stop.,The response is, "Go to the bedroom and stop." +Head to the bedroom and come to a halt.,The response is, "Head to the bedroom and come to a halt." +Make your way to the bedroom and cease all movement.,The response is, "Make your way to the bedroom and cease all movement." +Proceed to the bedroom and pause.,The response is, "Pause for 5 seconds." +Go to the bedroom and stand still.,The response is, "Go to the bedroom and stand still." +Move backward for 8 meters.,The response is, "Move backward for 8 meters." +Go 8 meters in reverse.,The response is, "Go 8 meters in reverse." +Travel 8 meters in the opposite direction.,The response is, "Move backward for 8 meters at a speed of 0.5 meters per second." +Retreat for a distance of 8 meters.,The response is, "Retreat for a distance of 8 meters." +Reverse 8 meters.,Reverse 8 meters. +Rotate counterclockwise by 270 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 270, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by 270 degrees.,The response is, "Turn left by 270 degrees." +Rotate anti-clockwise by 270 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 270, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 270 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Perform a 270-degree counterclockwise rotation.,The response is 270 degrees counterclockwise. +Turn left and move forward for 6 seconds.,The response is, "Turn left and move forward for 6 seconds." +Go forward for 6 seconds after turning left.,The response is, "Go forward for 6 seconds after turning left." +Take a left turn and proceed straight for 6 seconds.,The response is, "Take a left turn and proceed straight for 6 seconds." +After turning left, continue moving forward for 6 seconds.,The response is, "Continue moving forward for 6 seconds." +Make a left turn and move ahead for 6 seconds.,The response is, "Make a left turn and move ahead for 6 seconds." +Turn left and move forward for 5 meters.,The response is, "Turn left and move forward for 5 meters." +Take a left turn and proceed ahead covering a distance of 5 meters.,The response would be, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}} +Make a left turn and continue moving straight, covering a distance of 5 meters.,The response is, "Make a left turn and continue moving straight, covering a distance of 5 meters." +Go left and advance forward, traveling a distance of 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}} +Execute a left turn and proceed straight, ensuring a distance of 5 meters.,The response is, "Move forward for 5 meters at a speed of 0.5 meters per second." +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn 90 degrees in the counterclockwise direction.,The response is, "Turn 90 degrees in the counterclockwise direction." +Rotate anti-clockwise at a 90-degree angle.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Spin to the left by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate in the counterclockwise direction, making a 90-degree turn.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move backward for 3 seconds.,The response is, "Move backward for 3 seconds." +Go in reverse for a duration of 3 seconds.,The response is, {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}. +Take a step back and continue for a total of 3 seconds.,The answer is 3. +Reverse your movement and maintain it for 3 seconds.,Reverse your movement and maintain it for 3 seconds. +Retreat for a period of 3 seconds.,The response is, "Retreat for a period of 3 seconds." +Turn right and move forward for 10 meters.,The response would be, {"action": "move", "params": {"linear_speed": 10, "distance": 10, "is_forward": true, "unit": "meter"}} +Proceed forward for 10 meters after making a right turn.,The response is, "Make a right turn and proceed forward for 10 meters." +Take a right and continue moving ahead for a distance of 10 meters.,The response would be, "Move forward for 10 meters at a speed of 1 meter per second." +Make a right turn and travel straight ahead for a total of 10 meters.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +After turning right, advance forward and cover a distance of 10 meters.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}" +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Perform a 180-degree clockwise rotation.,The response is 180. +Turn in a clockwise direction by 180 degrees.,The response is, "Turn in a clockwise direction by 180 degrees." +Execute a rotation of 180 degrees in a clockwise manner.,The response is 180. +Rotate by 180 degrees, following the clockwise direction.,The response is, {"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Move forward at a speed of 0.5 meters per second for 4 seconds.,The response is, "Move forward for 4 seconds at a speed of 0.5 meters per second." +Go ahead for 4 seconds at a velocity of 0.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}} +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.,The response is, "Move forward for 4 seconds at a speed of 0.5 meters per second." +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}" +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.,The response is, "Move forward for 4 seconds at a rate of 0.5 meters per second." +Turn left and move backward for 2 meters.,The response is, "Turn left and move backward for 2 meters." +Take a left turn and proceed backwards for a distance of 2 meters.,The response would be,{ "action": "move", "params": { "linear_speed": 2, "distance": 2, "is_forward": false, "unit": "meter" } } +Make a left turn and travel in reverse for a distance of 2 meters.,The response is, "Make a left turn and travel in reverse for a distance of 2 meters." +Rotate left and proceed in reverse for a total distance of 2 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Shift to the left and move backwards covering a distance of 2 meters.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}" +Move forward for 7 seconds.,The response is, {"action": "move", "params": {"linear_speed": 7, "distance": 0, "is_forward": true, "unit": "second"}} +Proceed ahead for a duration of 7 seconds.,The answer is 7. +Advance for a period of 7 seconds.,The answer is 7. +Keep moving forward for 7 seconds.,The response is, "Keep moving forward for 7 seconds." +Continue ahead for a total of 7 seconds.,The response is 7. +Rotate counterclockwise by 30 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by an angle of 30 degrees.,The response is, "Turn left by an angle of 30 degrees." +Rotate anticlockwise by 30 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 30 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Make a 30 degree counterclockwise rotation.,The response is 30 degrees counterclockwise. +Move backward at a speed of 1 meter per second for 6 seconds.,The response is, "Move backward at a speed of 1 meter per second for 6 seconds." +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.,Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds. +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.,The response is, "{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}" +Travel backwards for 6 seconds at a speed of 1 meter per second.,The response is, "The travel backwards for 6 seconds at a speed of 1 meter per second." +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.,The response would be, "Move forward for 6 seconds at a rate of 1 meter per second." +Turn right and move forward for 8 meters.,The response is, "Turn right and move forward for 8 meters." +Proceed for 8 meters after taking a right turn.,The response is 8. +Take a right and continue straight ahead for a distance of 8 meters.,The response is, "Take a right and continue straight ahead for a distance of 8 meters." +Make a right turn and then proceed ahead for 8 meters.,The response is, "Make a right turn and then proceed ahead for 8 meters." +After turning right, cover a distance of 8 meters by moving forward.,The response is, "Move forward for 8 meters at a speed of 2 meters per second." +Rotate clockwise by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}" +Turn 270 degrees to the right.,The answer is 270. +Turn three-quarters of a full rotation to the right.,The answer is 270 degrees. +Perform a clockwise rotation of 270 degrees.,The answer is 270. +Rotate in the clockwise direction, making a 270-degree turn.,The response is 270. +Move forward and then immediately stop.,The response is, "Move forward and then immediately stop." +Proceed forward and promptly come to a halt.,The response is '{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}' +Advance and instantaneously cease movement.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Go forward and abruptly pause.,The response is, "Go forward and abruptly pause." +Move ahead and promptly end motion.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Turn left and move backward for 4 meters.,The response is, "Turn left and move backward for 4 meters." +Make a left turn and proceed backwards for a distance of 4 meters.,The response is, "Make a left turn and proceed backwards for a distance of 4 meters." +Go in the opposite direction and turn to the left, covering a distance of 4 meters.,The response is, "Move backward for 4 meters at a speed of 0.5 meters per second." +Rotate to your left and travel in the reverse direction, moving 4 meters behind.,The response is, "Move backward for 4 meters at a speed of 0.5 meters per second." +Head left and travel in reverse for a total of 4 meters.,The response is, "Head left and travel in reverse for a total of 4 meters." +Move forward for 10 seconds at a speed of 0.3 meters per second.,The response is, "Move forward for 10 seconds at a speed of 0.3 meters per second." +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.,The response is, "Move forward for 10 seconds at a velocity of 0.3 meters per second." +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.,The response is 0.3 * 10 = 3 meters. +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.,The response is, "Move forward for 10 seconds, moving at a speed of 0.3 meters per second." +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.,The response is, "{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}" +Rotate counterclockwise by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Turn left by 60 degrees.,The response is, "Turn left by 60 degrees." +Rotate in the opposite direction by 60 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": -60, "is_clockwise": false, "unit": "degrees"}} +Make a counterclockwise rotation of 60 degrees.,The response is, "Make a counterclockwise rotation of 60 degrees." +Rotate leftwards by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Move backward and then immediately stop.,The response is, "Move backward and then immediately stop." +Reverse and come to a sudden halt.,Reverse and come to a sudden halt. +Go in reverse and abruptly cease.,The response is, "Go in reverse and abruptly cease." +Back up and instantly come to a standstill.,The response is, "Back up and instantly come to a standstill." +Move backwards and promptly come to a stop.,The response is, "Move backwards and promptly come to a stop." +Turn right and move forward for 6 meters.,The response is, "Turn right and move forward for 6 meters." +Make a right turn and proceed straight ahead for a distance of 6 meters.,The response is, "Make a right turn and proceed straight ahead for a distance of 6 meters." +Go to your right and continue moving forward for a total of 6 meters.,The response would be, "Go to your right and continue moving forward for a total of 6 meters." +Take a right turn and advance ahead, covering a distance of 6 meters.,The response would be, {"action": "move", "params": {"linear_speed": 6, "distance": 6, "is_forward": true, "unit": "meter"}} +Head towards the right and maintain a straight path for 6 meters.,The response is, "Head towards the right and maintain a straight path for 6 meters." +Rotate clockwise by 120 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 120, "angle": 120, "is_clockwise": true, "unit": "degrees"}} +Turn 120 degrees in a clockwise direction.,The response is 120 degrees. +Move in a clockwise rotation by 120 degrees.,The response is, "Move in a clockwise rotation by 120 degrees." +Adjust the rotation by 120 degrees in a clockwise manner.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": true, "unit": "degrees"}}" +Execute a 120-degree clockwise rotation.,The response is 120. +Move forward and then backward for 5 meters.,The response is, "Move forward for 5 meters and then backward for 5 meters." +Proceed ahead and then return in reverse for a distance of 5 meters.,The response is, "Return in reverse for a distance of 5 meters." +Advance forward and then retract for a distance of 5 meters.,The answer is 5. +Go straight ahead and then move backward covering a span of 5 meters.,The response is, "Move backward for 5 meters at a speed of 0.5 meters per second." +Propel forward and then reverse, covering a distance of 5 meters.,The response is, "Propel forward and then reverse, covering a distance of 5 meters." +Move forward for 10 meters.,The response is, {"action": "move", "params": {"linear_speed": 10, "distance": 10, "is_forward": true, "unit": "meter"}} +Proceed straight for a distance of 10 meters.,The response is, "Move forward for 10 meters at a speed of 1 meter per second." +Advance ahead by 10 meters.,The response is, "Move forward for 10 meters at a speed of 0.5 meters per second." +Go straight ahead covering a distance of 10 meters.,The response is, "{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}" +Travel in a forward direction for 10 meters.,The response is, "Move forward for 10 meters at a speed of 0.5 meters per second." +Turn left and move forward for 5 meters.,The response is, "Turn left and move forward for 5 meters." +Make a left turn and proceed ahead for a distance of 5 meters.,The response is, "Make a left turn and proceed ahead for a distance of 5 meters." +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.,The response would be,{ "action": "move", "params": { "linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter" } } +Take a leftward turn and advance for 5 meters.,The response would be, "{"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}}" +Face left and go straight for 5 meters.,The response is, "Face left and go straight for 5 meters." +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Rotate in an anticlockwise direction by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Perform a 90-degree counterclockwise rotation.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}" +Turn left by 90 degrees.,The response is, "Turn left by 90 degrees." +Anti-rotate by 90 degrees.,Anti-rotate by 90 degrees. +Move backward for 3 meters.,The response is, "Move backward for 3 meters." +Go in reverse for a distance of 3 meters.,The response is, "Reverse for a distance of 3 meters." +Retreat by 3 meters.,The response is, "Retreat by 3 meters." +Step back 3 meters.,The response is, "Step back 3 meters." +Reverse direction and travel 3 meters.,Reverse direction and travel 3 meters. +Turn right and move forward at 0.5 m/s for 20 seconds.,The response is, "Move forward for 20 seconds at a speed of 0.5 m/s." +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.,The response is, "Move forward for 20 seconds at a speed of 0.5 m/s after turning right." +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "meter"}}" +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.,The response would be,{ "action": "move", "params": { "linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "meter" } } +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.,The response is, "Move forward for 20 seconds at a speed of 0.5 m/s." +Go to the living room and stop.,The response is, "Go to the living room and stop." +Please proceed to the living room and come to a halt.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Make your way to the living room and cease movement.,The response is, "Make your way to the living room and cease movement." +Head over to the living room and pause., +Walk into the living room and stand still.,The response is, "Stand still." +Move forward for 2 seconds at a speed of 1 meter per second.,The response is, "Move forward for 2 seconds at a speed of 1 meter per second." +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": true, "unit": "meter"}} +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.,The response is, "Advance for 2 seconds with a speed of 1 meter per second in the forward direction." +Move ahead at a rate of 1 meter per second for 2 seconds.,The response is, "Move ahead at a rate of 1 meter per second for 2 seconds." +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.,The response is, "{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}" +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}" +Perform a clockwise rotation of 180 degrees.,The response is 180. +Rotate 180 degrees in the clockwise direction.,The response is 180 degrees in the clockwise direction. +Turn in a clockwise direction and rotate by 180 degrees.,The response is, "Turn in a clockwise direction and rotate by 180 degrees." +Execute a 180-degree clockwise rotation.,The response is 180. +Move forward for 4 meters and then turn left.,The response is, "Move forward for 4 meters and then turn left." +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.,The response is, "Move forward for 4 meters at a speed of 0.5 meters per second." +Go straight for a distance of 4 meters followed by a left turn.,The response is, "Go straight for a distance of 4 meters followed by a left turn." +Advance in the forward direction, covering 4 meters, and then make a leftward turn.,The response is, +Move ahead for 4 meters and then change direction by turning left.,The response is, "Move ahead for 4 meters and then change direction by turning left." +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,The response is, +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,The response is, "Turn left by 60 degrees and proceed ahead for a distance of 3 meters." +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}." +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.,The response is, +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Go to the bedroom and stop.,The response is, "Go to the bedroom and stop." +Proceed to the bedroom and come to a halt.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is +Make your way to the bedroom and cease your movement.,The response is, "Make your way to the bedroom and cease your movement." +Head towards the bedroom and come to a standstill.,The response is, "Head towards the bedroom and come to a standstill." +Move to the bedroom and pause.,The response is, "Move to the bedroom and pause." +Move backward for 7 meters at a speed of 0.8 meters per second.,The response is, "Move backward for 7 meters at a speed of 0.8 meters per second." +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.,The response is, "Move backward for a distance of 7 meters at a velocity of 0.8 meters per second." +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 0.8, "distance": -7, "is_forward": false, "unit": "meter"}}" +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.,The response is, "Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second." +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.,The response is, "Move backward for 7 meters at a speed of 0.8 meters per second." +Turn left and move forward for 5 meters at a speed of 2 meters per second.,The response is, "Turn left and move forward for 5 meters at a speed of 2 meters per second." +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.,The response is, "Move forward for 5 meters at a speed of 2 meters per second." +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}" +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.,The response is, "Move forward for 5 meters at a speed of 2 meters per second." +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": false, "unit": "meter"}} +Back up for 1 meter and then execute a 90-degree turn to the right.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Reverse for 1 meter and then make a right turn of 90 degrees.,Reverse for 1 meter and then make a right turn of 90 degrees. +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.,The response is, "Move backwards by 1 meter and then perform a right turn at a 90-degree angle." +Retreat by 1 meter and then make a right turn of 90 degrees.,The response is, "Retreat by 1 meter and then make a right turn of 90 degrees." +Take a step back for 1 meter and then execute a 90-degree right turn.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Navigate to the specified GPS coordinates and play a pre-recorded message., +Please go to the given GPS coordinates and play the pre-recorded message.,A: Consider the following ontology{"action": "go_to_goal", "params": { "location": { "type": "str", "value": "Kitchen" } } } { "action": "move", "params": { "linear_speed": linear_speed, "distance": distance, "is_forward": is_forward, "unit": "meter" } } { " +Can you navigate to the provided GPS coordinates and start playing the recorded message?,A: Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}} You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples. prompt: "Move forward for 1 meter at a speed of +Follow the given GPS coordinates and play the message that has been prerecorded.,The response is accepted. +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message., +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.,The response would be,{ "action": "move", "params": { "linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter" } } +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.,The response would be,{ "action": "move", "params": { "linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter" } } +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.,Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements. +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.,The response would be,{ "action": "move", "params": { "linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter" } } +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.,The response would be,{ "action": "move", "params": { "linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter" } } +Spin around in a circle three times and then stop abruptly.,The answer is 3. +Rotate in a full circle three times before coming to an abrupt halt.,The response is, +Perform three complete rotations in a circular motion and then abruptly come to a stop.,The answer is 360 degrees. +Turn around in a complete circle three times and then suddenly cease movement.,The answer is 0. +Spin in a circle three times and then bring yourself to an immediate halt.,The answer is 3. +Move forward at a constant speed of 1 meter per second for 30 seconds.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}} +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}} +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.,The response is, "Move forward for 30 seconds at a constant speed of 1 meter per second." +Advance for 30 seconds with a consistent velocity of 1 meter per second.,The response is 30 seconds. +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.,The response would be, "Move forward for 30 seconds at a speed of 1 meter per second." +Turn right and follow a curved path for 2 meters, then stop and beep.,The response is, "Turn right and follow a curved path for 2 meters, then stop and beep." +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.,The response would be, "{"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}}" +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.,The answer is 2 meters. +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}" +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.,The response is, "{"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}}" +Move forward for 5 meters and then reverse for 2 meters, repeating twice.,The response is, "Move forward for 5 meters and then reverse for 2 meters, repeating twice." +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.,Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice. +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.,The response would be, "Forward: 5 meters, Reverse: 2 meters, Forward: 5 meters, Reverse: 2 meters." +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.,The response is, "Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice." +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.,The response would be:A: Move forward for 5 meters. B: Stop. A: Go back for 2 meters. B: Stop. A: Repeat this process twice. B: Stop twice. +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.,The response is, "Move forward for a random duration between 1 and 5 seconds." +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.,The response is {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}. +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second." +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.,The response is, "Move forward for 2 seconds at a speed of 1 meter per second." +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.,The response is, "Move forward for 1 second at a speed of 0.5 meters per second." +Perform a 180-degree turn, then launch a small drone from your back.,The 180-degree turn would be a 180-degree rotation. The angular velocity would be 180/60 = 3 degrees per second. The angle would be 180 degrees. The unit would be degrees. The answer would be {"action": "rotate", "params": {"angular_velocity": 3, "angle": 180, "is_clockwise": true, "unit": "degrees"}}. +Execute a 180-degree rotation and subsequently release a compact drone from your rear.,The response is acceptable. +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.,The response is, "Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you." +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.,The response is, "Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside." +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.,The response is acceptable because it conforms to the ontology. diff --git a/evaluation/JSON-converted-commands/LLaMA-7b/Converted_JSON_commands_Robotic_Arm.txt b/evaluation/JSON-converted-commands/LLaMA-7b/Converted_JSON_commands_Robotic_Arm.txt new file mode 100644 index 0000000..d7f5a46 --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA-7b/Converted_JSON_commands_Robotic_Arm.txt @@ -0,0 +1,998 @@ +Lift the object with a force of 10 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 10 Newton force to lift the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10 Newton force to raise the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 10 Newtons to elevate the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Employ a 10 Newton force to hoist the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the shoulder joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint anti-clockwise at a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },'] +Rotate the shoulder joint in a counterclockwise direction, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a counterclockwise manner, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in the opposite direction of the clock by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:50, Y:30, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Change your location to coordinates X:50, Y:30, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Transfer yourself to the position with the coordinates X:50, Y:30, Z:15.,['The response would be something like this:'] +Relocate to the coordinates X:50, Y:30, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Go to the point specified by X:50, Y:30, Z:15.,['X:50, Y:30, Z:15'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 20 centimeters.,['The response is an object with the following properties:'] +Stretch the arm outwards by 20 centimeters.,['### Output:', ''] +Lengthen the arm by an additional 20 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's reach by 20 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with a force of 15 kilograms.,['The response is 15.0.'] +Apply a force of 15 kilograms to grasp the object.,['The response is:'] +Exert a 15 kilogram force to hold onto the object.,['The response is ', ''] +Securely hold the object with a 15 kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 15 kilograms to get a firm grip on the object.,['The response is ', ''] +Rotate the elbow joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in a clockwise direction, rotating it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Clockwise rotate the elbow joint by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'] +Rotate the elbow joint in the clockwise direction, making a 60 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint to the right, moving it 60 degrees in a clockwise rotation.,['The response is:'] +Lift the object to a height of 1 meter.,['The response is an empty array.'] +Elevate the object to a 1-meter height.,['The response is an empty array.'] +Raise the object to a height of 1 meter.,['The response is an empty array.'] +Hoist the object to a 1-meter elevation.,['The response is an empty array.'] +Bring the object up to a height of 1 meter.,['The response is an empty array.'] +Move to position X:25, Y:40, Z:10 at a velocity of 10 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'] +Proceed to coordinates X:25, Y:40, Z:10 with a speed of 10 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Travel to position X:25, Y:40, Z:10 traveling at a pace of 10 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Transfer yourself to X:25, Y:40, Z:10 while maintaining a velocity of 10 cm/s.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Journey to coordinates X:25, Y:40, Z:10 at a rate of 10 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Rotate the wrist joint counterclockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint anticlockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": -30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Twist the wrist joint in a counterclockwise direction by 30 degrees.,['The response is:'] +Rotate the wrist joint to the left by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit":'] +Adjust the position of the wrist joint by rotating it counterclockwise 30 degrees.,['The response is:'] +Retract the arm by 25 centimeters.,['The response is ', ''] +Pull the arm back by a distance of 25 centimeters.,['The response is an empty array.'] +Withdraw the arm, reducing its length by 25 centimeters.,['The response is an empty array.'] +Bring the arm back, shortening it by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Decrease the length of the arm by 25 centimeters through retraction.,['The response is an empty array.'] +Grip the object with a force of 20 Newtons.,['Grip the object with a force of 20 Newtons.'] +Apply a 20 Newton force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a grip on the object with a 20 Newton force.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 20 Newtons of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 20.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Ensure a 20 Newton force is applied when gripping the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Turn the shoulder joint in a clockwise direction for a 45-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Rotate the shoulder joint by 45 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 45.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a clockwise manner, moving it 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Rotate the shoulder joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 45.0,', ' "direction": "right",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:15, Y:25, Z:5 at a velocity of 5 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Travel to coordinates X:15, Y:25, Z:5 with a speed of 5 cm/s.,['The response would be something like this:'] +Go to location X:15, Y:25, Z:5 with a velocity of 5 cm/s.,['The response would be something like this:'] +Proceed towards position X:15, Y:25, Z:5 at a rate of 5 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "position"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit": "'] +Travel at a speed of 5 cm/s to reach coordinates X:15, Y:25, Z:5.,['The answer is 5.'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' }', ' }', '}'] +Increase the length of the arm by 30 centimeters.,['The response is an empty array.'] +Stretch the arm outwards by an additional 30 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' }', ' }', '}'] +Elongate the arm to add 30 centimeters to its length.,['The response would be,', '', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's reach by 30 centimeters.,['The answer is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lift the object to a height of 2 meters.,['The response is an empty array.'] +Raise the object to a height measuring 2 meters.,['The response is an empty array.'] +Elevate the object to a 2 meter height.,['The response is an empty array.'] +Hoist the object up to a vertical distance of 2 meters.,['The response is:'] +Ascend the object to a 2 meter elevation.,['The response is an empty array.'] +Rotate the elbow joint counterclockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 75.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint in the opposite direction by an angle of 75 degrees.,['The response is:'] +Turn the elbow joint anticlockwise by 75 degrees.,['The response is:'] +Rotate the elbow joint in a counterclockwise direction, making a 75 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 75.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the elbow joint by rotating it counterclockwise with a 75 degree angle.,['The response is:'] +Move to position X:35, Y:50, Z:20.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Go to coordinates X:35, Y:50, Z:20.,['The response would be something like this:'] +Transfer yourself to the location with coordinates X:35, Y:50, Z:20.,['X:35, Y:50, Z:20'] +Change your position to X:35, Y:50, Z:20.,['{', ' "position": {', ' "x": 35,', ' "y": 50,', ' "z": 20', ' }', '}'] +Relocate yourself to the coordinates X:35, Y:50, Z:20.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Retract the arm by 10 centimeters at a velocity of 15 cm/s.,['The response is:'] +Withdraw the arm by a distance of 10 centimeters, moving at a speed of 15 cm/s.,['The response is:'] +Pull the arm back by 10 centimeters, with a velocity of 15 cm/s.,['The response is:'] +Bring the arm back by a length of 10 centimeters, traveling at a rate of 15 cm/s.,['The response is:'] +Move the arm backwards by 10 centimeters at a speed of 15 cm/s.,['The response is:'] +Grip the object with a force of 25 kilograms.,['The response is 25.'] +Apply a 25-kilogram force to grip the object.,['The response is:'] +Use a force of 25 kilograms to secure your grip on the object.,['The response is accepted.'] +Exert 25 kilograms of force to firmly grasp the object.,['The response is 25.'] +Apply a grip to the object, using a 25-kilogram force.,['The response is:'] +Rotate the wrist joint clockwise by 90 degrees and dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'] +Dance while rotating the wrist joint 90 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'] +Perform a 90-degree clockwise wrist joint rotation and then dance.,['The response is ', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Begin by rotating the wrist joint 90 degrees clockwise, followed by dancing.,['The response is:'] +Start by turning the wrist joint clockwise by 90 degrees, then proceed to dance.,['The response is:'] +Lift the arm to a height of 50 centimeters.,['The response is an empty array.'] +Raise the arm to a height of 50 centimeters.,['The response is an empty array.'] +Elevate the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Hoist the arm to a height of 50 centimeters.,['The response is an empty array.'] +Bring the arm up to a height of 50 centimeters.,['The response is an empty array.'] +Rotate the base joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "'] +Make a 90-degree counterclockwise rotation of the base joint.,['The response is:'] +Extend the arm by 30 centimeters and hold for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards, increasing its length by 30 centimeters for a duration of 10 seconds.,['The response is:'] +Lengthen the arm by 30 centimeters and maintain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm by 30 centimeters and keep it in that state for 10 seconds.,['The response is:'] +Stretch the arm forward, elongating it by 30 centimeters, and sustain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:100, Y:50, Z:80 with a velocity of 10 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:100, Y:50, Z:80"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 10.0', ' }', ' }', '}'] +Travel to coordinates X:100, Y:50, Z:80 at a speed of 10 meters per second.,['The answer is 100 meters.'] +Go to location X:100, Y:50, Z:80 at a rate of 10 meters per second.,['{', ' "location": {', ' "x": 100,', ' "y": 50,', ' "z": 80', ' }', '}'] +Reach the point X:100, Y:50, Z:80 at a velocity of 10 meters per second.,['The answer is 100 + 50 + 80 = 230 meters.'] +Advance to position X:100, Y:50, Z:80 with a speed of 10 meters per second.,['{', ' "action": "advance",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'] +Activate the grip mechanism with a force of 8 kilograms.,['The response is:'] +Engage the grip mechanism using a force of 8 kilograms.,['The response is:'] +Apply a force of 8 kilograms to activate the grip mechanism.,['The response is:'] +Use a force of 8 kilograms to activate the grip mechanism's gripping function.,['The response is:'] +Activate the grip mechanism by exerting a force of 8 kilograms.,['The response is an empty array.'] +Rotate the wrist joint clockwise by 30 degrees and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit'] +Rotate the wrist joint in a clockwise direction, angling it by 30 degrees and maintaining the position for a duration of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 0.5,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint to the right by 30 degrees, keeping it in that position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit":'] +Retract the arm to its home position.,['The response is an empty array.'] +Move the arm back to its original position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Return the arm to the starting point.,['The response is an empty array.'] +Bring the arm back to its home position.,['{', ' "action": "release_grip"', '}'] +Move the arm back to where it started.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Move to position X:0, Y:0, Z:100 with a velocity of 5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Change your coordinates to X:0, Y:0, Z:100, and maintain a constant velocity of 5 meters per second.,['The response would be:'] +Head towards position X:0, Y:0, Z:100 at a speed of 5 meters per second.,['{', ' "action": "head_towards",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:0, Y:0, Z:100"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' }', ' }', '}'] +Set your destination to X:0, Y:0, Z:100 and travel at a velocity of 5 meters per second.,['The response would be something like this:'] +Travel to the location specified by X:0, Y:0, Z:100 with a constant velocity of 5 meters per second.,['The answer is 100 meters.'] +Grip the object with 10 kilograms of force.,['The response is accepted.'] +Apply a force of 10 kilograms to grip the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 10 kilograms of force to securely hold the object.,['The response is accepted.'] +Use 10 kilograms of force to firmly grasp the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a gripping force of 10 kilograms to firmly hold onto the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Extend the arm by 20 centimeters, then retract it by 10 centimeters.,['The response is:'] +Lengthen the arm by 20 centimeters, then shorten it by 10 centimeters.,['The response is an empty array.'] +Stretch the arm outwards by 20 centimeters, then pull it back in by 10 centimeters.,['The response is:'] +Increase the arm's length by 20 centimeters, then decrease it by 10 centimeters.,['The response is:'] +Expand the arm by 20 centimeters, then shrink it by 10 centimeters.,['The response is ', ''] +Rotate the base joint clockwise by 180 degrees and hold.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Please rotate the base joint in a clockwise direction by 180 degrees and maintain that position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Rotate the base joint 180 degrees in a clockwise manner and keep it in place.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Turn the base joint in a clockwise direction by 180 degrees and hold that position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Rotate the base joint in a clockwise fashion, making a 180-degree turn, and hold steady.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second.,['The response is an empty array.'] +Go to coordinates X:50, Y:100, Z:0 at a speed of 7 meters per second.,['The response would be something like this:'] +Travel to the point X:50, Y:100, Z:0 with a velocity of 7 meters per second.,['The answer is 7 * 3 = 21 meters.'] +Change your position to X:50, Y:100, Z:0 at a rate of 7 meters per second.,['{', ' "action": "change_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "rate": {', ' "type": "float",', ' "value": 7.0', ' }', ' }'] +Reach the coordinates X:50, Y:100, Z:0 while moving at a speed of 7 meters per second.,['The response is:'] +Lift the arm to a height of 80 centimeters and hold for 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the arm to a height of 80 centimeters and maintain the position for 8 seconds.,['The response is:'] +Elevate the arm to a height of 80 centimeters and keep it there for a duration of 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Hoist the arm up to a height of 80 centimeters and remain in that position for a period of 8 seconds.,['The response is:'] +Move the arm upward to a height of 80 centimeters and hold steady for 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Retract the arm halfway and pause for 3 seconds.,['The response is:'] +Pull the arm back to the middle point and wait for 3 seconds.,['The response is an empty array.'] +Bring the arm back halfway and hold for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move the arm in reverse to reach the half position, then take a pause of 3 seconds.,['The response is:'] +Withdraw the arm to the midpoint, then wait for 3 seconds.,['The response is an empty array.'] +Rotate the wrist joint counterclockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 60.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint to the left by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit":'] +Twist the wrist joint anticlockwise by 60 degrees.,['The response is:'] +Rotate the wrist joint in a counterclockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 60.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the wrist joint 60 degrees in the opposite direction of the clock.,['The response is:'] +Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second.,['The response is:'] +Go to coordinates X:75, Y:25, Z:50 at a speed of 8 meters per second.,['The response would be something like this:'] +Travel to X:75, Y:25, Z:50 at a velocity of 8 meters per second.,['The answer is 8 * 75 + 8 * 25 + 8 * 50 = 800 meters.'] +Proceed to position X:75, Y:25, Z:50 at a rate of 8 meters per second.,['The response would be:'] +Head towards X:75, Y:25, Z:50 with a speed of 8 meters per second.,['The response would be something like this:'] +Extend the arm by 25 centimeters and hold for 4 seconds.,['The response is:'] +Stretch out the arm, increasing its length by 25 centimeters, and keep it in that position for 4 seconds.,['The response is:'] +Lengthen the arm by 25 centimeters and maintain the position for a duration of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm, adding 25 centimeters to its length, and hold steady for a period of 4 seconds.,['The response is:'] +Elongate the arm by 25 centimeters and sustain the extension for a duration of 4 seconds.,['The response is:', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 6 kilograms of force, then release after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a pressure of 6 kilograms to secure your grip on the object, and then let go after 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Exert a force of 6 kilograms to grasp the object tightly, and then release it after a duration of 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Clamp onto the object with a force of 6 kilograms, and then loosen your grip after 2 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Use 6 kilograms of pressure to firmly hold onto the object, and then release it after a 2-second interval.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Rotate the base joint counterclockwise by 270 degrees and hold.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Turn the base joint in an anti-clockwise direction by 270 degrees and maintain the new position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'] +Rotate the base joint by 270 degrees in a counterclockwise direction and keep it there.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Make a 270-degree counterclockwise rotation to the base joint and hold it.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Twist the base joint counterclockwise by 270 degrees and keep it steady.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Move to position X:200, Y:150, Z:100 with a velocity of 12 meters per second and then dance.,['The response is:'] +Dance after moving to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,['The response would be something like this:'] +After reaching the position X:200, Y:150, Z:100 with a velocity of 12 meters per second, start dancing.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Begin dancing once you have moved to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,['The response is:'] +After traveling to the position X:200, Y:150, Z:100 at a velocity of 12 meters per second, proceed to dance.,['The response is accepted.'] +Turn the robot arm on.,['{', ' "action": "turn_on"', '}'] +Activate the robot arm.,['{', ' "action": "activate_robot_arm"', '}'] +Switch on the robot arm.,['The response is:'] +Power up the robot arm.,[''] +Enable the robot arm.,[''] +Open the gripper completely.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Fully open the gripper.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 10.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Open the gripper all the way.,['The response is an empty array.'] +Ensure that the gripper is completely open.,['The gripper is completely open.'] +Make sure the gripper is fully opened.,['The gripper is fully opened.'] +Move the arm to position X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Position the arm to coordinates X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the arm to X:50, Y:75, Z:100.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Shift the arm to coordinates X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Set the arm to position X:50, Y:75, Z:100.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Rotate the elbow joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in the counterclockwise direction, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint towards the left, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint counterclockwise, making a rotation of 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Spin the elbow joint in a counterclockwise manner, angling it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Extend the arm by 20 centimeters at a velocity of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'] +Increase the arm length by 20 centimeters, moving at a speed of 10 cm/s.,['The response is:'] +Stretch the arm out by an additional 20 centimeters, with a velocity of 10 cm/s.,['The response is:', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 20 centimeters, moving at a rate of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm's reach by 20 centimeters at a speed of 10 cm/s.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 3 kilograms of force.,['The response is 3.'] +Apply a 3-kilogram force to grasp the object.,['The response is:'] +Exert 3 kilograms of force to grip the object.,['The response is 3.'] +Use a force of 3 kilograms to hold onto the object.,['The response is:'] +Hold the object with a force of 3 kilograms.,['The response is an empty array.'] +Retract the arm by 30 centimeters at a velocity of 5 cm/s.,['The response is:'] +Move the arm backwards by a distance of 30 centimeters, with a speed of 5 cm/s.,['The response is:'] +Withdraw the arm by 30 centimeters, advancing at a rate of 5 cm/s.,['The response is:'] +Pull back the arm by 30 centimeters, traveling at a velocity of 5 cm/s.,['The response is:'] +Reverse the arm's position by 30 centimeters, with a speed of 5 cm/s.,['The response is:'] +Rotate the wrist joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'] +Alter the position of the wrist joint in a counterclockwise direction by an angle of 180 degrees.,['The response is:'] +Turn the wrist joint counterclockwise with a rotation of 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'] +Rotate the wrist joint in a counterclockwise manner, shifting it by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'] +Perform a 180 degree counterclockwise rotation on the wrist joint.,['The response is:'] +Move the arm to position X:100, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the position of the arm to X:100, Y:0, Z:50.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Relocate the arm so that it is at X:100, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Shift the arm's position to X:100, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "'] +Transfer the arm to the coordinates X:100, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Open the gripper halfway.,['The response is an empty array.'] +Partially open the gripper.,['The response is:'] +Open the gripper to a halfway position.,['The response is an empty array.'] +Adjust the gripper to a halfway open position.,['The halfway open position of the gripper is 5 centimeters. The answer is 5.0.'] +Set the gripper to open at a midpoint.,['The response is an empty array.'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Turn the shoulder joint in a clockwise direction at a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Rotate the shoulder joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 45.0,', ' "direction": "right",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint in a clockwise motion, 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Adjust the shoulder joint by rotating it clockwise at a 45-degree angle.,['The response is:'] +Extend the arm by 10 centimeters at a velocity of 8 cm/s.,['The response is:'] +Increase the length of the arm by 10 centimeters at a speed of 8 centimeters per second.,['The response is:'] +Lengthen the arm by 10 centimeters with a velocity of 8 centimeters per second.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 10 centimeters, moving at a speed of 8 centimeters per second.,['The response is:'] +Expand the arm's length by 10 centimeters, while maintaining a velocity of 8 centimeters per second.,['The answer is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 2 kilograms of force.,['The response is 2.'] +Apply 2 kilograms of force to grasp the object.,['The response is 2.'] +Exert a force of 2 kilograms to grab hold of the object.,['The response is an empty array.'] +Hold onto the object with a force of 2 kilograms.,['The response is an empty array.'] +Use 2 kilograms of force to secure your grip on the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 2.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm by 15 centimeters at a velocity of 6 cm/s.,['The response is ', ''] +Move the arm back by 15 centimeters with a speed of 6 cm per second.,['The response is:'] +Withdraw the arm, reducing its length by 15 centimeters, at a rate of 6 centimeters per second.,['The response is:'] +Pull back the arm, decreasing its extension by 15 centimeters, moving at a pace of 6 centimeters per second.,['The response is:'] +Reverse the position of the arm, reducing its protrusion by 15 centimeters, traveling at a speed of 6 centimeters per second.,['The response is:'] +Rotate the elbow joint clockwise by 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 135.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint in a clockwise direction, turning it 135 degrees.,['The response is:'] +Turn the elbow joint to the right, rotating it by 135 degrees.,['The response is:'] +Rotate the elbow joint in a clockwise manner, making a 135-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 135.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint to the right, adjusting it by 135 degrees in a clockwise direction.,['The response is:'] +Move the arm to position X:0, Y:100, Z:20.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the position of the arm to X coordinate 0, Y coordinate 100, and Z coordinate 20.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Alter the arm's location to X:0, Y:100, Z:20.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Shift the arm's position to the coordinates X:0, Y:100, and Z:20.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Change the arm's placement to X coordinate 0, Y coordinate 100, and Z coordinate 20.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Close the gripper completely.,['The response is empty.'] +Fully close the gripper.,['{', ' "action": "release_grip"', '}'] +Shut the gripper completely.,['{', ' "action": "release_grip"', '}'] +Ensure the gripper is completely closed.,['The response is empty.'] +Make sure the gripper is closed tightly.,['The gripper is closed tightly.'] +Rotate the wrist joint clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint 90 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a clockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint by 90 degrees in a clockwise manner.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a 90-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Swim.,['### Check:', 'So far, the response is accurate.'] +Take a swim.,['A: You swam 100 meters. That is 100/10 = 10 meters per 10 seconds. So you swam for 10 * 10 = 100 seconds.'] +Go for a swim.,['A: You swam 100 meters.', 'A: You swam for 10 minutes.', 'A: You swam at a speed of 2 meters per minute.'] +Jump in the water and swim.,[''] +Engage in swimming.,['A: You swam 100 meters. ', 'A: You swam 100 meters. ', ''] +Watch TV.,['The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is'] +Please turn on the television and start watching.,['The television was turned on.'] +Begin watching television.,['A: Begin watching television.', ''] +Start watching your favorite TV show.,['The TV show is 2 hours long. You start watching it 30 minutes before the end. How many minutes do you watch?'] +Get ready to enjoy some television programming.,['The response is:'] +Lift the object and move it 30 centimeters to the left.,['The response is an empty array.'] +Pick up the item and shift it 30 centimeters towards the left.,['The response is an empty array.'] +Grasp the object and relocate it 30 centimeters towards the left.,['The response is:'] +Raise and transfer the item 30 centimeters to the left.,['The response is an empty array.'] +Elevate the object and shift it 30 centimeters in the leftward direction.,['The response is an empty array.'] +Rotate the base counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Rotate the base in a counterclockwise direction, making a 90-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base in an anti-clockwise direction, making a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "anti-clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the base counterclockwise, creating a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 20 centimeters and hold position for 10 seconds.,['The response is:'] +Increase the arm's length by 20 centimeters and maintain the position for 10 seconds.,['The response is:'] +Stretch the arm outwards by 20 centimeters and keep it still for 10 seconds.,['The response is:'] +Protract the arm by 20 centimeters and sustain the position for 10 seconds.,['The response is:'] +Elongate the arm by 20 centimeters and stay in that position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'] +Open the gripper and release the object gently.,['The response is an empty array.'] +Gently release the object by opening the gripper.,['{', ' "action": "release_grip"', '}'] +Carefully open the gripper to let go of the object.,['{', ' "action": "release_grip"', '}'] +Softly release the object by opening the gripper.,['{', ' "action": "release_grip"', '}'] +Open the gripper in a gentle manner to release the object.,['The response is an empty array.'] +Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.5', ' },', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "met'] +Go to coordinates X:50, Y:20, Z:10 with a speed of 0.5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Travel to X:50, Y:20, Z:10 with a velocity of 0.5 meters per second.,['The answer is 50 + 20 + 10 = 80 meters.'] +Reach position X:50, Y:20, Z:10 at a pace of 0.5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "'] +Proceed to point X:50, Y:20, Z:10 at a rate of 0.5 meters per second.,['The response would be something like this:'] +Bend the elbow joint to a 45-degree angle and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Flex the elbow joint at a 45-degree angle and maintain the position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Angle the elbow joint to 45 degrees, and keep it in that position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Curve the elbow joint to a 45-degree angle, and hold it for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Fold the elbow joint to a 45-degree angle and sustain the pose for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Readjust the wrist joint to a neutral position.,['The response is an empty array.'] +Adjust the position of the wrist joint to a neutral stance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Correct the position of the wrist joint to a neutral alignment.,["The neutral alignment of the wrist joint is 0 degrees. So the action to correct the position is 'move_joint'. The params for this action are 'joint_name': 'wrist', 'angle': 0, 'direction': 'clockwise', 'speed': 0.5, 'unit': 'degrees', 'unit_speed': 'degrees/s'. The response is:"] +Realign the wrist joint to a neutral position.,['The response is an empty array.'] +Reset the wrist joint to a neutral stance.,['The response is an empty array.'] +Rotate the arm horizontally by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 180.0,', ' "direction": "horizontal",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm in a horizontal direction by a full 180 degrees.,['The response is:'] +Rotate the arm sideways, making it complete a 180-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 180.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a horizontal rotation of the arm, spanning 180 degrees.,['The response is ', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 180.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the arm horizontally, ensuring it moves precisely 180 degrees.,['The response is an empty array.'] +Grip the object with 10 newtons of force for 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "minutes"', ' }', '}'] +Apply a force of 10 newtons to firmly hold onto the object for a duration of 2 minutes.,['The response is:'] +Grasp the object firmly with a force of 10 newtons and maintain the grip for a period of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10-newton force to grip the object tightly for 2 minutes.,['The response is:'] +Hold onto the object with a force of 10 newtons for a duration of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:0, Y:0, Z:50 at a velocity of 1 meter per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "met'] +Travel to the coordinates X:0, Y:0, Z:50 with a speed of 1 meter per second.,['The response is an empty array.'] +Proceed towards the position X:0, Y:0, Z:50 with a velocity of 1 meter per second.,['The response would be something like this:'] +Go to the location at X:0, Y:0, Z:50 while moving at a rate of 1 meter per second.,['The response would be something like this:'] +Navigate to the point X:0, Y:0, Z:50 at a speed of 1 meter per second.,['The response is an empty array.'] +Retract the arm completely and hold in standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Fully withdraw the arm and keep it in standby mode.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 0.0,', ' "speed": 0.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Completely retract the arm and maintain it in a standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Pull back the arm entirely and remain in a standby state.,['{', ' "action": "standby",', ' "params": {}', '}'] +Withdraw the arm fully and hold it in a standby position.,['The response is an empty array.'] +Rotate the gripper 360 degrees clockwise.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Turn the gripper in a clockwise direction for a full 360 degrees.,['The response is an empty array.'] +Rotate the gripper to the right by 360 degrees.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Make a complete clockwise rotation of 360 degrees with the gripper.,['The response is:'] +Rotate the gripper in a clockwise motion for an entire 360 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 360.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Extend the arm by 30 centimeters and hold position for 3 seconds.,['The response is:'] +Increase the length of the arm by 30 centimeters and maintain that position for a duration of 3 seconds.,['Returns:', ''] +Stretch out the arm by an additional 30 centimeters and keep it in that posture for 3 seconds.,['The response is:'] +Lengthen the arm by 30 centimeters and hold it steady for a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Straighten out the arm by adding 30 centimeters of length and maintain that pose for 3 seconds.,['The response is:'] +Move to position X:30, Y:40, Z:10 at a velocity of 0.3 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:30, Y:40, Z:10"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.3', ' }', ' }', '}'] +Change your position to X:30, Y:40, Z:10 with a speed of 0.3 meters per second.,['{', ' "action": "change_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' }', ' }'] +Go to the coordinates X:30, Y:40, Z:10 at a speed of 0.3 meters per second.,['The response would be something like this:'] +Adjust your location to X:30, Y:40, Z:10 with a velocity of 0.3 meters per second.,['{', ' "action": "move_location",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.3', ' }', ' }'] +Transition to position X:30, Y:40, Z:10, moving at a rate of 0.3 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit'] +Bend the elbow joint to a 90-degree angle and hold for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Flex the elbow joint to form a 90-degree angle and maintain the position for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Curve the elbow joint, bringing it to a 90-degree angle, and keep the posture for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Fold the elbow joint to create a 90-degree angle and sustain the position for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Crimp the elbow joint to a 90-degree angle and remain in this stance for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Open the gripper and close it with 7 kilograms of force.,['The response is 7.0.'] +Begin by opening the gripper, then apply 7 kilograms of force to close it.,['The response is:'] +Use 7 kilograms of force to close the gripper after initially opening it.,['The response is ', '{', ' "action": "release_grip",', ' "params": {}', '}'] +Start by opening the gripper, and proceed to close it by exerting 7 kilograms of force.,['The response is:'] +After opening the gripper, apply 7 kilograms of force to seal it shut.,['The response is 7.0.'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in an anti-clockwise manner by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "anti-clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit":'] +Rotate the wrist joint in the opposite direction to the clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move to position X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:10, Y:50, Z:20"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.8', ' }', ' }', '}'] +Proceed to coordinates X:10, Y:50, Z:20 with a speed of 0.8 meters per second.,['The response would be something like this:'] +Travel to point X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,['The answer is 10 + 50 + 20 = 80 meters.'] +Relocate to position X:10, Y:50, Z:20 at a pace of 0.8 meters per second.,['The response is:'] +Shift to the coordinates X:10, Y:50, Z:20 with a velocity of 0.8 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit'] +Retract the arm halfway and hold in a hovering position.,['The response is:'] +Position the arm in a hovering state, maintaining a halfway retracted position.,['The response is:'] +Hold the arm halfway retracted and hover in place.,['The response is an empty array.'] +Hover while keeping the arm partially retracted.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Maintain a hovering position while retracting the arm halfway.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Swim in a circular motion while waving.,['The response is:'] +Wave your hand while swimming in a circular motion.,['The response is an empty array.'] +Perform circular motions while swimming and waving.,['The response is:'] +Swim in a circular pattern and wave at the same time.,['A: Swim in a circular pattern and wave at the same time.'] +Combine swimming in a circular motion with waving gestures.,['The response is:'] +Move the base of the arm 90 degrees to the left.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Rotate the arm's base 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Turn the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "left",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pivot the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Extend the arm by 20 centimeters at a velocity of 2 meters per second.,['The response is, "Extend the arm by 20 centimeters at a velocity of 2 meters per second."'] +Increase the arm length by 20 centimeters at a rate of 2 meters per second.,['The response is, "Increase the arm length by 20 centimeters at a rate of 2 meters per second."'] +Stretch the arm outwards by 20 centimeters, moving at a speed of 2 meters per second.,['The response is:'] +Lengthen the arm by 20 centimeters while moving with a velocity of 2 meters per second.,['The response is:', '', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Propel the arm forward by 20 centimeters at a rate of 2 meters per second.,['The response is the same as the request.'] +Rotate the elbow joint counterclockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Turn the elbow joint in the opposite direction (counterclockwise) by an angle of 60 degrees.,['The response is:'] +Rotate the elbow joint anticlockwise, making a 60-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "anticlockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint counterclockwise, adjusting it by 60 degrees.,['The response is:'] +Spin the elbow joint to the left, rotating it 60 degrees.,['The response is:'] +Grip the object with 10 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10000.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 kilograms to firmly hold the object for a duration of 10 seconds.,['The response would be:'] +Squeeze the object with a force of 10 kilograms for a period of 10 seconds.,['The response is acceptable.'] +Exert 10 kilograms of pressure while grasping the object for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Maintain a grip on the object with a force of 10 kilograms for a duration of 10 seconds.,['The response is acceptable.'] +Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "met'] +Go to coordinates X:50, Y:50, Z:0 with a speed of 1 meter per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Travel to position X:50, Y:50, Z:0 with a velocity of 1 meter per second.,['The answer is 50 meters.'] +Reach the point X:50, Y:50, Z:0 at a speed of 1 meter per second.,['The response is:'] +Achieve the location X:50, Y:50, Z:0 with a velocity of 1 meter per second.,['The answer is 1 second.'] +Retract the arm by 30 centimeters in 5 seconds.,['The response is:'] +Withdraw the arm by a distance of 30 centimeters in a duration of 5 seconds.,['The response is:'] +Move the arm back by 30 centimeters within a time frame of 5 seconds.,['The response is:'] +Bring the arm back by 30 centimeters while taking 5 seconds to do so.,['The response is:'] +Pull the arm away by 30 centimeters over the span of 5 seconds.,['The response is:'] +Rotate the wrist joint clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint 90 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in a clockwise manner, making a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a clockwise direction, creating a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Adjust the wrist joint by turning it 90 degrees in a clockwise fashion.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 2 kilograms of force.,['The response is 2.'] +Apply a 2-kilogram force to grip the object.,['The response is:'] +Exert 2 kilograms of force to secure your grip on the object.,['The response is accepted.'] +Grasp the object firmly with a force of 2 kilograms.,['The response is accepted.'] +Employ a 2-kilogram force to firmly hold onto the object.,['The response is accepted.'] +Move to position X:100, Y:0, Z:100 at a velocity of 0.5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "met'] +Go to coordinates X:100, Y:0, Z:100 gradually with a speed of 0.5 meters per second.,['The response is an empty array.'] +Travel to the point X:100, Y:0, Z:100 using a velocity of 0.5 meters per second.,['The answer is 100 meters.'] +Reach the position X:100, Y:0, Z:100 while moving at a speed of 0.5 meters per second.,['The response is:'] +Proceed towards X:100, Y:0, Z:100 at a rate of 0.5 meters per second.,['The response is 0.5 meters per second.'] +Retract the arm to the starting position.,['The response is an empty array.'] +Bring the arm back to the initial position.,['{', ' "action": "release_grip"', '}'] +Withdraw the arm and return it to its original position.,['{', ' "action": "release_grip"', '}'] +Pull the arm back to the starting point.,['The response is an empty array.'] +Move the arm back to the initial location.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Extend the arm by 10 centimeters at a velocity of 0.2 meters per second.,['The response is, "Extend the arm by 10 centimeters at a velocity of 0.2 meters per second."'] +Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch out the arm by 10 centimeters, moving at a velocity of 0.2 meters per second.,['The response is:'] +Lengthen the arm by 10 centimeters while maintaining a speed of 0.2 meters per second.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm by 10 centimeters, advancing at a rate of 0.2 meters per second.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint 30 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Rotate the elbow joint to the right by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Twist the elbow joint in a clockwise motion, moving it 30 degrees.,['The response is:'] +Adjust the elbow joint by rotating it clockwise, making a 30 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 8 kilograms of force for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 8 kilograms to hold onto the object for a duration of 3 seconds.,['The response is:'] +Use a grip strength of 8 kilograms to firmly hold the object for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 8 kilograms of pressure to maintain a hold on the object for a period of 3 seconds.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 8.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Securely grasp the object with an 8 kilogram force for a duration of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:0, Y:0, Z:50 at a velocity of 0.1 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.1', ' },', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit": "met'] +Travel to coordinates X:0, Y:0, Z:50 with a speed of 0.1 m/s.,['The answer is 50 m.'] +Go to position X:0, Y:0, Z:50 with a velocity of 0.1 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.1', ' },', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit": "met'] +Shift to the location X:0, Y:0, Z:50 at a rate of 0.1 m/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.1', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit": "met'] +Reach the point X:0, Y:0, Z:50 at a speed of 0.1 meters per second.,['The response is 0.1 meters per second.'] +Retract the arm by 25 centimeters in 4 seconds.,['The response is:'] +Within a time frame of 4 seconds, pull the arm back by a distance of 25 centimeters.,['The response would be:', '', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Withdraw the arm, moving it backwards by 25 centimeters over a period of 4 seconds.,['The response is:'] +Over the course of 4 seconds, decrease the arm's extension by 25 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' }', ' }', '}'] +In 4 seconds, bring the arm back by 25 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 45.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint in an anticlockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 45.0,', ' "direction": "anticlockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint to the left by an angle of 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Rotate the wrist joint in a counterclockwise motion, angling it by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 45.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint anti-clockwise, changing its position by 45 degrees.,['The response is an empty array.'] +Grip the object with 4 kilograms of force.,['The response is 4.'] +Apply a 4-kilogram force to grasp the object.,['The response is:'] +Exert 4 kilograms of pressure to grip the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4000.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Employ 4 kilograms of force to securely hold onto the object.,['The response is accepted.'] +Apply a grip force of 4 kilograms to firmly hold the object.,['The response is:'] +Move to position X:75, Y:75, Z:75 at a velocity of 0.3 meters per second.,['The response is an empty array.'] +Adjust the coordinates to X:75, Y:75, Z:75 with a speed of 0.3 meters per second.,['The response is ', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3'] +Shift to position X:75, Y:75, Z:75 using a velocity of 0.3 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit": "'] +Go to X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,['The response is 0.3 meters per second.'] +Travel to the location X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,['The answer is 0.3 meters per second.'] +Retract the arm to the standby position.,['The response is an empty array.'] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Return the arm to its standby position.,['{', ' "action": "release_grip"', '}'] +Withdraw the arm to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "'] +Pull the arm back into the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 15 centimeters, then do a little dance.,['The response is:'] +Stretch the arm outwards by 15 centimeters before performing a small dance.,['The response is:'] +Increase the arm's length by 15 centimeters and proceed to do a brief dance.,['The response is:'] +Lengthen the arm by 15 centimeters and then perform a mini dance routine.,['The response is:'] +Extend the arm's reach by 15 centimeters, followed by a playful dance.,['The response is:'] +Lift the object at a velocity of 5 meters per second.,['The response is an empty array.'] +Elevate the object at a rate of 5 meters per second.,['The response is an empty array.'] +Raise the object with a speed of 5 meters per second.,['The response is an empty array.'] +Hoist the object at a velocity of 5 meters per second.,['The response is, "Hoist the object at a velocity of 5 meters per second."'] +Ascend the object with a rate of 5 meters per second.,['The response is accepted.'] +Rotate the arm joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm joint in the opposite direction by 90 degrees.,['The response is:'] +Rotate the arm joint anticlockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "anticlockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the arm joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the arm joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm to a distance of 50 centimeters.,['The response is:', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reach out the arm and stretch it to a length of 50 centimeters.,['The response is an empty array.'] +Lengthen the arm by 50 centimeters.,['The response is an empty array.'] +Increase the arm's length to 50 centimeters.,['The response is the same as the original request.'] +Stretch out the arm until it measures 50 centimeters in distance.,['The response is an empty array.'] +Move to position X:15, Y:25, Z:35 at a duration of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Go to position X:15, Y:25, Z:35 within a duration of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Travel to the coordinates X:15, Y:25, Z:35 in a span of 10 seconds.,['The coordinates X:15, Y:25, Z:35 can be represented as (15, 25, 35). The span of 10 seconds can be represented as 10.0. The answer is (15, 25, 35, 10.0).'] +Adjust your position to X:15, Y:25, Z:35 over a period of 10 seconds.,['{', ' "action": "set_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 35.0', ' }', ' }', '}'] +Reach the specified location X:15, Y:25, Z:35 within 10 seconds.,['The shortest path from (0, 0, 0) to (15, 25, 35) is (0, 0, 0) -> (15, 0, 0) -> (15, 15, 0) -> (15, 15, 15) -> (15, 15, 25) -> (15, 25, 25) -> (15, 25, 35)'] +Grip the object with a force of 10 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 10 Newtons to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10 Newton force to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a 10 Newton force to tightly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a firm 10 Newton force to firmly seize the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Retract the arm to its starting position.,['The response is an empty array.'] +Pull the arm back to its initial position.,['The response is an empty array.'] +Withdraw the arm and return it to its original location.,['{', ' "action": "release_grip"', '}'] +Move the arm back to its starting point.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Bring the arm back to its initial position.,['The response is an empty array.'] +Rotate the wrist joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Turn the wrist joint 30 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Rotate the wrist joint by 30 degrees in a clockwise manner.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint in a clockwise direction, moving it 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit'] +Rotate the wrist joint in the clockwise direction, making a 30-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Lift the object at a velocity of 2 meters per second.,['The answer is 2.'] +Raise the object with a speed of 2 meters per second.,['The response is an empty array.'] +Elevate the object, moving at a velocity of 2 meters per second.,['The response is an empty array.'] +Hoist the object, maintaining a rate of 2 meters per second.,['The response is an empty array.'] +Pick up the object, traveling at a speed of 2 meters per second.,['The response is an empty array.'] +Extend the arm to a distance of 30 centimeters and hold for 5 seconds.,['The response is:'] +Stretch the arm out to a length of 30 centimeters and maintain for a duration of 5 seconds.,['The response is:'] +Reach the arm out to a span of 30 centimeters and keep it there for a period of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Protract the arm to a distance of 30 centimeters and sustain the position for 5 seconds.,['The response is:'] +Lengthen the arm to a distance of 30 centimeters and maintain the extension for a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Move to position X:5, Y:10, Z:15 and halt immediately.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Immediately halt and move to position X:5, Y:10, Z:15.,['{', ' "action": "immediately_halt",', ' "params": {}', '}'] +Halt at once and move to the coordinates X:5, Y:10, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Move to the specified coordinates X:5, Y:10, Z:15 and come to an immediate stop.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "'] +Come to a stop without delay after moving to the position X:5, Y:10, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Grip the object with 8 kilograms of force.,['The response is 8.'] +Apply a force of 8 kilograms to secure your grip on the object.,['The response is accepted.'] +Exert 8 kilograms of pressure to firmly hold onto the object.,['The response is 8.'] +Use 8 kilograms of force to tightly grasp the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 8.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Employ an 8-kilogram force to firmly grip the object.,['The response is accepted.'] +Retract the arm at a duration of 3 seconds.,['The response is:'] +Withdraw the arm over a period of 3 seconds.,['The response is, "Withdraw the arm over a period of 3 seconds."'] +Pull back the arm for a total of 3 seconds.,['The response is:'] +Bring the arm back slowly for a duration of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Depress the arm gradually, taking 3 seconds to complete the action.,['The response is:'] +Rotate the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 180.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the arm joint in a counterclockwise direction by 180 degrees.,['The response is:'] +Rotate the arm joint in an anti-clockwise direction by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 180.0,', ' "direction": "anti-clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the arm joint counterclockwise by 180 degrees.,['The response is:'] +Pivot the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'] +Extend the arm to a distance of 40 centimeters and hold for 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards to a length of 40 centimeters and keep it in that position for a duration of 2 seconds.,['The response is:'] +Protrude the arm at a distance of 40 centimeters and maintain the position for 2 seconds.,['The response is:'] +Lengthen the arm to 40 centimeters and sustain the extension for a period of 2 seconds.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Reach out the arm to a distance of 40 centimeters and keep it there for a duration of 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lift the object at a velocity of 3 meters per second and move to position X:20, Y:30, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit'] +Move the object to position X:20, Y:30, Z:40 while lifting it at a velocity of 3 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit'] +Lift the object at a speed of 3 meters per second and transport it to point X:20, Y:30, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "'] +Raise the object at 3 meters per second and relocate it to coordinates X:20, Y:30, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 3.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit": "'] +With a velocity of 3 meters per second, elevate the object and shift it to position X:20, Y:30, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "'] +Grip the object with a force of 15 Newtons and rotate the wrist joint clockwise by 60 degrees.,['The response is:'] +Apply a force of 15 Newtons to grasp the object, then turn the wrist joint in a clockwise direction by 60 degrees.,['The response is:'] +Exert a 15 Newton force to firmly hold the object, and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Use a force of 15 Newtons to grip the object and then twist the wrist joint in a clockwise direction by 60 degrees.,['The response is:'] +Grasp the object firmly with a 15 Newton force and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,['The response is:'] +Retract the arm to its starting position and hold for 4 seconds.,['The response is an empty array.'] +Bring the arm back to its initial position and maintain that position for a duration of 4 seconds.,['The response is an empty array.'] +Withdraw the arm to its original position and keep it there for a period of 4 seconds.,['The response is an empty array.'] +Move the arm back to where it started and keep it stationary for 4 seconds.,['The response is an empty array.'] +Pull the arm back to its starting point and hold it for 4 seconds.,['The response is an empty array.'] +Lift the object at a velocity of 4 meters per second and extend the arm to a distance of 60 centimeters.,['The response is:'] +Raise the object with a speed of 4 meters per second while stretching the arm to a length of 60 centimeters.,['The response is:'] +Elevate the object, moving at a velocity of 4 meters per second, and lengthen the arm to a distance of 60 centimeters.,['The response is:'] +Increase the height of the object by lifting it at a rate of 4 meters per second and extending the arm to a distance of 60 centimeters.,['The response is:'] +Hoist the object, maintaining a speed of 4 meters per second, as the arm is extended to a distance of 60 centimeters.,['The response is:'] +Move to position X:10, Y:20, Z:30 at a duration of 8 seconds and rotate the arm joint counterclockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the position to X:10, Y:20, Z:30 over a period of 8 seconds, while rotating the arm joint 45 degrees in the counterclockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "'] +Transition to coordinates X:10, Y:20, Z:30 in 8 seconds, simultaneously rotating the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Shift to the specified position (X:10, Y:20, Z:30) in 8 seconds, while also rotating the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Transfer to the designated coordinates (X:10, Y:20, Z:30) smoothly within an 8-second timeframe, while turning the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "'] +Swim.,['### Check:', 'So far, the response is accurate.'] +Take a swim.,['A: You swam 100 meters. That is 100/10 = 10 meters per 10 seconds. So you swam for 10 * 10 = 100 seconds.'] +Engage in swimming.,['A: You swam 100 meters. ', 'A: You swam 100 meters. ', ''] +Get in the water and swim.,[''] +Dive in and start swimming.,[''] +Move the robotic arm to position X:50, Y:100, Z:200.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Position the robotic arm at X:50, Y:100, Z:200.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Set the robotic arm to coordinates X:50, Y:100, Z:200.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the robotic arm to reach X:50, Y:100, Z:200.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Move the robotic arm so that it is located at X:50, Y:100, Z:200.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Rotate the shoulder joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the shoulder joint counterclockwise, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the shoulder joint in a counterclockwise direction, reaching a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Pivot the shoulder joint counterclockwise, achieving a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' }', ' }', '}'] +Increase the arm's length by 30 centimeters.,['The response is ', ''] +Lengthen the arm by an additional 30 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 30 centimeters.,['The response is an empty array.'] +Add 30 centimeters to the arm's reach.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 10 pounds of force.,['The response is acceptable.'] +Apply a force of 10 pounds to grasp the object.,['The response is an empty array.'] +Exert 10 pounds of pressure to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 10 pounds of strength to tightly grip the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Securely hold the object with a force of 10 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm in a straight line at a velocity of 50 centimeters per second.,['The response is an empty array.'] +Adjust the arm to move in a linear path with a speed of 50 centimeters per second.,['The response is:'] +Direct the arm to travel in a straight line at a rate of 50 centimeters per second.,['The response is an empty array.'] +Command the arm to execute a straight-line motion at a velocity of 50 centimeters per second.,['The response is an empty array.'] +Instruct the arm to move in a straight line, maintaining a speed of 50 centimeters per second.,['The response is an empty array.'] +Rotate the elbow joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in a clockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the elbow joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "right",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the elbow joint to the right by 60 degrees.,['The response is:'] +Move the elbow joint in a clockwise rotation, making a 60-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Retract the arm to its starting position.,['The response is an empty array.'] +Move the arm back to its original position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Withdraw the arm and return it to its initial location.,['{', ' "action": "release_grip"', '}'] +Bring the arm back to where it started.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": -90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Pull the arm back until it reaches its starting point.,['The response is an empty array.'] +Move the robotic arm to position X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "'] +Adjust the robotic arm to coordinates X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Shift the robotic arm to position X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Realign the robotic arm to coordinates X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Position the robotic arm at X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "'] +Grip the object with a force of 20 newtons.,['Grip the object with a force of 20 newtons.'] +Exert a 20 newton force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a 20 newton force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a force of 20 newtons to grip the object securely.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold onto the object with a 20 newton force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Extend the arm by 10 inches.,['The response is, "Extend the arm by 10 inches."'] +Increase the arm's length by 10 inches.,['The response is an empty array.'] +Stretch the arm by an additional 10 inches.,['The response is, "The arm was stretched by an additional 10 inches."'] +Lengthen the arm by 10 inches.,['The response is, "Lengthen the arm by 10 inches."'] +Add 10 inches to the arm's extension.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction by 30 degrees.,['The response is:'] +Rotate the wrist joint anticlockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": -30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Move the wrist joint in a counterclockwise rotation of 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Adjust the wrist joint by rotating it counterclockwise at a 30-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm in a curve with a radius of 50 centimeters.,['The response is an empty array.'] +Perform a curved motion with the arm, ensuring a radius of 50 centimeters.,['The response is an empty array.'] +Rotate the arm in a circular path, maintaining a curvature with a radius measuring 50 centimeters.,['The response is an empty array.'] +Execute a curvilinear movement with the arm, guaranteeing a 50-centimeter radius.,['The response is an empty array.'] +Maneuver the arm in a curved trajectory, ensuring a radius spanning 50 centimeters.,['The response is an empty array.'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Rotate the shoulder joint in a clockwise direction, turning it by an angle of 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 45.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the shoulder joint clockwise, rotating it by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Twist the shoulder joint in a clockwise manner, changing its position by 45 degrees.,['The response is an empty array.'] +Rotate the shoulder joint in the clockwise direction, making a 45-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 45.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the robotic arm to position X:100, Y:50, Z:150.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Position the robotic arm at coordinates X:100, Y:50, Z:150.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Transfer the robotic arm to location X:100, Y:50, Z:150.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Shift the robotic arm to the X:100, Y:50, Z:150 position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Adjust the robotic arm to the desired coordinates: X:100, Y:50, Z:150.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Grip the object with a force of 15 pounds.,['Grip the object with a force of 15 pounds.'] +Apply a 15-pound force to grasp the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 15.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 15 pounds of force to hold onto the object.,['The response is 15.0.'] +Use a 15-pound grip to secure the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 15.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object firmly with a force of 15 pounds.,['The response is "Hold the object firmly with a force of 15 pounds."'] +Retract the arm by 20 centimeters.,['The response is an empty array.'] +Move the arm back by a distance of 20 centimeters.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": -20.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Pull the arm inward, reducing its length by 20 centimeters.,['The response is an empty array.'] +Withdraw the arm by 20 centimeters.,['The response is empty.'] +Bring the arm back, shortening it by a measurement of 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the elbow joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the elbow joint in an anticlockwise direction, rotating it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Rotate the elbow joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Perform a 90-degree counterclockwise rotation of the elbow joint.,['The response is ', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0'] +Twist the elbow joint counterclockwise, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Move the arm in a zigzag pattern with a velocity of 75 centimeters per second.,['The response is:'] +The arm should be moved in a zigzag pattern at a speed of 75 centimeters per second.,['The arm should be moved in a zigzag pattern at a speed of 75 centimeters per second.'] +Move the arm with a velocity of 75 centimeters per second in a zigzag pattern.,['The response is an empty array.'] +With a speed of 75 centimeters per second, move the arm in a zigzag pattern.,['The response is:'] +In a zigzag pattern, move the arm with a velocity of 75 centimeters per second.,['The response is ', ''] +Extend the arm by 5 inches.,['The response is, "Extend the arm by 5 inches."'] +Increase the arm's length by 5 inches.,['The response is ', ''] +Lengthen the arm by an additional 5 inches.,['The response is, "Lengthen the arm by an additional 5 inches."'] +Stretch the arm outwards, adding 5 inches to its total length.,['The response is an empty array.'] +Expand the arm's size by 5 inches.,['The arm can be expanded by 5 inches. The answer is 5.'] +Rotate the wrist joint clockwise by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 15.0,', ' "direction": "clockwise",', ' "speed": 0.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a clockwise direction, angling it 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Rotate the wrist joint to the right by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Twist the wrist joint in a clockwise motion, adjusting it by 15 degrees.,['The response is:'] +Move the wrist joint in a clockwise rotation, offsetting it by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Swim.,['### Check:', 'So far, the response is accurate.'] +Take a swim.,['A: You swam 100 meters. That is 100/10 = 10 meters per 10 seconds. So you swam for 10 * 10 = 100 seconds.'] +Go for a swim.,['A: You swam 100 meters.', 'A: You swam for 10 minutes.', 'A: You swam at a speed of 2 meters per minute.'] +Dive into the water.,[''] +Engage in swimming.,['A: You swam 100 meters. ', 'A: You swam 100 meters. ', ''] +Lift the object 5 centimeters off the ground.,['The response is an empty array.'] +Raise the object to a height of 5 centimeters above the ground.,['The response is an empty array.'] +Elevate the object so that it is positioned 5 centimeters above the ground.,['The response is an empty array.'] +Increase the height of the object by 5 centimeters from its current position on the ground.,['The response is an empty array.'] +Ascend the object by 5 centimeters, lifting it away from the ground.,['The response is an empty array.'] +Rotate the base joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the base joint anti-clockwise by an angle of 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Twist the base joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the base joint in the counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Execute a 90-degree counterclockwise rotation of the base joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Extend the arm to position X:50, Y:0, Z:80.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'] +Move the arm to coordinates X:50, Y:0, Z:80.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the arm to reach position X:50, Y:0, Z:80.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Stretch out the arm until it reaches X:50, Y:0, Z:80.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'] +Set the arm's coordinates to X:50, Y:0, Z:80.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Open the grip completely for 3 seconds.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Fully open the grip and hold for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Release the grip completely for a duration of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Keep the grip wide open for a period of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Hold the grip in a fully extended position for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'] +Transfer the item to coordinates X:20, Y:30, Z:10 with a speed of 10 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 10.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Relocate the object to X:20, Y:30, Z:10, moving at a rate of 10 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'] +Transport the item to position X:20, Y:30, Z:10 with a velocity of 10 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'] +Shift the object to coordinates X:20, Y:30, Z:10 at a speed of 10 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'] +Close the grip with 10 kilograms of force.,['The response is 10.0.'] +Apply 10 kilograms of force to secure the grip.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a 10-kilogram force to close the grip.,['The response is:'] +Use 10 kilograms of pressure to tighten the grip.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 10 kilograms of force to finalize the grip closure.,['The response is:'] +Rotate the wrist joint clockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Turn the wrist joint in a clockwise direction, making a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Rotate the wrist joint by 180 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Twist the wrist joint clockwise, completing a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Perform a 180-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Lift the arm to its maximum height and hold for 10 seconds.,['The response is an empty array.'] +Elevate the arm to its highest point and maintain for a duration of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Raise the arm as high as possible and keep it in that position for 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Hoist the arm to its utmost height and keep it there for a period of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Ascend the arm to its peak height and hold the position for 10 seconds.,['The response is an empty array.'] +Retract the arm to standby position.,['{', ' "action": "retract_arm"', '}'] +Bring the arm back to its standby position.,['{', ' "action": "release_grip"', '}'] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Return the arm to the standby position.,['The response is an empty array.'] +Withdraw the arm and place it in the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Move to position X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 150.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },'] +Change your position to X:100, Y:50, Z:150 moving at a speed of 20 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Travel to coordinates X:100, Y:50, Z:150 with a velocity of 20 centimeters per second.,['The response is 20 centimeters per second.'] +Go to position X:100, Y:50, Z:150 at a speed of 20 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'] +Reach the coordinates X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,['The response is:'] +Open the grip halfway for 2 seconds.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Partially open the grip for a duration of 2 seconds.,['The response is ', '{', ' "action": "release_grip",', ' "params": {}', '}'] +Open the grip halfway and hold for 2 seconds.,['The response is:'] +Temporarily open the grip halfway for a period of 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Maintain the grip at a mid-point opening for 2 seconds.,['The response is:'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' }', ' }', '}'] +Increase the arm length by 30 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm outwards by 30 centimeters.,['The response is an empty array.'] +Elongate the arm by 30 centimeters.,['The response is,', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Expand the arm by 30 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit":'] +Turn the base joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "'] +Twist the base joint in a clockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit":'] +Rotate the base joint in a clockwise manner, making a 45 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 45.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Shift the base joint to the right, rotating it by 45 degrees in a clockwise motion.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit":'] +Lift the object to position X:0, Y:0, Z:50 and hold for 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Elevate the object to coordinates X:0, Y:0, Z:50 and maintain that position for a duration of 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Hoist the object until it reaches the location X:0, Y:0, Z:50, and then keep it steady for a period of 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Raise the object up to X:0, Y:0, Z:50, and keep it suspended in that spot for 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Carry out a vertical movement to position the object at coordinates X:0, Y:0, Z:50, and keep it in place for a duration of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Close the grip with 7 kilograms of force.,['The response is 7.0.'] +Apply a force of 7 kilograms to tighten the grip.,['The response is:'] +Securely tighten the grip with a force of 7 kilograms.,['The response is 7.0.'] +Use 7 kilograms of force to close the grip.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply a force of 7 kilograms to firmly close the grip.,['The response is accepted.'] +Move to position X:75, Y:25, Z:100 at a velocity of 15 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit":'] +Go to the coordinates X:75, Y:25, Z:100 with a speed of 15 centimeters per second.,['The response would be something like this:'] +Travel to position X:75, Y:25, Z:100 at a rate of 15 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "xyz"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "xyz"', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit":'] +Change your location to X:75, Y:25, Z:100 with a velocity of 15 centimeters per second.,['{', ' "action": "change_location",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 15.0', ' }'] +Reach the coordinates X:75, Y:25, Z:100 at a speed of 15 centimeters per second.,['The response is:'] +Rotate the wrist joint counterclockwise by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'] +Turn the wrist joint in the opposite direction by 270 degrees.,['The response is:'] +Rotate the wrist joint anti-clockwise by an angle of 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'] +Twist the wrist joint in a counterclockwise direction, rotating it by 270 degrees.,['The response is:'] +Rotate the wrist joint in the counterclockwise direction, making a 270-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'] +Retract the arm to standby position and wait for further instruction.,['{', ' "action": "standby"', '}'] +Bring the arm back to standby position and remain there until further instructions.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Move the arm back to its standby position and await further instruction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Withdraw the arm to the standby position and expect further guidance.,['The response is:'] +Return the arm to its original position and stay there until you receive more instructions.,['{', ' "action": "release_grip"', '}'] +Lift the arm by 20 centimeters and hold for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Raise the arm by a distance of 20 centimeters and maintain the position for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Elevate the arm by 20 centimeters and keep it held for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the height of the arm by 20 centimeters, then hold steady for 3 seconds.,['Returns:', ''] +Lift the arm upwards by 20 centimeters and maintain the lifted position for a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the base joint counterclockwise by 180 degrees and dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Perform a counterclockwise rotation of 180 degrees on the base joint, then carry out a dance.,['The response is:'] +Turn the base joint in a counterclockwise direction, making a 180 degree rotation before proceeding to dance.,['The response is:'] +Rotate the base joint 180 degrees in the counterclockwise direction, then showcase your dance moves.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Execute a 180 degree counterclockwise rotation on the base joint and follow it with a dance routine.,['The response is:'] +Move the arm to position X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the arm's position to coordinates X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Shift the arm to the designated coordinates of X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Relocate the arm to the specified position of X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Transpose the arm to the desired coordinates at X:50, Y:70, Z:90.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction, rotating it 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint anti-clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "anti-clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Clockwise rotation of the wrist joint by 90 degrees is not required; instead, rotate it counterclockwise.,['Clockwise rotation of the wrist joint by 90 degrees is not required; instead, rotate it counterclockwise.'] +In order to achieve a 90-degree counterclockwise rotation, turn the wrist joint.,['The response is:'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 20 centimeters.,['The response is an object with the following properties:'] +Stretch out the arm by an additional 20 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by an extra 20 centimeters.,['The response is an empty array.'] +Add 20 centimeters to the arm's current length.,['The response is an empty array.'] +Grip the object with 10 kilograms of force.,['The response is accepted.'] +Apply a force of 10 kilograms to grip the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 10 kilograms of force to grasp the object.,['The response is an empty array.'] +Use a gripping force of 10 kilograms on the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Apply 10 kilograms of pressure to hold onto the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:30, Y:40, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the arm's position to X:30, Y:40, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Set the arm's coordinates to X:30, Y:40, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Move the arm's location to X:30, Y:40, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Position the arm at X:30, Y:40, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Rotate the wrist joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'] +Turn the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'] +Perform a 60-degree clockwise rotation of the wrist joint.,['The response would be something like this:'] +Rotate the wrist joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit":'] +Move the wrist joint in a clockwise direction, turning it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Retract the arm to standby position.,['{', ' "action": "retract_arm"', '}'] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Return the arm to the standby position.,['The response is an empty array.'] +Bring the arm back to the standby position.,['The response is an empty array.'] +Take the arm back to the standby position.,['The response is:'] +Grip the object with 15 kilograms of force.,['The response is 15.0.'] +Apply a gripping force of 15 kilograms to the object.,['The response is 15.0.'] +Exert 15 kilograms of force to hold onto the object.,['The response is 15.'] +Use a gripping strength of 15 kilograms to secure the object.,['The response is:'] +Grasp the object firmly with a 15-kilogram force.,['The response is accepted.'] +Move the arm to position X:70, Y:80, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the arm's position to coordinates X:70, Y:80, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Relocate the arm so that it is at position X:70, Y:80, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Shift the arm's location to X:70, Y:80, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Set the arm's coordinates to X:70, Y:80, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Rotate the wrist joint counterclockwise by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 120.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction by 120 degrees.,['The response is:'] +Rotate the wrist joint anti-clockwise by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },'] +Twist the wrist joint in the counterclockwise direction by 120 degrees.,['The response is:'] +Move the wrist joint in a counterclockwise rotation by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'] +Extend the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the length of the arm by 25 centimeters.,['The response is an empty array.'] +Stretch out the arm by an additional 25 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' }', ' }', '}'] +Lengthen the arm by 25 centimeters.,['The response is an empty array.'] +Add 25 centimeters to the arm's reach.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Grip the object with 20 kilograms of force.,['The response is 20.0.'] +Apply a 20-kilogram force to grasp the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 20.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert 20 kilograms of force to hold onto the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use a gripping force of 20 kilograms to secure the object.,['The response is:'] +Apply pressure equivalent to 20 kilograms to firmly hold the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move the arm to position X:10, Y:20, Z:30.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Position the arm at X:10, Y:20, Z:30.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Set the arm's coordinates to X:10, Y:20, Z:30.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the arm's position to X:10, Y:20, Z:30.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Move the arm's location to X:10, Y:20, Z:30.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Rotate the wrist joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Turn the wrist joint in a clockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'] +Rotate the wrist joint in the clockwise direction, making a 30-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint to the right by 30 degrees.,['The response is an empty array.'] +Adjust the wrist joint by turning it clockwise 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'] +Retract the arm to standby position.,['{', ' "action": "retract_arm"', '}'] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'] +Pull the arm back into the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Return the arm to its standby position.,['{', ' "action": "release_grip"', '}'] +Bring the arm back to the standby position.,['The response is an empty array.'] +Grip the object with 12 kilograms of force.,['The response is 12.'] +Apply a force of 12 kilograms to tightly hold onto the object.,['The response is:'] +Exert a gripping force of 12 kilograms on the object.,['The response is 12.'] +Use 12 kilograms of strength to firmly grasp the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 12.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Tighten your grip on the object with a force of 12 kilograms.,['The response is 12.'] +Move the arm to position X:80, Y:60, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 80.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Position the arm at X:80, Y:60, Z:40.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'] +Set the arm's coordinates to X:80, Y:60, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Adjust the arm to the location X:80, Y:60, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Move the arm to the desired coordinates, X:80, Y:60, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Rotate the wrist joint counterclockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 75.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint anti-clockwise at a 75-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.75', ' },'] +Rotate the wrist joint in the counterclockwise direction, making a 75-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 75.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Twist the wrist joint to the left by 75 degrees.,['The response is an empty array.'] +Adjust the wrist joint by rotating it counterclockwise with a 75-degree angle.,['The response is:'] +Extend the arm by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' }', ' }', '}'] +Stretch out the arm, adding an additional 18 centimeters in length.,['The response is:', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Increase the arm's length by 18 centimeters.,['The response is ', ''] +Lengthen the arm by 18 centimeters.,['The response is an empty array.'] +Stretch the arm outwards until it is 18 centimeters longer.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' }', ' }', '}'] +Grip the object with 8 kilograms of force.,['The response is 8.'] +Apply 8 kilograms of force to grip the object.,['The response is 8.'] +Exert a force of 8 kilograms to hold onto the object.,['The response is 8.0.'] +Securely grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object using a force of 8 kilograms.,['The response is 8.'] +Move the arm to position X:40, Y:50, Z:60.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Set the arm's position to X:40, Y:50, Z:60.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Adjust the arm's coordinates to X:40, Y:50, Z:60.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Position the arm at X:40, Y:50, Z:60.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Move the arm's location to X:40, Y:50, Z:60.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Rotate the wrist joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Turn the wrist joint in a clockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Rotate the wrist joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit":'] +Twist the wrist joint in a clockwise manner by 45 degrees.,['The response is an empty array.'] +Rotate the wrist joint in the clockwise direction, making a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 45.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Retract the arm to standby position, then wave.,['The response is:'] +Bring the arm back to its initial position and subsequently perform a waving motion.,['The response is:'] +Revert the arm to its default position and proceed to wave.,['The response is:'] +Withdraw the arm to standby position before waving.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Pull back the arm and proceed to wave.,['The response is:'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Lengthen the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Stretch the arm out an additional 20 centimeters.,['The response is an empty array.'] +Increase the arm's length by 20 centimeters.,['The response is', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Add 20 centimeters to the arm's extension.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Turn the wrist joint in a counterclockwise direction, rotating it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Rotate the wrist joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Perform a counterclockwise rotation of the wrist joint, turning it by 90 degrees.,['The response is:'] +Adjust the wrist joint by rotating it counterclockwise at a 90 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Grip the object with 10 kilograms of force.,['The response is accepted.'] +Apply a force of 10 kilograms to hold onto the object.,['The response is:'] +Utilize 10 kilograms of force to grip the object firmly.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Exert a grip on the object with 10 kilograms of force.,['The response is an empty array.'] +Hold onto the object with a force of 10 kilograms.,['The response is 10.0.'] +Move to position X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Relocate to coordinates X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Transfer to position with X coordinate of 50, Y coordinate of 75, and Z coordinate of 100.,['{', ' "action": "transfer",', ' "params": {', ' "x": 50,', ' "y": 75,', ' "z": 100', ' }', '}'] +Proceed to the location with X value 50, Y value 75, and Z value 100.,['The response would be something like this:'] +Change position to X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'] +Retract the arm by 30 centimeters.,['The response is ', ''] +Pull the arm back by a distance of 30 centimeters.,['The response is an empty array.'] +Withdraw the arm by 30 centimeters.,['The response is an empty array.'] +Move the arm back by a length of 30 centimeters.,['The response is:'] +Bring the arm back 30 centimeters.,['The response is an empty array.'] +Rotate the shoulder joint clockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Turn the shoulder joint in a clockwise direction, making a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Rotate the shoulder joint in a clockwise manner, making a complete 180-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Twist the shoulder joint clockwise, turning it by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Perform a 180-degree clockwise rotation of the shoulder joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'] +Release the object gently.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Gently let go of the object.,['{', ' "action": "release_grip"', '}'] +Softly loosen your grip on the object.,['{', ' "action": "release_grip"', '}'] +Carefully release the object in a gentle manner.,['{', ' "action": "release_grip",', ' "params": {}', '}'] +Handle the object with caution as you relinquish your hold on it.,['The response is:'] +Move to position X:0, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Proceed to coordinates X:0, Y:0, and Z:50.,['The response is:'] +Relocate yourself to the destination with the coordinates X:0, Y:0, and Z:50.,['X:0, Y:0, Z:50'] +Shift your position to X:0, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Transfer yourself to the specified coordinates: X:0, Y:0, and Z:50.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'] +Extend the arm by 10 centimeters at a velocity of 5 centimeters per second.,['The response is:'] +Increase the length of the arm by 10 centimeters, moving at a speed of 5 centimeters per second.,['The response is an empty array.'] +Add 10 centimeters to the arm's reach, advancing at a rate of 5 centimeters per second.,['The response is ', ''] +Stretch the arm forward by 10 centimeters, with a velocity of 5 centimeters per second.,['The response is:'] +Lengthen the arm by 10 centimeters, moving at a pace of 5 centimeters per second.,['The response is:', '', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Rotate the wrist joint counterclockwise by 45 degrees at a velocity of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },'] +- Turn the wrist joint to the left by 45 degrees at a speed of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit'] +- Rotate the wrist joint in an anti-clockwise direction, making a 45 degree angle, at a rate of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },'] +- Move the wrist joint counterclockwise for 45 degrees with a velocity of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },'] +- Adjust the wrist joint by rotating it counterclockwise at a speed of 90 degrees per second, achieving a 45 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },'] +Grip the object with 8 kilograms of force for 10 seconds.,['The response is 8000.'] +Apply a force of 8 kilograms to the object for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Hold the object with a grip that exerts 8 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Grasp the object firmly, exerting a force of 8 kilograms, and maintain the grip for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Use 8 kilograms of force to firmly grip the object for a period of 10 seconds.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 8.0,', ' "duration": 10.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'] +Move to position X:25, Y:50, Z:75 in 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +In 5 seconds, go to the coordinates X:25, Y:50, Z:75.,['The response would be something like this:'] +Reach the position X:25, Y:50, Z:75 within a span of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Within 5 seconds, relocate yourself to the coordinates X:25, Y:50, Z:75.,['A: Within 5 seconds, relocate yourself to the coordinates X:25, Y:50, Z:75.'] +Move to X:25, Y:50, Z:75 within 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Retract the arm by 15 centimeters at a velocity of 2 centimeters per second.,['The response is, "Retract the arm by 15 centimeters at a velocity of 2 centimeters per second."'] +Move the arm back by 15 centimeters at a speed of 2 centimeters per second.,['The response is:'] +Withdraw the arm, reducing its length by 15 centimeters, while moving at a rate of 2 centimeters per second.,['The response is:'] +Decrease the arm's extension by 15 centimeters, moving it at a velocity of 2 centimeters per second.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'] +Pull the arm back by 15 centimeters, maintaining a speed of 2 centimeters per second.,['The response is:'] +Rotate the shoulder joint clockwise by 270 degrees in 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "'] +In a time span of 3 seconds, turn the shoulder joint in a clockwise direction by 270 degrees.,['The response is:'] +Perform a 270-degree clockwise rotation of the shoulder joint within a 3-second timeframe.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "'] +Rotate the shoulder joint in a clockwise manner, covering a distance of 270 degrees, and complete this action within 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 270.0,', ' "direction": "clockwise",', ' "speed": 3.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'] +Within a duration of 3 seconds, turn the shoulder joint in a clockwise direction, making a rotation of 270 degrees.,['The response is:'] +Move to position X:100, Y:100, Z:0 in 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit'] +Go to coordinates X:100, Y:100, Z:0 within a time frame of 10 seconds.,['{', ' "action": "travel",', ' "params": {', ' "x": 100,', ' "y": 100,', ' "z": 0,', ' "time": 10', ' }', '}'] +Shift to position X:100, Y:100, Z:0 within a duration of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'] +Transfer yourself to coordinates X:100, Y:100, Z:0 in a span of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'] +Travel to position X:100, Y:100, Z:0 within a 10-second timeframe.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'] +Extend the arm by 5 centimeters, then swim.,['The response is, "Extend the arm by 5 centimeters, then swim."'] +Swim after extending the arm by 5 centimeters.,['The response is empty.'] +After extending the arm by 5 centimeters, proceed to swim.,['The response is:'] +Extend the arm by 5 centimeters first, then start swimming.,['The response is:'] +First, extend the arm by 5 centimeters, and then initiate swimming.,['The response is:'] diff --git a/evaluation/JSON-converted-commands/LLaMA-7b/Converted_JSON_commands_UAV.txt b/evaluation/JSON-converted-commands/LLaMA-7b/Converted_JSON_commands_UAV.txt new file mode 100644 index 0000000..7831d06 --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA-7b/Converted_JSON_commands_UAV.txt @@ -0,0 +1,996 @@ +Ascend to an altitude of 500 feet.,['The response is 500.'] +Increase the elevation to a height of 500 feet.,['The response is 500.'] +Climb to a height of 500 feet above ground.,['The response is 500.'] +Reach an altitude of 500 feet above sea level.,['The response is 500.'] +Ascend to a height of 500 feet in the air.,['The response is 500.'] +Fly forward for 1 mile at a speed of 40 mph.,['The response is ', 'Fly forward for 1 mile at a speed of 40 mph.'] +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile.,['The response is 40 miles.'] +Travel in a straight line for 1 mile, maintaining a speed of 40 mph.,['The response is 1 mile.'] +Move forward for a distance of 1 mile, traveling at a speed of 40 mph.,['The response is 1 mile.'] +Cover a distance of 1 mile by flying forward at a velocity of 40 mph.,['The response is 1 mile.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 10 minutes.,['The response is 10.0.'] +Maintain a hovering position for the next 10 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 10.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in one spot for a period of 10 minutes.,['The response is 10 minutes.'] +Hold a stationary hover for the next 10 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 10.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['The response is:'] +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn.,['The response is ', ''] +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second.,['The 180-degree clockwise rotation at a rate of 20 degrees per second would take 180/20 = 9 seconds.'] +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees.,['The response below conforms to the request.', ''] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please ensure you touch down safely at the specified landing area.,['The response is ', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194)"', ' }', ' }', '}'] +It is essential that you land at the designated land zone.,['The response is:'] +Make sure you reach the assigned landing zone for landing.,['The response is acceptable.'] +Ensure your landing takes place at the specified landing area.,['The response is accepted.'] +Descend to an altitude of 200 meters.,['The response is ', ''] +Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'] +Lower yourself to an altitude of 200 meters.,['The response is 200.'] +Descend until you reach an altitude of 200 meters.,['The response is ', ''] +Bring your altitude down to 200 meters.,['A: Bring your altitude down to 200 meters.'] +Fly forward for 3 kilometers at a speed of 80 km/h.,['The response is ', 'Fly forward for 3 kilometers at a speed of 80 km/h.'] +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['The response is 3 kilometers.'] +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h.,['The response is 3 kilometers.'] +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['The response is 3 kilometers.'] +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h.,['The response is:'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary for a duration of 15 minutes.,['The response is 15.0.'] +Maintain a hovering position for a period of 15 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 15.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in one place for 15 minutes.,['The response is 15.0.'] +Hold in mid-air without moving for 15 minutes.,['The response is ', ''] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['The response is:'] +Turn left at a rate of 10 degrees per second for a duration of 45 degrees.,['The response would be:'] +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second.,['The response is ', ''] +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees.,['The response is:'] +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,['The response would be:'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please arrive at the pre-assigned landing area.,['The response is, "Okay."'] +Make your way to the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ensure you land at the designated landing spot.,[''] +Please touch down at the designated landing area.,['The response is,'] +Ascend to an altitude of 1000 feet.,['The response is 1000.'] +Climb to a height of 1000 feet.,['The response is 1000.'] +Reach an elevation of 1000 feet.,['The response is 1000.'] +Go up to an altitude of 1000 feet.,['The response is 1000.'] +Achieve a height of 1000 feet.,['The answer is 1000.'] +Fly forward for 2 miles at a speed of 45 mph.,['The response is ', 'Fly forward for 2 miles at a speed of 45 mph.'] +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph.,['The response is 2 miles.'] +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph.,['The response is 2 miles.'] +Fly ahead for 2 miles while moving at a speed of 45 mph.,['The response is, "Fly ahead for 2 miles while moving at a speed of 45 mph."'] +Maintain a speed of 45 mph while flying forward for a distance of 2 miles.,['The answer is 45 mph for 2 miles.'] +Hover in place for 20 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for a period of 20 minutes.,['The response is 20.0.'] +Stay suspended in one spot for a duration of 20 minutes.,['The response is 20.0.'] +Keep still for 20 minutes while floating in the air.,['The response is ', ''] +Hold position for 20 minutes without moving.,['The response is 20 minutes.'] +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second.,['The response is:'] +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second.,['The response is ', ''] +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second.,['The response is ', ''] +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second.,['The response is ', ''] +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second.,['The response is ', ''] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please make a landing at the specified landing zone.,['The response is:'] +Ensure that you land at the assigned landing zone.,[''] +It is necessary for you to touch down at the designated landing zone.,['The response is:'] +The instruction is to land specifically at the assigned landing zone.,['The response is to land at the assigned landing zone.'] +Descend to an altitude of 300 meters.,['The response is ', ''] +Lower your altitude to 300 meters.,['We lowered the altitude to 300 meters.'] +Move down to an altitude of 300 meters.,['The response is:'] +Deescalate to a height of 300 meters.,['Deescalate to a height of 300 meters.'] +Descend until you reach an altitude of 300 meters.,['The response is ', ''] +Fly forward for 4 kilometers at a speed of 70 km/h.,['The response is ', 'Fly forward for 4 kilometers at a speed of 70 km/h.'] +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour.,['The response is 4 kilometers.'] +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour.,['The response is 4 kilometers.'] +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour.,['The response is 4 kilometers.'] +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,['The response is ', ''] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 125.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 25 minutes.,['The response is 25.'] +Remain airborne without moving for a period of 25 minutes.,['The response below conforms to the request.', ''] +Levitate motionlessly for 25 minutes.,['Levitate motionlessly for 25 minutes.'] +Hold position without any movement for 25 minutes.,['The response would be:'] +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second.,['The response is:'] +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second.,['The answer is 135 degrees.'] +Turn left by 135 degrees with an angular speed of 25 degrees per second.,['The response is, "Turn left by 135 degrees with an angular speed of 25 degrees per second."'] +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second.,['The response is:'] +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second.,['The response is ', ''] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please ensure you land at the specified landing area.,['The response is ', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'] +Your objective is to touch down at the designated landing zone.,['The response is:'] +You are required to land at the assigned landing zone.,['The response is:'] +Make sure you reach the designated landing area safely.,['The response is acceptable.'] +Ascend to an altitude of 1500 feet.,['The response is 1500.'] +Increase your altitude to 1500 feet.,['The response is 1500.'] +Climb up to a height of 1500 feet.,['The response is 1500.'] +Reach an elevation of 1500 feet.,['The response is 1500.'] +Scale to a height of 1500 feet.,['A: Scale to a height of 1500 feet.'] +Fly forward for 5 miles at a speed of 50 mph.,['The response is ', 'Fly forward for 5 miles at a speed of 50 mph.'] +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles.,['The response is 50 mph for 5 miles.'] +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles.,['The answer is 5.'] +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph.,['The response is 50.0.'] +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph.,['The response is 5 miles.'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one spot for a duration of 30 minutes.,['The response is 30.0.'] +Maintain a fixed position for the next half an hour.,['The response is an empty array.'] +Remain suspended in mid-air for the next 30 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hold still for a period of 30 minutes.,['The response is 30.0.'] +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second.,['The response is:'] +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second.,['A: The rate of rotation is 30 degrees per second, so it will take 360/30 = 12 seconds to complete a full rotation. The answer is 12.'] +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second.,['3)'] +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second.,['The response is:'] +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please make your way to the designated landing zone and touch down.,['The response is an empty array.'] +The designated landing zone is where you should aim to touch down.,['The designated landing zone is where you should aim to touch down.'] +You are required to land at the specific landing zone as indicated.,['The response is:'] +Ensure that you come to a safe landing at the designated landing zone.,['The safe landing zone is at coordinates (37.7749, -122.4194, 100). You will be flying at a speed of 12 m/s for 20 seconds. Then you will hover for 30 seconds at an altitude of 70 meters. Finally, you will dance. The response is:'] +Descend to an altitude of 400 meters.,['The response is 400.'] +Decrease your altitude to 400 meters.,['A: Decrease your altitude to 400 meters.'] +Lower yourself to an altitude of 400 meters.,['The response is 400.'] +Go down to an altitude of 400 meters.,['The response is 400.'] +Descend until you reach an altitude of 400 meters.,['The response is ', ''] +Fly forward for 6 kilometers at a speed of 60 km/h.,['The response is ', 'Fly forward for 6 kilometers at a speed of 60 km/h.'] +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h.,['The response is 6 kilometers.'] +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward.,['The response is 60 km/h.'] +Fly straight ahead at 60 km/h for a distance of 6 kilometers.,['The response is 60.0.'] +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers.,['The response is 60 kilometers.'] +Hover in place for 35 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 1800,', ' "altitude": 0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in mid-air for a duration of 35 minutes.,['The response is 35.0'] +Maintain a fixed position in the air for the next 35 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 35.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary in the same spot for a period of 35 minutes.,['The response is 35.'] +Keep yourself suspended without moving for the next 35 minutes.,['The answer is 35.'] +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second.,['The response is:'] +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise.,['The response is ', ''] +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second.,['The 180-degree counterclockwise rotation at a speed of 35 degrees per second would take 180/35 = 5 seconds.'] +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees.,['The response below conforms to the request.', ''] +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second.,['The response is ', ''] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please make a landing at the specified landing zone.,['The response is:'] +Ensure a safe landing at the assigned landing area.,["The action is 'land'. The coordinates are (37.7749, -122.4194, 100). The speed is 12 m/s. The duration is 20 seconds. The altitude is 120 meters. The unit speed is m/s, the unit altitude is meters, and the unit duration is seconds. The response is:"] +You are instructed to touch down at the designated landing zone.,['The response is:'] +It is requested that you land at the predetermined landing zone.,['The response is:'] +Ascend to an altitude of 2000 feet.,['The response is 2000.'] +Increase your elevation to a height of 2000 feet.,['The response is 2000.'] +Reach a height of 2000 feet above the ground level.,['The response is 2000.'] +Climb to an altitude of 2000 feet.,['The response is 2000.'] +Ascend to a height of 2000 feet above sea level.,['The response is 2000.'] +Fly forward for 7 miles at a speed of 55 mph.,['The response is ', 'Fly forward for 7 miles at a speed of 55 mph.'] +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour.,['The response is 7 miles.'] +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph.,['The answer is 7.'] +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,['The answer is 7 * 55 = 395 miles.'] +Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,['The response is 7 miles.'] +Hover in place for 40 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 40.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one position for a duration of 40 minutes.,['The response is 40.'] +Remain suspended in the air without moving for a total of 40 minutes.,['The response is 40.'] +Maintain a hovering position for the next 40 minutes.,['The response should be 40.0.'] +Levitate and hold your position for a period of 40 minutes.,['Levitate and hold your position for a period of 40 minutes.'] +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second.,['The response is:'] +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn right by 90 degrees with an angular speed of 40 degrees per second.,['The response is ', ''] +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation.,['The response would be:'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please touch down at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Ensure that you arrive at the specified landing zone.,['The landing zone is 37.7749° N, 122.4194° W at an altitude of 100 meters. You need to fly north at a speed of 12 m/s for 20 seconds. Then you need to hover for 30 seconds at 70 meters. Then you need to land at the specified location.'] +Make sure to land at the designated touchdown point.,['The response is:'] +It is required that you land at the designated landing zone.,['The response is:'] +Descend to an altitude of 500 meters.,['The response is 500.'] +Lower yourself to a height of 500 meters.,['The response is 500.'] +Decrease your altitude to 500 meters.,['A: Decrease your altitude to 500 meters.'] +Go down to an altitude of 500 meters.,['The response is 500.'] +Reduce your height to 500 meters.,['The response is 500.'] +Fly forward for 8 kilometers at a speed of 65 km/h.,['The response is 8 kilometers.'] +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h.,['The response is 8 kilometers.'] +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h.,['The response is 8 kilometers.'] +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers.,['The answer is 8.'] +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h.,['The response is ', ''] +Hover in place for 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 45.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in position for a duration of 45 minutes.,['The response is 45.'] +Remain airborne without moving for a period of 45 minutes.,['The response is ', ''] +Keep yourself elevated without any movement for a span of 45 minutes.,['The response is 45.'] +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position.,['The answer is 45.'] +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second.,['The response is:'] +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second.,['The response is:'] +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second.,['The counterclockwise rotation of 270 degrees would take 270 / 360 = 0.75 seconds. The angular speed of 45 degrees per second would be 45 / 360 = 0.125 seconds. So the total time would be 0.75 + 0.125 = 0.875 seconds.'] +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction.,['The response is ', ''] +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second.,['The response is:'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please proceed to land at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Make your way to the indicated landing zone and prepare for landing.,['The response is:'] +Follow the instructions and land at the designated landing zone.,['The response is:'] +It is required that you land at the assigned landing zone.,['The response is:'] +Ascend to an altitude of 2500 feet.,['The response is 2500.'] +Climb to a height of 2500 feet.,['The response is 2500.'] +Reach an elevation of 2500 feet.,['The response is 2500.'] +Scale to an altitude of 2500 feet.,['A: Scale to an altitude of 2500 feet.'] +Increase your height to 2500 feet.,['The response is 2500.'] +Fly forward for 9 miles at a speed of 50 mph.,['The response is ', 'Fly forward for 9 miles at a speed of 50 mph.'] +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph.,['The response is 9 miles.'] +Cover a distance of 9 miles by flying forward at a speed of 50 mph.,['The answer is 9 * 50 = 450 miles.'] +Maintain a speed of 50 mph while traveling straight ahead for 9 miles.,['The answer is 9.'] +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles.,['The response is ', ''] +Hover in place for 50 minutes.,['The response is 50.0.'] +Stay still for a duration of 50 minutes.,['The response is 50.0.'] +Maintain a stationary position for 50 minutes.,['The response is 50.'] +Remain in one spot for a period of 50 minutes.,['The response is 50.0.'] +Hold steady for 50 minutes without moving.,['The response is 50.'] +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second.,['The response is:'] +Turn 135 degrees to the right at a rate of 50 degrees per second.,['The answer is 135 degrees.'] +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second.,['The response is ', ''] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please touch down at the specified landing area.,['The response is:'] +Descend and touch base at the assigned landing zone.,['The response is,'] +Make your approach and touch ground at the designated landing site.,['The response is,'] +Please bring the aircraft to a stop at the approved landing zone.,['The approved landing zone is at (37.7749, -122.4194, 100). So the response is ', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'] +Descend to an altitude of 600 meters and swin.,['The response is, "Descend to an altitude of 600 meters and swim."'] +Swim after descending to an altitude of 600 meters.,['The response is:'] +Dive down to a depth of 600 meters and start swimming.,['The response would be something like this:'] +Lower yourself to an altitude of 600 meters and begin swimming.,['The response is, "Lower yourself to an altitude of 600 meters and begin swimming."'] +Drop down to a height of 600 meters and begin your swim.,['The response is ', ''] +Turn left at a 45-degree angle and fly straight for 500 meters.,['The response is, "Turn left at a 45-degree angle and fly straight for 500 meters."'] +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Take a left turn at a 45-degree angle and proceed straight for 500 meters.,['The response is, "Take a left turn at a 45-degree angle and proceed straight for 500 meters."'] +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters.,['The response is ', ''] +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters.,['The response is ', ''] +Ascend to an altitude of 1000 feet and maintain position for 10 minutes.,['The response is ', ''] +Climb to a height of 1000 feet and stay in that position for 10 minutes.,['The response is ', ''] +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes.,['The response is ', ''] +Increase your altitude to 1000 feet and remain at that level for 10 minutes.,['The response is ', ''] +Go up to a height of 1000 feet and keep your position steady for 10 minutes.,['The response is ', ''] +Perform a vertical climb to 200 meters at a speed of 10 meters per second.,['The response would be something like this:'] +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters.,['The response would be:'] +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters.,['The response would be:'] +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters.,['The response would be:'] +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters.,['The response is ', ''] +Fly around in a circular pattern with a radius of 100 meters for 15 minutes.,['The response is:'] +Circle around with a 100-meter radius for a duration of 15 minutes.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'] +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius.,['The response is ', ''] +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes.,['The response would be something like this:'] +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes.,['The response is:'] +Hover in place and capture aerial photographs of the surrounding area.,['The response is:'] +Stay suspended and take aerial photographs of the nearby area.,['The response is,'] +Maintain a stationary position and capture aerial photographs of the surrounding area.,['The response is ', ''] +Levitate and snap aerial photographs of the surrounding area.,['The response is,'] +Remain still and capture overhead photographs of the nearby area.,['The response is,'] +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes.,['The response is:'] +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['The response is, "Decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes."'] +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['The response is ', ''] +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['The response is ', ''] +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes.,['The response is,'] +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes.,['The response is:'] +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes.,[''] +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,['The response is:'] +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes.,['The response is:'] +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes.,['The response is:'] +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop.,['The response is ', ''] +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt.,['The response is ', ''] +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,['The response would be:'] +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes.,['The response is ', ''] +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation.,['The response is ', ''] +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes.,['The response is:'] +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor.,['The response is:'] +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes.,['The response is:'] +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,['The response is:'] +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s.,['The response should be something like this:'] +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s.,['The answer is 3 kilometers.'] +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner.,['The response is:'] +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers.,['The response would be something like this:'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'] +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second.,['The response is ', ''] +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second.,['The response is ', ''] +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second.,['The response is ', ''] +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second.,['The response is:'] +Land at the designated landing zone and conduct a visual inspection of the UAV.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection.,['The response is acceptable.'] +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV.,['The response is:'] +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it.,['The response is:'] +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components.,['The response is:'] +Hover in place and release a payload at a specified drop zone.,['The response is an empty array.'] +Maintain a hovering position and deploy a payload at a designated release zone.,['The response is:'] +Stay suspended in one spot and discharge a payload at a predefined drop area.,['The response is an empty array.'] +Remain in a stationary hover and release a payload at a specified dropzone.,['The response is:'] +Hold position in mid-air and deliver a payload at a designated drop zone.,['The response is:'] +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour.,['The response is ', ''] +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet.,['The response is:'] +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour.,['The response is ', ''] +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet.,['The response is ', ''] +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet.,['The response is ', ''] +Perform a barrel roll maneuver at a high velocity of 100 km/h.,['The response is ', ''] +Execute a barrel roll maneuver at a rapid speed of 100 km/h.,['The response is ', ''] +Carry out a barrel roll maneuver at a high rate of 100 km/h.,['The response is ', ''] +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h.,['The response is ', ''] +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h.,['The response is ', ''] +Fly forward for 500 meters and then execute a sharp turn to the right.,['The response is,'] +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn.,['The response is ', ''] +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right.,['The response is:'] +Move ahead for 500 meters and perform a quick right turn.,['The response is ', ''] +Travel straight for a distance of 500 meters before making a sharp right turn.,['The response is ', ''] +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data.,['The response is ', ''] +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data.,[''] +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data.,['The response is ', ''] +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data.,['The response would be something like this:'] +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data.,['The response would be:'] +Fly in a figure-eight pattern with a total distance of 2 kilometers.,['The response is ', ''] +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers.,['The answer is ', ''] +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total.,['The answer is 2000.'] +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,['The answer is ', ''] +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,['The response is 2 kilometers.'] +Hover in place and initiate a search for a lost object on the ground.,['The response is:'] +Stay stationary and begin a search for a missing item on the ground.,['The response is an empty array.'] +Keep still and start looking for a lost object on the surface.,['The response is an empty array.'] +Maintain a hovering position and commence a search for a misplaced item on the ground.,['The response is accepted.'] +Suspend movement and initiate a search for a lost object on the floor.,['The response is an empty array.'] +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot.,[''] +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot.,['The response is:'] +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location.,['The response is:'] +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot.,[''] +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot.,['The response is:'] +- Fly to waypoint A at a distance of 1 kilometer.,['- { action: fly, params: { speed: 12, altitude: 120, direction: "north", duration: 20, unit_speed: "m/s", unit_altitude: "meters", unit_duration: "seconds" } }'] +Proceed to waypoint A, located at a distance of 1 kilometer, by flying.,['The response is ', ''] +Utilize flight to reach waypoint A, which is situated 1 kilometer away.,['The response would be something like this:'] +Cover a distance of 1 kilometer by flying towards waypoint A.,['The response is 1 kilometer.'] +Fly towards waypoint A, which is precisely 1 kilometer away.,['The response would be something like this:'] +- Descend to an altitude of 200 meters above ground level.,['The response is ', 'A: Descend to an altitude of 200 meters above ground level.'] +Reduce your altitude to 200 meters above the ground.,['The response is 200.'] +Go down until you reach an altitude of 200 meters above the ground.,['The response is an empty array.'] +Lower your altitude to 200 meters above the ground level.,['A: Lower your altitude to 200 meters above the ground level.'] +Descend until you are flying at an altitude of 200 meters above the ground.,['The response is ', ''] +- Perform a vertical climb at a rate of 5 meters per second.,['The response is ', ''] +Ascend vertically, maintaining a speed of 5 meters per second.,['The response is an empty array.'] +Execute a vertical ascent, moving at a pace of 5 meters per second.,['The response is an empty array.'] +Scale upwards in a straight line, advancing at a rate of 5 meters per second.,['The answer is 5.'] +Carry out a vertical climb, sustaining a speed of 5 meters per second.,['The answer is 5.'] +- Fly in a zigzag pattern for 10 minutes.,['The response is:'] +Perform a zigzag flight pattern for a duration of 10 minutes.,['The zigzag flight pattern can be described as a series of straight lines. A straight line can be described as a tuple of the form (latitude, longitude, altitude). So the zigzag flight pattern can be described as a series of tuples of the form (latitude1, longitude1, altitude1), (latitude2, longitude2, altitude2), (latitude3, longitude3, altitude3), (latitude4, longitude4, altitude4), (latitude5, longitude5, altitude5), (latitude6, longitude6, altitude'] +Fly in a serpentine motion for a period of 10 minutes.,['The response should be something like this:'] +Execute a back-and-forth flying motion for a duration of 10 minutes.,['The response is ', ''] +Soar in a crisscross pattern for a total of 10 minutes.,['The response is:'] +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['The response is ', ''] +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second.,['The response is ', ''] +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second.,['The response is ', ''] +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation.,['The response is ', ''] +- Fly forward at a speed of 30 km/h for 500 meters.,['The response is:'] +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour.,['The response is 500 meters.'] +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.,['The response is 500 meters.'] +Glide forward at a rate of 30 km/h, covering a distance of 500 meters.,['The response would be:'] +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters.,['The response is ', ''] +- Hover at a specific location for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary at a designated spot for a duration of 15 minutes.,['The response is ', ''] +Stay in one place for a period of 15 minutes.,['The response is 15.'] +Maintain a fixed position for 15 minutes.,['The response is 15 minutes.'] +Hold steady at a specific point for a duration of 15 minutes.,['The response is ', ''] +- Ascend to an altitude of 500 meters above ground level.,['A: The response is 500.'] +Increase your height until you reach an altitude of 500 meters above ground level.,['The response is 500.'] +Climb up until you are at an altitude of 500 meters above ground level.,['The response is 500.'] +Move upwards until you reach a height of 500 meters above ground level.,['The response is 500.'] +Reach an altitude that is 500 meters above ground level.,['The response is 500.'] +- Perform a horizontal slide to the left for 200 meters.,["A: The action is 'horizontal slide to the left'. The params are '200 meters'."] +Slide 200 meters horizontally to the left.,['The answer is 200.'] +Move to the left in a horizontal slide for a distance of 200 meters.,['The response would be something like this:'] +Execute a horizontal leftward slide spanning 200 meters.,['The response would be something like this:'] +Take a 200 meter horizontal slide towards the left.,['The response is 200 meters.'] +- Circle around a fixed point at a radius of 100 meters for 5 minutes.,['The response is ', '{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'] +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes.,['The response is:'] +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes.,['The response is:'] +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes.,['The response is ', ''] +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes.,['{', ' "action": "orbit",', ' "params": {', ' "radius": 100.0,', ' "period": 5.0', ' }', '}'] +- Fly backward at a speed of 40 km/h for 1 kilometer.,['The response is:'] +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer.,['The response is ', ''] +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer.,['The response is 1 kilometer.'] +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer.,['The response is ', ''] +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer.,['The answer is 40.0.'] +- Descend rapidly at a rate of 10 meters per second.,['The response is ', 'A: Descend rapidly at a rate of 10 meters per second.'] +Quickly descend at a speed of 10 meters per second.,['The response is ', ''] +Drop down rapidly, maintaining a rate of 10 meters per second.,['The response would be something like this:'] +Perform a swift descent, descending at a speed of 10 meters per second.,['The response is ', ''] +Go down at a rapid pace, descending at a rate of 10 meters per second.,['The response is ', ''] +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,['The response is:'] +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second.,['The response is:'] +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second.,['The response is ', ''] +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second.,['The response is ', ''] +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second.,['The response is ', ''] +- Fly in a figure-eight pattern for 10 minutes.,['The response is ', ''] +Perform a figure-eight flight maneuver for a duration of 10 minutes.,['The figure-eight flight maneuver can be performed at a speed of 10 m/s for 10 minutes. This means the total distance traveled is 10 * 60 * 10 = 6000 m.'] +Fly in a pattern resembling the shape of an eight for a total of 10 minutes.,['The response is ', ''] +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes.,['The response is:'] +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes.,['The response is ', ''] +- Ascend to an altitude of 800 meters above sea level.,['A: The response is 800.'] +Achieve an elevation of 800 meters above sea level.,['The answer is 800.'] +Reach a height of 800 meters above sea level.,['The response is 800.'] +Climb to an altitude of 800 meters above sea level.,['The response is 800.'] +Move up to a height of 800 meters above sea level.,['The response is 800.'] +- Hover in place while capturing photos for 20 minutes.,['- Hover in place while capturing photos for 20 minutes.'] +Maintain a stationary hover for a duration of 20 minutes, taking photos.,['The response would be something like this:'] +Hold position and take photographs for a period of 20 minutes.,['The response is ', ''] +Stay in one spot and capture photos continuously for 20 minutes.,['The response is 20 minutes.'] +Remain suspended in the air and photograph for a duration of 20 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 20.0,', ' "altitude": 70.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +- Fly forward at a speed of 50 km/h for 2 kilometers.,['The response is, "Fly forward at a speed of 50 km/h for 2 kilometers."'] +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,['The response is 2 kilometers.'] +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,['The response is 2 kilometers.'] +Propel forward for 2 kilometers at a rate of 50 kilometers per hour.,['The response is 2 kilometers.'] +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h.,['The response is 2 kilometers.'] +- Descend to a low altitude of 50 meters above ground level.,['A: The response is, "Descend to a low altitude of 50 meters above ground level."'] +Lower your altitude to 50 meters above the ground.,['A: Lower your altitude to 50 meters above the ground.'] +Move down to an altitude of 50 meters above the ground.,['The response is:'] +Decrease your altitude until you are only 50 meters above the ground.,['The response is 50.0.'] +Descend to a height of 50 meters above the ground level.,['The response is ', ''] +- Perform a sudden stop and hover for 2 minutes.,['A: Perform a sudden stop and hover for 2 minutes.'] +Execute an abrupt halt and remain stationary for a duration of 2 minutes.,['The response would be:'] +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes.,["The immediate cessation of movement and maintaining a stable position for 2 minutes can be expressed as the action 'hover' with the parameters 'duration' = 2, 'altitude' = 0, 'unit_duration' = 'seconds', and 'unit_altitude' = 'meters'."] +Achieve an instant stop and remain suspended in the air for a period of 2 minutes.,['The response is ', ''] +Implement a sudden pause and hover motionless for a timeframe of 2 minutes.,['The response should be something like this:'] +- Land at the designated landing zone, then record a video.,[''] +After landing at the specified landing area, proceed to film a video.,['The response is:'] +Upon arrival at the designated landing zone, commence recording a video.,[''] +Touch down at the designated landing zone and proceed to capture a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Once you have safely landed at the assigned landing area, begin filming a video.,['The response is acceptable.'] +Ascend to an altitude of 500 feet.,['The response is 500.'] +Climb to a height of 500 feet.,['The response is 500.'] +Reach an elevation of 500 feet.,['The response is 500.'] +Achieve a position at an altitude of 500 feet.,['The response is:'] +Ascend to a height of 500 feet above ground level.,['The response is 500.'] +Fly forward for 1 mile at a speed of 40 mph.,['The response is ', 'Fly forward for 1 mile at a speed of 40 mph.'] +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['The response is 1 mile.'] +Move forward for a mile, traveling at a speed of 40 miles per hour.,['The response is 40.'] +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour.,['The response is ', ''] +Travel forward for a distance of 1 mile, with a velocity of 40 mph.,['The response is 1 mile.'] +Descend to an altitude of 200 meters.,['The response is ', ''] +Reduce your altitude to 200 meters.,['A: Reduce your altitude to 200 meters.'] +Lower down to an altitude of 200 meters.,['The response would be:'] +Move downwards until you reach an altitude of 200 meters.,['The response would be:'] +Descend until you are flying at 200 meters above ground level.,['The response is ', ''] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in the air for a duration of 10 minutes.,['The response is 10.0.'] +Maintain a hovering position for a period of 10 minutes.,['The response should be 10 * 60 = 600 seconds.'] +Remained fixed in mid-air for a time span of 10 minutes.,['The response should be 10.0.'] +Suspend yourself without moving for the next 10 minutes.,['The answer is 10 minutes.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'] +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second.,['The response is:'] +Turn clockwise by 180 degrees, at a rate of 45 degrees per second.,['The response is ', ''] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['The response is ', ''] +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second.,['The response is ', ''] +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,['The response is ', ''] +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying.,['The response would be something like this:'] +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,['The response is:'] +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers.,['The response would be something like this:'] +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h.,['The response is ', ''] +Ascend to an altitude of 1000 feet.,['The response is 1000.'] +Increase your altitude to 1000 feet.,['The response is 1000.'] +Climb to a height of 1000 feet.,['The response is 1000.'] +Reach an elevation of 1000 feet.,['The response is 1000.'] +Move upward and maintain a height of 1000 feet.,['The response is:'] +Fly forward for 5 miles at a speed of 30 mph.,['The response is ', 'Fly forward for 5 miles at a speed of 30 mph.'] +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph.,['The response is 5 miles.'] +Travel in a straight line for 5 miles, moving at a speed of 30 mph.,['The response is 5 miles.'] +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph.,['The response is 5 miles.'] +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles.,['The answer is 5.'] +Hover and take aerial photographs for 20 minutes.,['The response is:'] +Capture aerial photographs by flying and hovering for a duration of 20 minutes.,['The response is ', ''] +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,['The response is ', ''] +Take aerial photos by hovering in the air for a total of 20 minutes.,['The response is ', ''] +Fly and maintain a hover position for 20 minutes to capture aerial photographs.,['The response is:'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['The response is:'] +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second.,['The response is ', ''] +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second.,['The response is ', ''] +Turn left by 270 degrees at a rate of 60 degrees per second.,['The answer is 270 degrees.'] +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second.,['The response is:'] +Descend to an altitude of 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'] +Lower down to an altitude of 100 meters.,['The response is ', '{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'] +Reduce your altitude to 100 meters.,['A: Reduce your altitude to 100 meters.'] +Move downward until you reach an altitude of 100 meters.,['The response would be:'] +Descend until you are at a height of 100 meters.,['The response is ', ''] +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h.,['The response is:'] +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters.,['The response is ', ''] +Circle at a speed of 20 km/h with a 500-meter radius.,['The answer is 500.'] +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius.,['The response is:'] +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h.,['The answer is 500 meters.'] +Ascend to an altitude of 1500 feet.,['The response is 1500.'] +Increase your elevation to a height of 1500 feet.,['The response is 1500.'] +Climb to a 1500-foot altitude.,['The response is 1500.'] +Reach a height of 1500 feet.,['The response is 1500.'] +Ascend to a level that is 1500 feet above the ground.,['The answer is 1500.'] +Fly forward and survey the area for 3 miles at a speed of 35 mph.,['The response is,'] +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour.,['The response is ', ''] +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph.,['The answer is 35.'] +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph.,['The response is:'] +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph.,['The answer is 35 mph.'] +Hover and drop a package at the designated location.,['The response is:'] +Carry a package and release it at the specified spot by slightly floating above it.,['The response is:'] +Gently float and deposit a package at the predetermined destination.,['The response is:'] +Utilize aerial suspension to transport and release a package precisely where directed.,['The response is:'] +Levitate above a designated area and carefully place a package down.,['Levitate above a designated area and carefully place a package down.'] +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second.,['The response is:'] +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second.,['The response is ', ''] +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second.,['The response is ', ''] +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second.,['The response is ', ''] +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second.,['The response is:'] +Descend to an altitude of 50 meters.,['The response is ', ''] +Reduce your altitude to 50 meters.,['A: Reduce your altitude to 50 meters.'] +Go down to a height of 50 meters.,['The response is 50.0.'] +Lower yourself to an altitude of 50 meters.,['The response is ', ''] +Descend until you reach a height of 50 meters.,['The response is ', ''] +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h.,['The response is:'] +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h.,['The response is ', 'The response is ', ''] +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h.,['The response is:'] +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h.,['The response is ', ''] +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h.,['The response is ', ''] +Ascend to an altitude of 2000 feet.,['The response is 2000.'] +Reach a height of 2000 feet.,['The response is 2000.'] +Climb to an elevation of 2000 feet.,['The response is 2000.'] +Increase your altitude to 2000 feet.,['The response is 2000.'] +Ascend to a level that is 2000 feet above ground.,['The response is 2000.'] +Fly forward and inspect power lines for 4 miles at a speed of 25 mph.,['The response is,'] +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph.,['The response is ', ''] +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph.,['The response would be something like this:'] +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.,['The answer is 4 * 25 = 100 miles.'] +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,['The response is ', ''] +Land at the designated landing zone, then take a nap.,['The response is:'] +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep.,['The response is:'] +After successfully reaching the designated landing zone, feel free to relax and take a nap.,['The response is:'] +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,['The response is:'] +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep.,['The response is:'] +Fly forward for 1 kilometer at a speed of 40 km/h.,['The response is ', 'Fly forward for 1 kilometer at a speed of 40 km/h.'] +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour.,['The response is 1 kilometer.'] +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour.,['The response is 1 kilometer.'] +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour.,['The response is ', 'The response is ', ''] +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,['The response is ', ''] +Ascend to an altitude of 500 meters.,['The response is 500.'] +Reach a height of 500 meters.,['The response is 500.'] +Climb up to an elevation of 500 meters.,['The response is 500.'] +Move upwards until you are at an altitude of 500 meters.,['The response would be:'] +Achieve a vertical position of 500 meters.,['The response is 500.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay stationary for a duration of 10 minutes.,['The response is 10.0.'] +Remain suspended in the air for a period of 10 minutes.,['The response is 10.0.'] +Keep yourself hovering in one spot for a duration of 10 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 10.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a fixed position in the air for 10 minutes.,['The response is 10.'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['The response is:'] +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees.,['The response below conforms to the request.', ''] +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second.,['The response is ', ''] +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation.,['The response is ', ''] +Fly forward for 500 meters at a speed of 50 km/h.,['The response is ', 'Fly forward for 500 meters at a speed of 50 km/h.'] +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h.,['The response is 500 meters.'] +Move straight ahead at 50 km/h for a distance of 500 meters.,['The response is 500 meters.'] +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h.,['The response is 500/50 = 10 meters.'] +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction.,['The response is 500 meters.'] +Descend to an altitude of 200 meters.,['The response is ', ''] +Lower your altitude to 200 meters.,['We lowered the altitude to 200 meters.'] +Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'] +Descend until you reach an altitude of 200 meters.,['The response is ', ''] +Bring your altitude down to 200 meters.,['A: Bring your altitude down to 200 meters.'] +Hover in place for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": 120,', ' "altitude": 0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 2 minutes.,['The response is 2.0.'] +Remain stationary for a period of 2 minutes.,['The response is 2.0.'] +Hold your position for a span of 2 minutes.,['The response is 2.0.'] +Do not move for a total of 2 minutes.,['The response is 2.'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['The response is:'] +Turn to the left by 45 degrees at a rate of 10 degrees per second.,['The answer is 45 degrees.'] +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second.,['The response is:'] +Spin counterclockwise by 45 degrees, moving 10 degrees per second.,['The answer is 45.'] +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second.,['The response is ', ''] +Fly forward for 3 kilometers at a speed of 70 km/h.,['The response is ', 'Fly forward for 3 kilometers at a speed of 70 km/h.'] +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h.,['The response is 3 kilometers.'] +Travel straight ahead for 3 kilometers at a rate of 70 km/h.,['The response is 3 kilometers.'] +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h.,['The response is 3 kilometers.'] +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers.,['The answer is 3.'] +Ascend to an altitude of 800 meters.,['The response is 800.'] +Reach a height of 800 meters.,['The response is 800.'] +Climb to an elevation of 800 meters.,['The response is 800.'] +Increase your altitude to 800 meters.,['The response is 800.'] +Go up to a height of 800 meters.,['The response is 800.'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 15 minutes.,['The response is 15.0.'] +Maintain a hovering position for the next 15 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain in place without moving for a period of 15 minutes.,['The response is ', ''] +Suspend motion for a time period of 15 minutes.,['The response is 15.'] +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second.,['The response is:'] +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second.,['The response would be:'] +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second.,['The response is ', ''] +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees.,['The response is:'] +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,['The response is:'] +Fly forward for 2.5 kilometers at a speed of 55 km/h.,['The response is ', 'Fly forward for 2.5 kilometers at a speed of 55 km/h.'] +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward.,['The response is 2.5 kilometers.'] +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction.,['The answer is 2.5 kilometers.'] +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h.,['The response is ', ''] +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,['The response is 2.5 kilometers.'] +Descend to an altitude of 300 meters.,['The response is ', ''] +Lower yourself to a height of 300 meters.,['The response is 300.'] +Reduce your altitude to 300 meters.,['A: Reduce your altitude to 300 meters.'] +Move down to a height of 300 meters.,['The response is:'] +Descend until you reach an altitude of 300 meters.,['The response is ', ''] +Hover in place for 8 minutes.,['The response is 8.0.'] +Stay still for a duration of 8 minutes.,['The response is 8.0.'] +Maintain a stationary position for a period of 8 minutes.,['The response is 8.'] +Suspend movement and remain in one spot for 8 minutes.,['The response is 8.'] +Keep hovering without moving for a total of 8 minutes.,['The response is 8.0.'] +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second.,['The response is:'] +Turn left at a rate of 25 degrees per second for 120 degrees.,['The response is ', 'The response is ', ''] +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees.,['The response is:'] +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second.,['The response is ', ''] +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second.,['The response is:'] +Fly forward for 4 kilometers at a speed of 80 km/h.,['The response is ', 'Fly forward for 4 kilometers at a speed of 80 km/h.'] +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,['The response is 4 kilometers.'] +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,['The response is 4 kilometers.'] +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h.,['The response is 4 kilometers.'] +Travel at 80 km/h in a straight path for 4 kilometers.,['The answer is 4.'] +Ascend to an altitude of 1000 meters.,['The response is 1000.'] +Increase your altitude to 1000 meters.,['A: Increase your altitude to 1000 meters.'] +Reach a height of 1000 meters.,['The response is 1000.'] +Climb up to an elevation of 1000 meters.,['The response is 1000.'] +Scale up to an altitude of 1000 meters.,['A: Scale up to an altitude of 1000 meters.'] +Hover in place for 20 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain suspended in one spot for a duration of 20 minutes.,['The response is 20.0.'] +Stay airborne without moving for a period of 20 minutes.,['The response below conforms to the request.', ''] +Keep stationary in mid-air for a period of 20 minutes.,['The response is 20.0.'] +Suspend motion and hover in the same position for a duration of 20 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 20.0,', ' "altitude": 70.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second.,['The response is ', ''] +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second.,['The answer is 360 degrees.'] +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second.,['The response is ', ''] +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,['The response is ', ''] +Fly forward for 2.7 kilometers at a speed of 60 km/h.,['The response is ', 'Fly forward for 2.7 kilometers at a speed of 60 km/h.'] +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,['The response is 2.7 kilometers.'] +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h.,['The answer is 2.7.'] +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,['The response is 2.7 kilometers.'] +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h.,['The answer is 2.7.'] +Descend to an altitude of 400 meters.,['The response is 400.'] +Reduce your altitude to 400 meters.,['A: Reduce your altitude to 400 meters.'] +Move down until you are at an altitude of 400 meters.,['The response would be:'] +Descend until you reach a height of 400 meters.,['The response is ', ''] +Lower your altitude to 400 meters.,['We lowered the altitude to 400 meters.'] +Hover in place for 12 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 12.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay in one spot for a duration of 12 minutes.,['The response is 12.'] +Remain stationary for a period of 12 minutes.,['The response is 12.'] +Keep still for 12 minutes.,['The response is 12.'] +Do not move for a total of 12 minutes.,['The response is 12.'] +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second.,['The response is:'] +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second.,['The counterclockwise rotation of 150 degrees at a rate of 35 degrees per second would take 150/35 = 4 seconds. The response would be 4.'] +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second.,['The response is:'] +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second.,['The response is:'] +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached.,['The response is ', ''] +Fly forward for 5 kilometers at a speed of 90 km/h.,['The response is ', 'Fly forward for 5 kilometers at a speed of 90 km/h.'] +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,['The response is 5 kilometers.'] +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour.,['The answer is 5 kilometers.'] +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour.,['The response is 5 kilometers.'] +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour.,['The response is 5 kilometers.'] +Ascend to an altitude of 1200 meters.,['The response is 1200.'] +Increase your elevation to 1200 meters.,['A: Increase your elevation to 1200 meters.'] +Climb to a height of 1200 meters.,['The response is 1200.'] +Reach an altitude of 1200 meters.,['The response is 1200.'] +Move upwards to a position of 1200 meters above ground level.,['The response is 1200.'] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 125.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 25 minutes.,['The response is 25.0.'] +Maintain a hovering position for 25 minutes.,['The response should be 25.0.'] +Remain in place without moving for a period of 25 minutes.,['The response is 25.'] +Hold your position in mid-air for a total of 25 minutes.,['The response is 25.'] +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second.,['The response is:'] +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second.,['The answer is 450 degrees.'] +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['The response is:'] +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,['The response is ', ''] +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['The response is ', ''] +Fly forward for 3.2 kilometers at a speed of 65 km/h.,['The response is ', 'Fly forward for 3.2 kilometers at a speed of 65 km/h.'] +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour.,['The response is 3.2 kilometers.'] +Proceed straight for 3.2 kilometers at a pace of 65 km/h.,['The response is 3.2 kilometers.'] +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h.,['The response is 3.2 kilometers.'] +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h.,['The response is 3.2 kilometers.'] +Descend to an altitude of 500 meters.,['The response is 500.'] +Lower your altitude to 500 meters.,['We lowered the altitude to 500 meters.'] +Decrease your altitude to 500 meters.,['A: Decrease your altitude to 500 meters.'] +Descend until you reach an altitude of 500 meters.,['The response is ', ''] +Bring yourself down to an altitude of 500 meters.,['The response is 500.'] +Hover in place for 18 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 1800,', ' "altitude": 0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Maintain a stationary hover for a duration of 18 minutes.,['The response is 18.0.'] +Stay in one position for a period of 18 minutes.,['The response is 18.'] +Remain suspended in the air for a total of 18 minutes.,['The response is 18.'] +Do not move and stay at the same spot for the next 18 minutes.,['The response is 18 minutes.'] +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'] +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise.,['The response is ', ''] +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second.,['A 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second would take 180/45 = 4 seconds.'] +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second.,['The response is:'] +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second.,['The response is ', ''] +Fly forward for 6 kilometers at a speed of 100 km/h.,['The response is 6000.'] +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h.,['The response is 6 kilometers.'] +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h.,['The response is 6 kilometers.'] +Move forward for 6 kilometers while flying at a velocity of 100 km/h.,['The response is 6000.'] +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers.,['The answer is 6.'] +Ascend to an altitude of 1400 meters.,['The response is 1400.'] +Climb to a height of 1400 meters.,['The response is 1400.'] +Reach an elevation of 1400 meters.,['The response is 1400.'] +Scale to a height of 1400 meters.,['A: Scale to a height of 1400 meters.'] +Go up to an altitude of 1400 meters.,['The response is 1400.'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 30 minutes.,['The response is 30.0.'] +Maintain a stationary position for the next half-hour.,['The half-hour is 30 minutes. So you need to maintain a stationary position for 30 minutes. The answer is 30.'] +Remain hovering without moving for a period of 30 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Suspend yourself in the air for the next 30 minutes without any movement.,['The response is 30 minutes.'] +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second.,['The response is:'] +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second.,['The response is 540 degrees.'] +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second.,['The answer is 540 degrees.'] +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second.,['The response is ', ''] +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second.,['The response would be:'] +Fly forward for 3.7 kilometers at a speed of 70 km/h.,['The response is ', 'Fly forward for 3.7 kilometers at a speed of 70 km/h.'] +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['The response is 3.7 kilometers.'] +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h.,['The response is 3.7 kilometers.'] +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h.,['The response is 3.7 kilometers.'] +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['The answer is 3.7.'] +Descend to an altitude of 600 meters.,['The response is 600.'] +Reduce your altitude to 600 meters.,['The response is 600.'] +Move down to an altitude of 600 meters.,['The response is:'] +Decrease your altitude until you reach 600 meters.,['The response is 600.'] +Descend until you are at 600 meters altitude.,['The response is ', ''] +Hover in place for 22 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 22.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay still for a duration of 22 minutes.,['The response is 22.'] +Hold your position for a period of 22 minutes.,['The response is 22.'] +Remain stationary for 22 minutes.,['The response is 22.'] +Do not move for the next 22 minutes.,['The response is 22.'] +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second.,['The response is:'] +Turn left by 210 degrees with a rotational velocity of 50 degrees per second.,['The response is ', ''] +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second.,['The response is:'] +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second.,['The counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second would take 210/50 = 4.2 seconds.'] +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second.,['The response is ', ''] +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap.,['The response is, "Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap."'] +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest.,['The response is,'] +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax.,['The response is ', ''] +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest.,['The response is ', ''] +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break.,['The response is ', ''] +Ascend to an altitude of 500 meters.,['The response is 500.'] +Increase your elevation to 500 meters.,['A: Increase your elevation to 500 meters.'] +Climb up to a height of 500 meters.,['The response is 500.'] +Reach an altitude of 500 meters.,['The response is 500.'] +Move upward to a height of 500 meters.,['The response is:'] +Fly forward for 10 kilometers at a speed of 80 km/h.,['The response is 80.0.'] +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h.,['The response is 10 kilometers.'] +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h.,['The response is 10 kilometers.'] +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h.,['The response is 10 kilometers.'] +Move forward at a rate of 80 km/h for a total of 10 kilometers.,['The response is 10.'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 15 minutes.,['The response is 15.0.'] +Maintain a hovering position without movement for a period of 15 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 15.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Keep floating in a fixed location for 15 minutes.,['The response is 15.0.'] +Remain in mid-air without any displacement for a total of 15 minutes.,['The response is ', ''] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'] +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second.,['The response is ', ''] +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn.,['The response is ', ''] +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second.,['The response is ', ''] +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation.,['The response is ', ''] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please touch down at the specified landing area.,['The response is:'] +Make your descent and land on the assigned landing zone.,['The response is:'] +It is required for you to land at the designated area.,['The response is,'] +Ensure that you land precisely at the designated landing zone.,[''] +Descend to an altitude of 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'] +Reduce your altitude to 100 meters.,['A: Reduce your altitude to 100 meters.'] +Decrease your altitude to 100 meters.,['A: Decrease your altitude to 100 meters.'] +Descend until you reach an altitude of 100 meters.,['The response is an empty array.'] +Bring yourself down to an altitude of 100 meters.,['The response is an empty array.'] +Fly backward for 5 kilometers at a speed of 40 km/h.,['The response is ', ''] +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h.,['The response is 5 kilometers.'] +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h.,['The answer is 5 kilometers in the opposite direction at a speed of 40 km/h.'] +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h.,['The response is 5 kilometers.'] +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h.,['The response is, "Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h."'] +Circle around a specific location for 20 minutes.,['The response is ', '{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'] +Perform a circular motion around a particular spot for a duration of 20 minutes.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Move in a circular pattern around a designated area for a period of 20 minutes.,['The response would be something like this:'] +Encircle a specific location for 20 minutes, continuously moving in a circular motion.,['The response is:'] +Follow a circular path around a particular place for a duration of 20 minutes.,['The response would be something like this:'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['The response is:'] +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec.,['The response is:'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['The answer is 270 degrees.'] +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second.,['The answer is 270 degrees.'] +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees.,['The response is:'] +Ascend to an altitude of 1000 meters.,['The response is 1000.'] +Reach a height of 1000 meters.,['The response is 1000.'] +Climb up to an elevation of 1000 meters.,['The response is 1000.'] +Increase the altitude to 1000 meters.,['The response is the same.'] +Achieve a vertical position of 1000 meters.,['The response is 1000.'] +Fly forward for 15 kilometers at a speed of 100 km/h.,['The response is ', 'Fly forward for 15 kilometers at a speed of 100 km/h.'] +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction.,['The response is 100 + 15 = 115 km.'] +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h.,['The response is 15 kilometers.'] +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h.,['The response is 15 kilometers.'] +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers.,['The response is 100 + 15 = 115 kilometers.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in midair for a duration of 10 minutes.,['The response is 10 minutes.'] +Maintain a hovering position for a period of 10 minutes.,['The response should be 10 * 60 = 600 seconds.'] +Remain airborne without moving for 10 minutes.,['The response below conforms to the request.', ''] +Suspend yourself in one spot for a duration of 10 minutes.,['The response is 10 minutes.'] +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second.,['The response is:'] +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second.,['The response is ', ''] +Rotate to the right by 90 degrees at a rate of 30 degrees every second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second.,['The angular speed is 30 degrees per second, so the angular velocity is 30 degrees per second. The angle to rotate is 90 degrees, so the final angle is 90 - 30 = 60 degrees. The answer is 60 degrees.'] +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation.,['The response is ', ''] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please land at the specified landing area.,['The response is:'] +Ensure you land at the indicated landing zone.,['A: Navigate to the indicated landing zone.'] +It is important to touch down at the designated landing zone.,['The response is:'] +Make sure to land precisely at the assigned landing area.,['The response is:'] +Descend to an altitude of 200 meters.,['The response is ', ''] +Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'] +Lower yourself to an altitude of 200 meters.,['The response is 200.'] +Go down to a height of 200 meters.,['The response is 200.'] +Descend until you reach an altitude of 200 meters.,['The response is ', ''] +Fly backward for 3 kilometers at a speed of 50 km/h.,['The response is ', 'Fly backward for 3 kilometers at a speed of 50 km/h.'] +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour.,['The response is ', ''] +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour.,['The response is 3 kilometers.'] +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour.,['The response is ', ''] +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour.,['The response is, "Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour."'] +Circle around a specific location for 30 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 30.0,', ' "altitude": 70.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Perform a 30-minute loop around a designated area.,['The 30-minute loop around a designated area would take 30 minutes. So, the answer is 30.'] +Go in a circular route around a specific spot for half an hour.,['The response would be something like this:'] +Complete a 30-minute circuit around a particular location.,['A: The 30-minute circuit is 30/60 = 0.5 miles. The location is 37.7749° N, 122.4194° W. So the total distance is 0.5 * 0.5 = 0.25 miles. The answer is 0.25 miles.'] +Traverse in a circular path around a specific point for a duration of 30 minutes.,['The response is ', ''] +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second.,['The response is:'] +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second.,['The response is:'] +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second.,['The response is ', ''] +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second.,['The response is ', ''] +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second.,['The response is ', ''] +Ascend to an altitude of 700 meters and swin.,['The response would be, "Ascend to an altitude of 700 meters and swim."'] +Gain an elevation of 700 meters and swim.,['Gain an elevation of 700 meters and swim.'] +Reach a height of 700 meters and engage in swimming.,['The response is accepted.'] +Ascend to a 700-meter altitude and partake in swimming.,['The response is accepted.'] +Increase your altitude to 700 meters and then swim.,['The response is, "Increase your altitude to 700 meters and then swim."'] +Fly forward for 8 kilometers at a speed of 70 km/h.,['The response is 8.0.'] +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h.,['The response is 8 kilometers.'] +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h.,['The response is 8 kilometers.'] +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h.,['The response is 8.'] +Fly straight for a total of 8 kilometers at a speed of 70 km/h.,['The response is 8.0.'] +Hover in place for 20 minutes and watch TV.,['A: Hover in place for 20 minutes and watch TV.'] +Stay stationary for a duration of 20 minutes while watching television.,['The response is 20.0.'] +Maintain a hovering position and engage in television viewing for a period of 20 minutes.,['The response is ', ''] +Hold a steady hover for 20 minutes while enjoying television watching.,['The response is:'] +Remain in one place without moving for 20 minutes and entertain yourself by watching TV.,['The response is acceptable.'] +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second.,['The response is:'] +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second.,['The answer is 270 degrees.'] +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second.,['The response is ', ''] +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second.,['The 270-degree clockwise rotation would take 270/3600 = 0.8 seconds. The angular velocity is 50/3600 = 0.015 seconds. So the total time would be 0.8 + 0.015 = 0.815 seconds.'] +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation.,['The response is ', ''] +Land at the designated landing zone, then sing loudly.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume.,['The response is:'] +After successfully landing at the designated landing zone, proceed to sing loudly.,['The response is accepted.'] +Ascend to an altitude of 500 feet.,['The response is 500.'] +Increase your altitude to 500 feet.,['The response is 500.'] +Climb to a height of 500 feet.,['The response is 500.'] +Reach an elevation of 500 feet.,['The response is 500.'] +Rise to a position 500 feet above ground level.,['The response is 500.'] +Fly forward for 1 mile at a speed of 30 mph.,['The response is ', 'Fly forward for 1 mile at a speed of 30 mph.'] +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph.,['The response is 1 mile.'] +Travel straight ahead for 1 mile at a speed of 30 mph.,['The response is 1 mile.'] +Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,['The response is 1 mile.'] +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph.,['The response is 1 mile.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in one spot for a duration of 10 minutes.,['The response is 10.0.'] +Maintain a hovering position without moving for a period of 10 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 10.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Stay suspended in mid-air without any motion for a time span of 10 minutes.,['The response is 10 minutes.'] +Hold a hover position for a duration of 10 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 10.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['The response is ', ''] +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second.,['The response is ', ''] +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second.,['The answer is 180 degrees.'] +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees.,['The response is ', ''] +Descend to an altitude of 200 meters.,['The response is ', ''] +Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'] +Lower your altitude to 200 meters.,['We lowered the altitude to 200 meters.'] +Move down to an altitude of 200 meters.,['The response is:'] +Descend until reaching an altitude of 200 meters.,['The response is ', ''] +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h.,['The response is ', ''] +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h.,['The response is ', ''] +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h.,['The response is:'] +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h.,['The response is ', ''] +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,['The response is 3 kilometers.'] +Perform a barrel roll to the left.,["The barrel roll to the left would be an action of 'rotate' with the params of 'angular_velocity': 0.5, 'angle': 90, 'is_clockwise': true, 'unit': 'degrees'."] +Execute a left barrel roll.,['{', ' "action": "left_barrel_roll",', ' "params": {}', '}'] +Rotate in a barrel roll towards the left.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Perform a barrel roll in a counterclockwise direction.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Initiate a leftward barrel roll.,['The response is an empty array.'] +Ascend to an altitude of 1000 feet and maintain it for 20 minutes.,['The response is ', ''] +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes.,['The response is ', ''] +Increase your elevation to 1000 feet and sustain it for the next 20 minutes.,['The response would be something like this:'] +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes.,['The response is ', 'Rise to an altitude of 1000 feet and uphold it for the next 20 minutes.'] +Elevate to 1000 feet and retain that height for the next 20 minutes.,['The response would be something like this:'] +Fly backward for 500 meters at a speed of 40 km/h.,['The response is:'] +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h.,['The answer is 500/40 = 12.5 meters.'] +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h.,['The response is 500 meters.'] +Reverse your flight and go for 500 meters at a velocity of 40 km/h.,['The response is ', 'The response is ', ''] +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h.,['The response is ', ''] +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second.,['The response is:'] +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees.,['The response is:'] +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second.,['The response is ', ''] +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second.,['The response is:'] +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change.,['The response would be:'] +Descend to an altitude of 100 feet and hold for 5 minutes.,['The response is ', ''] +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes.,['The response is:'] +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes.,['The response would be something like this:'] +Descend until you reach an altitude of 100 feet and remain there for 5 minutes.,['The response is ', ''] +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes.,['The response is ', ''] +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h.,['The response is:'] +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,['The response is accepted.'] +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h.,['The response is:'] +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h.,['The response is ', ''] +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer.,['The response would be something like this:'] +Ascend to an altitude of 300 meters and maintain it for 30 minutes.,['The response would be:'] +Climb to a height of 300 meters and stay there for a duration of 30 minutes.,['The response is:'] +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes.,['The answer is 300.'] +Scale up to an altitude of 300 meters and sustain it for 30 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Hover in place for 15 minutes and then proceed forward for 2 kilometers.,['The response is ', ''] +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers.,['The response would be:'] +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers.,['The response is ', ''] +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers.,['The response is ', ''] +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers.,['The response is ', ''] +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second.,['The response is:'] +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second.,['The angular velocity is 20 degrees per second, so it will take 20 seconds to complete the rotation. The answer is 20.'] +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second.,['The response would be:'] +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second.,['The response is ', ''] +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second.,['The response is:'] +Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,['The response is, "Fly in a serpentine pattern for 1 mile at a speed of 25 mph."'] +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph.,['The response is ', ''] +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph.,['The response is ', ''] +Fly in a zigzag pattern for a mile at a speed of 25 mph.,['The response would be something like this:'] +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph.,['The response would be something like this:'] +Descend to an altitude of 100 meters and hover in place for 10 minutes.,['The response is ', ''] +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes.,['The response is:'] +Lower your altitude to 100 meters and remain stationary for 10 minutes.,['The response is ', ''] +Descend until reaching an altitude of 100 meters and then hover for 10 minutes.,['The response is ', ''] +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes.,['The response is ', ''] +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone.,['The response is:'] +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area.,['The response is:'] +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone.,['The response is:'] +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone.,['The response is:'] +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area.,['The response is:'] +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second.,['The response is:'] +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second.,['The response is ', ''] +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second.,['The response is ', ''] +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation.,['The response is ', ''] +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second.,['The answer is 180 degrees.'] +Perform a loop-de-loop and then watch TV.,['The response is, "Perform a loop-de-loop and then watch TV."'] +Execute a loop-de-loop and subsequently engage in watching TV.,['The response is accepted.'] +Carry out a loop-de-loop and proceed to view television.,['The response is acceptable.'] +Conduct a loop-de-loop before indulging in some TV time.,['The response is:'] +Maneuver a loop-de-loop and then enjoy some TV programming.,['The response is:'] +Ascend to an altitude of 500 feet.,['The response is 500.'] +Increase your height to 500 feet.,['A: Increase your height to 500 feet.'] +Climb up to an elevation of 500 feet.,['The response is 500.'] +Reach an altitude of 500 feet.,['The response is 500.'] +Go up to a height of 500 feet.,['The response is 500.'] +Fly forward for 1 mile at a speed of 40 mph.,['The response is ', 'Fly forward for 1 mile at a speed of 40 mph.'] +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['The response is ', 'The response is '] +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph.,['The response is 1 mile.'] +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph.,['The response is 1 mile.'] +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile.,['The response is:'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'] +Remain stationary for a duration of 10 minutes.,['The response is 10.0.'] +Stay in one spot for a period of 10 minutes.,['The response is 10.'] +Float in the same position for 10 minutes.,['The response is 10.0.'] +Suspend yourself in midair for a span of 10 minutes.,['The answer is 10 minutes.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['The response is ', ''] +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second.,['The response is:'] +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees.,['The response is:'] +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation.,['The response is ', ''] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'] +Please land at the specified landing zone.,['The response is:'] +You are required to touch down at the designated landing zone.,['The response is,'] +Make sure to land at the designated landing zone.,['The response is:'] +It is important to secure a landing at the designated zone.,['The response is:'] +Fly sideways for 500 meters.,['The response is,'] +Move horizontally for a distance of 500 meters while airborne.,['The answer is 500.'] +Perform a lateral flight movement covering a distance of 500 meters.,['The answer is 500.'] +Traverse 500 meters in a sideways direction while in flight.,['The response is ', ''] +Travel parallel to the ground for a distance of 500 meters.,['The answer is 500.'] +Ascend to an altitude of 1000 feet.,['The response is 1000.'] +Increase your elevation to 1000 feet.,['The response is 1000.'] +Climb to a height of 1000 feet.,['The response is 1000.'] +Reach an altitude of 1000 feet.,['The response is 1000.'] +Move upwards to a level of 1000 feet.,['The response is 1000.'] +Fly in a circular pattern with a radius of 500 meters for 20 minutes.,['The response is ', ''] +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes.,['The response is ', 'The response is ', ''] +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center.,['The response is:'] +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes.,['The response would be something like this:'] +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters.,['The response is ', ''] +Descend to an altitude of 200 meters.,['The response is ', ''] +Go down to a height of 200 meters.,['The response is 200.'] +Lower yourself to an elevation of 200 meters.,['The response is 200.'] +Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'] +Descend until you reach an altitude of 200 meters.,['The response is ', ''] diff --git a/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_Ground_Robot_LLaMA2-70b.txt b/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_Ground_Robot_LLaMA2-70b.txt new file mode 100644 index 0000000..4ccc016 --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_Ground_Robot_LLaMA2-70b.txt @@ -0,0 +1,1000 @@ +Move forward for 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Proceed straight ahead covering a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Advance by 1 meter in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Take a step forward spanning 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Move ahead for a length of 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Rotate in an anti-clockwise direction by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Turn left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate 90 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Spin in the opposite direction by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Move backward for 2 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}} +Go backwards for a duration of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 2, "unit": "second"}} +Reverse your direction and travel for a span of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Retreat for a time frame of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Take two seconds to move in the opposite direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "second"}} +Turn left and move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Move forward for 5 meters, then turn left.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed for 5 meters, then make a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Take a left turn and continue moving forward for 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Make a leftward turn and advance for 5 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}} +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn in a clockwise direction by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Rotate by 180 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Execute a clockwise rotation of 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Move forward at a velocity of 0.5 meters per second for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Advance at 0.5 meters per second for a total of 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "duration": 10, "unit": "second"}} +Turn right and move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Proceed forward for a distance of 3 meters after making a right turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +After turning right, continue straight for 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}} +Make a right turn and advance for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Execute a rightward turn and then travel straight ahead for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Move backward at a velocity of 1 meter per second for 4 seconds.,{"action": "go_to_goal", "params": {"location": {"type}} +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": -4, "is_forward": false, "unit": "meter"}} +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}} +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.,{"action": "go_to_goal", "params": {"location": {"type}} +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}} +Rotate counterclockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Rotate 270 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Turn left by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -270, "is_clockwise": false, "unit": "degrees"}} +Move forward for 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Proceed ahead by a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Advance for a span of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Travel forward, covering a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Move straight ahead, going 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 45 degrees and move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": true, "unit": "degrees"}} +Move forward for 1 meter while rotating 45 degrees clockwise.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": true, "unit": "degrees"}} +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": true, "unit": "degrees"}} +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "}} +Turn left and move forward for 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}} +Proceed straight for 3 seconds after taking a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "second"}} +Take a left turn and continue advancing for 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Make a left turn and proceed forward for a duration of 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +After turning left, move straight ahead for 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Move backward for 1 meter.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}} +Reverse direction and travel 1 meter.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Go back for a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": -1, "is_forward": false, "unit": "meter"}} +Retreat for 1 meter.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}} +Take one step backward covering a distance of 1 meter.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}} +Rotate counterclockwise by 120 degrees and move forward for 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Move forward at full speed for 20 seconds.,}} +Proceed ahead at maximum velocity for a duration of 20 seconds.,{"action": "move", "params": {"linear_speed": maximum_speed, "distance": null, "is_forward": true, "duration": 20, "unit": "second"}} +Travel straight ahead at top speed for a duration of 20 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": null, "is_forward": true, "duration": 20, "unit": "second"}} +Advance forward with utmost speed for a period of 20 seconds.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "duration": 20, "unit": "second"}} +Go straight ahead at full throttle for a duration of 20 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": null, "is_forward": true, "duration": 20, "unit": "second"}} +Rotate clockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Turn right by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Perform a clockwise rotation of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Rotate in a clockwise direction, making a 60-degree turn.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Rotate to the right, making a 60-degree angle.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Move backward at a velocity of 0.75 meters per second for 8 seconds.,NoneThe prompt does not contain any action in the ontology, so it should be ignored.Now give the JSON corresponding to this prompt}} +Reverse at 0.75 meters per second for a duration of 8 seconds.,{"action": "move", "params": {"linear_speed": 0.75, "distance": -8, "is_forward": false, "unit": "meter"}} +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.,{"action": "move", "params": {"linear_speed": 0.75, "distance": null, "is_forward": false, "unit": "meter"}} +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.,{"action": "move", "params": {"linear_speed": 0.75, "distance": null, "is_forward": false, "duration": 8, "unit": "meter"}} +Turn right and move forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a right turn and proceed straight ahead for a distance of 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a right turn and continue moving forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate to the right and advance ahead for a distance of 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Go to the right and keep moving straight for 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}} +Move forward for 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Advance ahead 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Go forward a total of 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}} +Travel straight for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Turn left 90 degrees and proceed forward for a duration of 2 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a left turn of 90 degrees and proceed forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed ahead a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Advance for a total of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Travel straight ahead covering a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Go forward a length of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Turn left and continue for 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": false, "unit": "degrees"}} +Make a left turn and keep going for 10 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Go left and continue for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": false, "unit": "meter"}} +Take a left turn and continue for a duration of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Proceed by turning left and maintaining that direction for 10 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Rotate counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Turn 90 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move in a counterclockwise direction, turning by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Back up 2 meters and stop.,{"action": "move", "params": {"linear_speed": 0, "distance": -2, "is_forward": false, "unit": "meter"}} +Move back a distance of 2 meters and come to a halt.,{"action": "move", "params": {"linear_speed": 0, "distance": -2, "is_forward": false, "unit": "meter"}} +Reverse by 2 meters and come to a stop.,{"action": "move", "params": {"linear_speed": -2, "distance": 0, "is_forward": false, "unit": "meter"}} +Retreat 2 meters and bring yourself to a standstill.,{"action": "move", "params": {"linear_speed": 0, "distance": -2, "is_forward": false, "unit": "meter"}} +Step backward 2 meters and cease movement.,{"action": "move", "params": {"linear_speed": 0, "distance": -2, "is_forward": false, "unit": "meter"}} +Move forward at a speed of 0.5 meters per second for 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}} +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "duration": 6, "unit": "meter"}} +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "duration": 6, "unit": "second"}} +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}} +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.,{"action": "go_to_goal", "params": {"location": "Kitchen"}} +Turn right and move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a right turn and proceed ahead for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a right turn and continue moving straight for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Head to the right and advance forward for 1 meter.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "right"}} +Rotate right and proceed ahead for a length of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn in a clockwise direction until you have rotated 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Rotate 180 degrees in the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn to the right until you are facing the opposite direction.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Move backward for 3 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}} +Go in reverse for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 3, "unit": "second"}} +Reverse your movement for a total of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 3, "unit": "second"}} +Backtrack for a period of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Take a 3-second step backwards.,{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "second"}} +Turn left and continue for 7 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": false, "unit": "meter"}} +Take a left turn and proceed straight ahead for a distance of 7 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}} +Make a left turn and keep going for 7 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}} +Go left and carry on for a distance of 7 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": false, "unit": "meter"}} +Head to the left and continue for a length of 7 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": false, "unit": "meter"}} +Move forward at a speed of 1 meter per second for 4 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Advance for 4 seconds, maintaining a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Travel forward for 4 seconds, moving at a rate of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +For a period of 4 seconds, move ahead at a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Change the orientation by 45 degrees in a counterclockwise direction.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -45, "is_clockwise": false, "unit": "degrees"}} +Turn left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Rotate anticlockwise by an angle of 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Go straight for 8 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}} +Proceed in a straight line for a distance of 8 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}} +Continue in a straight direction for a span of 8 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}} +Maintain a straight path for a duration of 8 meters.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Stay on course for a distance of 8 meters ahead.,{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}} +Turn right and move forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Proceed straight for 2 seconds after making a right turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}} +Take a right turn and continue moving ahead for a duration of 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": null}, "duration": 2}{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "unit": null}, "duration": 2} +Make a right turn and advance forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +After turning right, keep moving forward for a period of 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Move backward for 4 meters and stop.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Reverse for a distance of 4 meters and come to a halt.,{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}} +Go back for 4 meters and then come to a stop.,{"action": "move", "params": {"linear_speed": null, "distance": -4, "is_forward": false, "unit": "meter"}} +Take 4 meters in reverse and cease movement.,{"action": "move", "params": {"linear_speed": 0, "distance": -4, "is_forward": false, "unit": "meter"}} +Travel in the opposite direction for a distance of 4 meters and then pause.,{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}} +Rotate clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Turn to the right by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Move in a clockwise direction, rotating 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Spin in a clockwise manner, completing a 270 degree rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Rotate by 270 degrees in a clockwise fashion.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Turn left and continue for 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}} +Make a left turn and keep going for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Proceed straight for 3 meters after making a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +After turning left, travel straight for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Take a left and continue on for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}} +Move forward at a speed of 0.3 meters per second for 5 seconds.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}} +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": null, "is_forward": true, "duration": 5, "unit": "meter"}} +Advance at a rate of 0.3 meters per second for a period of 5 seconds.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}} +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}} +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": null, "is_forward": true, "duration": 5, "unit": "meter"}} +Rotate counterclockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Turn 60 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -60, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Make a counterclockwise rotation of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Go straight for 6 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "second"}} +Proceed in a straight line for a duration of 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}} +Keep moving forward in a straight path for 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}} +Maintain a straight course for 6 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}} +Continue in a straight direction for a period of 6 seconds.,{"action": "rotate", "params": {"angular_velocity": 180, "angle": 360, "is_clockwise": false, "unit": "degrees"}} +Turn right and move forward for 7 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a right turn and proceed straight ahead for a distance of 7 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a right-hand turn and continue moving forward for a length of 7 meters.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Head to the right side and advance for a distance of 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}} +Rotate to the right and travel straight for 7 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Move 2 meters forward.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Proceed straight ahead by a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Advance 2 meters in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Take a step forward for a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Move straight ahead, covering a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Turn left and move forward for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Move forward for 5 seconds after turning left.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "second"}} +After making a left turn, proceed forward for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Take a left turn and continue moving forward for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Start moving forward for 5 seconds after making a left turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Rotate 90 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate by 90 degrees in the counterclockwise direction.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Turn left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move 3 meters backward.,{"action": "move", "params": {"linear_speed": -3, "distance": 3, "is_forward": false, "unit": "meter"}} +Go back 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -3, "is_forward": false, "unit": "meter"}} +Retreat 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -3, "is_forward": false, "unit": "meter"}} +Step 3 meters in reverse.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}} +Travel in the opposite direction for 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}} +Turn right and move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a right turn and proceed straight ahead for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a right turn and advance ahead for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Head to the right and continue moving forward for 1 meter.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Go to the living room and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Please proceed to the living room and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Make your way to the living room and cease moving.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Head to the living room and stand still.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Move towards the living room and come to a stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Move 4 meters forward at a speed of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}} +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}} +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}} +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}} +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn 180 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Rotate by 180 degrees in the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn in a clockwise fashion, rotating 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn left and move forward for 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Make a left turn and proceed straight ahead for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Take a left and continue moving forward, covering a span of 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}} +Rotate to the left and advance for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Shift towards the left and travel straight for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": , "distance": 3, "is_forward": true, "unit": "meter"}} +Move 2 meters backward at a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}} +Back up 2 meters with a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": -2, "is_forward": false, "unit": "meter"}} +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}} +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}} +Go to the bedroom and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Please proceed to the bedroom and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Make your way to the bedroom and cease your movement.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Head to the bedroom and pause.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Go to the bedroom and stand still.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Rotate counterclockwise by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Turn 45 degrees in the counterclockwise direction.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Rotate anticlockwise at an angle of 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Rotate left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Perform a 45-degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Turn right and move forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Proceed forward for a distance of 4 meters after making a right turn.,{"action": "move", "params": {"linear_speed": 0.25, "distance": 2, "is_forward": false, "unit": "meter"}} +Take a right and continue moving ahead for 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}} +After making a right turn, advance straight for a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 0.25, "distance": 2, "is}} +Make a right-hand turn and proceed forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move 1 meter forward at a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Proceed ahead by 1 meter with a velocity of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Go one meter ahead, moving at a rate of one meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Travel forward for 1 meter while maintaining a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Turn 270 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Rotate by 270 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Execute a clockwise rotation of 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Shift the orientation by 270 degrees in a clockwise fashion.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Turn left and move forward for 2 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "second"}} +Proceed forward for 2 seconds, then make a left turn.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "second"}} +Take a left turn and continue moving straight ahead for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Make a left turn and drive forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +After turning left, continue moving straight for 2 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "second"}} +Move 3 meters backward at a speed of 1.5 meters per second.,{"action": "move", "params": {"linear_speed": -1.5, "distance": 3, "is_forward": false, "unit": "meter"}} +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.2, "distance": 2, "is_forward":}} +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.,{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}} +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.,{"action": "move", "params": {"linear_speed": 1.5, "distance": -3, "is_forward": false, "unit": "meter"}} +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.,{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true, "unit}} +Go to the dining room and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Proceed to the dining room and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}} +Head over to the dining room and pause.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}} +Make your way to the dining room and bring yourself to a stop.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}} +Move towards the dining room and cease your motion.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Turn left by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -60, "is_clockwise": false, "unit": "degrees"}} +Execute a 60-degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Rotate anticlockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed ahead for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Advance straight ahead for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Travel forward for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Go in the forward direction for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Turn 90 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate anticlockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Change the orientation to the left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Move backward for 3 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}} +Reverse for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Go in reverse for a period of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Travel backwards for a total of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 3, "unit": "second"}} +Move in the opposite direction for 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "second"}} +Turn left and move forward for 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Proceed forward for 2 meters after making a left turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a left turn and advance for 2 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}} +Take a left and continue forward for a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Move ahead for 2 meters after making a leftward turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a U-turn and move in the opposite direction for 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Turn around and travel in the opposite direction for a duration of 10 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 10, "unit": "second"}} +Perform a U-turn and move in the opposite direction for 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Rotate clockwise by 180 degrees and stop.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Perform a 180-degree clockwise rotation and then come to a halt.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Execute a clockwise rotation of 180 degrees and then cease movement.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn right by 180 degrees and then stop.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Rotate in a clockwise direction by 180 degrees and then come to a stop.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Move diagonally to the right for 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}} +Go right at an angle for a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}} +Travel in a diagonal direction to the right covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": , "distance": 4, "is_forward": false, "unit": "meter"}} +Proceed at a diagonal towards the right, moving 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}} +Move to the right diagonally, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": , "distance": 4, "is_forward": false, "unit": "meter"}} +Turn right and move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a right turn and proceed one meter forward.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a right and continue moving ahead for a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Rotate to the right and advance straight ahead for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Facing towards the right, progress forward for a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Move in a zigzag pattern for 8 seconds.,{"}} +Perform a zigzag movement continuously for a duration of 8 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Traverse in a serpentine motion for 8 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Alternate your path in a zigzagging pattern for the next 8 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 45 degrees and move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Turn left by 45 degrees and advance for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.,{"action": "move", "params": {"linear_speed": , "distance": 3, "is_forward": true, "unit": "meter"}} +Move backward and stop at the nearest obstacle.,{"action": "move", "params": {"linear_speed": -1, "distance": null, "is_forward": false, "unit": "meter"}} +Reverse and come to a halt once you reach the closest object in your path.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Back up and cease movement upon reaching the nearest obstruction.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Retreat and come to a stop when you encounter the closest barrier.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Go in reverse and stop once you reach the nearest obstacle.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Turn left and move in a curved path for 6 meters.,{"action": "move", "params": {"linear_speed": , "distance": 6, "is_forward": false, "unit": "meter"}} +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.,{"action": "move", "params": {"linear_speed": , "distance": 6, "is_forward": false, "unit": "meter"}} +Make a leftward turn and proceed along a curving route spanning 6 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Go left and follow a curved path for a distance of 6 meters.,{"action": "move", "params": {"linear_speed": , "distance": 6, "is_forward": false, "unit": "meter"}} +Regulate your movement to the left and travel in a curved trajectory for 6 meters.,{"action": "move", "params": {"linear_speed": , "distance": 6, "is_forward": false, "unit": "meter"}} +Move forward at a speed of 1 meter per second for 10 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Advance at a rate of 1 meter per second for 10 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Travel forward for 10 seconds, covering a distance of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 30, "is_clockwise": true, "unit": "degrees"}} +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 30, "is_clockwise": true, "unit": "degrees"}} +After rotating 30 degrees clockwise, continue moving forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 30, "is_clockwise": true, "unit": "degrees"}} +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Move in a circular path with a radius of 2 meters for 7 seconds.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": null, "unit": null}} +Circle around with a radius of 2 meters for a duration of 7 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": null, "unit": null}} +Perform circular movement with a radius of 2 meters for 7 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": null, "unit": null}} +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": null, "unit": null}} +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.,{"action": "move", "params": {"linear_speed": null, "distance": 2, "is_forward": null, "unit": "meter"}} +Turn right and move forward for 5 seconds, then revert back.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Make a right turn and proceed forward for 5 seconds, then return back.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a right turn and advance ahead for 5 seconds, then go back in reverse.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Change direction to the right and go forward for 5 seconds, then reverse back.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}} +Move along the perimeter of the room for 1 minute.,{"action": "move", "params": {"linear_speed": 0.1, "distance": 10, "is_forward": true, "unit": "meter"}} +Walk around the edges of the room for 1 minute.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": false, "unit": "meter"}} +Circulate along the boundary of the room for 1 minute.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "degrees"}} +Patrol the perimeter of the room for 1 minute.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}} +Traverse the outer edges of the room for 1 minute.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Rotate anticlockwise by 60 degrees and advance 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Make a 60-degree left turn and move forward 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Move forward at a variable speed for 10 seconds.,{"action": "move", "params": {"linear_speed": variable, "distance": 0, "is_forward": true, "unit": "meter"}} +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "duration": 10, "unit": "second"}} +Advance for a period of 10 seconds, with variable speed.,{"action": "rotate", "params": {"angular_velocity": -1 * math.pi, "angle": 180, "is_clockwise": false, "unit": "radian"}} +Travel forward, varying the speed, for a total of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move ahead for 10 seconds, adjusting the speed accordingly.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}} +Move backward and stop 1 meter away from the designated target.,{"action": "move", "params": {"linear_speed": -0.5, "distance": 1, "is_forward": false, "unit": "meter"}} +Reverse direction and come to a halt at a distance of 1 meter from the specified target.,{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": false, "unit": "meter"}} +Go in the opposite direction and pause when you are 1 meter away from the assigned target.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.,{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": false, "unit": "meter"}} +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Move forward for 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Proceed ahead by 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Advance for a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Travel in a forward direction for 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Go straight for a span of 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Turn left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate anticlockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Spin counterclockwise by 90 degrees.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Move backward for 2 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}} +Go backward for a duration of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 2, "unit": "second"}} +Reverse direction and continue for 2 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "second"}} +Retreat for a period of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Take a step back and hold for 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": -0.1, "is_forward": false, "unit": "meter"}} +Turn left and move forward for 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Take a left turn and proceed ahead for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left and proceed forward, covering a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Go left and move straight ahead for 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Move at a speed of 2 meters per second for 5 seconds.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}} +Travel with a velocity of 2 meters per second for a duration of 5 seconds.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}} +Maintain a pace of 2 meters per second for a period of 5 seconds.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}} +Perform movement with a speed of 2 meters per second over a span of 5 seconds.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}} +Cover a distance at 2 meters per second for a time period of 5 seconds.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Rotate by 180 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Perform a clockwise rotation of 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn 180 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Rotate in a clockwise fashion, making a 180-degree turn.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Move forward for 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Proceed straight ahead, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Advance forward, spanning 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Take 4 steps in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "step"}} +Travel a distance of 4 meters, moving in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Turn right and move backward for 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} +Rotate to the right and travel in reverse for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Make a right turn and proceed backwards for a length of 1 meter.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} +Face right and move backwards, covering a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} +Rotate counterclockwise by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Rotate anti-clockwise by a 45-degree angle.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -45, "is_clockwise": false, "unit": "degrees"}} +Turn left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Rotate in a counterclockwise direction by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Move forward for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "second"}} +Proceed straight ahead for a duration of 10 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "second"}} +Advance continuously for a period of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Travel forwards for a span of 10 seconds.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "duration": 10, "unit": "second"}} +Progress ahead for a time interval of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Turn left and move at a speed of 1 meter per second for 2 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Move backward for 3 meters.,{"action": "move", "params": {"linear_speed": -3, "distance": 3, "is_forward": false, "unit": "meter"}} +Go back 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -3, "is_forward": false, "unit": "meter"}} +Reverse your direction and travel 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}} +Retreat for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +Take 3 steps backwards.,{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "step"}} +Rotate clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Rotate 270 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Perform a clockwise rotation of 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Turn right by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Rotate by 270 degrees in the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed ahead for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Advance 5 meters in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Take 5 meter steps forward.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Go ahead and travel a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Turn right and move at a speed of 1.5 meters per second for 4 seconds.,{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": false, "unit": "meter"}} +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.,{"action": "move", "params": {"linear_speed": 1.5, "distance": 4, "is_forward": false, "unit": "meter"}} +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.,{"action": "move", "params": {"linear_speed": 1.5, "distance": 4, "is_forward": false, "unit": "meter"}} +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.,{"action": "move", "params": {"linear_speed": 1.5, "distance": null, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Turn left by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Move in an anti-clockwise direction by 60 degrees.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Rotate in the opposite direction by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -60, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Move forward for 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Advance onward by 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Travel straight ahead, covering a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Take 2 meters forward.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Turn left and move at a speed of 0.5 meters per second for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meter"}} +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": false, "unit": "meter"}} +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meter"}} +Face left and advance at a pace of 0.5 meters per second for 10 seconds.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Move backward for 6 meters.,{"action": "go_to_}} +Go back 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -6, "is_forward": false, "unit": "meter"}} +Reverse direction and move 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 6, "is_forward": false, "unit": "meter"}} +Retreat for a distance of 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 6, "is_forward": false, "unit": "meter"}} +Travel in the opposite direction and cover a distance of 6 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}} +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Advance by 5 meters in a forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Go ahead for a span of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Cover a distance of 5 meters by moving forward.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Turn 90 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate in a counterclockwise direction by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Rotate anti-clockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Make a 90-degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Stop.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Cease.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Halt.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Pause.,{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Terminate.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Reverse for 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Reverse for a duration of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Go back for 2 seconds.,{"action": "move", "params": {"linear_speed": undef, "distance": -2, "is_forward": false, "unit": "second"}} +Move in reverse for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Go in the opposite direction for 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "second"}} +Turn left and move forward for 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Proceed forward for a distance of 10 meters after making a left turn.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a left-hand turn and continue straight ahead for a distance of 10 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +After turning left, continue moving straight ahead for a total of 10 meters.,{"action": "move", "params": {"linear_speed": null, "distance": 10, "is_forward": true, "unit": "meter"}} +Execute a left turn and then travel forward for a distance of 10 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Move backward for 3 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}} +Go back for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": false, "unit": "second"}} +Reverse movement for a period of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Retreat for 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Take a step back for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": -1, "is_forward": false, "duration": 3, "unit": "second"}} +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Rotate in a clockwise direction by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn right and rotate 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Execute a rotation of 180 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn right and move forward for 8 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Proceed forward for a distance of 8 meters after making a right turn.,{"action": "move", "params": {"linear_speed": 0.25, "distance": 4, "is_forward": false, "unit": "meter"}} +Take a right turn and continue moving straight ahead for a duration of 8 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +After making a right-hand turn, advance 8 meters in a forward direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate to the right, then travel straight ahead for a distance of 8 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Move forward for 1 meter and stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 1 meter and come to a halt.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Advance one meter ahead and then come to a stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Travel in the forward direction for a length of 1 meter and then cease movement.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Move ahead for a distance of 1 meter, and then bring the movement to a stop.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 135 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 135, "is_clockwise": false, "unit": "degrees"}} +Rotate 135 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 135, "is_clockwise": false, "unit": "degrees"}} +Turn 135 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 135, "is_clockwise": false, "unit": "degrees"}} +Rotate anticlockwise by 135 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 135, "is_clockwise": false, "unit": "degrees"}} +Perform a 135 degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 135, "is_clockwise": false, "unit": "degrees"}} +Move backward for 6 meters.,{"action": "go_to_}} +Go in reverse for a distance of 6 meters.,{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take 6 steps back.,{"action": "move", "params": {"linear_speed": 0.5, "distance": -6, "is_forward": false, "unit": "meter"}} +Retreat 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -6, "is_forward": false, "unit": "meter"}} +Travel 6 meters in the opposite direction.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Turn left and move forward for 4 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "second"}} +Take a left turn and proceed straight ahead for a duration of 4 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.,{"action": "rotate", "params": {"angular_velocity": , "angle": , "is_clockwise": false, "unit": "degrees"}} +Pivot to the left and advance forward for a period of 4 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Rotate clockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Turn 60 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Rotate the object by 60 degrees in the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Move in a clockwise direction, making a 60 degree turn.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Rotate 60 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Move forward for 7 meters and stop.,{"action": "go_to_goal", "params": {"location": "Kitchen"}} +Proceed straight for a distance of 7 meters and come to a halt.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}} +Advance ahead covering a distance of 7 meters and then cease movement.,{"action": "move", "params": {"linear_speed": null, "distance": 7, "is_forward": true, "unit": "meter"}} +Go forward 7 meters and then come to a stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}} +Move straight ahead, covering a distance of 7 meters, and then halt.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}} +Reverse for 5 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Reverse for a duration of 5 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Perform a 5-second reverse.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Execute a reverse motion for 5 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Go backwards for a period of 5 seconds.,{"action": "move", "params": {"linear_speed": -0.5, "distance": 0, "is_forward": false, "unit": "meter"}} +Turn right and move forward for 9 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move forward for 9 meters after turning right.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": null, "unit": null}} +After turning right, proceed ahead for a distance of 9 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}} +Take a right turn, then continue moving straight for a distance of 9 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a right turn and travel forward for 9 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move forward for 2 seconds and stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}} +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "duration": 2, "unit": "second"}} +Go ahead for 2 seconds and then halt.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Advance for a period of 2 seconds and then cease movement.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": null, "unit": null}} +Travel forward for 2 seconds before stopping.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "duration": 2, "unit": "second"}} +Rotate counterclockwise by 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -30, "is_clockwise": false, "unit": "degrees"}} +Turn 30 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -30, "is_clockwise": false, "unit": "degrees"}} +Rotate in the anticlockwise direction by 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit":}} +Rotate to the left by 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Rotate in a counterclockwise direction, making a 30-degree turn.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Reverse for 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}} +Move back for a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}} +Go in reverse for a span of 4 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}} +Retreat 4 meters in the opposite direction.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Travel backwards, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}} +Turn left and move forward for 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}} +Proceed forward for 6 seconds after making a left turn.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}} +Make a left turn and advance for 6 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Move ahead for 6 seconds after turning to the left.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +After veering left, continue straight for 6 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "second"}} +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed ahead for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Advance straight on and cover a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Head forward and travel 5 meters in that direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Move straight ahead and go a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Turn left and move forward for 2 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "second"}} +Move ahead for 2 seconds after turning left.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +After turning to the left, proceed forward for a duration of 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Take a left turn and then proceed straight for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Make a left turn and continue moving forward for a duration of 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Rotate counterclockwise by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Turn in the opposite direction by an angle of 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Rotate anticlockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Spin to the left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Twist counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move backward for 3 meters.,{"action": "move", "params": {"linear_speed": -3, "distance": 3, "is_forward": false, "unit": "meter"}} +Go in reverse for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +Travel three meters in the opposite direction.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}} +Retreat for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +Reverse your movement and cover a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}} +Turn right and move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Proceed forward for 1 meter after turning to the right.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a right turn and continue moving straight ahead for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +After making a right turn, proceed ahead for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Rotate to the right and then advance for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Move forward at a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "unit": "meter"}} +Proceed ahead with a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Advance with a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "unit": "meter"}} +Go forward at a rate of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "unit": "meter"}} +Travel in a forward direction at a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn by 180 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Rotate in a clockwise manner, completing a 180-degree turn.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Execute a clockwise rotation, rotating by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Move forward for 10 meters at a velocity of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}} +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}} +Go ahead for 10 meters, moving at a pace of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}} +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}} +Turn left and move forward for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Make a left turn and proceed straight ahead for a duration of 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Take a left and advance in a forward direction for a span of 5 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Rotate to the left and proceed ahead for a duration of 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Veer left and move forward for an interval of 5 seconds.,{"action": "move", "params": {"linear_speed": 0.2, "distance": 2, "is_forward": false, "unit": "meter"}} +Move backward at a velocity of 1 meter per second.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 0, "is_clockwise": false, "unit": "degrees"}} +Go in reverse at a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}} +Travel backwards with a velocity of 1 meter per second.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}} +Move in the opposite direction at a rate of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}} +Go backward at a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}} +Rotate counterclockwise by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Rotate 45 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Turn left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Rotate in an anticlockwise direction by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Move forward for 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}} +Proceed ahead for a distance of 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}} +Advance 7 meters in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}} +Travel straight ahead for a length of 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}} +Go straight for 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}} +Turn right and move forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a right turn and proceed ahead for a distance of 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a right turn and advance straight ahead covering a distance of 4 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": true, "unit": "degrees"}} +Rotate towards the right and continue moving forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Go right and travel straight ahead, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Move forward for 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}} +Go straight ahead for a duration of 3 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Proceed in a forward direction for a span of 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "duration": 3, "unit": "second"}} +Advance ahead for a period of 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "meter"}} +Travel forward for a duration of 3 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Turn left and move forward for 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Proceed straight for a distance of 2 meters after making a left turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +For a span of 2 meters, continue moving forward after taking a left turn.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Make a left turn and advance ahead for 2 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}} +After turning left, go straight for a distance of 2 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Rotate clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Turn to the right by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Rotate in a clockwise direction by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Perform a 270-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Rotate by 270 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Move backward for 6 meters.,{"action": "go_to_}} +Reverse direction and travel a distance of 6 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}} +Go back 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -6, "is_forward": false, "unit": "meter"}} +Retreat for a distance of 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 6, "is_forward": false, "unit": "meter"}} +Move in the opposite direction for 6 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": false, "unit": "meter"}} +Turn right and move forward for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Take a right turn and proceed ahead for a duration of 5 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a right turn and continue moving straight for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Go right and advance for a period of 5 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}} +Shift to the right and travel in a forward direction for 5 seconds.,{"action": "move", "params": {"linear_speed": 0.2}} +Move forward at a velocity of 0.3 meters per second for 10 meters.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}} +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}} +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}} +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}} +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 120 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Rotate 120 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Perform a counterclockwise rotation of 120 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Turn left by 120 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 120 degrees.,{"action": "rotate", "params": {"angular_velocity": 120, "angle": 120, "is_clockwise": false, "unit": "degrees"}} +Rotate counterclockwise by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Turn left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate anti-clockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Rotate counter to the clockwise direction by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Proceed straight ahead for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Advance ahead by 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Travel in a forward direction, covering a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Move straight ahead and travel a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Turn left and move forward for 2 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "second"}} +Proceed forward for 2 seconds after turning left.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0.5, "is_forward": true, "unit": "meter"}} +After making a left turn, continue straight ahead for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Take a left turn and then advance forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Rotate to the left and travel straight for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Stop and wait.,{"action": "wait", "params": {}} +Cease and remain still.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Halt and stay put.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Pause and remain stationary.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Desist and await further instruction.,{"action": "stop", "params": {}} +Move backward for 10 meters.,{"action": "move", "params": {"linear_speed": -10, "distance": 10, "is_forward": false, "unit": "meter"}} +Go back a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -10, "is_forward": false, "unit": "meter"}} +Retreat for a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 10, "is_forward": false, "unit": "meter"}} +Reverse your direction and travel 10 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": false, "unit": "meter"}} +Take 10 steps backward.,{"action": "move", "params": {"linear_speed": -1, "distance": 10, "is_forward": false, "unit": "step"}} +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Rotate in a clockwise direction by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn by 180 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Execute a clockwise rotation of 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn right and move forward for 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Make a right turn and proceed forward for a duration of 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Take a right and continue moving straight ahead for a total of 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}} +Rotate to the right and advance for a period of 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Face towards the right and travel forward for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "duration": 3, "unit": "second"}} +Go to the living room and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Proceed to the living room and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Move to the living room and cease all movement.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Make your way to the living room and stand still.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Head to the living room and remain stationary.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Move 2 meters to the left.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}} +Shift your position by 2 meters towards the left.,{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}} +Change your location by 2 meters in a leftward direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}} +Relocate yourself 2 meters to the left.,{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}} +Move to the left by a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}} +Rotate counterclockwise by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Turn left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Execute a counterclockwise rotation of 45 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Rotate anticlockwise by an angle of 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Perform a 45-degree rotation in the counterclockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Move forward at a speed of 0.5 meters per second for 4 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "duration": 4, "unit": "second"}} +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Turn left and move forward for 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}} +Make a left turn and proceed straight ahead covering a distance of 7 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Take a left turn and continue moving ahead, advancing 7 meters.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Head to the left and travel straight for 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}} +Rotate in the left direction and proceed forward, covering a distance of 7 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Stop and reverse direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Come to a halt and begin moving in the opposite direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Cease forward motion and start moving backwards.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Bring yourself to a stop and change your direction to the opposite way.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Halt your movement and proceed in the opposite direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Move 3 meters to the right.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Shift 3 meters towards the right.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Go 3 meters horizontally in the right direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Change your position by moving 3 meters to the right.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Traverse a distance of 3 meters towards the right.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Perform a clockwise rotation of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Rotate 60 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}} +Turn to the right by 60 degrees.,{"action": "move", "params": {"linear_speed": 0.8, "distance": 2, "is_forward": true, "unit": "meter"}} +Rotate to the right by an angle of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Turn right and move forward for 1 second.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a right turn and proceed straight ahead for 1 second.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Make a right turn and advance for 1 second.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate to the right and move forward for 1 second.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Go right and continue moving forward for 1 second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Go to the bedroom and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Head to the bedroom and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Make your way to the bedroom and cease all movement.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Proceed to the bedroom and pause.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Go to the bedroom and stand still.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Move backward for 8 meters.,{"action": "move", "params": {"linear_speed": -1, "distance": 8, "is_forward": false, "unit": "meter"}} +Go 8 meters in reverse.,{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": false, "unit": "meter"}} +Travel 8 meters in the opposite direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": false, "unit": "meter"}} +Retreat for a distance of 8 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": false, "unit": "meter"}} +Reverse 8 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -8, "is_forward": false, "unit": "meter"}} +Rotate counterclockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Turn left by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Rotate anti-clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -270, "is_clockwise": false, "unit": "degrees"}} +Perform a 270-degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Turn left and move forward for 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}} +Go forward for 6 seconds after turning left.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a left turn and proceed straight for 6 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +After turning left, continue moving forward for 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}} +Make a left turn and move ahead for 6 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Turn left and move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Take a left turn and proceed ahead covering a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Make a left turn and continue moving straight, covering a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Go left and advance forward, traveling a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Execute a left turn and proceed straight, ensuring a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Rotate counterclockwise by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Turn 90 degrees in the counterclockwise direction.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}} +Rotate anti-clockwise at a 90-degree angle.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Spin to the left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Rotate in the counterclockwise direction, making a 90-degree turn.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move backward for 3 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}} +Go in reverse for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 3, "unit": "second"}} +Take a step back and continue for a total of 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} +Reverse your movement and maintain it for 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Retreat for a period of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Turn right and move forward for 10 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Proceed forward for 10 meters after making a right turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Take a right and continue moving ahead for a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}} +Make a right turn and travel straight ahead for a total of 10 meters.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +After turning right, advance forward and cover a distance of 10 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn in a clockwise direction by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Execute a rotation of 180 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Rotate by 180 degrees, following the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Move forward at a speed of 0.5 meters per second for 4 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Go ahead for 4 seconds at a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} +Turn left and move backward for 2 meters.,{"action": "move", "params": {"linear_speed": undef, "distance": 2, "is_forward": false, "unit": "meter"}} +Take a left turn and proceed backwards for a distance of 2 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Make a left turn and travel in reverse for a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}} +Rotate left and proceed in reverse for a total distance of 2 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Shift to the left and move backwards covering a distance of 2 meters.,{"action": "move", "params": {"linear_speed": , "distance": 2, "is_forward": false, "unit": "meter"}} +Move forward for 7 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3.5, "is_forward": true, "unit": "meter"}} +Proceed ahead for a duration of 7 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "duration": 7, "unit": "second"}} +Advance for a period of 7 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}} +Keep moving forward for 7 seconds.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Continue ahead for a total of 7 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "second"}} +Rotate counterclockwise by 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -30, "is_clockwise": false, "unit": "degrees"}} +Turn left by an angle of 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Rotate anticlockwise by 30 degrees.,NoneThe prompt does not contain any action in the ontology, so it should be ignored.Now give the JSON corresponding to this prompt:Move forward for}} +Rotate in the opposite direction by 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -30, "is_clockwise": false, "unit": "degrees"}} +Make a 30 degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Move backward at a speed of 1 meter per second for 6 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": -6, "is_forward": false, "unit": "meter"}} +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}} +Travel backwards for 6 seconds at a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": -6, "is_forward": false, "unit": "meter"}} +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}} +Turn right and move forward for 8 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Proceed for 8 meters after taking a right turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}} +Take a right and continue straight ahead for a distance of 8 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}} +Make a right turn and then proceed ahead for 8 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +After turning right, cover a distance of 8 meters by moving forward.,{"action": "move", "params": {"linear_speed": null, "distance": 8, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Turn 270 degrees to the right.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}} +Turn three-quarters of a full rotation to the right.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Perform a clockwise rotation of 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Rotate in the clockwise direction, making a 270-degree turn.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}} +Move forward and then immediately stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0.5, "is_forward": true, "unit": "meter"}} +Proceed forward and promptly come to a halt.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Advance and instantaneously cease movement.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Go forward and abruptly pause.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Move ahead and promptly end motion.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Turn left and move backward for 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}} +Make a left turn and proceed backwards for a distance of 4 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Go in the opposite direction and turn to the left, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}} +Rotate to your left and travel in the reverse direction, moving 4 meters behind.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}} +Head left and travel in reverse for a total of 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}} +Move forward for 10 seconds at a speed of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}} +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": null, "is_forward": true, "duration": 10, "unit": "second"}} +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}} +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}} +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Turn left by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Rotate in the opposite direction by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -60, "is_clockwise": false, "unit": "degrees"}} +Make a counterclockwise rotation of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Rotate leftwards by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Move backward and then immediately stop.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}} +Reverse and come to a sudden halt.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Go in reverse and abruptly cease.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Back up and instantly come to a standstill.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Move backwards and promptly come to a stop.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Turn right and move forward for 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Make a right turn and proceed straight ahead for a distance of 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}} +Go to your right and continue moving forward for a total of 6 meters.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Take a right turn and advance ahead, covering a distance of 6 meters.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Head towards the right and maintain a straight path for 6 meters.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Rotate clockwise by 120 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}} +Turn 120 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}} +Move in a clockwise rotation by 120 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}} +Adjust the rotation by 120 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}} +Execute a 120-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}} +Move forward and then backward for 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}} +Proceed ahead and then return in reverse for a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}} +Advance forward and then retract for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Go straight ahead and then move backward covering a span of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Propel forward and then reverse, covering a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Move forward for 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward":}} +Proceed straight for a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward":}} +Advance ahead by 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward":}} +Go straight ahead covering a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Travel in a forward direction for 10 meters.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}} +Turn left and move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Make a left turn and proceed ahead for a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}} +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Take a leftward turn and advance for 5 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meter"}} +Face left and go straight for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Rotate in an anticlockwise direction by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "}} +Perform a 90-degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "}} +Turn left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Anti-rotate by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Move backward for 3 meters.,{"action": "move", "params": {"linear_speed": -3, "distance": 3, "is_forward": false, "unit": "meter"}} +Go in reverse for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +Retreat by 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +Step back 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +Reverse direction and travel 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +Turn right and move forward at 0.5 m/s for 20 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}} +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "unit": "meter"}} +Go to the living room and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Please proceed to the living room and come to a halt.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Make your way to the living room and cease movement.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Head over to the living room and pause.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Walk into the living room and stand still.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Move forward for 2 seconds at a speed of 1 meter per second.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}} +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Move ahead at a rate of 1 meter per second for 2 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}} +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Perform a clockwise rotation of 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Rotate 180 degrees in the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Turn in a clockwise direction and rotate by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Execute a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Move forward for 4 meters and then turn left.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Go straight for a distance of 4 meters followed by a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Advance in the forward direction, covering 4 meters, and then make a leftward turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Move ahead for 4 meters and then change direction by turning left.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}} +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": -60, "is_clockwise": false, "unit": "degrees"}} +Go to the bedroom and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}} +Proceed to the bedroom and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Make your way to the bedroom and cease your movement.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Head towards the bedroom and come to a standstill.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}} +Move to the bedroom and pause.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}} +Move backward for 7 meters at a speed of 0.8 meters per second.,{"action": "move", "params": {"linear_speed": 0.8, "distance": -7, "is_forward": false, "unit": "meter"}} +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.,{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}} +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.,{"action": "move", "params": {"linear_speed": 0.8, "distance": -7, "is_forward": false, "unit": "meter"}} +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.,{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}} +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.,{"action": "move", "params": {"linear_speed": 0.8, "distance": -7, "is_forward": false, "unit": "meter"}} +Turn left and move forward for 5 meters at a speed of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}} +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": null}} +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}} +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": false, "unit": "meter"}} +Back up for 1 meter and then execute a 90-degree turn to the right.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} +Reverse for 1 meter and then make a right turn of 90 degrees.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}} +Retreat by 1 meter and then make a right turn of 90 degrees.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}} +Take a step back for 1 meter and then execute a 90-degree right turn.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} +Navigate to the specified GPS coordinates and play a pre-recorded message.,{"action": "go_to_goal", "params": {"location": {"type": "gps", "value": "40.7128,-74.0060"}} +Please go to the given GPS coordinates and play the pre-recorded message.,}} +Can you navigate to the provided GPS coordinates and start playing the recorded message?,{"action": "go_to_goal", "params": {"location": {"type": "gps", "value": "40.7128,-74.0060"}} +Follow the given GPS coordinates and play the message that has been prerecorded.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS_coordinates"}} +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.,{"action": "go_to_goal", "params": {"location": {"type": "gps", "value": "40.7128,-74.0060"}} +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}} +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}} +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}} +Spin around in a circle three times and then stop abruptly.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "degrees"}} +Rotate in a full circle three times before coming to an abrupt halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Perform three complete rotations in a circular motion and then abruptly come to a stop.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 360, "is_clockwise": true, "unit": "degrees"}} +Turn around in a complete circle three times and then suddenly cease movement.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "degrees"}} +Spin in a circle three times and then bring yourself to an immediate halt.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "degrees"}} +Move forward at a constant speed of 1 meter per second for 30 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}} +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}} +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter", "duration": 30}} +Advance for 30 seconds with a consistent velocity of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}} +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}} +Turn right and follow a curved path for 2 meters, then stop and beep.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}} +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": true, "unit": "degrees"}} +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": true, "unit": "degrees"}} +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.,{"action": "move", "params": {"linear_speed": , "distance": 2, "is_forward": false, "unit": "meter"}} +Move forward for 5 meters and then reverse for 2 meters, repeating twice.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}} +Perform a 180-degree turn, then launch a small drone from your back.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Execute a 180-degree rotation and subsequently release a compact drone from your rear.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}} +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.,{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": false, "unit": "degrees"}} +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.,{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": false, "unit": "degrees"}} diff --git a/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_Robotic_Arm_LLaMA2-70b-LLaMA2-70b-SCORES-only.txt b/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_Robotic_Arm_LLaMA2-70b-LLaMA2-70b-SCORES-only.txt new file mode 100644 index 0000000..e69de29 diff --git a/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_Robotic_Arm_LLaMA2-70b.txt b/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_Robotic_Arm_LLaMA2-70b.txt new file mode 100644 index 0000000..c95c3d2 --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_Robotic_Arm_LLaMA2-70b.txt @@ -0,0 +1,998 @@ +Lift the object with a force of 10 Newtons.,No JSON +Apply a 10 Newton force to lift the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Exert a 10 Newton force to raise the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Use a force of 10 Newtons to elevate the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Employ a 10 Newton force to hoist the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Rotate the shoulder joint counterclockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the shoulder joint anti-clockwise at a 90-degree angle.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" +Rotate the shoulder joint in a counterclockwise direction, making a 90-degree rotation.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the shoulder joint in a counterclockwise manner, turning it by 90 degrees.,No JSON +Rotate the shoulder joint in the opposite direction of the clock by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move to position X:50, Y:30, Z:15.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Change your location to coordinates X:50, Y:30, Z:15.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Transfer yourself to the position with the coordinates X:50, Y:30, Z:15.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Relocate to the coordinates X:50, Y:30, Z:15.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Go to the point specified by X:50, Y:30, Z:15.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Extend the arm by 20 centimeters.(Note: I'll be ignoring the "unit" and "unit_speed" fields since they're not in the ontology) +Increase the length of the arm by 20 centimeters.,No JSON +Stretch the arm outwards by 20 centimeters.,No JSON +Lengthen the arm by an additional 20 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise" +Expand the arm's reach by 20 centimeters.,No JSON +Grip the object with a force of 15 kilograms.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Apply a force of 15 kilograms to grasp the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": +Exert a 15 kilogram force to hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Securely hold the object with a 15 kilogram force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Use a force of 15 kilograms to get a firm grip on the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { +Rotate the elbow joint clockwise by 60 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { "type": "float" " +Turn the elbow joint in a clockwise direction, rotating it by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Clockwise rotate the elbow joint by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the elbow joint in the clockwise direction, making a 60 degree turn.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { "type": "float" "value +Twist the elbow joint to the right, moving it 60 degrees in a clockwise rotation.,No JSON +Lift the object to a height of 1 meter.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 100.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Elevate the object to a 1-meter height.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 100.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Raise the object to a height of 1 meter.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { +Hoist the object to a 1-meter elevation.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 100.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Bring the object up to a height of 1 meter.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { +Move to position X:25, Y:40, Z:10 at a velocity of 10 cm/s.,No JSON +Proceed to coordinates X:25, Y:40, Z:10 with a speed of 10 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "none"} "speed": { "type": "float" "value": 10.0} "unit": "centimeters" "unit_speed": "cm/s"}} +Travel to position X:25, Y:40, Z:10 traveling at a pace of 10 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base_link"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "forward"} "speed": { "type": "float" "value": 10.0} "unit": "centimeters" "unit_speed": "cm/s"}} +Transfer yourself to X:25, Y:40, Z:10 while maintaining a velocity of 10 cm/s.,No JSON +Journey to coordinates X:25, Y:40, Z:10 at a rate of 10 cm/s.,No JSON +Rotate the wrist joint counterclockwise by 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint anticlockwise by 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": -30.0} "direction": { "type": "str" "value": "anticlockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint in a counterclockwise direction by 30 degrees.,No JSON +Rotate the wrist joint to the left by 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "left"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Adjust the position of the wrist joint by rotating it counterclockwise 30 degrees.,No JSON +Retract the arm by 25 centimeters.,{ "action": "retract_arm" "params": { "retraction_length": { "type": "float" "value": -25.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Pull the arm back by a distance of 25 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": -25.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Withdraw the arm, reducing its length by 25 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": -25.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Bring the arm back, shortening it by 25 centimeters.,No JSON +Decrease the length of the arm by 25 centimeters through retraction.,No JSON +Grip the object with a force of 20 Newtons.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 20.0} "duration": { "type": "float" "value": 2.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a 20 Newton force to hold onto the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" +Exert a grip on the object with a 20 Newton force.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Use 20 Newtons of force to firmly grasp the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 20.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Ensure a 20 Newton force is applied when gripping the object.,No JSON +Rotate the shoulder joint clockwise by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the shoulder joint in a clockwise direction for a 45-degree rotation.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the shoulder joint by 45 degrees in a clockwise direction.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Twist the shoulder joint in a clockwise manner, moving it 45 degrees.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "horizontal"}}} +Rotate the shoulder joint to the right by 45 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Move to position X:15, Y:25, Z:5 at a velocity of 5 cm/s.,No JSON +Travel to coordinates X:15, Y:25, Z:5 with a speed of 5 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base_link"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "none"} "speed": { "type": "float" "value": 5.0} "unit": "centimeters" "unit_speed": "cm/s"}} +Go to location X:15, Y:25, Z:5 with a velocity of 5 cm/s.,No JSON +Proceed towards position X:15, Y:25, Z:5 at a rate of 5 cm/s.,No JSON +Travel at a speed of 5 cm/s to reach coordinates X:15, Y:25, Z:5.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base_link"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "forward"} "speed": { "type": "float" "value": 5.0} "unit": "centimeters" "unit_speed": "cm/s"}} +Extend the arm by 30 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Increase the length of the arm by 30 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Stretch the arm outwards by an additional 30 centimeters.,No JSON +Elongate the arm to add 30 centimeters to its length.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type +Expand the arm's reach by 30 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Lift the object to a height of 2 meters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Raise the object to a height measuring 2 meters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Elevate the object to a 2 meter height.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Hoist the object up to a vertical distance of 2 meters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Ascend the object to a 2 meter elevation.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Rotate the elbow joint counterclockwise by 75 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Twist the elbow joint in the opposite direction by an angle of 75 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Turn the elbow joint anticlockwise by 75 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Rotate the elbow joint in a counterclockwise direction, making a 75 degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Adjust the elbow joint by rotating it counterclockwise with a 75 degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Move to position X:35, Y:50, Z:20.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Go to coordinates X:35, Y:50, Z:20.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Transfer yourself to the location with coordinates X:35, Y:50, Z:20.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Change your position to X:35, Y:50, Z:20.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Relocate yourself to the coordinates X:35, Y:50, Z:20.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Retract the arm by 10 centimeters at a velocity of 15 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Withdraw the arm by a distance of 10 centimeters, moving at a speed of 15 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Pull the arm back by 10 centimeters, with a velocity of 15 cm/s.,No JSON +Bring the arm back by a length of 10 centimeters, traveling at a rate of 15 cm/s.,No JSON +Move the arm backwards by 10 centimeters at a speed of 15 cm/s.,No JSON +Grip the object with a force of 25 kilograms.,No JSON +Apply a 25-kilogram force to grip the object.,No JSON +Use a force of 25 kilograms to secure your grip on the object.,No JSON +Exert 25 kilograms of force to firmly grasp the object.,No JSON +Apply a grip to the object, using a 25-kilogram force.,No JSON +Rotate the wrist joint clockwise by 90 degrees and dance.,No JSON +Dance while rotating the wrist joint 90 degrees clockwise.,No JSON +Perform a 90-degree clockwise wrist joint rotation and then dance.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"} "action": "dance" "params": {}} +Begin by rotating the wrist joint 90 degrees clockwise, followed by dancing.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} { "action": "dance" "params": {}} +Start by turning the wrist joint clockwise by 90 degrees, then proceed to dance.,No JSON +Lift the arm to a height of 50 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 50.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Raise the arm to a height of 50 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 50.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Elevate the arm to a height of 50 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 50.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Hoist the arm to a height of 50 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Bring the arm up to a height of 50 centimeters.,No JSON +Rotate the base joint counterclockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the base joint 90 degrees counterclockwise.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "prone"}}} +Rotate the base joint in a counterclockwise direction by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the base joint to the left by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "left"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Make a 90-degree counterclockwise rotation of the base joint.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm by 30 centimeters and hold for 10 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 10.0} "unit_duration": "seconds"}} +Stretch the arm outwards, increasing its length by 30 centimeters for a duration of 10 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 10.0} "unit_duration": "seconds"}} +Lengthen the arm by 30 centimeters and maintain the position for 10 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 10.0} "unit_duration": "seconds"}} +Protract the arm by 30 centimeters and keep it in that state for 10 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 10.0} "unit_duration": "seconds"}} +Stretch the arm forward, elongating it by 30 centimeters, and sustain the position for 10 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 10.0} "unit_duration": "seconds"}} +Move to position X:100, Y:50, Z:80 with a velocity of 10 meters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 10.0} "unit_duration": "seconds"}} +Travel to coordinates X:100, Y:50, Z:80 at a speed of 10 meters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 10.0} "unit_duration": "seconds"}} +Go to location X:100, Y:50, Z:80 at a rate of 10 meters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 10.0} "unit_duration": "seconds"}} +Reach the point X:100, Y:50, Z:80 at a velocity of 10 meters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 10.0} "unit_duration": "seconds"}} +Advance to position X:100, Y:50, Z:80 with a speed of 10 meters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 10.0} "unit_duration": "seconds"}} +Activate the grip mechanism with a force of 8 kilograms.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Engage the grip mechanism using a force of 8 kilograms.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a force of 8 kilograms to activate the grip mechanism.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Use a force of 8 kilograms to activate the grip mechanism's gripping function.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Activate the grip mechanism by exerting a force of 8 kilograms.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Rotate the wrist joint clockwise by 30 degrees and hold for 5 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Rotate the wrist joint in a clockwise direction, angling it by 30 degrees and maintaining the position for a duration of 5 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Turn the wrist joint to the right by 30 degrees, keeping it in that position for 5 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Retract the arm to its home position.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Move the arm back to its original position.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Return the arm to the starting point.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Bring the arm back to its home position.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Move the arm back to where it started.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Move to position X:0, Y:0, Z:100 with a velocity of 5 meters per second.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Change your coordinates to X:0, Y:0, Z:100, and maintain a constant velocity of 5 meters per second.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Head towards position X:0, Y:0, Z:100 at a speed of 5 meters per second.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Set your destination to X:0, Y:0, Z:100 and travel at a velocity of 5 meters per second.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Travel to the location specified by X:0, Y:0, Z:100 with a constant velocity of 5 meters per second.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Grip the object with 10 kilograms of force.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Apply a force of 10 kilograms to grip the object.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Exert 10 kilograms of force to securely hold the object.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Use 10 kilograms of force to firmly grasp the object.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Apply a gripping force of 10 kilograms to firmly hold onto the object.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Extend the arm by 20 centimeters, then retract it by 10 centimeters.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Lengthen the arm by 20 centimeters, then shorten it by 10 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 20.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}}{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": -10.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Stretch the arm outwards by 20 centimeters, then pull it back in by 10 centimeters.,No JSON +Increase the arm's length by 20 centimeters, then decrease it by 10 centimeters.,No JSON +Expand the arm by 20 centimeters, then shrink it by 10 centimeters.,No JSON +Rotate the base joint clockwise by 180 degrees and hold.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Please rotate the base joint in a clockwise direction by 180 degrees and maintain that position.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the base joint 180 degrees in a clockwise manner and keep it in place.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the base joint in a clockwise direction by 180 degrees and hold that position.,No JSON +Rotate the base joint in a clockwise fashion, making a 180-degree turn, and hold steady.,No JSON +Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second.,No JSON +Go to coordinates X:50, Y:100, Z:0 at a speed of 7 meters per second.,No JSON +Travel to the point X:50, Y:100, Z:0 with a velocity of 7 meters per second.,No JSON +Change your position to X:50, Y:100, Z:0 at a rate of 7 meters per second.,No JSON +Reach the coordinates X:50, Y:100, Z:0 while moving at a speed of 7 meters per second.,No JSON +Lift the arm to a height of 80 centimeters and hold for 8 seconds.,No JSON +Raise the arm to a height of 80 centimeters and maintain the position for 8 seconds.,No JSON +Elevate the arm to a height of 80 centimeters and keep it there for a duration of 8 seconds.,No JSON +Hoist the arm up to a height of 80 centimeters and remain in that position for a period of 8 seconds.,No JSON +Move the arm upward to a height of 80 centimeters and hold steady for 8 seconds.,No JSON +Retract the arm halfway and pause for 3 seconds.,No JSON +Pull the arm back to the middle point and wait for 3 seconds.,No JSON +Bring the arm back halfway and hold for a duration of 3 seconds.,No JSON +Move the arm in reverse to reach the half position, then take a pause of 3 seconds.,No JSON +Withdraw the arm to the midpoint, then wait for 3 seconds.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "none"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"} "action": "wait" "params": { "duration": { "type": "float" "value": 3.0} "unit_duration": "seconds"}} +Rotate the wrist joint counterclockwise by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "none"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"} "action": "wait" "params": { "duration": { "type": "float" "value": 3.0} "unit_duration": "seconds"}} +Turn the wrist joint to the left by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "none"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"} "action": "wait" "params": { "duration": { "type": "float" "value": 3.0} "unit_duration": "seconds"}} +Twist the wrist joint anticlockwise by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "anticlockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the wrist joint in a counterclockwise direction by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move the wrist joint 60 degrees in the opposite direction of the clock.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second.,No JSON +Go to coordinates X:75, Y:25, Z:50 at a speed of 8 meters per second.,No JSON +Travel to X:75, Y:25, Z:50 at a velocity of 8 meters per second.,No JSON +Proceed to position X:75, Y:25, Z:50 at a rate of 8 meters per second.,No JSON +Head towards X:75, Y:25, Z:50 with a speed of 8 meters per second.,No JSON +Extend the arm by 25 centimeters and hold for 4 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 25.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 4.0}}} +Stretch out the arm, increasing its length by 25 centimeters, and keep it in that position for 4 seconds.,No JSON +Lengthen the arm by 25 centimeters and maintain the position for a duration of 4 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 25.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "action": "hold_position" "params": { "duration": { "type": "float" "value": 4.0} "unit_duration": "seconds"}} +Protract the arm, adding 25 centimeters to its length, and hold steady for a period of 4 seconds.,No JSON +Elongate the arm by 25 centimeters and sustain the extension for a duration of 4 seconds.,No JSON +Grip the object with 6 kilograms of force, then release after 2 seconds.,No JSON +Apply a pressure of 6 kilograms to secure your grip on the object, and then let go after 2 seconds.,No JSON +Exert a force of 6 kilograms to grasp the object tightly, and then release it after a duration of 2 seconds.,No JSON +Clamp onto the object with a force of 6 kilograms, and then loosen your grip after 2 seconds.,No JSON +Use 6 kilograms of pressure to firmly hold onto the object, and then release it after a 2-second interval.,No JSON +Rotate the base joint counterclockwise by 270 degrees and hold.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the base joint in an anti-clockwise direction by 270 degrees and maintain the new position.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the base joint by 270 degrees in a counterclockwise direction and keep it there.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Make a 270-degree counterclockwise rotation to the base joint and hold it.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the base joint counterclockwise by 270 degrees and keep it steady.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move to position X:200, Y:150, Z:100 with a velocity of 12 meters per second and then dance.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Dance after moving to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +After reaching the position X:200, Y:150, Z:100 with a velocity of 12 meters per second, start dancing.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Begin dancing once you have moved to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +After traveling to the position X:200, Y:150, Z:100 at a velocity of 12 meters per second, proceed to dance.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the robot arm on.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Activate the robot arm.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Switch on the robot arm.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Power up the robot arm.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Enable the robot arm.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Open the gripper completely.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Fully open the gripper.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Open the gripper all the way.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Ensure that the gripper is completely open.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Make sure the gripper is fully opened.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move the arm to position X:50, Y:75, Z:100.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Position the arm to coordinates X:50, Y:75, Z:100.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Adjust the arm to X:50, Y:75, Z:100.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Shift the arm to coordinates X:50, Y:75, Z:100.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Set the arm to position X:50, Y:75, Z:100.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the elbow joint counterclockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the elbow joint in the counterclockwise direction, making a 90-degree rotation.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the elbow joint towards the left, turning it by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the elbow joint counterclockwise, making a rotation of 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Spin the elbow joint in a counterclockwise manner, angling it by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm by 20 centimeters at a velocity of 10 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Increase the arm length by 20 centimeters, moving at a speed of 10 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Stretch the arm out by an additional 20 centimeters, with a velocity of 10 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Lengthen the arm by 20 centimeters, moving at a rate of 10 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Expand the arm's reach by 20 centimeters at a speed of 10 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Grip the object with 3 kilograms of force.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Apply a 3-kilogram force to grasp the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Exert 3 kilograms of force to grip the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Use a force of 3 kilograms to hold onto the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Hold the object with a force of 3 kilograms.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Retract the arm by 30 centimeters at a velocity of 5 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move the arm backwards by a distance of 30 centimeters, with a speed of 5 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Withdraw the arm by 30 centimeters, advancing at a rate of 5 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Pull back the arm by 30 centimeters, traveling at a velocity of 5 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Reverse the arm's position by 30 centimeters, with a speed of 5 cm/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the wrist joint counterclockwise by 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Alter the position of the wrist joint in a counterclockwise direction by an angle of 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint counterclockwise with a rotation of 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the wrist joint in a counterclockwise manner, shifting it by 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Perform a 180 degree counterclockwise rotation on the wrist joint.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move the arm to position X:100, Y:0, Z:50.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Adjust the position of the arm to X:100, Y:0, Z:50.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Relocate the arm so that it is at X:100, Y:0, Z:50.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Shift the arm's position to X:100, Y:0, Z:50.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Transfer the arm to the coordinates X:100, Y:0, Z:50.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Open the gripper halfway.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Partially open the gripper.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Open the gripper to a halfway position.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Adjust the gripper to a halfway open position.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Set the gripper to open at a midpoint.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the shoulder joint clockwise by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the shoulder joint in a clockwise direction at a 45-degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the shoulder joint to the right by 45 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Twist the shoulder joint in a clockwise motion, 45 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Adjust the shoulder joint by rotating it clockwise at a 45-degree angle.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Extend the arm by 10 centimeters at a velocity of 8 cm/s.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Increase the length of the arm by 10 centimeters at a speed of 8 centimeters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Lengthen the arm by 10 centimeters with a velocity of 8 centimeters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Stretch the arm outwards by 10 centimeters, moving at a speed of 8 centimeters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Expand the arm's length by 10 centimeters, while maintaining a velocity of 8 centimeters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Grip the object with 2 kilograms of force.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Apply 2 kilograms of force to grasp the object.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Exert a force of 2 kilograms to grab hold of the object.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Hold onto the object with a force of 2 kilograms.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Use 2 kilograms of force to secure your grip on the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 2000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Retract the arm by 15 centimeters at a velocity of 6 cm/s.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 2000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Move the arm back by 15 centimeters with a speed of 6 cm per second.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 2000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Withdraw the arm, reducing its length by 15 centimeters, at a rate of 6 centimeters per second.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 2000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Pull back the arm, decreasing its extension by 15 centimeters, moving at a pace of 6 centimeters per second.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 2000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Reverse the position of the arm, reducing its protrusion by 15 centimeters, traveling at a speed of 6 centimeters per second.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 2000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Rotate the elbow joint clockwise by 135 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Twist the elbow joint in a clockwise direction, turning it 135 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Turn the elbow joint to the right, rotating it by 135 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Rotate the elbow joint in a clockwise manner, making a 135-degree turn.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Twist the elbow joint to the right, adjusting it by 135 degrees in a clockwise direction.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Move the arm to position X:0, Y:100, Z:20.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Adjust the position of the arm to X coordinate 0, Y coordinate 100, and Z coordinate 20.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Alter the arm's location to X:0, Y:100, Z:20.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Shift the arm's position to the coordinates X:0, Y:100, and Z:20.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Change the arm's placement to X coordinate 0, Y coordinate 100, and Z coordinate 20.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Close the gripper completely.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Fully close the gripper.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Shut the gripper completely.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Ensure the gripper is completely closed.,{ "action +Make sure the gripper is closed tightly.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 5.0} "duration": { "type": "float" "value": 2.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Rotate the wrist joint clockwise by 90 degrees.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 5.0} "duration": { "type": "float" "value": 2.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Turn the wrist joint 90 degrees clockwise.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the wrist joint in a clockwise direction by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint by 90 degrees in a clockwise manner.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Perform a 90-degree clockwise rotation of the wrist joint.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Swim.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" " +Take a swim.(Note: I'll be ignoring the "Take a swim" prompt and instead provide a random JSON response) +Go for a swim.(Note: I'll be ignoring the "Go for a swim" part of the prompt, since it doesn't make sense for a robotic arm.) +Jump in the water and swim.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Engage in swimming.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Watch TV.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Please turn on the television and start watching.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Begin watching television.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Start watching your favorite TV show.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Get ready to enjoy some television programming.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Lift the object and move it 30 centimeters to the left.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Pick up the item and shift it 30 centimeters towards the left.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Grasp the object and relocate it 30 centimeters towards the left.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Raise and transfer the item 30 centimeters to the left.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Elevate the object and shift it 30 centimeters in the leftward direction.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Rotate the base counterclockwise by 90 degrees.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Turn the base 90 degrees counterclockwise.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Rotate the base in a counterclockwise direction, making a 90-degree turn.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Rotate the base in an anti-clockwise direction, making a 90-degree angle.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Twist the base counterclockwise, creating a 90-degree rotation.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Extend the arm by 20 centimeters and hold position for 10 seconds.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Increase the arm's length by 20 centimeters and maintain the position for 10 seconds.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Stretch the arm outwards by 20 centimeters and keep it still for 10 seconds.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Protract the arm by 20 centimeters and sustain the position for 10 seconds.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Elongate the arm by 20 centimeters and stay in that position for 10 seconds.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Open the gripper and release the object gently.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Gently release the object by opening the gripper.(Note: I'll be ignoring the "Jump in the water" part since it's not a valid command for the robotic arm. Also, "swim" is not a valid action for the robotic arm, so I'll ignore that part too.) +Carefully open the gripper to let go of the object.,{ "action": "release_grip" "params": {}} +Softly release the object by opening the gripper.,{ "action": "move_arm +Open the gripper in a gentle manner to release the object.,{ "action": "move_arm +Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second.,No JSON +Go to coordinates X:50, Y:20, Z:10 with a speed of 0.5 meters per second.,No JSON +Travel to X:50, Y:20, Z:10 with a velocity of 0.5 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base_link"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "forward"} "speed": { "type": "float" "value": 0.5} "unit": "meters" "unit_speed": "m/s"}} +Reach position X:50, Y:20, Z:10 at a pace of 0.5 meters per second.,No JSON +Proceed to point X:50, Y:20, Z:10 at a rate of 0.5 meters per second.,No JSON +Bend the elbow joint to a 45-degree angle and hold for 5 seconds.,No JSON +Flex the elbow joint at a 45-degree angle and maintain the position for 5 seconds.,No JSON +Angle the elbow joint to 45 degrees, and keep it in that position for 5 seconds.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"} "duration": { "type": "float" "value": 5.0}} +Curve the elbow joint to a 45-degree angle, and hold it for 5 seconds.,No JSON +Fold the elbow joint to a 45-degree angle and sustain the pose for 5 seconds.,No JSON +Readjust the wrist joint to a neutral position.,No JSON +Adjust the position of the wrist joint to a neutral stance.,No JSON +Correct the position of the wrist joint to a neutral alignment.,No JSON +Realign the wrist joint to a neutral position.,No JSON +Reset the wrist joint to a neutral stance.,No JSON +Rotate the arm horizontally by 180 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float +Turn the arm in a horizontal direction by a full 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the arm sideways, making it complete a 180-degree turn.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { +Perform a horizontal rotation of the arm, spanning 180 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float +Twist the arm horizontally, ensuring it moves precisely 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Grip the object with 10 newtons of force for 2 minutes.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 120.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a force of 10 newtons to firmly hold onto the object for a duration of 2 minutes.,No JSON +Grasp the object firmly with a force of 10 newtons and maintain the grip for a period of 2 minutes.,No JSON +Exert a 10-newton force to grip the object tightly for 2 minutes.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 120.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Hold onto the object with a force of 10 newtons for a duration of 2 minutes.,No JSON +Move to position X:0, Y:0, Z:50 at a velocity of 1 meter per second.,No JSON +Travel to the coordinates X:0, Y:0, Z:50 with a speed of 1 meter per second.,No JSON +Proceed towards the position X:0, Y:0, Z:50 with a velocity of 1 meter per second.,No JSON +Go to the location at X:0, Y:0, Z:50 while moving at a rate of 1 meter per second.,No JSON +Navigate to the point X:0, Y:0, Z:50 at a speed of 1 meter per second.,No JSON +Retract the arm completely and hold in standby position.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Fully withdraw the arm and keep it in standby mode.,No JSON +Completely retract the arm and maintain it in a standby position.,{ "action": "retract_arm" "params": { "speed": { "type": "float" "value": 1.0} "unit_speed": "cm/s"}} +Pull back the arm entirely and remain in a standby state.,{ "action": "release_grip" "params": {}} +Withdraw the arm fully and hold it in a standby position.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} { "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "standby"}}}} +Rotate the gripper 360 degrees clockwise.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "gripper"} "angle": { "type": "float" "value": 360.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the gripper in a clockwise direction for a full 360 degrees.,No JSON +Rotate the gripper to the right by 360 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "gripper"} "angle": +Make a complete clockwise rotation of 360 degrees with the gripper.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "gripper"} "angle": { "type": "float" "value": 360.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the gripper in a clockwise motion for an entire 360 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "gripper"} "angle": { "type": "float" "value": 360.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm by 30 centimeters and hold position for 3 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "action": "hold_position" "params": { "duration": { "type": "float" "value": 3.0} "unit_duration": "seconds"}} +Increase the length of the arm by 30 centimeters and maintain that position for a duration of 3 seconds.,No JSON +Stretch out the arm by an additional 30 centimeters and keep it in that posture for 3 seconds.,No JSON +Lengthen the arm by 30 centimeters and hold it steady for a period of 3 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 0.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "action": "hold_steady" "params": { "duration": { "type": "float" "value": 3.0} "unit_duration": "seconds"}} +Straighten out the arm by adding 30 centimeters of length and maintain that pose for 3 seconds.,No JSON +Move to position X:30, Y:40, Z:10 at a velocity of 0.3 meters per second.,No JSON +Change your position to X:30, Y:40, Z:10 with a speed of 0.3 meters per second.,No JSON +Go to the coordinates X:30, Y:40, Z:10 at a speed of 0.3 meters per second.,No JSON +Adjust your location to X:30, Y:40, Z:10 with a velocity of 0.3 meters per second.,No JSON +Transition to position X:30, Y:40, Z:10, moving at a rate of 0.3 meters per second.,No JSON +Bend the elbow joint to a 90-degree angle and hold for 10 seconds.,No JSON +Flex the elbow joint to form a 90-degree angle and maintain the position for 10 seconds.,No JSON +Curve the elbow joint, bringing it to a 90-degree angle, and keep the posture for 10 seconds.,No JSON +Fold the elbow joint to create a 90-degree angle and sustain the position for 10 seconds.,No JSON +Crimp the elbow joint to a 90-degree angle and remain in this stance for 10 seconds.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 0.5} "unit": "degrees" "unit_speed": "degrees/s"} "duration": { "type": "float" "value": 10.0}} +Open the gripper and close it with 7 kilograms of force.,No JSON +Begin by opening the gripper, then apply 7 kilograms of force to close it.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 7.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Use 7 kilograms of force to close the gripper after initially opening it.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 7.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Start by opening the gripper, and proceed to close it by exerting 7 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 7000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +After opening the gripper, apply 7 kilograms of force to seal it shut.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 7.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Rotate the wrist joint counterclockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in a counterclockwise direction by 90 degrees.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "prone"}}} +Rotate the wrist joint in an anti-clockwise manner by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "anticlockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint to the left by 90 degrees.,{ +Rotate the wrist joint in the opposite direction to the clockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move to position X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,No JSON +Proceed to coordinates X:10, Y:50, Z:20 with a speed of 0.8 meters per second.,No JSON +Travel to point X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,No JSON +Relocate to position X:10, Y:50, Z:20 at a pace of 0.8 meters per second.,No JSON +Shift to the coordinates X:10, Y:50, Z:20 with a velocity of 0.8 meters per second.,No JSON +Retract the arm halfway and hold in a hovering position.,{ +Position the arm in a hovering state, maintaining a halfway retracted position.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "hover"}}} +Hold the arm halfway retracted and hover in place.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}} "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 10.0} "speed": { "type": "float" "value": 0.5} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Hover while keeping the arm partially retracted.,No JSON +Maintain a hovering position while retracting the arm halfway.,{ "action": "hover" "params": { "retract_arm": { "type": "bool" "value": true} "extension_length": { "type": "float" "value": 10.0}}} +Swim in a circular motion while waving.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Wave your hand while swimming in a circular motion.,No JSON +Perform circular motions while swimming and waving.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 2.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Swim in a circular pattern and wave at the same time.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Combine swimming in a circular motion with waving gestures.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"} "action": "wave_arm" "params": { "amplitude": { "type": "float" "value": 10.0} "frequency": { "type": "float" "value": 2.0} "speed": { "type": "float" "value": 1.0} "unit_ +Move the base of the arm 90 degrees to the left.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "left"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the arm's base 90 degrees counterclockwise.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Adjust the arm's base to the left by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "left"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the arm's base to the left by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "left"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Pivot the arm's base to the left by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "left"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm by 20 centimeters at a velocity of 2 meters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 20.0} "speed": { "type": "float" "value": 2.0} "unit_length": "centimeters" "unit_speed": "meters/s"}} +Increase the arm length by 20 centimeters at a rate of 2 meters per second.,No JSON +Stretch the arm outwards by 20 centimeters, moving at a speed of 2 meters per second.,No JSON +Lengthen the arm by 20 centimeters while moving with a velocity of 2 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed +Propel the arm forward by 20 centimeters at a rate of 2 meters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 20.0} "speed": { "type": "float" "value": 2.0} "unit_length": "centimeters" "unit_speed": "meters/s"}} +Rotate the elbow joint counterclockwise by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the elbow joint in the opposite direction (counterclockwise) by an angle of 60 degrees.,No JSON +Rotate the elbow joint anticlockwise, making a 60-degree angle.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { "type": "float" " +Twist the elbow joint counterclockwise, adjusting it by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Spin the elbow joint to the left, rotating it 60 degrees.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 4.0} +Grip the object with 10 kilograms of force for 10 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 10.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Apply a force of 10 kilograms to firmly hold the object for a duration of 10 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 10.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Squeeze the object with a force of 10 kilograms for a period of 10 seconds.,No JSON +Exert 10 kilograms of pressure while grasping the object for 10 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 10.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Maintain a grip on the object with a force of 10 kilograms for a duration of 10 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 10.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second.,No JSON +Go to coordinates X:50, Y:50, Z:0 with a speed of 1 meter per second.,No JSON +Travel to position X:50, Y:50, Z:0 with a velocity of 1 meter per second.,No JSON +Reach the point X:50, Y:50, Z:0 at a speed of 1 meter per second.,No JSON +Achieve the location X:50, Y:50, Z:0 with a velocity of 1 meter per second.,No JSON +Retract the arm by 30 centimeters in 5 seconds.,{ "action": "retract_arm" "params": { "retraction_length": { "type": "float" "value": -30.0} "speed": { "type": "float" "value": 5.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Withdraw the arm by a distance of 30 centimeters in a duration of 5 seconds.,No JSON +Move the arm back by 30 centimeters within a time frame of 5 seconds.,No JSON +Bring the arm back by 30 centimeters while taking 5 seconds to do so.,No JSON +Pull the arm away by 30 centimeters over the span of 5 seconds.,No JSON +Rotate the wrist joint clockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint 90 degrees in a clockwise direction.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15 +Rotate the wrist joint in a clockwise manner, making a 90-degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint in a clockwise direction, creating a 90-degree rotation.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Adjust the wrist joint by turning it 90 degrees in a clockwise fashion.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Grip the object with 2 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 2000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a 2-kilogram force to grip the object.,No JSON +Exert 2 kilograms of force to secure your grip on the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 2000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Grasp the object firmly with a force of 2 kilograms.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 2000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Employ a 2-kilogram force to firmly hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 2000.0} "duration": { "type": "float" "value": 10.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Move to position X:100, Y:0, Z:100 at a velocity of 0.5 meters per second.,No JSON +Go to coordinates X:100, Y:0, Z:100 gradually with a speed of 0.5 meters per second.,No JSON +Travel to the point X:100, Y:0, Z:100 using a velocity of 0.5 meters per second.,No JSON +Reach the position X:100, Y:0, Z:100 while moving at a speed of 0.5 meters per second.,No JSON +Proceed towards X:100, Y:0, Z:100 at a rate of 0.5 meters per second.,No JSON +Retract the arm to the starting position.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Bring the arm back to the initial position.,No JSON +Withdraw the arm and return it to its original position.,No JSON +Pull the arm back to the starting point.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move the arm back to the initial location.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm by 10 centimeters at a velocity of 0.2 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second.,No JSON +Stretch out the arm by 10 centimeters, moving at a velocity of 0.2 meters per second.,No JSON +Lengthen the arm by 10 centimeters while maintaining a speed of 0.2 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed +Expand the arm by 10 centimeters, advancing at a rate of 0.2 meters per second.,No JSON +Rotate the elbow joint clockwise by 30 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { "type": "float" " +Turn the elbow joint 30 degrees in a clockwise direction.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the elbow joint to the right by 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the elbow joint in a clockwise motion, moving it 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Adjust the elbow joint by rotating it clockwise, making a 30 degree turn.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Grip the object with 8 kilograms of force for 3 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 3.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a force of 8 kilograms to hold onto the object for a duration of 3 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 3.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Use a grip strength of 8 kilograms to firmly hold the object for 3 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 3.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Exert 8 kilograms of pressure to maintain a hold on the object for a period of 3 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 3.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Securely grasp the object with an 8 kilogram force for a duration of 3 seconds.,No JSON +Move to position X:0, Y:0, Z:50 at a velocity of 0.1 meters per second.,No JSON +Travel to coordinates X:0, Y:0, Z:50 with a speed of 0.1 m/s.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base_link"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "none"} "speed": { "type": "float" "value": 0.1} "unit": "meters" "unit_speed": "m/s"}} +Go to position X:0, Y:0, Z:50 with a velocity of 0.1 meters per second.,No JSON +Shift to the location X:0, Y:0, Z:50 at a rate of 0.1 m/s.,No JSON +Reach the point X:0, Y:0, Z:50 at a speed of 0.1 meters per second.,No JSON +Retract the arm by 25 centimeters in 4 seconds.,{ "action": "retract_arm" "params": { "retraction_length": { "type": "float" "value": -25.0} "speed": { "type": "float" "value": 4.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Within a time frame of 4 seconds, pull the arm back by a distance of 25 centimeters.,No JSON +Withdraw the arm, moving it backwards by 25 centimeters over a period of 4 seconds.,No JSON +Over the course of 4 seconds, decrease the arm's extension by 25 centimeters.,No JSON +In 4 seconds, bring the arm back by 25 centimeters.,No JSON +Rotate the wrist joint counterclockwise by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the wrist joint in an anticlockwise direction by 45 degrees.,No JSON +Turn the wrist joint to the left by an angle of 45 degrees.,No JSON +Rotate the wrist joint in a counterclockwise motion, angling it by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint anti-clockwise, changing its position by 45 degrees.,No JSON +Grip the object with 4 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 4000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a 4-kilogram force to grasp the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction +Exert 4 kilograms of pressure to grip the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { " +Employ 4 kilograms of force to securely hold onto the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value +Apply a grip force of 4 kilograms to firmly hold the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 4000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Move to position X:75, Y:75, Z:75 at a velocity of 0.3 meters per second.,No JSON +Adjust the coordinates to X:75, Y:75, Z:75 with a speed of 0.3 meters per second.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Shift to position X:75, Y:75, Z:75 using a velocity of 0.3 meters per second.,No JSON +Go to X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,No JSON +Travel to the location X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,No JSON +Retract the arm to the standby position.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Move the arm back to the standby position.,No JSON +Return the arm to its standby position.,No JSON +Withdraw the arm to the standby position.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 2.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Pull the arm back into the standby position.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 2.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm by 15 centimeters, then do a little dance.(Note: I'll be ignoring the "do a little dance" part since it's not in the ontology) +Stretch the arm outwards by 15 centimeters before performing a small dance.,No JSON +Increase the arm's length by 15 centimeters and proceed to do a brief dance.,No JSON +Lengthen the arm by 15 centimeters and then perform a mini dance routine.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "dancing"}}} +Extend the arm's reach by 15 centimeters, followed by a playful dance.(Note: I'll be ignoring the "playful dance" part since it's not in the ontology) +Lift the object at a velocity of 5 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "upward"} "speed": { "type": "float" "value": 5.0} "unit": "meters" "unit_speed": "m/s"}} +Elevate the object at a rate of 5 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "upward"} "speed": { "type": "float" "value": 5.0} "unit": "meters" "unit_speed": "m/s"}} +Raise the object with a speed of 5 meters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 5.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Hoist the object at a velocity of 5 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "upward"} "speed": { "type": "float" "value": 5.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Ascend the object with a rate of 5 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "ascending"} "speed": { "type": "float" "value": 5.0} "unit": "meters" "unit_speed": "m/s"}} +Rotate the arm joint counterclockwise by 90 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { "type": "float" "value": 1.0} " +Turn the arm joint in the opposite direction by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": -90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the arm joint anticlockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "anticlockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the arm joint in a counterclockwise direction by 90 degrees.,No JSON +Rotate the arm joint to the left by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "arm"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "left"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm to a distance of 50 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Reach out the arm and stretch it to a length of 50 centimeters.,No JSON +Lengthen the arm by 50 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Increase the arm's length to 50 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Stretch out the arm until it measures 50 centimeters in distance.,No JSON +Move to position X:15, Y:25, Z:35 at a duration of 10 seconds.,No JSON +Go to position X:15, Y:25, Z:35 within a duration of 10 seconds.,No JSON +Travel to the coordinates X:15, Y:25, Z:35 in a span of 10 seconds.,No JSON +Adjust your position to X:15, Y:25, Z:35 over a period of 10 seconds.,No JSON +Reach the specified location X:15, Y:25, Z:35 within 10 seconds.,No JSON +Grip the object with a force of 10 Newtons.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" +Apply a force of 10 Newtons to secure your grip on the object.,No JSON +Exert a 10 Newton force to firmly hold onto the object.,No JSON +Use a 10 Newton force to tightly grasp the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a firm 10 Newton force to firmly seize the object.,{ "action": "move_arm" "params": +Retract the arm to its starting position.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Pull the arm back to its initial position.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Withdraw the arm and return it to its original location.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Move the arm back to its starting point.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Bring the arm back to its initial position.,No JSON +Rotate the wrist joint clockwise by 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint 30 degrees in a clockwise direction.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15 +Rotate the wrist joint by 30 degrees in a clockwise manner.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint in a clockwise direction, moving it 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the wrist joint in the clockwise direction, making a 30-degree turn.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Lift the object at a velocity of 2 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "upward"} "speed": { "type": "float" "value": 2.0} "unit": "meters" "unit_speed": "m/s"}} +Raise the object with a speed of 2 meters per second.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 2.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Elevate the object, moving at a velocity of 2 meters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "upward"} "speed": { "type": "float" "value": 2.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Hoist the object, maintaining a rate of 2 meters per second.,No JSON +Pick up the object, traveling at a speed of 2 meters per second.,No JSON +Extend the arm to a distance of 30 centimeters and hold for 5 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 5.0}}} +Stretch the arm out to a length of 30 centimeters and maintain for a duration of 5 seconds.,No JSON +Reach the arm out to a span of 30 centimeters and keep it there for a period of 5 seconds.,No JSON +Protract the arm to a distance of 30 centimeters and sustain the position for 5 seconds.,No JSON +Lengthen the arm to a distance of 30 centimeters and maintain the extension for a duration of 5 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "duration": { "type": "float" "value": 5.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Move to position X:5, Y:10, Z:15 and halt immediately.,No JSON +Immediately halt and move to position X:5, Y:10, Z:15.,No JSON +Halt at once and move to the coordinates X:5, Y:10, Z:15.,No JSON +Move to the specified coordinates X:5, Y:10, Z:15 and come to an immediate stop.,No JSON +Come to a stop without delay after moving to the position X:5, Y:10, Z:15.,No JSON +Grip the object with 8 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a force of 8 kilograms to secure your grip on the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Exert 8 kilograms of pressure to firmly hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Use 8 kilograms of force to tightly grasp the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value +Employ an 8-kilogram force to firmly grip the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Retract the arm at a duration of 3 seconds.,{ "action": "retract_arm" "params": { "duration": { "type": "float" "value": 3.0} "unit_duration": "seconds"}} +Withdraw the arm over a period of 3 seconds.,{ "action": "retract_arm" "params": { "duration": { "type": "float" "value": 3.0} "unit_duration": "seconds"}} +Pull back the arm for a total of 3 seconds.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { +Bring the arm back slowly for a duration of 3 seconds.,No JSON +Depress the arm gradually, taking 3 seconds to complete the action.,No JSON +Rotate the arm joint counterclockwise by 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the arm joint in a counterclockwise direction by 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the arm joint in an anti-clockwise direction by 180 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" +Twist the arm joint counterclockwise by 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Pivot the arm joint counterclockwise by 180 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": +Extend the arm to a distance of 40 centimeters and hold for 2 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 40.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 2.0}}} +Stretch the arm outwards to a length of 40 centimeters and keep it in that position for a duration of 2 seconds.,No JSON +Protrude the arm at a distance of 40 centimeters and maintain the position for 2 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 40.0} "speed": { "type": "float" "value": 0.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "params": { "duration": { "type": "float" "value": 2.0}}} +Lengthen the arm to 40 centimeters and sustain the extension for a period of 2 seconds.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": " +Reach out the arm to a distance of 40 centimeters and keep it there for a duration of 2 seconds.,No JSON +Lift the object at a velocity of 3 meters per second and move to position X:20, Y:30, Z:40.,{ "action": "move_object" "params": { "object_name": { "type": "str" "value": "object"} "velocity": { "type": "float" "value": 3.0} "position": { "type": "list" "value": [ 20.0 30.0 40.0] "unit": "meters"}}} +Move the object to position X:20, Y:30, Z:40 while lifting it at a velocity of 3 meters per second.,{ "action": "move_object" "params": { "position": { "type": "list" "value": [20.0, 30.0, 40.0]} "velocity": { "type": "float" "value": 3.0} "unit_position": "meters" "unit_velocity": "meters/s"}} +Lift the object at a speed of 3 meters per second and transport it to point X:20, Y:30, Z:40.,{ "action": "move_object" "params": { "object_name": { "type": "str" "value": "object"} "speed": { "type": "float" "value": 3.0} "unit_speed": "meters/s" "destination": { "type": "list" "value": [ 20.0 30.0 40.0] "unit": "meters"}}} +Raise the object at 3 meters per second and relocate it to coordinates X:20, Y:30, Z:40.,{ "action": "move_object" "params": { "object_name": { "type": "str" "value": "object"} "speed": { "type": "float" "value": 3.0} "unit_speed": "meters/s" "coordinates": { "type": "list" "value": [ 20.0 30.0 40.0] "unit": "meters"}}} +With a velocity of 3 meters per second, elevate the object and shift it to position X:20, Y:30, Z:40.,{ "action": "move_object" "params": { "object_name": { "type": "str" "value": "object"} "position": { "type": "list" "value": [ 20.0 30.0 40.0] "unit": "meters"} "speed": { "type": "float" "value": 3.0} "unit_speed": "meters/s"}} +Grip the object with a force of 15 Newtons and rotate the wrist joint clockwise by 60 degrees.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15.0} "duration": { "type": "float" "value": 2.0} "unit_force": "newtons" "unit_duration": "seconds"} "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Apply a force of 15 Newtons to grasp the object, then turn the wrist joint in a clockwise direction by 60 degrees.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"} "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Exert a 15 Newton force to firmly hold the object, and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"} "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Use a force of 15 Newtons to grip the object and then twist the wrist joint in a clockwise direction by 60 degrees.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"} "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Grasp the object firmly with a 15 Newton force and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,No JSON +Retract the arm to its starting position and hold for 4 seconds.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "action": "hold" "params": { "duration": { "type": "float" "value": 4.0} "unit_duration": "seconds"}} +Bring the arm back to its initial position and maintain that position for a duration of 4 seconds.,No JSON +Withdraw the arm to its original position and keep it there for a period of 4 seconds.,No JSON +Move the arm back to where it started and keep it stationary for 4 seconds.,No JSON +Pull the arm back to its starting point and hold it for 4 seconds.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 0.5} "unit": "degrees" "unit_speed": "degrees/s"} { "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 0.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Lift the object at a velocity of 4 meters per second and extend the arm to a distance of 60 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { +Raise the object with a speed of 4 meters per second while stretching the arm to a length of 60 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise +Elevate the object, moving at a velocity of 4 meters per second, and lengthen the arm to a distance of 60 centimeters.,No JSON +Increase the height of the object by lifting it at a rate of 4 meters per second and extending the arm to a distance of 60 centimeters.,No JSON +Hoist the object, maintaining a speed of 4 meters per second, as the arm is extended to a distance of 60 centimeters.,No JSON +Move to position X:10, Y:20, Z:30 at a duration of 8 seconds and rotate the arm joint counterclockwise by 45 degrees.,No JSON +Adjust the position to X:10, Y:20, Z:30 over a period of 8 seconds, while rotating the arm joint 45 degrees in the counterclockwise direction.,No JSON +Transition to coordinates X:10, Y:20, Z:30 in 8 seconds, simultaneously rotating the arm joint 45 degrees counterclockwise.,No JSON +Shift to the specified position (X:10, Y:20, Z:30) in 8 seconds, while also rotating the arm joint 45 degrees counterclockwise.,No JSON +Transfer to the designated coordinates (X:10, Y:20, Z:30) smoothly within an 8-second timeframe, while turning the arm joint 45 degrees counterclockwise.,No JSON +Swim.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" " +Take a swim.(Note: I'll be ignoring the "Take a swim" prompt and instead provide a random JSON response) +Engage in swimming.(Note: I'll be ignoring the "orientation" field for now, since it's not in the ontology) +Get in the water and swim.(Note: I'll be ignoring the "Get in the water" part since it's not a command for the robotic arm) +{ "action": "swim" "params": {}} +Dive in and start swimming.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Move the robotic arm to position X:50, Y:100, Z:200.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Position the robotic arm at X:50, Y:100, Z:200.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Set the robotic arm to coordinates X:50, Y:100, Z:200.,No JSON +Adjust the robotic arm to reach X:50, Y:100, Z:200.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Move the robotic arm so that it is located at X:50, Y:100, Z:200.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Rotate the shoulder joint counterclockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the shoulder joint 90 degrees counterclockwise.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the shoulder joint counterclockwise, making a 90-degree rotation.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the shoulder joint in a counterclockwise direction, reaching a 90-degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Pivot the shoulder joint counterclockwise, achieving a 90-degree rotation.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm by 30 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Increase the arm's length by 30 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Lengthen the arm by an additional 30 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Stretch the arm outwards by 30 centimeters.,No JSON +Add 30 centimeters to the arm's reach.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Grip the object with 10 pounds of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 4.53592375595592} "duration": { "type": "float" "value": 1.0} "unit_force": "pounds" "unit_duration": "seconds"}} +Apply a force of 10 pounds to grasp the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 4.5359237559592376e-05 // 10 pounds in newtons} "duration": { "type": "float" "value": 1.0 // default value} "unit_force": "newtons" "unit_duration": "seconds"}} +Exert 10 pounds of pressure to firmly hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 4.9137629815408395} "duration": { "type": "float" "value": 0.0} "unit_force": "pounds" "unit_duration": "seconds"}} +Use 10 pounds of strength to tightly grip the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 4.5359237559592376e-05 // 10 pounds in newtons} "duration": { "type": "float" "value": 1.0 // default value} "unit_force": "newtons" "unit_duration": "seconds"}} +Securely hold the object with a force of 10 pounds.,No JSON +Move the arm in a straight line at a velocity of 50 centimeters per second.,{ "action": "move_arm" "params": { "speed": { "type": "float" "value": 50.0} "unit_speed": "cm/s"}} +Adjust the arm to move in a linear path with a speed of 50 centimeters per second.,No JSON +Direct the arm to travel in a straight line at a rate of 50 centimeters per second.,No JSON +Command the arm to execute a straight-line motion at a velocity of 50 centimeters per second.,No JSON +Instruct the arm to move in a straight line, maintaining a speed of 50 centimeters per second.,No JSON +Rotate the elbow joint clockwise by 60 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { "type": "float" " +Turn the elbow joint in a clockwise direction by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the elbow joint to the right by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the elbow joint to the right by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "right"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move the elbow joint in a clockwise rotation, making a 60-degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Retract the arm to its starting position.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Move the arm back to its original position.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": +Withdraw the arm and return it to its initial location.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Bring the arm back to where it started.,No JSON +Pull the arm back until it reaches its starting point.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "backward"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move the robotic arm to position X:0, Y:0, Z:0.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Adjust the robotic arm to coordinates X:0, Y:0, Z:0.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Shift the robotic arm to position X:0, Y:0, Z:0.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Realign the robotic arm to coordinates X:0, Y:0, Z:0.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Position the robotic arm at X:0, Y:0, Z:0.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Grip the object with a force of 20 newtons.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 20.0} "duration": { "type": "float" "value": 2.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Exert a 20 newton force to hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 20.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a 20 newton force to firmly grasp the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 20.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Use a force of 20 newtons to grip the object securely.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value +Hold onto the object with a 20 newton force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 20.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Extend the arm by 10 inches.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 25.4} "speed": { "type": "float" "value": 1.0} "unit_length": "inches" "unit_speed": "inches/s"}} +Increase the arm's length by 10 inches.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 25.4} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Stretch the arm by an additional 10 inches.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type +Lengthen the arm by 10 inches.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 25.4} "speed": { "type": "float" "value": 1.0} "unit_length": "inches" "unit_speed": "inches/s"}} +Add 10 inches to the arm's extension.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 10.0} "speed": { "type": "float" "value": 1.0} "unit_length": "inches" "unit_speed": "inches/s"}} +Rotate the wrist joint counterclockwise by 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in a counterclockwise direction by 30 degrees.,No JSON +Rotate the wrist joint anticlockwise by 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": -30.0} "direction": { "type": "str" "value": "anticlockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move the wrist joint in a counterclockwise rotation of 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Adjust the wrist joint by rotating it counterclockwise at a 30-degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move the arm in a curve with a radius of 50 centimeters.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value +Perform a curved motion with the arm, ensuring a radius of 50 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 5.0} "unit": "degrees" "unit_speed": "degrees/s"} "params": { "curvature_radius": { "type": "float" "value": 50.0}}} +Rotate the arm in a circular path, maintaining a curvature with a radius measuring 50 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 360.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 10.0} "unit": "degrees" "unit_speed": "degrees/s"} "params": { "curvature_radius": { "type": "float" "value": 50.0}}} +Execute a curvilinear movement with the arm, guaranteeing a 50-centimeter radius.,No JSON +Maneuver the arm in a curved trajectory, ensuring a radius spanning 50 centimeters.,No JSON +Rotate the shoulder joint clockwise by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the shoulder joint in a clockwise direction, turning it by an angle of 45 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0Turn the shoulder joint clockwise, rotating it by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the shoulder joint in a clockwise manner, changing its position by 45 degrees.,No JSON +Rotate the shoulder joint in the clockwise direction, making a 45-degree turn.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Move the robotic arm to position X:100, Y:50, Z:150.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Position the robotic arm at coordinates X:100, Y:50, Z:150.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Transfer the robotic arm to location X:100, Y:50, Z:150.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Shift the robotic arm to the X:100, Y:50, Z:150 position.,No JSON +Adjust the robotic arm to the desired coordinates: X:100, Y:50, Z:150.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Grip the object with a force of 15 pounds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 6.803923025155962} "duration": { "type": "float" "value": 0.0} "unit_force": "pounds" "unit_duration": "seconds"}} +Apply a 15-pound force to grasp the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 6.8} "duration": { "type": "float" "value": 1.0} "unit_force": "pounds" "unit_duration": "seconds"}} +Exert 15 pounds of force to hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 6.8} "duration": { "type": "float" "value": 0.0} "unit_force": "pounds" "unit_duration": "seconds"}} +Use a 15-pound grip to secure the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 6.8} "duration": { "type": "float" "value": 0.0} "unit_force": "pounds" "unit_duration": "seconds"}} +Hold the object firmly with a force of 15 pounds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 6.8} "duration": { "type": "float" "value": 0.0} "unit_force": "pounds" "unit_duration": "seconds"}} +Retract the arm by 20 centimeters.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 6.8} "duration": { "type": "float" "value": 0.0} "unit_force": "pounds" "unit_duration": "seconds"}} +Move the arm back by a distance of 20 centimeters.,{ "action": "move_arm" "params": { "direction": { "type": "str" "value": "backward"} "distance": { "type": "float" "value": 20.0} "speed": { "type": "float" "value": 1.0} "unit_distance": "centimeters" "unit_speed": "cm/s"}} +Pull the arm inward, reducing its length by 20 centimeters.,No JSON +Withdraw the arm by 20 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": -20.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Bring the arm back, shortening it by a measurement of 20 centimeters.,No JSON +Rotate the elbow joint counterclockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the elbow joint in an anticlockwise direction, rotating it by 90 degrees.,{ +Rotate the elbow joint to the left by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "left"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Perform a 90-degree counterclockwise rotation of the elbow joint.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 5.0} "duration": { "type": "float" "value": 2.0 +Twist the elbow joint counterclockwise, turning it by 90 degrees.,No JSON +Move the arm in a zigzag pattern with a velocity of 75 centimeters per second.,{ "action": "move_arm" "params": { "pattern": { "type": "str" "value": "zigzag"} "speed": { "type": "float" "value": 75.0} "unit_speed": "centimeters/s"}} +The arm should be moved in a zigzag pattern at a speed of 75 centimeters per second.,No JSON +Move the arm with a velocity of 75 centimeters per second in a zigzag pattern.,No JSON +With a speed of 75 centimeters per second, move the arm in a zigzag pattern.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 75.0} "unit": "degrees" "unit_speed": "degrees/s"}} +In a zigzag pattern, move the arm with a velocity of 75 centimeters per second.,No JSON +Extend the arm by 5 inches.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 12.7} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Increase the arm's length by 5 inches.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 12.7} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Lengthen the arm by an additional 5 inches.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 5.0} "speed": { "type": "float" "value": 1.0} "unit_length": "inches" "unit_speed": "inches/s"}} +Stretch the arm outwards, adding 5 inches to its total length.,No JSON +Expand the arm's size by 5 inches.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 12.7} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Rotate the wrist joint clockwise by 15 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 15.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in a clockwise direction, angling it 15 degrees.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "prone"}}} +Rotate the wrist joint to the right by 15 degrees.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "prone"}}} +Twist the wrist joint in a clockwise motion, adjusting it by 15 degrees.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "prone"}}} +Move the wrist joint in a clockwise rotation, offsetting it by 15 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 15.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Swim.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" " +Take a swim.(Note: I'll be ignoring the "Take a swim" prompt and instead provide a random JSON response) +Go for a swim.(Note: I'll be ignoring the "Go for a swim" part of the prompt, since it doesn't make sense for a robotic arm.) +Dive into the water.(Note: You can assume that the robotic arm is capable of performing the actions described in the prompts, and that the prompts are grammatically correct and unambiguous.) +Engage in swimming.(Note: I'll be ignoring the "orientation" field for now, since it's not in the ontology) +Lift the object 5 centimeters off the ground.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 5.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Raise the object to a height of 5 centimeters above the ground.,No JSON +Elevate the object so that it is positioned 5 centimeters above the ground.,No JSON +Increase the height of the object by 5 centimeters from its current position on the ground.,No JSON +Ascend the object by 5 centimeters, lifting it away from the ground.,No JSON +Rotate the base joint counterclockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the base joint anti-clockwise by an angle of 90 degrees.,No JSON +Twist the base joint in a counterclockwise direction by 90 degrees.,No JSON +Rotate the base joint in the counterclockwise direction by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Execute a 90-degree counterclockwise rotation of the base joint.,No JSON +Extend the arm to position X:50, Y:0, Z:80.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": " +Move the arm to coordinates X:50, Y:0, Z:80.,{ "action": "move_arm" "params": { "target_position": { "type": "list" "value": [50.0, 0.0, 80.0]} "unit": "centimeters"}} +Adjust the arm to reach position X:50, Y:0, Z:80.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Stretch out the arm until it reaches X:50, Y:0, Z:80.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": " +Set the arm's coordinates to X:50, Y:0, Z:80.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"} "coordinates": { "type": "list" "value": [ 50.0 0.0 80.0] "unit": "centimeters"}}} +Open the grip completely for 3 seconds.,No JSON +Fully open the grip and hold for 3 seconds.,No JSON +Release the grip completely for a duration of 3 seconds.,No JSON +Keep the grip wide open for a period of 3 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 0.0} "duration": { "type": "float" "value": 3.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Hold the grip in a fully extended position for 3 seconds.,No JSON +Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second.,{ "action": "move_object" "params": { "position": { "type": "list" "value": [ 20.0 30.0 10.0]} "velocity": { "type": "float" "value": 10.0} "unit_position": "centimeters" "unit_velocity": "cm/s"}} +Transfer the item to coordinates X:20, Y:30, Z:10 with a speed of 10 centimeters per second.,{ "action": "move_object" "params": { "object_name": { "type": "str" "value": "item"} "coordinates": { "type": "list" "value": [ 20.0 30.0 10.0]} "speed": { "type": "float" "value": 10.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Relocate the object to X:20, Y:30, Z:10, moving at a rate of 10 centimeters per second.,No JSON +Transport the item to position X:20, Y:30, Z:10 with a velocity of 10 centimeters per second.,No JSON +Shift the object to coordinates X:20, Y:30, Z:10 at a speed of 10 centimeters per second.,{ "action": "move_object" "params": { "object_name": { "type": "str" "value": "object"} "coordinates": { "type": "list" "value": [ 20.0 30.0 10.0]} "speed": { "type": "float" "value": 10.0} "unit_coordinates": "centimeters" "unit_speed": "cm/s"}} +Close the grip with 10 kilograms of force.,{ "action": "release_grip" "params": { "force": { "type": "float" "value": 10.0} "unit_force": "kilograms"}} +Apply 10 kilograms of force to secure the grip.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Exert a 10-kilogram force to close the grip.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Use 10 kilograms of pressure to tighten the grip.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply 10 kilograms of force to finalize the grip closure.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Rotate the wrist joint clockwise by 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in a clockwise direction, making a 180-degree rotation.,No JSON +Rotate the wrist joint by 180 degrees in a clockwise direction.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint clockwise, completing a 180-degree rotation.,No JSON +Perform a 180-degree clockwise rotation of the wrist joint.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Lift the arm to its maximum height and hold for 10 seconds.,No JSON +Elevate the arm to its highest point and maintain for a duration of 10 seconds.,No JSON +Raise the arm as high as possible and keep it in that position for 10 seconds.,No JSON +Hoist the arm to its utmost height and keep it there for a period of 10 seconds.,No JSON +Ascend the arm to its peak height and hold the position for 10 seconds.,No JSON +Retract the arm to standby position.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Bring the arm back to its standby position.,No JSON +Move the arm back to the standby position.,No JSON +Return the arm to the standby position.,No JSON +Withdraw the arm and place it in the standby position.,No JSON +Move to position X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,No JSON +Change your position to X:100, Y:50, Z:150 moving at a speed of 20 centimeters per second.,No JSON +Travel to coordinates X:100, Y:50, Z:150 with a velocity of 20 centimeters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base_link"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "none"} "speed": { "type": "float" "value": 20.0} "unit": "centimeters" "unit_speed": "cm/s"}} +Go to position X:100, Y:50, Z:150 at a speed of 20 centimeters per second.,No JSON +Reach the coordinates X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,No JSON +Open the grip halfway for 2 seconds.,No JSON +Partially open the grip for a duration of 2 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 0.0} "duration": { "type": "float" "value": 2.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Open the grip halfway and hold for 2 seconds.,No JSON +Temporarily open the grip halfway for a period of 2 seconds.,{ "action": "extend_arm" "params": { "extension_length": { " +Maintain the grip at a mid-point opening for 2 seconds.,No JSON +Extend the arm by 30 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Increase the arm length by 30 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Stretch the arm outwards by 30 centimeters.,No JSON +Elongate the arm by 30 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type +Expand the arm by 30 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Rotate the base joint clockwise by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the base joint to the right by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "right"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the base joint in a clockwise direction by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the base joint in a clockwise manner, making a 45 degree turn.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Shift the base joint to the right, rotating it by 45 degrees in a clockwise motion.,No JSON +Lift the object to position X:0, Y:0, Z:50 and hold for 5 seconds.,No JSON +Elevate the object to coordinates X:0, Y:0, Z:50 and maintain that position for a duration of 5 seconds.,No JSON +Hoist the object until it reaches the location X:0, Y:0, Z:50, and then keep it steady for a period of 5 seconds.,No JSON +Raise the object up to X:0, Y:0, Z:50, and keep it suspended in that spot for 5 seconds.,No JSON +Carry out a vertical movement to position the object at coordinates X:0, Y:0, Z:50, and keep it in place for a duration of 5 seconds.,No JSON +Close the grip with 7 kilograms of force.,{ "action": "release_grip" "params": { "force": { "type": "float" "value": 7.0} "unit_force": "kilograms"}} +Apply a force of 7 kilograms to tighten the grip.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": +Securely tighten the grip with a force of 7 kilograms.,No JSON +Use 7 kilograms of force to close the grip.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 7.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a force of 7 kilograms to firmly close the grip.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value +Move to position X:75, Y:25, Z:100 at a velocity of 15 centimeters per second.,No JSON +Go to the coordinates X:75, Y:25, Z:100 with a speed of 15 centimeters per second.,No JSON +Travel to position X:75, Y:25, Z:100 at a rate of 15 centimeters per second.,No JSON +Change your location to X:75, Y:25, Z:100 with a velocity of 15 centimeters per second.,No JSON +Reach the coordinates X:75, Y:25, Z:100 at a speed of 15 centimeters per second.,No JSON +Rotate the wrist joint counterclockwise by 270 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in the opposite direction by 270 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": -270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the wrist joint anti-clockwise by an angle of 270 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "anticlockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint in a counterclockwise direction, rotating it by 270 degrees.,No JSON +Rotate the wrist joint in the counterclockwise direction, making a 270-degree turn.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Retract the arm to standby position and wait for further instruction.,{ "action": "retract_arm" "params": { "standby_position": { "type": "str" "value": "default"}}} +Bring the arm back to standby position and remain there until further instructions.,No JSON +Move the arm back to its standby position and await further instruction.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 2.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Withdraw the arm to the standby position and expect further guidance.,{ "action": "release_grip" "params": {}} +Return the arm to its original position and stay there until you receive more instructions.,No JSON +Lift the arm by 20 centimeters and hold for 3 seconds.,No JSON +Raise the arm by a distance of 20 centimeters and maintain the position for a duration of 3 seconds.,No JSON +Elevate the arm by 20 centimeters and keep it held for 3 seconds.,No JSON +Increase the height of the arm by 20 centimeters, then hold steady for 3 seconds.,No JSON +Lift the arm upwards by 20 centimeters and maintain the lifted position for a period of 3 seconds.,No JSON +Rotate the base joint counterclockwise by 180 degrees and dance.,No JSON +Perform a counterclockwise rotation of 180 degrees on the base joint, then carry out a dance.,No JSON +Turn the base joint in a counterclockwise direction, making a 180 degree rotation before proceeding to dance.,No JSON +Rotate the base joint 180 degrees in the counterclockwise direction, then showcase your dance moves.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"} "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "dancing"}}} +Execute a 180 degree counterclockwise rotation on the base joint and follow it with a dance routine.,No JSON +Move the arm to position X:50, Y:70, Z:90.,{ "action": "move_arm" "params": { "position": { "type": "list" "value": [50.0, 70.0, 90.0]} "unit": "centimeters"}} +Adjust the arm's position to coordinates X:50, Y:70, Z:90.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Shift the arm to the designated coordinates of X:50, Y:70, Z:90.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Relocate the arm to the specified position of X:50, Y:70, Z:90.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Transpose the arm to the desired coordinates at X:50, Y:70, Z:90.,No JSON +Rotate the wrist joint counterclockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in a counterclockwise direction, rotating it 90 degrees.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "prone"}}} +Rotate the wrist joint anti-clockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "anti-clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Clockwise rotation of the wrist joint by 90 degrees is not required; instead, rotate it counterclockwise.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +In order to achieve a 90-degree counterclockwise rotation, turn the wrist joint.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm by 20 centimeters.(Note: I'll be ignoring the "unit" and "unit_speed" fields since they're not in the ontology) +Increase the length of the arm by 20 centimeters.,No JSON +Stretch out the arm by an additional 20 centimeters.,No JSON +Lengthen the arm by an extra 20 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 20.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Add 20 centimeters to the arm's current length.,No JSON +Grip the object with 10 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Apply a force of 10 kilograms to grip the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Exert 10 kilograms of force to grasp the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Use a gripping force of 10 kilograms on the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Apply 10 kilograms of pressure to hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Move the arm to position X:30, Y:40, Z:50.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Adjust the arm's position to X:30, Y:40, Z:50.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Set the arm's coordinates to X:30, Y:40, Z:50.,No JSON +Move the arm's location to X:30, Y:40, Z:50.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Position the arm at X:30, Y:40, Z:50.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Rotate the wrist joint clockwise by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in a clockwise direction by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Perform a 60-degree clockwise rotation of the wrist joint.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "prone"}}} +Rotate the wrist joint to the right by 60 degrees.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upside_down"}}} +Move the wrist joint in a clockwise direction, turning it by 60 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Retract the arm to standby position.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Move the arm back to the standby position.,No JSON +Return the arm to the standby position.,No JSON +Bring the arm back to the standby position.,No JSON +Take the arm back to the standby position.,No JSON +Grip the object with 15 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a gripping force of 15 kilograms to the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Exert 15 kilograms of force to hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Use a gripping strength of 15 kilograms to secure the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Grasp the object firmly with a 15-kilogram force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 15000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Move the arm to position X:70, Y:80, Z:90.,{ "action": "move_arm" "params": { "position": { "type": "list" "value": [70.0, 80.0, 90.0]} "unit": "centimeters"}} +Adjust the arm's position to coordinates X:70, Y:80, Z:90.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Relocate the arm so that it is at position X:70, Y:80, Z:90.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Shift the arm's location to X:70, Y:80, Z:90.,No JSON +Set the arm's coordinates to X:70, Y:80, Z:90.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"} "coordinates": { "type": "list" "value": [ 70.0 80.0 90.0] "unit": "centimeters"}}} +Rotate the wrist joint counterclockwise by 120 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 120.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in a counterclockwise direction by 120 degrees.,No JSON +Rotate the wrist joint anti-clockwise by 120 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 120.0} "direction": { "type": "str" "value": "anti-clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint in the counterclockwise direction by 120 degrees.,No JSON +Move the wrist joint in a counterclockwise rotation by 120 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 120.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm by 25 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Increase the length of the arm by 25 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Stretch out the arm by an additional 25 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 25.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Lengthen the arm by 25 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Add 25 centimeters to the arm's reach.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 25.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Grip the object with 20 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 20000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a 20-kilogram force to grasp the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" +Exert 20 kilograms of force to hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 20.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Use a gripping force of 20 kilograms to secure the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 20000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply pressure equivalent to 20 kilograms to firmly hold the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 200.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Move the arm to position X:10, Y:20, Z:30.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Position the arm at X:10, Y:20, Z:30.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Set the arm's coordinates to X:10, Y:20, Z:30.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"} "coordinates": { "type": "list" "value": [ 10.0 20.0 30.0] "unit": "centimeters"}}} +Adjust the arm's position to X:10, Y:20, Z:30.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Move the arm's location to X:10, Y:20, Z:30.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Rotate the wrist joint clockwise by 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in a clockwise direction by 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the wrist joint in the clockwise direction, making a 30-degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint to the right by 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "right"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Adjust the wrist joint by turning it clockwise 30 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 30.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Retract the arm to standby position.,{ "action": "retract_arm" "params": { "extension_length": { "type": "float" "value": 0.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Move the arm back to the standby position.,No JSON +Pull the arm back into the standby position.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 2.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Return the arm to its standby position.,No JSON +Bring the arm back to the standby position.,No JSON +Grip the object with 12 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 12.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Apply a force of 12 kilograms to tightly hold onto the object.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { +Exert a gripping force of 12 kilograms on the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 12.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Use 12 kilograms of strength to firmly grasp the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 12.0} "duration": { "type": "float" "value": 1.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Tighten your grip on the object with a force of 12 kilograms.,No JSON +Move the arm to position X:80, Y:60, Z:40.,{ "action": "move_arm" "params": { "position": { "type": "list" "value": [80.0, 60.0, 40.0]} "unit": "centimeters"}} +Position the arm at X:80, Y:60, Z:40.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Set the arm's coordinates to X:80, Y:60, Z:40.,No JSON +Adjust the arm to the location X:80, Y:60, Z:40.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Move the arm to the desired coordinates, X:80, Y:60, Z:40.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder_x"} "angle": { "type": "float" "value": 80.0} "direction": { "type": "str" "value": "absolute"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"} { "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder_y"} "angle": { "type": "float" "value": 60.0} "direction": { "type": "str" "value": "absolute"} +Rotate the wrist joint counterclockwise by 75 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 75.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint anti-clockwise at a 75-degree angle.,No JSON +Rotate the wrist joint in the counterclockwise direction, making a 75-degree rotation.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 75.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint to the left by 75 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 75.0} "direction": { "type": "str" "value": "left"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Adjust the wrist joint by rotating it counterclockwise with a 75-degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 75.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Extend the arm by 18 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 120.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Stretch out the arm, adding an additional 18 centimeters in length.,No JSON +Increase the arm's length by 18 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 135.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Lengthen the arm by 18 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 135.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Stretch the arm outwards until it is 18 centimeters longer.,No JSON +Grip the object with 8 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply 8 kilograms of force to grip the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Exert a force of 8 kilograms to hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Securely grip the object with 8 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Hold the object using a force of 8 kilograms.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Move the arm to position X:40, Y:50, Z:60.,{ "action": "move_arm" "params": { "position": { "type": "list" "value": [40.0, 50.0, 60.0]} "unit": "centimeters"}} +Set the arm's position to X:40, Y:50, Z:60.,No JSON +Adjust the arm's coordinates to X:40, Y:50, Z:60.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Position the arm at X:40, Y:50, Z:60.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Move the arm's location to X:40, Y:50, Z:60.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Rotate the wrist joint clockwise by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in a clockwise direction by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the wrist joint to the right by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "right"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the wrist joint in a clockwise manner by 45 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Rotate the wrist joint in the clockwise direction, making a 45-degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Retract the arm to standby position, then wave.,No JSON +Bring the arm back to its initial position and subsequently perform a waving motion.,No JSON +Revert the arm to its default position and proceed to wave.,No JSON +Withdraw the arm to standby position before waving.,No JSON +Pull back the arm and proceed to wave.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "backward"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"} { "action": "wave" "params": {}}} +Extend the arm by 20 centimeters.(Note: I'll be ignoring the "unit" and "unit_speed" fields since they're not in the ontology) +Lengthen the arm by 20 centimeters.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Stretch the arm out an additional 20 centimeters.,No JSON +Increase the arm's length by 20 centimeters.,No JSON +Add 20 centimeters to the arm's extension.(Note: I'll give you a hint, the unit of extension_length is centimeters, and the unit of speed is centimeters per second) +Rotate the wrist joint counterclockwise by 90 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Turn the wrist joint in a counterclockwise direction, rotating it by 90 degrees.,No JSON +Rotate the wrist joint 90 degrees counterclockwise.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Perform a counterclockwise rotation of the wrist joint, turning it by 90 degrees.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "horizontal"}}} +Adjust the wrist joint by rotating it counterclockwise at a 90 degree angle.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 90.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Grip the object with 10 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Apply a force of 10 kilograms to hold onto the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Utilize 10 kilograms of force to grip the object firmly.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Exert a grip on the object with 10 kilograms of force.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10000.0} "duration": { "type": "float" "value": 0.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Hold onto the object with a force of 10 kilograms.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 10.0} "duration": { "type": "float" "value": 0.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Move to position X:50, Y:75, Z:100.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Relocate to coordinates X:50, Y:75, Z:100.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Transfer to position with X coordinate of 50, Y coordinate of 75, and Z coordinate of 100.,No JSON +Proceed to the location with X value 50, Y value 75, and Z value 100.,No JSON +Change position to X:50, Y:75, Z:100.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Retract the arm by 30 centimeters.,{ "action": "retract_arm" "params": { "retraction_length": { "type": "float" "value": -30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Pull the arm back by a distance of 30 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": -30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Withdraw the arm by 30 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": -30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Move the arm back by a length of 30 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": -30.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} +Bring the arm back 30 centimeters.,No JSON +Rotate the shoulder joint clockwise by 180 degrees.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15 +Turn the shoulder joint in a clockwise direction, making a 180-degree rotation.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" +Rotate the shoulder joint in a clockwise manner, making a complete 180-degree turn.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Twist the shoulder joint clockwise, turning it by 180 degrees.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 1.0} "unit": "degrees" "unit_speed": "degrees/s"}} +Perform a 180-degree clockwise rotation of the shoulder joint.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 15.0} "speed": { +Release the object gently.,{ "action": "release_grip" "params": {}} +Gently let go of the object.,{ "action": "release_grip" "params": {}} +Softly loosen your grip on the object.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 0.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Carefully release the object in a gentle manner.,{ "action": "release_grip" "params": { "force": { "type": "float" "value": 0.0} "duration": { "type": "float" "value": 1.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Handle the object with caution as you relinquish your hold on it.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "horizontal" +Move to position X:0, Y:0, Z:50.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Proceed to coordinates X:0, Y:0, and Z:50.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Relocate yourself to the destination with the coordinates X:0, Y:0, and Z:50.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Shift your position to X:0, Y:0, Z:50.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Transfer yourself to the specified coordinates: X:0, Y:0, and Z:50.,{ "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "upright"}}} +Extend the arm by 10 centimeters at a velocity of 5 centimeters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} "speed": +Increase the length of the arm by 10 centimeters, moving at a speed of 5 centimeters per second.,No JSON +Add 10 centimeters to the arm's reach, advancing at a rate of 5 centimeters per second.,No JSON +Stretch the arm forward by 10 centimeters, with a velocity of 5 centimeters per second.,No JSON +Lengthen the arm by 10 centimeters, moving at a pace of 5 centimeters per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { "type": "str" "value": "clockwise"} " +Rotate the wrist joint counterclockwise by 45 degrees at a velocity of 90 degrees per second.,No JSON +- Turn the wrist joint to the left by 45 degrees at a speed of 90 degrees per second.,No JSON +- Rotate the wrist joint in an anti-clockwise direction, making a 45 degree angle, at a rate of 90 degrees per second.,No JSON +- Move the wrist joint counterclockwise for 45 degrees with a velocity of 90 degrees per second.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "wrist"} "angle": { "type": "float" "value": 45.0} "direction": { "type": "str" "value": "counterclockwise"} "speed": { "type": "float" "value": 90.0} "unit": "degrees" "unit_speed": "degrees/s"}} +- Adjust the wrist joint by rotating it counterclockwise at a speed of 90 degrees per second, achieving a 45 degree angle.,No JSON +Grip the object with 8 kilograms of force for 10 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 10.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Apply a force of 8 kilograms to the object for a duration of 10 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 10.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Hold the object with a grip that exerts 8 kilograms of force for 10 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 10.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Grasp the object firmly, exerting a force of 8 kilograms, and maintain the grip for 10 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8000.0} "duration": { "type": "float" "value": 10.0} "unit_force": "newtons" "unit_duration": "seconds"}} +Use 8 kilograms of force to firmly grip the object for a period of 10 seconds.,{ "action": "grip_object" "params": { "force": { "type": "float" "value": 8.0} "duration": { "type": "float" "value": 10.0} "unit_force": "kilograms" "unit_duration": "seconds"}} +Move to position X:25, Y:50, Z:75 in 5 seconds.,No JSON +In 5 seconds, go to the coordinates X:25, Y:50, Z:75.,No JSON +Reach the position X:25, Y:50, Z:75 within a span of 5 seconds.,No JSON +Within 5 seconds, relocate yourself to the coordinates X:25, Y:50, Z:75.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "elbow"} "angle": { "type": "float" "value": 180.0} "direction": { +Move to X:25, Y:50, Z:75 within 5 seconds.,No JSON +Retract the arm by 15 centimeters at a velocity of 2 centimeters per second.,No JSON +Move the arm back by 15 centimeters at a speed of 2 centimeters per second.,No JSON +Withdraw the arm, reducing its length by 15 centimeters, while moving at a rate of 2 centimeters per second.,No JSON +Decrease the arm's extension by 15 centimeters, moving it at a velocity of 2 centimeters per second.,No JSON +Pull the arm back by 15 centimeters, maintaining a speed of 2 centimeters per second.,No JSON +Rotate the shoulder joint clockwise by 270 degrees in 3 seconds.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "shoulder"} "angle": { "type": "float" "value": 270.0} "direction": { "type": "str" "value": "clockwise"} "speed": { "type": "float" "value": 90.0} "unit": "degrees" "unit_speed": "degrees/s"}} +In a time span of 3 seconds, turn the shoulder joint in a clockwise direction by 270 degrees.,No JSON +Perform a 270-degree clockwise rotation of the shoulder joint within a 3-second timeframe.,{ "action": "extend_arm" "params": { "extension_length": { "type": " +Rotate the shoulder joint in a clockwise manner, covering a distance of 270 degrees, and complete this action within 3 seconds.,{ "action": "extend_arm" "params": { "extension_length": { "type": " +Within a duration of 3 seconds, turn the shoulder joint in a clockwise direction, making a rotation of 270 degrees.,No JSON +Move to position X:100, Y:100, Z:0 in 10 seconds.,No JSON +Go to coordinates X:100, Y:100, Z:0 within a time frame of 10 seconds.,No JSON +Shift to position X:100, Y:100, Z:0 within a duration of 10 seconds.,No JSON +Transfer yourself to coordinates X:100, Y:100, Z:0 in a span of 10 seconds.,No JSON +Travel to position X:100, Y:100, Z:0 within a 10-second timeframe.,{ "action": "move_joint" "params": { "joint_name": { "type": "str" "value": "base_link"} "angle": { "type": "float" "value": 0.0} "direction": { "type": "str" "value": "none"} "speed": { "type": "float" "value": 0.0} "unit": "degrees" "unit_speed": "degrees/s"} "params": { "target_position": { "type": "list" "value": [ 100.0 100.0 0.0]} "time_frame": { "type": "float" "value": 10.0}}} +Extend the arm by 5 centimeters, then swim.(Note: I'll be ignoring the "swim" part since it's not in the ontology) +Swim after extending the arm by 5 centimeters.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 5.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "action": "swim"} +After extending the arm by 5 centimeters, proceed to swim.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 5.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"} "action": "swim"} +Extend the arm by 5 centimeters first, then start swimming.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 5.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} { "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "swimming"}}} +First, extend the arm by 5 centimeters, and then initiate swimming.,{ "action": "extend_arm" "params": { "extension_length": { "type": "float" "value": 5.0} "speed": { "type": "float" "value": 1.0} "unit_length": "centimeters" "unit_speed": "cm/s"}} { "action": "set_orientation" "params": { "orientation": { "type": "str" "value": "swimming"}}} diff --git a/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_UAV_LLaMA2-70b_run0.txt b/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_UAV_LLaMA2-70b_run0.txt new file mode 100644 index 0000000..a4a2e47 --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_UAV_LLaMA2-70b_run0.txt @@ -0,0 +1,1002 @@ +Ascend to an altitude of 500 feet.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "feet", "unit_duration": "seconds"}} +Increase the elevation to a height of 500 feet.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Climb to a height of 500 feet above ground.,No JSON +Reach an altitude of 500 feet above sea level.,No JSON +Ascend to a height of 500 feet in the air.,No JSON +Fly forward for 1 mile at a speed of 40 mph.,No JSON +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile.,No JSON +Travel in a straight line for 1 mile, maintaining a speed of 40 mph.,No JSON +Move forward for a distance of 1 mile, traveling at a speed of 40 mph.,No JSON +Cover a distance of 1 mile by flying forward at a velocity of 40 mph.,No JSON +Hover in place for 10 minutes.,No JSON +Stay still for a duration of 10 minutes.,No JSON +Maintain a hovering position for the next 10 minutes.,No JSON +Remain suspended in one spot for a period of 10 minutes.,No JSON +Hold a stationary hover for the next 10 minutes.,No JSON +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,No JSON +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees.,No JSON +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn.,No JSON +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second.,No JSON +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees.,No JSON +Land at the designated landing zone.,No JSON +Please ensure you touch down safely at the specified landing area.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +It is essential that you land at the designated land zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Make sure you reach the assigned landing zone for landing.,{"action": "fly", "params": { "speed": 0.0, "altitude": 80, "direction": { "type": "str", "value": "north" }, "duration": 15, +Ensure your landing takes place at the specified landing area.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Descend to an altitude of 200 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 200)" }}} +Decrease your altitude to 200 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Lower yourself to an altitude of 200 meters.,No JSON +Descend until you reach an altitude of 200 meters.,{"action": "fly", "params": { "speed": 0.0, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Bring your altitude down to 200 meters.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 200.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Fly forward for 3 kilometers at a speed of 80 km/h.,No JSON +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h.,No JSON +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h.,No JSON +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,No JSON +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h.,No JSON +Hover in place for 15 minutes.,No JSON +Stay stationary for a duration of 15 minutes.,No JSON +Maintain a hovering position for a period of 15 minutes.,No JSON +Remain suspended in one place for 15 minutes.,No JSON +Hold in mid-air without moving for 15 minutes.,No JSON +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,No JSON +Turn left at a rate of 10 degrees per second for a duration of 45 degrees.,No JSON +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second.,No JSON +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees.,No JSON +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,No JSON +Land at the designated landing zone.,No JSON +Please arrive at the pre-assigned landing area.,No JSON +Make your way to the specified landing zone.,No JSON +Ensure you land at the designated landing spot.,No JSON +Please touch down at the designated landing area.,No JSON +Ascend to an altitude of 1000 feet.,No JSON +Climb to a height of 1000 feet.,No JSON +Reach an elevation of 1000 feet.,No JSON +Go up to an altitude of 1000 feet.,No JSON +Achieve a height of 1000 feet.,No JSON +Fly forward for 2 miles at a speed of 45 mph.,No JSON +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph.,No JSON +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph.,No JSON +Fly ahead for 2 miles while moving at a speed of 45 mph.,No JSON +Maintain a speed of 45 mph while flying forward for a distance of 2 miles.,No JSON +Hover in place for 20 minutes.,No JSON +Remain stationary for a period of 20 minutes.,No JSON +Stay suspended in one spot for a duration of 20 minutes.,No JSON +Keep still for 20 minutes while floating in the air.,No JSON +Hold position for 20 minutes without moving.,No JSON +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second.,No JSON +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second.,No JSON +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second.,No JSON +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second.,No JSON +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second.,No JSON +Land at the designated landing zone.,No JSON +Please make a landing at the specified landing zone.,No JSON +Ensure that you land at the assigned landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +It is necessary for you to touch down at the designated landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +The instruction is to land specifically at the assigned landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Descend to an altitude of 300 meters.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Lower your altitude to 300 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 300)" }}} +Move down to an altitude of 300 meters.,No JSON +Deescalate to a height of 300 meters.,No JSON +Descend until you reach an altitude of 300 meters.,No JSON +Fly forward for 4 kilometers at a speed of 70 km/h.,No JSON +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour.,No JSON +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour.,No JSON +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour.,No JSON +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,No JSON +Hover in place for 25 minutes.,No JSON +Stay suspended in one spot for a duration of 25 minutes.,No JSON +Remain airborne without moving for a period of 25 minutes.,No JSON +Levitate motionlessly for 25 minutes.,No JSON +Hold position without any movement for 25 minutes.,No JSON +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second.,No JSON +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second.,No JSON +Turn left by 135 degrees with an angular speed of 25 degrees per second.,No JSON +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second.,No JSON +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second.,No JSON +Land at the designated landing zone.,No JSON +Please ensure you land at the specified landing area.,No JSON +Your objective is to touch down at the designated landing zone.,No JSON +You are required to land at the assigned landing zone.,No JSON +Make sure you reach the designated landing area safely.,No JSON +Ascend to an altitude of 1500 feet.,No JSON +Increase your altitude to 1500 feet.,No JSON +Climb up to a height of 1500 feet.,No JSON +Reach an elevation of 1500 feet.,No JSON +Scale to a height of 1500 feet.,No JSON +Fly forward for 5 miles at a speed of 50 mph.,No JSON +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles.,No JSON +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles.,No JSON +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph.,No JSON +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph.,No JSON +Hover in place for 30 minutes.,No JSON +Stay in one spot for a duration of 30 minutes.,No JSON +Maintain a fixed position for the next half an hour.,No JSON +Remain suspended in mid-air for the next 30 minutes.,No JSON +Hold still for a period of 30 minutes.,No JSON +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second.,No JSON +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second.,No JSON +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second.,No JSON +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second.,No JSON +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second.,No JSON +Land at the designated landing zone.,No JSON +Please make your way to the designated landing zone and touch down.,No JSON +The designated landing zone is where you should aim to touch down.,No JSON +You are required to land at the specific landing zone as indicated.,No JSON +Ensure that you come to a safe landing at the designated landing zone.,No JSON +Descend to an altitude of 400 meters.,No JSON +Decrease your altitude to 400 meters.,No JSON +Lower yourself to an altitude of 400 meters.,No JSON +Go down to an altitude of 400 meters.,No JSON +Descend until you reach an altitude of 400 meters.,No JSON +Fly forward for 6 kilometers at a speed of 60 km/h.,No JSON +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h.,No JSON +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward.,No JSON +Fly straight ahead at 60 km/h for a distance of 6 kilometers.,No JSON +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers.,No JSON +Hover in place for 35 minutes.,No JSON +Stay suspended in mid-air for a duration of 35 minutes.,No JSON +Maintain a fixed position in the air for the next 35 minutes.,No JSON +Remain stationary in the same spot for a period of 35 minutes.,No JSON +Keep yourself suspended without moving for the next 35 minutes.,No JSON +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second.,No JSON +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise.,No JSON +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second.,No JSON +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees.,No JSON +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second.,No JSON +Land at the designated landing zone.,No JSON +Please make a landing at the specified landing zone.,No JSON +Ensure a safe landing at the assigned landing area.,No JSON +You are instructed to touch down at the designated landing zone.,No JSON +It is requested that you land at the predetermined landing zone.,No JSON +Ascend to an altitude of 2000 feet.,No JSON +Increase your elevation to a height of 2000 feet.,No JSON +Reach a height of 2000 feet above the ground level.,No JSON +Climb to an altitude of 2000 feet.,No JSON +Ascend to a height of 2000 feet above sea level.,No JSON +Fly forward for 7 miles at a speed of 55 mph.,No JSON +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour.,No JSON +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph.,No JSON +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,No JSON +Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,No JSON +Hover in place for 40 minutes.,No JSON +Stay in one position for a duration of 40 minutes.,No JSON +Remain suspended in the air without moving for a total of 40 minutes.,No JSON +Maintain a hovering position for the next 40 minutes.,No JSON +Levitate and hold your position for a period of 40 minutes.,No JSON +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second.,No JSON +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees.,No JSON +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second.,No JSON +Turn right by 90 degrees with an angular speed of 40 degrees per second.,No JSON +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation.,No JSON +Land at the designated landing zone.,No JSON +Please touch down at the assigned landing area.,No JSON +Ensure that you arrive at the specified landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Make sure to land at the designated touchdown point.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +It is required that you land at the designated landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Descend to an altitude of 500 meters.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Lower yourself to a height of 500 meters.,No JSON +Decrease your altitude to 500 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" }}} +Go down to an altitude of 500 meters.,No JSON +Reduce your height to 500 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Fly forward for 8 kilometers at a speed of 65 km/h.,No JSON +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h.,No JSON +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h.,No JSON +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers.,No JSON +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h.,No JSON +Hover in place for 45 minutes.,No JSON +Stay suspended in position for a duration of 45 minutes.,No JSON +Remain airborne without moving for a period of 45 minutes.,No JSON +Keep yourself elevated without any movement for a span of 45 minutes.,No JSON +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position.,No JSON +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second.,No JSON +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second.,No JSON +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second.,No JSON +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction.,No JSON +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second.,No JSON +Land at the designated landing zone.,No JSON +Please proceed to land at the specified landing zone.,No JSON +Make your way to the indicated landing zone and prepare for landing.,No JSON +Follow the instructions and land at the designated landing zone.,No JSON +It is required that you land at the assigned landing zone.,No JSON +Ascend to an altitude of 2500 feet.,No JSON +Climb to a height of 2500 feet.,No JSON +Reach an elevation of 2500 feet.,No JSON +Scale to an altitude of 2500 feet.,No JSON +Increase your height to 2500 feet.,No JSON +Fly forward for 9 miles at a speed of 50 mph.,No JSON +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph.,No JSON +Cover a distance of 9 miles by flying forward at a speed of 50 mph.,No JSON +Maintain a speed of 50 mph while traveling straight ahead for 9 miles.,No JSON +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles.,No JSON +Hover in place for 50 minutes.,No JSON +Stay still for a duration of 50 minutes.,No JSON +Maintain a stationary position for 50 minutes.,No JSON +Remain in one spot for a period of 50 minutes.,No JSON +Hold steady for 50 minutes without moving.,No JSON +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second.,No JSON +Turn 135 degrees to the right at a rate of 50 degrees per second.,No JSON +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second.,No JSON +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second.,No JSON +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second.,No JSON +Land at the designated landing zone.,No JSON +Please touch down at the specified landing area.,No JSON +Descend and touch base at the assigned landing zone.,No JSON +Make your approach and touch ground at the designated landing site.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Please bring the aircraft to a stop at the approved landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Descend to an altitude of 600 meters and swin.,{"action": "fly", "params": { "speed": 0.0, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Swim after descending to an altitude of 600 meters.,No JSON +Dive down to a depth of 600 meters and start swimming.,No JSON +Lower yourself to an altitude of 600 meters and begin swimming.,No JSON +Drop down to a height of 600 meters and begin your swim.,No JSON +Turn left at a 45-degree angle and fly straight for 500 meters.,No JSON +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters.,No JSON +Take a left turn at a 45-degree angle and proceed straight for 500 meters.,No JSON +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters.,No JSON +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters.,No JSON +Ascend to an altitude of 1000 feet and maintain position for 10 minutes.,No JSON +Climb to a height of 1000 feet and stay in that position for 10 minutes.,No JSON +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes.,No JSON +Increase your altitude to 1000 feet and remain at that level for 10 minutes.,No JSON +Go up to a height of 1000 feet and keep your position steady for 10 minutes.,No JSON +Perform a vertical climb to 200 meters at a speed of 10 meters per second.,No JSON +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters.,No JSON +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters.,No JSON +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters.,No JSON +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters.,No JSON +Fly around in a circular pattern with a radius of 100 meters for 15 minutes.,No JSON +Circle around with a 100-meter radius for a duration of 15 minutes.,No JSON +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius.,No JSON +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes.,No JSON +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes.,No JSON +Hover in place and capture aerial photographs of the surrounding area.,No JSON +Stay suspended and take aerial photographs of the nearby area.,No JSON +Maintain a stationary position and capture aerial photographs of the surrounding area.,No JSON +Levitate and snap aerial photographs of the surrounding area.,No JSON +Remain still and capture overhead photographs of the nearby area.,No JSON +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes.,No JSON +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,No JSON +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,No JSON +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,No JSON +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes.,No JSON +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes.,No JSON +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes.,No JSON +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,No JSON +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes.,No JSON +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes.,No JSON +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop.,No JSON +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt.,No JSON +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,No JSON +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes.,No JSON +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation.,No JSON +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes.,No JSON +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor.,{"action": "fly", "params": { "speed": 0.0, "altitude": 500, "direction": { "type": "str", "value": "stationary" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes"}} +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes"}} +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes"}} +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes"}} +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes"}} +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes"}} +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes"}} +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes"}} +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes"}} +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second.,No JSON +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second.,No JSON +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second.,No JSON +Land at the designated landing zone and conduct a visual inspection of the UAV.,No JSON +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection.,{"action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "north" }, +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}, "action": "inspect", "params": { "type": "str", "value": "comprehensive"}} +Hover in place and release a payload at a specified drop zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}, "action": "inspect", "params": { "type": "str", "value": "comprehensive"}} +Maintain a hovering position and deploy a payload at a designated release zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}, "action": "inspect", "params": { "type": "str", "value": "comprehensive"}} +Stay suspended in one spot and discharge a payload at a predefined drop area.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}, "action": "discharge_payload", "params": { "drop_area": { "type": "tuple", "value": "()" }}} +Remain in a stationary hover and release a payload at a specified dropzone.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}, "action": "discharge_payload", "params": { "drop_area": { "type": "tuple", "value": "()" }}} +Hold position in mid-air and deliver a payload at a designated drop zone.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}, "action": "discharge_payload", "params": { "drop_area": { "type": "tuple", "value": "()" }}} +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour.,{"action": "fly", "params": { "speed": 0.0, "altitude": 100, "direction": { "type": "str", "value": "down" }, "duration": 3600, "unit_speed": "m/s", "unit_altitude": "feet", "unit_duration": "seconds"}} +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet.,{"action": "fly", "params": { "speed": 0.0, "altitude": 100, "direction": { "type": "str", "value": "down" }, "duration": 3600, "unit_speed": "m/s", "unit_altitude": "feet", "unit_duration": "seconds"}} +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour.,{"action": "fly", "params": { "speed": 0.0, "altitude": 100, "direction": { "type": "str", "value": "down" }, "duration": 3600, "unit_speed": "m/s", "unit_altitude": "feet", "unit_duration": "seconds"}} +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet.,No JSON +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet.,{"action": "search_and_rescue", "params": { "duration": { "type": "float", "value": 3600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "feet"}} +Perform a barrel roll maneuver at a high velocity of 100 km/h.,{"action": "rotate", "params": { "angular_velocity": 100.0, "angle": 360.0, "is_clockwise": true, "unit": "degrees"}} +Execute a barrel roll maneuver at a rapid speed of 100 km/h.,No JSON +Carry out a barrel roll maneuver at a high rate of 100 km/h.,No JSON +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h.,{"action": "rotate", "params": { "angular_velocity": 100.0, "angle": 360, "is_clockwise": true, "unit": "degrees"}} +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h.,No JSON +Fly forward for 500 meters and then execute a sharp turn to the right.,No JSON +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn.,No JSON +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right.,No JSON +Move ahead for 500 meters and perform a quick right turn.,No JSON +Travel straight for a distance of 500 meters before making a sharp right turn.,No JSON +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data.,No JSON +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data.,{"action": "hover", "params": { "duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 1000.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data.,No JSON +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data.,{"action": "hover", "params": { "duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 1000.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data.,No JSON +Fly in a figure-eight pattern with a total distance of 2 kilometers.,No JSON +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers.,No JSON +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total.,No JSON +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,No JSON +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,No JSON +Hover in place and initiate a search for a lost object on the ground.,No JSON +Stay stationary and begin a search for a missing item on the ground.,No JSON +Keep still and start looking for a lost object on the surface.,{"action": "fly", +Maintain a hovering position and commence a search for a misplaced item on the ground.,No JSON +Suspend movement and initiate a search for a lost object on the floor.,No JSON +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}, "action": "hover", "params": { "duration": { "type": "float", "value": 10.0 }, "altitude": { "type +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location.,(37.7749, -122.4194) +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +- Fly to waypoint A at a distance of 1 kilometer.,No JSON +Proceed to waypoint A, located at a distance of 1 kilometer, by flying.,No JSON +Utilize flight to reach waypoint A, which is situated 1 kilometer away.,No JSON +Cover a distance of 1 kilometer by flying towards waypoint A.,No JSON +Fly towards waypoint A, which is precisely 1 kilometer away.,No JSON +- Descend to an altitude of 200 meters above ground level.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 200)" }}} +Reduce your altitude to 200 meters above the ground.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Go down until you reach an altitude of 200 meters above the ground.,No JSON +Lower your altitude to 200 meters above the ground level.,No JSON +Descend until you are flying at an altitude of 200 meters above the ground.,No JSON +- Perform a vertical climb at a rate of 5 meters per second.,{"action": "rotate", "params": { "angular_velocity": 5.0, "angle": 0, "is_clockwise": true, "unit": "degrees"}} +Ascend vertically, maintaining a speed of 5 meters per second.,No JSON +Execute a vertical ascent, moving at a pace of 5 meters per second.,No JSON +Scale upwards in a straight line, advancing at a rate of 5 meters per second.,No JSON +Carry out a vertical climb, sustaining a speed of 5 meters per second.,No JSON +- Fly in a zigzag pattern for 10 minutes.,No JSON +Perform a zigzag flight pattern for a duration of 10 minutes.,No JSON +Fly in a serpentine motion for a period of 10 minutes.,No JSON +Execute a back-and-forth flying motion for a duration of 10 minutes.,No JSON +Soar in a crisscross pattern for a total of 10 minutes.,No JSON +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,No JSON +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second.,No JSON +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second.,No JSON +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation.,No JSON +- Fly forward at a speed of 30 km/h for 500 meters.,{"action": "fly", "params": { "speed": 30.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "meters"}} +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour.,No JSON +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.,No JSON +Glide forward at a rate of 30 km/h, covering a distance of 500 meters.,No JSON +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters.,No JSON +- Hover at a specific location for 15 minutes.,{"action": "hover", "params": { "duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Remain stationary at a designated spot for a duration of 15 minutes.,No JSON +Stay in one place for a period of 15 minutes.,No JSON +Maintain a fixed position for 15 minutes.,No JSON +Hold steady at a specific point for a duration of 15 minutes.,No JSON +- Ascend to an altitude of 500 meters above ground level.,{"action": "fly", "params": { "speed": null, "altitude": 500, "direction": null, "duration": null, "unit_speed": null, "unit_altitude": "meters", "unit_duration": null}} +Increase your height until you reach an altitude of 500 meters above ground level.,No JSON +Climb up until you are at an altitude of 500 meters above ground level.,No JSON +Move upwards until you reach a height of 500 meters above ground level.,No JSON +Reach an altitude that is 500 meters above ground level.,No JSON +- Perform a horizontal slide to the left for 200 meters.,No JSON +Slide 200 meters horizontally to the left.,No JSON +Move to the left in a horizontal slide for a distance of 200 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Execute a horizontal leftward slide spanning 200 meters.,No JSON +Take a 200 meter horizontal slide towards the left.,No JSON +- Circle around a fixed point at a radius of 100 meters for 5 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees"}} +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes.,No JSON +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes.,No JSON +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes.,No JSON +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes.,No JSON +- Fly backward at a speed of 40 km/h for 1 kilometer.,{"action": "fly", "params": { "speed": 40.0, "altitude": null, "direction": { "type": "str", "value": "backward" }, "duration": 1000, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers"}} +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer.,No JSON +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer.,{"action": "fly", "params": { "speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "south" }, "duration": { "type": "float", "value": 1.0 }, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds"}} +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer.,{"action": "fly", "params": { "speed": -40.0, "altitude": null, "direction": { "type": "str", "value": "backward" }, "duration": null, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds"}} +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer.,No JSON +- Descend rapidly at a rate of 10 meters per second.,{"action": "fly", "params": { "speed": 1 +Quickly descend at a speed of 10 meters per second.,No JSON +Drop down rapidly, maintaining a rate of 10 meters per second.,No JSON +Perform a swift descent, descending at a speed of 10 meters per second.,No JSON +Go down at a rapid pace, descending at a rate of 10 meters per second.,No JSON +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 60.0, "angle": 360.0, "is_clockwise": false, "unit": "degrees"}} +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second.,No JSON +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second.,No JSON +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second.,No JSON +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second.,No JSON +- Fly in a figure-eight pattern for 10 minutes.,No JSON +Perform a figure-eight flight maneuver for a duration of 10 minutes.,No JSON +Fly in a pattern resembling the shape of an eight for a total of 10 minutes.,No JSON +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes.,No JSON +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes.,No JSON +- Ascend to an altitude of 800 meters above sea level.,{"action": "fly", "params": { "speed": 0.0, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Achieve an elevation of 800 meters above sea level.,{"action": "fly", "params": { "altitude": 800, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Reach a height of 800 meters above sea level.,No JSON +Climb to an altitude of 800 meters above sea level.,No JSON +Move up to a height of 800 meters above sea level.,No JSON +- Hover in place while capturing photos for 20 minutes.,{"action": "hover", "params": { "duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Maintain a stationary hover for a duration of 20 minutes, taking photos.,No JSON +Hold position and take photographs for a period of 20 minutes.,No JSON +Stay in one spot and capture photos continuously for 20 minutes.,No JSON +Remain suspended in the air and photograph for a duration of 20 minutes.,No JSON +- Fly forward at a speed of 50 km/h for 2 kilometers.,{"action": "fly", "params": { "speed": 50.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": 2000, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds"}} +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,No JSON +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,No JSON +Propel forward for 2 kilometers at a rate of 50 kilometers per hour.,No JSON +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h.,No JSON +- Descend to a low altitude of 50 meters above ground level.,{"action": "fly", "params": { "speed": 0.0, "altitude": 50.0, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Lower your altitude to 50 meters above the ground.,No JSON +Move down to an altitude of 50 meters above the ground.,No JSON +Decrease your altitude until you are only 50 meters above the ground.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 50)" }}} +Explanation: +The user is asking the drone to decrease its altitude until it is only 50 meters above the ground. The ontology does not have an action for "decrease altitude", so we use the "navigate_to_point" action and specify the desired altitude in the "coordinates" field. The "coordinates" field is a tuple with three values: latitude, longitude, and altitude. In this case, we set the latitude and longitude to 0, since we want to stay at the same location, and set the altitude to 50. +Descend to a height of 50 meters above the ground level.,{"action": "descend", "params": { "altitude": 50, "unit_altitude": "meters"}} +- Perform a sudden stop and hover for 2 minutes.,{"action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" +Execute an abrupt halt and remain stationary for a duration of 2 minutes.,No JSON +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes.,No JSON +Achieve an instant stop and remain suspended in the air for a period of 2 minutes.,No JSON +Implement a sudden pause and hover motionless for a timeframe of 2 minutes.,{"action": "hover", "params": { "duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +- Land at the designated landing zone, then record a video.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +After landing at the specified landing area, proceed to film a video.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}, "action": "film_video"} +Upon arrival at the designated landing zone, commence recording a video.,No JSON +Touch down at the designated landing zone and proceed to capture a video.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Once you have safely landed at the assigned landing area, begin filming a video.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(-, -)" }}} +Ascend to an altitude of 500 feet.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "feet", "unit_duration": "seconds"}} +Climb to a height of 500 feet.,No JSON +Reach an elevation of 500 feet.,No JSON +Achieve a position at an altitude of 500 feet.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" }}} +Ascend to a height of 500 feet above ground level.,No JSON +Fly forward for 1 mile at a speed of 40 mph.,No JSON +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,No JSON +Move forward for a mile, traveling at a speed of 40 miles per hour.,No JSON +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour.,No JSON +Travel forward for a distance of 1 mile, with a velocity of 40 mph.,No JSON +Descend to an altitude of 200 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 200)" }}} +Reduce your altitude to 200 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Lower down to an altitude of 200 meters.,No JSON +Move downwards until you reach an altitude of 200 meters.,No JSON +Descend until you are flying at 200 meters above ground level.,No JSON +Hover in place for 10 minutes.,No JSON +Stay suspended in the air for a duration of 10 minutes.,No JSON +Maintain a hovering position for a period of 10 minutes.,No JSON +Remained fixed in mid-air for a time span of 10 minutes.,No JSON +Suspend yourself without moving for the next 10 minutes.,No JSON +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second.,No JSON +Turn clockwise by 180 degrees, at a rate of 45 degrees per second.,No JSON +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,No JSON +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second.,No JSON +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,No JSON +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying.,No JSON +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,No JSON +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers.,{"action": "fly", "params": { "speed": 50.0, "direction": { "type": "str", "value": "zigzag" }, "distance": { "type": "float", "value": 2.0 }, "unit_speed": "km/h", "unit_distance": "kilometers"}} +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h.,No JSON +Ascend to an altitude of 1000 feet.,No JSON +Increase your altitude to 1000 feet.,No JSON +Climb to a height of 1000 feet.,No JSON +Reach an elevation of 1000 feet.,No JSON +Move upward and maintain a height of 1000 feet.,No JSON +Fly forward for 5 miles at a speed of 30 mph.,No JSON +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph.,No JSON +Travel in a straight line for 5 miles, moving at a speed of 30 mph.,No JSON +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph.,No JSON +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles.,No JSON +Hover and take aerial photographs for 20 minutes.,No JSON +Capture aerial photographs by flying and hovering for a duration of 20 minutes.,No JSON +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,No JSON +Take aerial photos by hovering in the air for a total of 20 minutes.,No JSON +Fly and maintain a hover position for 20 minutes to capture aerial photographs.,No JSON +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,No JSON +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second.,No JSON +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second.,No JSON +Turn left by 270 degrees at a rate of 60 degrees per second.,No JSON +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second.,No JSON +Descend to an altitude of 100 meters.,{"action": "fly", "params": { "speed": 15. +Lower down to an altitude of 100 meters.,No JSON +Reduce your altitude to 100 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Move downward until you reach an altitude of 100 meters.,No JSON +Descend until you are at a height of 100 meters.,No JSON +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h.,No JSON +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters.,No JSON +Circle at a speed of 20 km/h with a 500-meter radius.,No JSON +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius.,No JSON +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h.,No JSON +Ascend to an altitude of 1500 feet.,No JSON +Increase your elevation to a height of 1500 feet.,No JSON +Climb to a 1500-foot altitude.,No JSON +Reach a height of 1500 feet.,No JSON +Ascend to a level that is 1500 feet above the ground.,No JSON +Fly forward and survey the area for 3 miles at a speed of 35 mph.,No JSON +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour.,No JSON +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph.,No JSON +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph.,No JSON +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph.,No JSON +Hover and drop a package at the designated location.,No JSON +Carry a package and release it at the specified spot by slightly floating above it.,{"action": "fly", "params": { "speed": 5.0, "altitude": 50, "direction": { "type": "str", "value": "towards_target" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds", "package": { "type": "str", "value": "a_package" }, "release_location": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" }}} +Gently float and deposit a package at the predetermined destination.,{"action": "hover", "params": { "duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}, "action": "land", "params": { "location": { "type": "tuple", "value": "(predetermined_destination)" }}} +Utilize aerial suspension to transport and release a package precisely where directed.,No JSON +Levitate above a designated area and carefully place a package down.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}, "action": "place_package", "params": { "location": { "type": "tuple", "value": "(0.0, 0.0)" }}} +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second.,No JSON +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second.,No JSON +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second.,No JSON +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second.,No JSON +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second.,No JSON +Descend to an altitude of 50 meters.,{"action": "descend", "params": { "altitude": 50}} +Reduce your altitude to 50 meters.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Go down to a height of 50 meters.,No JSON +Lower yourself to an altitude of 50 meters.,No JSON +Descend until you reach a height of 50 meters.,No JSON +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h.,No JSON +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h.,No JSON +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h.,No JSON +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h.,No JSON +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h.,No JSON +Ascend to an altitude of 2000 feet.,{"action": "fly", "params": { "speed": 0, "altitude": 2000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "feet", "unit_duration": "seconds"}} +Reach a height of 2000 feet.,No JSON +Climb to an elevation of 2000 feet.,No JSON +Increase your altitude to 2000 feet.,{"action": "fly", "params": { "altitude": 2000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_speed": "ft/s", "unit_altitude": "feet", "unit_duration": "seconds"}} +Ascend to a level that is 2000 feet above ground.,No JSON +Fly forward and inspect power lines for 4 miles at a speed of 25 mph.,No JSON +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph.,No JSON +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph.,No JSON +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.,No JSON +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,No JSON +Land at the designated landing zone, then take a nap.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +After successfully reaching the designated landing zone, feel free to relax and take a nap.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Fly forward for 1 kilometer at a speed of 40 km/h.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Ascend to an altitude of 500 meters.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Reach a height of 500 meters.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Climb up to an elevation of 500 meters.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Move upwards until you are at an altitude of 500 meters.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Achieve a vertical position of 500 meters.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Hover in place for 10 minutes.,No JSON +Stay stationary for a duration of 10 minutes.,No JSON +Remain suspended in the air for a period of 10 minutes.,No JSON +Keep yourself hovering in one spot for a duration of 10 minutes.,{"action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Maintain a fixed position in the air for 10 minutes.,No JSON +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,No JSON +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees.,No JSON +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second.,No JSON +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second.,No JSON +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation.,No JSON +Fly forward for 500 meters at a speed of 50 km/h.,No JSON +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h.,No JSON +Move straight ahead at 50 km/h for a distance of 500 meters.,No JSON +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h.,No JSON +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction.,No JSON +Descend to an altitude of 200 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 200)" }}} +Lower your altitude to 200 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 200)" }}} +Decrease your altitude to 200 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Descend until you reach an altitude of 200 meters.,{"action": "fly", "params": { "speed": 0.0, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Bring your altitude down to 200 meters.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 200.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Hover in place for 2 minutes.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 200.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Stay still for a duration of 2 minutes.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 200.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Remain stationary for a period of 2 minutes.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 200.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Hold your position for a span of 2 minutes.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 200.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Do not move for a total of 2 minutes.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 200.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 200.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Turn to the left by 45 degrees at a rate of 10 degrees per second.,{"action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 200.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second.,No JSON +Spin counterclockwise by 45 degrees, moving 10 degrees per second.,No JSON +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second.,No JSON +Fly forward for 3 kilometers at a speed of 70 km/h.,No JSON +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h.,No JSON +Travel straight ahead for 3 kilometers at a rate of 70 km/h.,No JSON +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h.,No JSON +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers.,No JSON +Ascend to an altitude of 800 meters.,{"action": "fly", "params": { "speed": 0.0, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Reach a height of 800 meters.,No JSON +Climb to an elevation of 800 meters.,No JSON +Increase your altitude to 800 meters.,{"action": "fly", "params": { "altitude": 800, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Go up to a height of 800 meters.,No JSON +Hover in place for 15 minutes.,No JSON +Stay still for a duration of 15 minutes.,No JSON +Maintain a hovering position for the next 15 minutes.,No JSON +Remain in place without moving for a period of 15 minutes.,No JSON +Suspend motion for a time period of 15 minutes.,No JSON +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second.,No JSON +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second.,No JSON +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second.,No JSON +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees.,No JSON +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,No JSON +Fly forward for 2.5 kilometers at a speed of 55 km/h.,No JSON +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward.,No JSON +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction.,{"action": "fly", "params": { "speed": 55.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds"}} +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h.,No JSON +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,No JSON +Descend to an altitude of 300 meters.,No JSON +Lower yourself to a height of 300 meters.,No JSON +Reduce your altitude to 300 meters.,No JSON +Move down to a height of 300 meters.,No JSON +Descend until you reach an altitude of 300 meters.,No JSON +Hover in place for 8 minutes.,No JSON +Stay still for a duration of 8 minutes.,No JSON +Maintain a stationary position for a period of 8 minutes.,No JSON +Suspend movement and remain in one spot for 8 minutes.,No JSON +Keep hovering without moving for a total of 8 minutes.,No JSON +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second.,No JSON +Turn left at a rate of 25 degrees per second for 120 degrees.,No JSON +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees.,No JSON +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second.,No JSON +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second.,No JSON +Fly forward for 4 kilometers at a speed of 80 km/h.,No JSON +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,No JSON +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,No JSON +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h.,No JSON +Travel at 80 km/h in a straight path for 4 kilometers.,No JSON +Ascend to an altitude of 1000 meters.,No JSON +Increase your altitude to 1000 meters.,{"action": "fly", "params": { "altitude": 1000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Reach a height of 1000 meters.,No JSON +Climb up to an elevation of 1000 meters.,No JSON +Scale up to an altitude of 1000 meters.,{"action": "fly", "params": { "speed": 0.0, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Hover in place for 20 minutes.,No JSON +Remain suspended in one spot for a duration of 20 minutes.,No JSON +Stay airborne without moving for a period of 20 minutes.,No JSON +Keep stationary in mid-air for a period of 20 minutes.,No JSON +Suspend motion and hover in the same position for a duration of 20 minutes.,No JSON +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second.,No JSON +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second.,No JSON +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second.,No JSON +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second.,No JSON +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,No JSON +Fly forward for 2.7 kilometers at a speed of 60 km/h.,No JSON +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,No JSON +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h.,{"action": "fly", "params": { "speed": 60.0, "altitude": 0.0, "direction": { "type": "str", "value": "straight" }, "duration": { "type": "float", "value": 2.7 / 60.0 }, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds"}} +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,No JSON +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h.,No JSON +Descend to an altitude of 400 meters.,No JSON +Reduce your altitude to 400 meters.,No JSON +Move down until you are at an altitude of 400 meters.,No JSON +Descend until you reach a height of 400 meters.,No JSON +Lower your altitude to 400 meters.,No JSON +Hover in place for 12 minutes.,No JSON +Stay in one spot for a duration of 12 minutes.,No JSON +Remain stationary for a period of 12 minutes.,No JSON +Keep still for 12 minutes.,No JSON +Do not move for a total of 12 minutes.,No JSON +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second.,No JSON +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second.,No JSON +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second.,No JSON +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second.,No JSON +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached.,No JSON +Fly forward for 5 kilometers at a speed of 90 km/h.,No JSON +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,No JSON +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour.,{"action": "fly", "params": { "speed": 90.0, "direction": { "type": "str", "value": "straight" }, "distance": { "type": "float", "value": 5.0 }, "unit_speed": "km/h", "unit_distance": "kilometers"}} +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour.,No JSON +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour.,No JSON +Ascend to an altitude of 1200 meters.,No JSON +Increase your elevation to 1200 meters.,No JSON +Climb to a height of 1200 meters.,No JSON +Reach an altitude of 1200 meters.,No JSON +Move upwards to a position of 1200 meters above ground level.,No JSON +Hover in place for 25 minutes.,No JSON +Stay still for a duration of 25 minutes.,No JSON +Maintain a hovering position for 25 minutes.,No JSON +Remain in place without moving for a period of 25 minutes.,No JSON +Hold your position in mid-air for a total of 25 minutes.,No JSON +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second.,No JSON +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second.,No JSON +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,No JSON +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,No JSON +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,No JSON +Fly forward for 3.2 kilometers at a speed of 65 km/h.,No JSON +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour.,No JSON +Proceed straight for 3.2 kilometers at a pace of 65 km/h.,No JSON +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h.,No JSON +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h.,No JSON +Descend to an altitude of 500 meters.,No JSON +Lower your altitude to 500 meters.,No JSON +Decrease your altitude to 500 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" }}} +Descend until you reach an altitude of 500 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" }}} +Bring yourself down to an altitude of 500 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Hover in place for 18 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Maintain a stationary hover for a duration of 18 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Stay in one position for a period of 18 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Remain suspended in the air for a total of 18 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Do not move and stay at the same spot for the next 18 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Fly forward for 6 kilometers at a speed of 100 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Move forward for 6 kilometers while flying at a velocity of 100 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Ascend to an altitude of 1400 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Climb to a height of 1400 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Reach an elevation of 1400 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Scale to a height of 1400 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Go up to an altitude of 1400 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Hover in place for 30 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Stay suspended in one spot for a duration of 30 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Maintain a stationary position for the next half-hour.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Remain hovering without moving for a period of 30 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Suspend yourself in the air for the next 30 minutes without any movement.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Fly forward for 3.7 kilometers at a speed of 70 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Descend to an altitude of 600 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Reduce your altitude to 600 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Move down to an altitude of 600 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Decrease your altitude until you reach 600 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Descend until you are at 600 meters altitude.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Hover in place for 22 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Stay still for a duration of 22 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Hold your position for a period of 22 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Remain stationary for 22 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Do not move for the next 22 minutes.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Turn left by 210 degrees with a rotational velocity of 50 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Ascend to an altitude of 500 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Increase your elevation to 500 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Climb up to a height of 500 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Reach an altitude of 500 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Move upward to a height of 500 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Fly forward for 10 kilometers at a speed of 80 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Move forward at a rate of 80 km/h for a total of 10 kilometers.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Hover in place for 15 minutes.,No JSON +Stay suspended in one spot for a duration of 15 minutes.,No JSON +Maintain a hovering position without movement for a period of 15 minutes.,No JSON +Keep floating in a fixed location for 15 minutes.,No JSON +Remain in mid-air without any displacement for a total of 15 minutes.,No JSON +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second.,No JSON +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn.,No JSON +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second.,No JSON +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation.,No JSON +Land at the designated landing zone.,No JSON +Please touch down at the specified landing area.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Make your descent and land on the assigned landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +It is required for you to land at the designated area.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Ensure that you land precisely at the designated landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Descend to an altitude of 100 meters.,{"action": "fly", "params": { "speed": 15. +Reduce your altitude to 100 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Decrease your altitude to 100 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Descend until you reach an altitude of 100 meters.,No JSON +Bring yourself down to an altitude of 100 meters.,No JSON +Fly backward for 5 kilometers at a speed of 40 km/h.,No JSON +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h.,No JSON +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h.,{"action": "fly", "params": { "speed": 40.0, "direction": { "type": "str", "value": "south" }, "distance": { "type": "float", "value": 5.0 }, "unit_speed": "km/h", "unit_distance": "kilometers"}} +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h.,No JSON +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h.,No JSON +Circle around a specific location for 20 minutes.,No JSON +Perform a circular motion around a particular spot for a duration of 20 minutes.,No JSON +Move in a circular pattern around a designated area for a period of 20 minutes.,No JSON +Encircle a specific location for 20 minutes, continuously moving in a circular motion.,No JSON +Follow a circular path around a particular place for a duration of 20 minutes.,No JSON +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,No JSON +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec.,No JSON +Turn left by 270 degrees at a rate of 60 degrees per second.,No JSON +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second.,No JSON +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees.,No JSON +Ascend to an altitude of 1000 meters.,No JSON +Reach a height of 1000 meters.,No JSON +Climb up to an elevation of 1000 meters.,No JSON +Increase the altitude to 1000 meters.,No JSON +Achieve a vertical position of 1000 meters.,{"action": "fly", "params": { "altitude": 1000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Fly forward for 15 kilometers at a speed of 100 km/h.,No JSON +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction.,No JSON +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h.,No JSON +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h.,No JSON +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers.,No JSON +Hover in place for 10 minutes.,No JSON +Stay suspended in midair for a duration of 10 minutes.,No JSON +Maintain a hovering position for a period of 10 minutes.,No JSON +Remain airborne without moving for 10 minutes.,No JSON +Suspend yourself in one spot for a duration of 10 minutes.,No JSON +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second.,No JSON +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second.,No JSON +Rotate to the right by 90 degrees at a rate of 30 degrees every second.,No JSON +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second.,No JSON +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation.,No JSON +Land at the designated landing zone.,No JSON +Please land at the specified landing area.,{"action": "hover", "params": { "duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit +Ensure you land at the indicated landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +It is important to touch down at the designated landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Make sure to land precisely at the assigned landing area.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Descend to an altitude of 200 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 200)" }}} +Decrease your altitude to 200 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Lower yourself to an altitude of 200 meters.,No JSON +Go down to a height of 200 meters.,No JSON +Descend until you reach an altitude of 200 meters.,{"action": "fly", "params": { "speed": 0.0, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Fly backward for 3 kilometers at a speed of 50 km/h.,No JSON +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour.,No JSON +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour.,{"action": "fly", "params": { "speed": 50.0, "direction": { "type": "str", "value": "south" }, "distance": { "type": "float", "value": 3.0 }, "unit_speed": "km/h", "unit_distance": "kilometers"}} +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour.,No JSON +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour.,No JSON +Circle around a specific location for 30 minutes.,No JSON +Perform a 30-minute loop around a designated area.,No JSON +Go in a circular route around a specific spot for half an hour.,No JSON +Complete a 30-minute circuit around a particular location.,No JSON +Traverse in a circular path around a specific point for a duration of 30 minutes.,{"action": "fly", "params": { "speed": 10.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}, { "action +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second.,No JSON +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second.,No JSON +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second.,No JSON +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second.,No JSON +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second.,No JSON +Ascend to an altitude of 700 meters and swin.,No JSON +Gain an elevation of 700 meters and swim.,{"action": "fly", "params": { "speed": 0.0, "altitude": 700, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Reach a height of 700 meters and engage in swimming.,No JSON +Ascend to a 700-meter altitude and partake in swimming.,No JSON +Increase your altitude to 700 meters and then swim.,{"action": "fly", "params": { "altitude": 700, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_altitude": "meters", "unit_duration": "seconds"}, "action": "swim", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Fly forward for 8 kilometers at a speed of 70 km/h.,No JSON +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h.,No JSON +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h.,No JSON +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h.,No JSON +Fly straight for a total of 8 kilometers at a speed of 70 km/h.,No JSON +Hover in place for 20 minutes and watch TV.,No JSON +Stay stationary for a duration of 20 minutes while watching television.,{"action": "hover", "params": { "duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Maintain a hovering position and engage in television viewing for a period of 20 minutes.,No JSON +Hold a steady hover for 20 minutes while enjoying television watching.,No JSON +Remain in one place without moving for 20 minutes and entertain yourself by watching TV.,{"action": "hover", "params": { "duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second.,No JSON +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second.,No JSON +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second.,No JSON +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second.,No JSON +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation.,No JSON +Land at the designated landing zone, then sing loudly.,{"action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}, { "action": "rotate", "params": +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +After successfully landing at the designated landing zone, proceed to sing loudly.,{"action": "sing", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" }}} +Ascend to an altitude of 500 feet.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "feet", "unit_duration": "seconds"}} +Increase your altitude to 500 feet.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" }}} +Explanation: +The user wants to increase the altitude of the drone to 500 feet. The ontology does not have an action for changing altitude directly, so we use the "navigate_to_point" action and specify the desired altitude as the third coordinate. The "coordinates" field is a tuple with three values: latitude, longitude, and altitude. We set the first two values to zero since we don't care about the drone's horizontal position, and set the third value to 500, which is the desired altitude. +Climb to a height of 500 feet.,No JSON +Reach an elevation of 500 feet.,No JSON +Rise to a position 500 feet above ground level.,No JSON +Fly forward for 1 mile at a speed of 30 mph.,No JSON +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph.,No JSON +Travel straight ahead for 1 mile at a speed of 30 mph.,No JSON +Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,No JSON +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph.,No JSON +Hover in place for 10 minutes.,No JSON +Stay suspended in one spot for a duration of 10 minutes.,No JSON +Maintain a hovering position without moving for a period of 10 minutes.,No JSON +Stay suspended in mid-air without any motion for a time span of 10 minutes.,No JSON +Hold a hover position for a duration of 10 minutes.,No JSON +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,No JSON +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second.,No JSON +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second.,No JSON +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees.,No JSON +Descend to an altitude of 200 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 200)" }}} +Decrease your altitude to 200 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Lower your altitude to 200 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 200)" }}} +Move down to an altitude of 200 meters.,No JSON +Descend until reaching an altitude of 200 meters.,{"action": "fly", "params": { "speed": 0.0, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h.,No JSON +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h.,{"action": "fly", "params": { "speed": 50.0, "altitude": 100.0, "direction": { "type": "str", "value": "north" }, "duration": 3000.0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds"}, "params_zigzag": { "amplitude": 50.0, "frequency": 1.0, "phase": 0.0}} +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h.,No JSON +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h.,No JSON +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,No JSON +Perform a barrel roll to the left.,No JSON +Execute a left barrel roll.,No JSON +Rotate in a barrel roll towards the left.,No JSON +Perform a barrel roll in a counterclockwise direction.,No JSON +Initiate a leftward barrel roll.,No JSON +Ascend to an altitude of 1000 feet and maintain it for 20 minutes.,No JSON +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes.,No JSON +Increase your elevation to 1000 feet and sustain it for the next 20 minutes.,No JSON +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes.,No JSON +Elevate to 1000 feet and retain that height for the next 20 minutes.,No JSON +Fly backward for 500 meters at a speed of 40 km/h.,No JSON +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h.,No JSON +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h.,{"action": "move_backwards", "params": { "distance": { "type": "float", "value": 500.0 }, "speed": { "type": "float", "value": 40.0 }, "unit_distance": "meters", "unit_speed": "km/h"}} +Reverse your flight and go for 500 meters at a velocity of 40 km/h.,{"action": "fly", "params": { "speed": 40.0, "altitude": null, "direction": { "type": "str", "value": "south" }, "duration": null, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds"}} +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h.,No JSON +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second.,No JSON +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees.,No JSON +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second.,No JSON +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second.,No JSON +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change.,No JSON +Descend to an altitude of 100 feet and hold for 5 minutes.,No JSON +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes.,No JSON +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes.,No JSON +Descend until you reach an altitude of 100 feet and remain there for 5 minutes.,No JSON +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes.,No JSON +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h.,No JSON +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,No JSON +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h.,No JSON +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h.,No JSON +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer.,{"action": "fly", "params": { "speed": 20.0, "altitude": null, "direction": null, "duration": null, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds"}, "path": { "type": "circle", "radius": 1000.0}} +Ascend to an altitude of 300 meters and maintain it for 30 minutes.,No JSON +Climb to a height of 300 meters and stay there for a duration of 30 minutes.,No JSON +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes.,No JSON +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes.,No JSON +Scale up to an altitude of 300 meters and sustain it for 30 minutes.,No JSON +Hover in place for 15 minutes and then proceed forward for 2 kilometers.,No JSON +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers.,{"action": "hover", "params": { "duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}, "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 0)" }}} +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers.,{"action": "hover", "params": { "duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}, "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0.0, 0.0, 0.0)" }}} +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers.,No JSON +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers.,{"action": "hover", "params": { "duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}, "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0.0, 0.0, 0.0)" }}} +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second.,No JSON +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second.,No JSON +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second.,No JSON +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second.,No JSON +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second.,No JSON +Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,No JSON +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph.,No JSON +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph.,No JSON +Fly in a zigzag pattern for a mile at a speed of 25 mph.,No JSON +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph.,No JSON +Descend to an altitude of 100 meters and hover in place for 10 minutes.,No JSON +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes.,{"action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +Lower your altitude to 100 meters and remain stationary for 10 minutes.,No JSON +Descend until reaching an altitude of 100 meters and then hover for 10 minutes.,No JSON +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes.,No JSON +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone.,No JSON +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area.,No JSON +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone.,No JSON +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone.,No JSON +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area.,{"action": "fly", "params": { "speed": 60.0, "altitude": null, "direction": { "type": "str", "value": "straight" }, "duration": { "type": "float", "value": 3.0 }, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers"}, "action": "land", "params": { "location": { "type": "tuple", "value": null }}} +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second.,No JSON +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second.,No JSON +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second.,No JSON +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation.,No JSON +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second.,No JSON +Perform a loop-de-loop and then watch TV.,No JSON +Execute a loop-de-loop and subsequently engage in watching TV.,No JSON +Carry out a loop-de-loop and proceed to view television.,No JSON +Conduct a loop-de-loop before indulging in some TV time.,No JSON +Maneuver a loop-de-loop and then enjoy some TV programming.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees"}} +Ascend to an altitude of 500 feet.,{"action": "fly", "params": { "speed": 0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "feet", "unit_duration": "seconds"}} +Increase your height to 500 feet.,No JSON +Climb up to an elevation of 500 feet.,No JSON +Reach an altitude of 500 feet.,No JSON +Go up to a height of 500 feet.,No JSON +Fly forward for 1 mile at a speed of 40 mph.,No JSON +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,No JSON +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph.,No JSON +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph.,No JSON +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile.,No JSON +Hover in place for 10 minutes.,No JSON +Remain stationary for a duration of 10 minutes.,No JSON +Stay in one spot for a period of 10 minutes.,No JSON +Float in the same position for 10 minutes.,No JSON +Suspend yourself in midair for a span of 10 minutes.,No JSON +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,No JSON +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second.,No JSON +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees.,No JSON +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation.,No JSON +Land at the designated landing zone.,No JSON +Please land at the specified landing zone.,{"action": "hover", "params": { "duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters"}} +{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit +You are required to touch down at the designated landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Make sure to land at the designated landing zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +It is important to secure a landing at the designated zone.,{"action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" }}} +Fly sideways for 500 meters.,No JSON +Move horizontally for a distance of 500 meters while airborne.,{"action": "fly", "params": { "speed": null, "altitude": null, "direction": { "type": "str", "value": "horizontal" }, "duration": null, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Perform a lateral flight movement covering a distance of 500 meters.,{"action": "fly", "params": { "speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "lateral" }, "duration": 50, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Traverse 500 meters in a sideways direction while in flight.,{"action": "fly", "params": { "speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "sideways" }, "duration": 500, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "meters"}} +Travel parallel to the ground for a distance of 500 meters.,{"action": "fly", "params": { "speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "parallel_to_ground" }, "duration": 500, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} +Ascend to an altitude of 1000 feet.,No JSON +Increase your elevation to 1000 feet.,No JSON +Climb to a height of 1000 feet.,No JSON +Reach an altitude of 1000 feet.,No JSON +Move upwards to a level of 1000 feet.,No JSON +Fly in a circular pattern with a radius of 500 meters for 20 minutes.,No JSON +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes.,No JSON +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center.,No JSON +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes.,No JSON +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters.,No JSON +Descend to an altitude of 200 meters.,{"action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 200)" }}} +Go down to a height of 200 meters.,No JSON +Lower yourself to an elevation of 200 meters.,No JSON +Decrease your altitude to 200 meters.,{"action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} +Descend until you reach an altitude of 200 meters.,{"action": "fly", "params": { "speed": 0.0, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds"}} diff --git a/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_UAV_LLaMA2-70b_run2.txt b/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_UAV_LLaMA2-70b_run2.txt new file mode 100644 index 0000000..b61726f --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA2-70b/Converted_JSON_commands_UAV_LLaMA2-70b_run2.txt @@ -0,0 +1,996 @@ +Ascend to an altitude of 500 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Increase the elevation to a height of 500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, 500)" } } } +Climb to a height of 500 feet above ground., { "action": "rotate", "params": { "angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Reach an altitude of 500 feet above sea level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Ascend to a height of 500 feet in the air., { "action": "fly", "params": { "altitude": 500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Fly forward for 1 mile at a speed of 40 mph., { "action": "fly", "params": {"speed": 40.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile.,No JSON +Travel in a straight line for 1 mile, maintaining a speed of 40 mph.,No JSON +Move forward for a distance of 1 mile, traveling at a speed of 40 mph.,No JSON +Cover a distance of 1 mile by flying forward at a velocity of 40 mph.,No JSON +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for the next 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in one spot for a period of 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold a stationary hover for the next 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,No JSON +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees.,No JSON +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn., { "action": "fly", "params": { "speed": 15.0, "altitude": 80.0, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second.,No JSON +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees.,No JSON +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please ensure you touch down safely at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is essential that you land at the designated land zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make sure you reach the assigned landing zone for landing.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure your landing takes place at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to an altitude of 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Decrease your altitude to 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Lower yourself to an altitude of 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Descend until you reach an altitude of 200 meters.,{ +Bring your altitude down to 200 meters.,{ "action": "hover", "params": {"altitude": { "type": "float", "value": 200.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly forward for 3 kilometers at a speed of 80 km/h.,No JSON +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h.,No JSON +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h.,No JSON +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,No JSON +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h., { "action": "fly", "params": { "speed": 80.0, "altitude": 100.0, "direction": { "type": "str", "value": "straight" }, "distance": 3000.0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_distance": "kilometers" } } +Hover in place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay stationary for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for a period of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in one place for 15 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold in mid-air without moving for 15 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,No JSON +Turn left at a rate of 10 degrees per second for a duration of 45 degrees.,No JSON +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second.,No JSON +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees.,No JSON +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,No JSON +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please arrive at the pre-assigned landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make your way to the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure you land at the designated landing spot.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please touch down at the designated landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ascend to an altitude of 1000 feet., { "action": "fly", "params": { "altitude": 1000, "unit_altitude": "feet" } } +Climb to a height of 1000 feet., { "action": "fly", "params": { "altitude": 1000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Reach an elevation of 1000 feet., { "action": "fly", "params": { "altitude": 1000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Go up to an altitude of 1000 feet., { "action": "fly", "params": { "altitude": 1000, "unit_altitude": "feet" } } +Achieve a height of 1000 feet., { "action": "fly", "params": { "altitude": 1000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Fly forward for 2 miles at a speed of 45 mph., { "action": "fly", "params": {"speed": 45.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph.,No JSON +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph., { "action": "fly", "params": { "speed": 45.0, "direction": { "type": "str", "value": "straight" }, "distance": { "type": "float", "value": 3200.0 }, "unit_speed": "mph", "unit_distance": "feet" } } +Fly ahead for 2 miles while moving at a speed of 45 mph.,No JSON +Maintain a speed of 45 mph while flying forward for a distance of 2 miles.,No JSON +Hover in place for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain stationary for a period of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in one spot for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep still for 20 minutes while floating in the air., { "action": "hover", "params": { "duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold position for 20 minutes without moving.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second.,No JSON +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second.,No JSON +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second.,No JSON +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second.,No JSON +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second.,No JSON +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please make a landing at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure that you land at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is necessary for you to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +The instruction is to land specifically at the assigned landing zone.,{ +Descend to an altitude of 300 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 300)" } } } +Lower your altitude to 300 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 300)" } } } +Move down to an altitude of 300 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 300)" } } } +Deescalate to a height of 300 meters., { "action": "hover", "params": { "altitude": { "type": "float", "value": 300.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_altitude": "meters", "unit_duration": "seconds" } } +Descend until you reach an altitude of 300 meters.,{ +Fly forward for 4 kilometers at a speed of 70 km/h.,No JSON +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour.,No JSON +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour.,No JSON +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour., { "action": "fly", "params": { "speed": 70.0, "direction": { "type": "str", "value": "forward" }, "distance": 4.0, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,No JSON +Hover in place for 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1500.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in one spot for a duration of 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1500.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain airborne without moving for a period of 25 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 1500.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Levitate motionlessly for 25 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 1500.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold position without any movement for 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1500.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second.,No JSON +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Turn left by 135 degrees with an angular speed of 25 degrees per second.,No JSON +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second.,No JSON +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second.,No JSON +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please ensure you land at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Your objective is to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +You are required to land at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make sure you reach the designated landing area safely.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ascend to an altitude of 1500 feet., { "action": "fly", "params": { "altitude": 1500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Increase your altitude to 1500 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 1500)" } } } +Climb up to a height of 1500 feet., { "action": "fly", "params": { "altitude": 1500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Reach an elevation of 1500 feet., { "action": "fly", "params": { "altitude": 1500, "unit_altitude": "feet" } } +Scale to a height of 1500 feet., { "action": "scale", "params": { "altitude": { "type": "float", "value": 1500 } } } +Fly forward for 5 miles at a speed of 50 mph., { "action": "fly", "params": {"speed": 50.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "miles" } } +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles.,No JSON +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles., { "action": "fly", "params": { "speed": 50.0, "direction": { "type": "str", "value": "forward" }, "distance": { "type": "float", "value": 5.0 }, "unit_speed": "mph", "unit_distance": "miles" } } +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph.,No JSON +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph.,No JSON +Hover in place for 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay in one spot for a duration of 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a fixed position for the next half an hour., { "action": "hover", "params": { "duration": { "type": "float", "value": 1800.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in mid-air for the next 30 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 30.0 * 60.0 // convert minutes to seconds }, "altitude": { "type": "float", "value": 0.0 // default reasonable value }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold still for a period of 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second.,No JSON +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second.,No JSON +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second.,No JSON +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second.,No JSON +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second.,No JSON +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please make your way to the designated landing zone and touch down.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +The designated landing zone is where you should aim to touch down.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +You are required to land at the specific landing zone as indicated.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure that you come to a safe landing at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to an altitude of 400 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 400)" } } } +Decrease your altitude to 400 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 400)" } } } +Lower yourself to an altitude of 400 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Go down to an altitude of 400 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 400)" } } } +Descend until you reach an altitude of 400 meters.,{ "action": "descend", "params": {"altitude": 400, "unit_altitude": "meters" } } +Fly forward for 6 kilometers at a speed of 60 km/h., { "action": "fly", "params": { "speed": 60.0, "direction": { "type": "str", "value": "forward" }, "distance": 6.0, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h.,No JSON +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward., { "action": "fly", "params": { "speed": 60.0, "distance": 6.0, "direction": { "type": "str", "value": "forward" } } } +Fly straight ahead at 60 km/h for a distance of 6 kilometers.,No JSON +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers.,No JSON +Hover in place for 35 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 35.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in mid-air for a duration of 35 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 35.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a fixed position in the air for the next 35 minutes.,No JSON +Remain stationary in the same spot for a period of 35 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 35.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep yourself suspended without moving for the next 35 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 35.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second.,No JSON +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise.,No JSON +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second.,No JSON +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees.,No JSON +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second.,No JSON +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please make a landing at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure a safe landing at the assigned landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +You are instructed to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is requested that you land at the predetermined landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ascend to an altitude of 2000 feet., { "action": "fly", "params": { "altitude": 2000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Increase your elevation to a height of 2000 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 2000)" } } } +Reach a height of 2000 feet above the ground level.,{ "action": "fly", "params": {"altitude": 2000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Climb to an altitude of 2000 feet., { "action": "fly", "params": { "altitude": 2000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Ascend to a height of 2000 feet above sea level., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 2000)" } } } +Fly forward for 7 miles at a speed of 55 mph.,No JSON +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour.,No JSON +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph.,No JSON +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,No JSON +Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,No JSON +Hover in place for 40 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 40.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay in one position for a duration of 40 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 40.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in the air without moving for a total of 40 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 40.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for the next 40 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 40.0 * 60.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Levitate and hold your position for a period of 40 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 40.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "minutes", "unit_altitude": "meters" } } +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees.,No JSON +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second.,No JSON +Turn right by 90 degrees with an angular speed of 40 degrees per second.,No JSON +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation., { "action": "fly", "params": { "speed": 15.0, "altitude": 150, "direction": { "type": "str", "value": +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please touch down at the assigned landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure that you arrive at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make sure to land at the designated touchdown point.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is required that you land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to an altitude of 500 meters.,{ "action": "descend", "params": {"altitude": 500, "unit_altitude": "meters" } } +Lower yourself to a height of 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Decrease your altitude to 500 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Go down to an altitude of 500 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Reduce your height to 500 meters.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 500.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Fly forward for 8 kilometers at a speed of 65 km/h.,No JSON +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h.,No JSON +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h.,No JSON +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers., { "action": "fly", "params": { "speed": 65.0, "direction": { "type": "str", "value": "straight" }, "distance": 8.0, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h.,No JSON +Hover in place for 45 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 45.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in position for a duration of 45 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 45.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain airborne without moving for a period of 45 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 45.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep yourself elevated without any movement for a span of 45 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 45.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position., { "action": "hover", "params": { "duration": { "type": "float", "value": 45 * 60 }, "altitude": { "type": "float", "value": 0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second.,No JSON +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second.,No JSON +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second.,No JSON +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction.,No JSON +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second.,No JSON +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please proceed to land at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make your way to the indicated landing zone and prepare for landing.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Follow the instructions and land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is required that you land at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ascend to an altitude of 2500 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 2500)" } } } +Climb to a height of 2500 feet., { "action": "fly", "params": { "altitude": 2500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Reach an elevation of 2500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 2500)" } } } +Scale to an altitude of 2500 feet.,{ "action": "scale", "params": {"altitude": 2500, "unit": "feet" } } +Increase your height to 2500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 2500)" } } } +Fly forward for 9 miles at a speed of 50 mph., { "action": "fly", "params": {"speed": 50.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "miles" } } +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph.,No JSON +Cover a distance of 9 miles by flying forward at a speed of 50 mph.,No JSON +Maintain a speed of 50 mph while traveling straight ahead for 9 miles.,No JSON +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles.,No JSON +Hover in place for 50 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 50.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 50 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 50.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary position for 50 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 50.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain in one spot for a period of 50 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 50.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "minutes", "unit_altitude": "meters" } } +Hold steady for 50 minutes without moving.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 50.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second.,No JSON +Turn 135 degrees to the right at a rate of 50 degrees per second.,No JSON +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second.,No JSON +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second.,No JSON +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second.,No JSON +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please touch down at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend and touch base at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make your approach and touch ground at the designated landing site.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please bring the aircraft to a stop at the approved landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to an altitude of 600 meters and swin.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Swim after descending to an altitude of 600 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Dive down to a depth of 600 meters and start swimming.,{ "action": "dive", "params": {"depth": { "type": "float", "value": 600.0 }, "unit_depth": "meters" } } +Lower yourself to an altitude of 600 meters and begin swimming., { "action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Drop down to a height of 600 meters and begin your swim., { "action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Turn left at a 45-degree angle and fly straight for 500 meters.,No JSON +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters.,No JSON +Take a left turn at a 45-degree angle and proceed straight for 500 meters.,No JSON +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters.,No JSON +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters.,No JSON +Ascend to an altitude of 1000 feet and maintain position for 10 minutes., { "action": "hover", "params": { "altitude": { "type": "float", "value": 1000.0 }, "duration": { "type": "float", "value": 10.0 }, "unit_altitude": "feet", "unit_duration": "minutes" } } +Climb to a height of 1000 feet and stay in that position for 10 minutes.,No JSON +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes., { "action": "hover", "params": { "altitude": { "type": "float", "value": 1000.0 }, "duration": { "type": "float", "value": 600.0 }, "unit_altitude": "feet", "unit_duration": "seconds" } } +Increase your altitude to 1000 feet and remain at that level for 10 minutes., { "action": "hover", "params": { "altitude": { "type": "float", "value": 1000.0 }, "duration": { "type": "float", "value": 600.0 }, "unit_altitude": "feet", "unit_duration": "seconds" } } +Go up to a height of 1000 feet and keep your position steady for 10 minutes.,No JSON +Perform a vertical climb to 200 meters at a speed of 10 meters per second.,No JSON +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters., { "action": "rotate", "params": { "angular_velocity": 10.0, "angle": 180, "is_clockwise": false, "unit": "degrees" } } +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters.,No JSON +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters.,No JSON +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters.,No JSON +Fly around in a circular pattern with a radius of 100 meters for 15 minutes.,No JSON +Circle around with a 100-meter radius for a duration of 15 minutes.,No JSON +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius.,No JSON +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes.,No JSON +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes.,No JSON +Hover in place and capture aerial photographs of the surrounding area.,{ "action": "hover", "params": { "duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "capture_photographs", "params": { "type": "str", "value": "aerial" } } +Stay suspended and take aerial photographs of the nearby area.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary position and capture aerial photographs of the surrounding area.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 70.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Levitate and snap aerial photographs of the surrounding area., { "action": "hover", "params": { "duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain still and capture overhead photographs of the nearby area.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes., { "action": "fly", "params": { "speed": 80, "altitude": 50, "direction": { "type": "str", "value": "north" }, "duration": 20, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "minutes" } } +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,No JSON +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes., { "action": "fly", "params": { "speed": 80, "altitude": 50, "direction": { "type": "str", "value": "down" }, "duration": 1200, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes., { "action": "fly", "params": { "speed": 80, "altitude": 50, "direction": { "type": "str", "value": "north" }, "duration": 1200, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes.,No JSON +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes.,No JSON +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes.,{ "action": "rotate", "params": {"angular_velocity": 1.0, "angle": 360, "is_clockwise": true, "unit": "degrees" } } Explanation: The prompt does not specify any specific action, so we default to the "rotate" action. We set the angular velocity to 1.0, the angle to 360 degrees, and set the is_clockwise flag to true. The unit of measurement for angle is degrees. +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,No JSON +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes.,No JSON +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes.,No JSON +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop.,No JSON +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt.,No JSON +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,No JSON +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes., { "action": "fly", "params": { "altitude": 500, "duration": 30, "unit_altitude": "meters", "unit_duration": "minutes" } } +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation., { "action": "fly", "params": { "altitude": 500, "duration": 30, "unit_altitude": "meters", "unit_duration": "minutes" } } +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes.,No JSON +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor.,No JSON +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } } +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,No JSON +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s.,No JSON +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s.,No JSON +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner., { "action": "fly", "params": { "speed": 20.0, "distance": 3000.0, "direction": { "type": "str", "value": "zigzag" } } } +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers.,No JSON +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second.,No JSON +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second.,No JSON +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second.,No JSON +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second.,No JSON +Land at the designated landing zone and conduct a visual inspection of the UAV.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } }, "action": "inspect", "params": {} } +Hover in place and release a payload at a specified drop zone.,{ "action": "hover", "params": { "duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 70.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "release_payload", "params": { "drop_zone": { "type": "tuple", "value": "(latitude, longitude)" } } } +Maintain a hovering position and deploy a payload at a designated release zone.,{ "action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "deploy_payload", "params": { "release_zone": { "type": "tuple", "value": null } } } +Stay suspended in one spot and discharge a payload at a predefined drop area.,{ "action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "discharge_payload", "params": { "drop_area": { "type": "tuple", "value": null } } } +Remain in a stationary hover and release a payload at a specified dropzone.,{ "action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "release_payload", "params": { "dropzone": { "type": "tuple", "value": null } } } +Hold position in mid-air and deliver a payload at a designated drop zone.,{ "action": "hover", "params": { "duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "drop_payload", "params": { "drop_zone": { "type": "tuple", "value": null } } } +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(latitude, longitude, 100)" } } } +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet., { "action": "search_and_rescue", "params": { "duration": { "type": "float", "value": 3600.0 }, "altitude": { "type": "float", "value": 30.48 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour.,No JSON +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet., { "action": "search_and_rescue", "params": { "duration": { "type": "float", "value": 3600.0 }, "altitude": { "type": "float", "value": 30.48 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet., { "action": "search_and_rescue", "params": { "duration": { "type": "float", "value": 3600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "feet" } } +Perform a barrel roll maneuver at a high velocity of 100 km/h.,No JSON +Execute a barrel roll maneuver at a rapid speed of 100 km/h., { "action": "rotate", "params": { "angular_velocity": 100, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Carry out a barrel roll maneuver at a high rate of 100 km/h., { "action": "rotate", "params": { "angular_velocity": 100, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h., { "action": "rotate", "params": { "angular_velocity": 100, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h., { "action": "rotate", "params": { "angular_velocity": 100, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Fly forward for 500 meters and then execute a sharp turn to the right., { "action": "fly", "params": { "speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "forward" }, "duration": 500, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "meters" }, "action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn., { "action": "fly", "params": { "speed": 15.0, "altitude": 50, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right.,No JSON +Move ahead for 500 meters and perform a quick right turn.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "ahead" }, "duration": 500, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "meters" }, "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Travel straight for a distance of 500 meters before making a sharp right turn.,No JSON +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data., { "action": "hover", "params": { "duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 1000.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data.,No JSON +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data.,No JSON +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data., { "action": "hover", "params": { "altitude": { "type": "float", "value": 1000.0 }, "duration": { "type": "float", "value": 300.0 }, "unit_altitude": "meters", "unit_duration": "seconds" } } +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data.,No JSON +Fly in a figure-eight pattern with a total distance of 2 kilometers.,No JSON +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers.,No JSON +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total.,No JSON +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,No JSON +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,No JSON +Hover in place and initiate a search for a lost object on the ground.,No JSON +Stay stationary and begin a search for a missing item on the ground.,No JSON +Keep still and start looking for a lost object on the surface.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Maintain a hovering position and commence a search for a misplaced item on the ground., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "north" }, "duration": 40, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } { "action": "rotate", "params": { +Suspend movement and initiate a search for a lost object on the floor.,No JSON +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } { "action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location., { "action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot., { "action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot., { "action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +- Fly to waypoint A at a distance of 1 kilometer.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "towards waypoint A" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed to waypoint A, located at a distance of 1 kilometer, by flying.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "towards waypoint A" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Utilize flight to reach waypoint A, which is situated 1 kilometer away.,No JSON +Cover a distance of 1 kilometer by flying towards waypoint A., { "action": "fly", "params": { "speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "towards waypoint A" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly towards waypoint A, which is precisely 1 kilometer away., { "action": "fly", "params": { "speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "towards waypoint A" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +- Descend to an altitude of 200 meters above ground level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, 200)" } } } +Reduce your altitude to 200 meters above the ground.,{ "action": "fly", "params": {"speed": 15.0, "duration": 40, "unit_speed": "m/s", "unit_duration": "seconds" }, "action": "land", "params": +Go down until you reach an altitude of 200 meters above the ground.,No JSON +Lower your altitude to 200 meters above the ground level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, 200)" } } } +Descend until you are flying at an altitude of 200 meters above the ground., { "action": "fly", "params": { "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_altitude": "meters", "unit_duration": "seconds" } } +- Perform a vertical climb at a rate of 5 meters per second.,{ "action": "rotate", "params": {"angular_velocity": 5.0, "angle": 0, "is_clockwise": true, "unit": "degrees" } } +Ascend vertically, maintaining a speed of 5 meters per second., { "action": "fly", "params": { "speed": 5.0, "altitude": null, "direction": { "type": "str", "value": "up" }, "duration": null, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Execute a vertical ascent, moving at a pace of 5 meters per second.,{ "action": "fly", "params": {"speed": 5.0, "altitude": null, "direction": { "type": "str", "value": "up" }, "duration": null, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Scale upwards in a straight line, advancing at a rate of 5 meters per second.,No JSON +Carry out a vertical climb, sustaining a speed of 5 meters per second., { "action": "fly", "params": { "speed": 5.0, "altitude": null, "direction": { "type": "str", "value": "up" }, "duration": null, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +- Fly in a zigzag pattern for 10 minutes.,No JSON +Perform a zigzag flight pattern for a duration of 10 minutes.,No JSON +Fly in a serpentine motion for a period of 10 minutes.,No JSON +Execute a back-and-forth flying motion for a duration of 10 minutes.,No JSON +Soar in a crisscross pattern for a total of 10 minutes., { "action": "fly", "params": { "speed": 10.0, "altitude": 100, "direction": { "type": "str", "value": "crisscross" }, "duration": 600, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,No JSON +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second.,No JSON +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second.,No JSON +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +- Fly forward at a speed of 30 km/h for 500 meters.,{ "action": "fly", "params": {"speed": 30.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "meters" } } +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour.,No JSON +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour., { "action": "fly", "params": { "speed": 30.0, "direction": { "type": "str", "value": "forward" }, "duration": 500.0, "unit_speed": "km/h", "unit_duration": "meters" } } +Glide forward at a rate of 30 km/h, covering a distance of 500 meters.,No JSON +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters., { "action": "fly", "params": { "speed": 30.0, "altitude": 100, "direction": "straight", "duration": 500, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "meters" } } +- Hover at a specific location for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain stationary at a designated spot for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay in one place for a period of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a fixed position for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold steady at a specific point for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +- Ascend to an altitude of 500 meters above ground level.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Increase your height until you reach an altitude of 500 meters above ground level.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Climb up until you are at an altitude of 500 meters above ground level.,No JSON +Move upwards until you reach a height of 500 meters above ground level.,No JSON +Reach an altitude that is 500 meters above ground level.,{ "action": "fly", "params": {"altitude": 500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +- Perform a horizontal slide to the left for 200 meters.,{ "action": "fly", "params": {"altitude": 500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Slide 200 meters horizontally to the left., { "action": "slide", "params": { "distance": { "type": "float", "value": 200.0 }, "direction": { "type": "str", "value": "left" } } } +Move to the left in a horizontal slide for a distance of 200 meters.,{ "action": "fly", "params": {"speed": 15.0, "altitude": 100, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds +Execute a horizontal leftward slide spanning 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 200, "is_clockwise": false, "unit": "degrees" } } +Take a 200 meter horizontal slide towards the left.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 200, "is_clockwise": false, "unit": "degrees" } } +- Circle around a fixed point at a radius of 100 meters for 5 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes., { "action": "rotate", "params": { "angular_velocity": 1.0, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes.,No JSON +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes., { "action": "rotate", "params": { "angular_velocity": 1.0, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes., { "action": "orbit", "params": { "center": { "type": "tuple", "value": "(37.7749, -122.4194, 0)" }, "radius": 100, "duration": 300, "unit_radius": "meters", "unit_duration": "seconds" } } +- Fly backward at a speed of 40 km/h for 1 kilometer.,{ "action": "fly", "params": {"speed": 40.0, "altitude": null, "direction": { "type": "str", "value": "backward" }, "duration": 1000, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers" } } +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer., { "action": "fly", "params": { "speed": 40.0, "direction": { "type": "str", "value": "south" }, "distance": { "type": "float", "value": 1.0 }, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer.,No JSON +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer.,No JSON +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer.,No JSON +- Descend rapidly at a rate of 10 meters per second.,{ "action": "fly", " +Quickly descend at a speed of 10 meters per second.,{ "action": "descend", "params": {"speed": 10.0, "unit_speed": "m/s" } } +Drop down rapidly, maintaining a rate of 10 meters per second.,No JSON +Perform a swift descent, descending at a speed of 10 meters per second., { "action": "fly", "params": { "speed": 10.0, "altitude": null, "direction": { "type": "str", "value": "down" }, "duration": null, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Go down at a rapid pace, descending at a rate of 10 meters per second.,No JSON +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 360.0, "is_clockwise": false, "unit": "degrees" } } +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second.,No JSON +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second., { "action": "rotate", "params": { "angular_velocity": 60, "angle": 360, "is_clockwise": false, "unit": "degrees" } } +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second.,No JSON +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second.,No JSON +- Fly in a figure-eight pattern for 10 minutes.,No JSON +Perform a figure-eight flight maneuver for a duration of 10 minutes.,No JSON +Fly in a pattern resembling the shape of an eight for a total of 10 minutes.,No JSON +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes.,No JSON +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes.,No JSON +- Ascend to an altitude of 800 meters above sea level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 800)" } } } +Achieve an elevation of 800 meters above sea level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 800)" } } } +Reach a height of 800 meters above sea level.,{ "action": "fly", "params": {"altitude": 800, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Climb to an altitude of 800 meters above sea level.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Move up to a height of 800 meters above sea level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 800)" } } } +- Hover in place while capturing photos for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary hover for a duration of 20 minutes, taking photos.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold position and take photographs for a period of 20 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay in one spot and capture photos continuously for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in the air and photograph for a duration of 20 minutes., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "rotate", "params": { " +- Fly forward at a speed of 50 km/h for 2 kilometers.,{ "action": "fly", "params": {"speed": 50.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers" } } +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,No JSON +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,No JSON +Propel forward for 2 kilometers at a rate of 50 kilometers per hour.,No JSON +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h.,No JSON +- Descend to a low altitude of 50 meters above ground level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, 50)" } } } +Lower your altitude to 50 meters above the ground.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, 50)" } } } +Move down to an altitude of 50 meters above the ground.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, 50)" } } } +Decrease your altitude until you are only 50 meters above the ground.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, 50)" } } } +Descend to a height of 50 meters above the ground level.,{ "action": "descend", "params": {"altitude": 50, "unit_altitude": "meters" } } +- Perform a sudden stop and hover for 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Execute an abrupt halt and remain stationary for a duration of 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Achieve an instant stop and remain suspended in the air for a period of 2 minutes.,No JSON +Implement a sudden pause and hover motionless for a timeframe of 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +- Land at the designated landing zone, then record a video.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } }, "action": "record_video", "params": {} } +After landing at the specified landing area, proceed to film a video.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } }, "action": "film_video", "params": {} } +Upon arrival at the designated landing zone, commence recording a video.,{ "action": "rotate", "params": { "angular_velocity": 0.5, "angle": 90, "is_clockwise": true +Touch down at the designated landing zone and proceed to capture a video.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } }, "action": "capture_video", "params": {} } +Once you have safely landed at the assigned landing area, begin filming a video.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } }, "action": "film", "params": {} } +Ascend to an altitude of 500 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Climb to a height of 500 feet., { "action +Reach an elevation of 500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Achieve a position at an altitude of 500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Ascend to a height of 500 feet above ground level., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Fly forward for 1 mile at a speed of 40 mph., { "action": "fly", "params": {"speed": 40.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,No JSON +Move forward for a mile, traveling at a speed of 40 miles per hour.,No JSON +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour.,No JSON +Travel forward for a distance of 1 mile, with a velocity of 40 mph., { "action": "fly", "params": { "speed": 40.0, "direction": { "type": "str", "value": "forward" }, "duration": { "type": "float", "value": 1609.3472 }, "unit_speed": "mph", "unit_duration": "meters" } } +Descend to an altitude of 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Reduce your altitude to 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Lower down to an altitude of 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Move downwards until you reach an altitude of 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Descend until you are flying at 200 meters above ground level., { "action": "fly", "params": { "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 0, "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in the air for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remained fixed in mid-air for a time span of 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend yourself without moving for the next 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 150, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Turn clockwise by 180 degrees, at a rate of 45 degrees per second.,No JSON +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 150, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second.,No JSON +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,No JSON +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying.,No JSON +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,No JSON +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers.,No JSON +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h.,No JSON +Ascend to an altitude of 1000 feet., { "action": "fly", "params": { "altitude": 1000, "unit_altitude": "feet" } } +Increase your altitude to 1000 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 1000)" } } } +Climb to a height of 1000 feet., { "action": "fly", "params": { "altitude": 1000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Reach an elevation of 1000 feet., { "action": "fly", "params": { "altitude": 1000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Move upward and maintain a height of 1000 feet., { "action": "fly", "params": { "speed": 0, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "feet", "unit_duration": "seconds" } } +Fly forward for 5 miles at a speed of 30 mph., { "action": "fly", "params": {"speed": 30.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 5 * 1609.344, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "miles" } } +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph.,No JSON +Travel in a straight line for 5 miles, moving at a speed of 30 mph.,No JSON +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph.,No JSON +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles.,No JSON +Hover and take aerial photographs for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Capture aerial photographs by flying and hovering for a duration of 20 minutes.,No JSON +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,No JSON +Take aerial photos by hovering in the air for a total of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 * 60.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Fly and maintain a hover position for 20 minutes to capture aerial photographs.,No JSON +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,No JSON +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second.,No JSON +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second.,No JSON +Turn left by 270 degrees at a rate of 60 degrees per second.,No JSON +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second.,No JSON +Descend to an altitude of 100 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 100)" } } } +Lower down to an altitude of 100 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 100)" } } } +Reduce your altitude to 100 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 100)" } } } +Move downward until you reach an altitude of 100 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 100)" } } } +Descend until you are at a height of 100 meters., { "action": "descend", "params": { "altitude": 100, "unit_altitude": "meters" } } +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h.,No JSON +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters., { "action": "fly", "params": { "speed": 20.0, "altitude": null, "direction": { "type": "str", "value": "circular" }, "radius": { "type": "float", "value": 500.0 }, "duration": null, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Circle at a speed of 20 km/h with a 500-meter radius.,No JSON +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius., { "action": "fly", "params": { "speed": 20.0, "direction": { "type": "str", "value": "circular" }, "radius": 500.0, "unit_speed": "km/h", "unit_radius": "meters" } } +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h., { "action": "fly", "params": { "speed": 20.0, "altitude": null, "direction": { "type": "str", "value": "circular" }, "radius": 500.0, "duration": null, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Ascend to an altitude of 1500 feet., { "action": "fly", "params": { "altitude": 1500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Increase your elevation to a height of 1500 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 1500)" } } } +Climb to a 1500-foot altitude., { "action": "fly", "params": { "altitude": 1500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Reach a height of 1500 feet., { "action": "fly", "params": { "altitude": 1500, "unit_altitude": "feet" } } +Ascend to a level that is 1500 feet above the ground., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 1500)" } } } +Fly forward and survey the area for 3 miles at a speed of 35 mph.,No JSON +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour., { "action": "fly", "params": { "speed": 35.0, "altitude": 100, "direction": "ahead", "duration": 300, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "seconds" } } +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph., { "action": "fly", "params": { "speed": 35.0, "altitude": 100, "direction": { "type": "str", "value": "forward" }, "duration": 300, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "seconds" } } +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph.,No JSON +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph.,No JSON +Hover and drop a package at the designated location.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Carry a package and release it at the specified spot by slightly floating above it.,{ "action": "fly", "params": { "speed": 5.0, "altitude": 50.0, "direction": { "type": "str", "value": "towards_target" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds", "package": { "type": "tuple", "value": "(package_weight, package_size, package_location)" } }, "action": "rotate", "params": { "angular_velocity": 0.2, "angle": 45, "is_clockwise": true, "unit": "degrees" }, "action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Gently float and deposit a package at the predetermined destination., { "action": "hover", "params": { "duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } }, { "action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Utilize aerial suspension to transport and release a package precisely where directed.,No JSON +Levitate above a designated area and carefully place a package down., { "action": "hover", "params": { "duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } }, { "action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second.,No JSON +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second.,No JSON +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second.,No JSON +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second.,No JSON +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second.,No JSON +Descend to an altitude of 50 meters.,{ "action": "descend", "params": {"altitude": 50.0, "unit_altitude": "meters" } } +Reduce your altitude to 50 meters.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Go down to a height of 50 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Lower yourself to an altitude of 50 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Descend until you reach a height of 50 meters., { "action": "descend", "params": { "altitude": { "type": "float", "value": 50.0 } } } +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h.,No JSON +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h., { "action": "fly", "params": { "speed": 45.0, "altitude": 100, "direction": { "type": "str", "value": "figure-eight" }, "duration": { "type": "float", "value": 1000.0 / 45.0 }, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h.,No JSON +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h., { "action": "fly", "params": { "speed": 45.0, "direction": { "type": "str", "value": "figure-eight" }, "duration": 1000, "unit_speed": "m/s", "unit_duration": "seconds" } } +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h., { "action": "fly", "params": { "speed": 45.0, "direction": { "type": "str", "value": "figure-eight" }, "distance": { "type": "float", "value": 1000.0 }, "unit_speed": "km/h", "unit_distance": "meters" } } +Ascend to an altitude of 2000 feet., { "action": "fly", "params": { "altitude": 2000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Reach a height of 2000 feet.,{ "action": "fly", "params": {"altitude": 2000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Climb to an elevation of 2000 feet., { "action": "fly", "params": { "altitude": 2000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Increase your altitude to 2000 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 2000)" } } } +Ascend to a level that is 2000 feet above ground., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 2000)" } } } +Fly forward and inspect power lines for 4 miles at a speed of 25 mph.,No JSON +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph., { "action": "fly", "params": { "speed": 25.0, "direction": { "type": "str", "value": "ahead" }, "duration": { "type": "float", "value": 4000.0 }, "unit_speed": "mph", "unit_duration": "feet" } } +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph.,No JSON +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.,No JSON +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,No JSON +Land at the designated landing zone, then take a nap.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } }, "action": "nap", "params": {} } +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep., { "action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +After successfully reaching the designated landing zone, feel free to relax and take a nap.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep.,No JSON +Fly forward for 1 kilometer at a speed of 40 km/h.,{ "action": "fly", "params": {"speed": 40.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour.,No JSON +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour.,No JSON +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour.,No JSON +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,No JSON +Ascend to an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Reach a height of 500 meters.,{ "action": "fly", "params": {"altitude": 500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Climb up to an elevation of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Move upwards until you are at an altitude of 500 meters., { "action": "fly", "params": { "speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Achieve a vertical position of 500 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay stationary for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in the air for a period of 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep yourself hovering in one spot for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a fixed position in the air for 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,No JSON +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees.,No JSON +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second.,No JSON +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation.,No JSON +Fly forward for 500 meters at a speed of 50 km/h.,No JSON +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h.,No JSON +Move straight ahead at 50 km/h for a distance of 500 meters.,No JSON +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h., { "action": "fly", "params": { "speed": 50.0, "direction": { "type": "str", "value": "forward" }, "distance": { "type": "float", "value": 500.0 }, "unit_speed": "km/h", "unit_distance": "meters" } } +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction., { "action": "fly", "params": { "speed": 50.0, "direction": { "type": "str", "value": "forward" }, "duration": { "type": "float", "value": 500.0 }, "unit_speed": "km/h", "unit_duration": "meters" } } +Descend to an altitude of 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Lower your altitude to 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Decrease your altitude to 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Descend until you reach an altitude of 200 meters.,{ +Bring your altitude down to 200 meters.,{ "action": "hover", "params": {"altitude": { "type": "float", "value": 200.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place for 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain stationary for a period of 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold your position for a span of 2 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Do not move for a total of 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,No JSON +Turn to the left by 45 degrees at a rate of 10 degrees per second.,No JSON +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second.,No JSON +Spin counterclockwise by 45 degrees, moving 10 degrees per second.,No JSON +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second.,No JSON +Fly forward for 3 kilometers at a speed of 70 km/h.,No JSON +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h.,No JSON +Travel straight ahead for 3 kilometers at a rate of 70 km/h.,No JSON +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h., { "action": "fly", "params": { "speed": 70.0, "direction": { "type": "str", "value": "forward" }, "distance": 3.0, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers.,No JSON +Ascend to an altitude of 800 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Reach a height of 800 meters.,{ "action": "fly", "params": {"altitude": 800, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Climb to an elevation of 800 meters.,{ "action": "fly", "params": {"altitude": 800, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Increase your altitude to 800 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 800)" } } } +Go up to a height of 800 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for the next 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain in place without moving for a period of 15 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend motion for a time period of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second.,No JSON +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second.,No JSON +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second.,No JSON +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees.,No JSON +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,No JSON +Fly forward for 2.5 kilometers at a speed of 55 km/h.,No JSON +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward., { "action": "fly", "params": { "speed": 55.0, "direction": { "type": "str", "value": "forward" }, "distance": { "type": "float", "value": 2.5 }, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction., { "action": "fly", "params": { "speed": 55.0, "direction": { "type": "str", "value": "forward" }, "distance": { "type": "float", "value": 2.5 }, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h.,No JSON +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,No JSON +Descend to an altitude of 300 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 300)" } } } +Lower yourself to a height of 300 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Reduce your altitude to 300 meters.,{ "action": "fly", "params": {"speed": 15.0, "altitude": null, "direction": { "type": "str", "value": "east" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Move down to a height of 300 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 300)" } } } +Descend until you reach an altitude of 300 meters.,{ +Hover in place for 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 480.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 480.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary position for a period of 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 480.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend movement and remain in one spot for 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 480.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep hovering without moving for a total of 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 480.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second.,No JSON +Turn left at a rate of 25 degrees per second for 120 degrees.,No JSON +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees.,No JSON +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second.,No JSON +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second.,No JSON +Fly forward for 4 kilometers at a speed of 80 km/h.,No JSON +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,No JSON +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,No JSON +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h.,No JSON +Travel at 80 km/h in a straight path for 4 kilometers., { "action": "fly", "params": { "speed": 80.0, "direction": { "type": "str", "value": "straight" }, "duration": 4.0, "unit_speed": "km/h", "unit_duration": "kilometers" } } +Ascend to an altitude of 1000 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Increase your altitude to 1000 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 1000)" } } } +Reach a height of 1000 meters.,{ "action": "fly", "params": {"speed": 15.0, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 100, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Climb up to an elevation of 1000 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 100, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Scale up to an altitude of 1000 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in one spot for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay airborne without moving for a period of 20 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep stationary in mid-air for a period of 20 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend motion and hover in the same position for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second.,No JSON +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second.,No JSON +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second., { "action": "rotate", "params": { "angular_velocity": 50.0, "angle": 360.0, "is_clockwise": true, "unit": "degrees" } } +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,No JSON +Fly forward for 2.7 kilometers at a speed of 60 km/h.,No JSON +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,No JSON +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h.,No JSON +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,No JSON +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h.,No JSON +Descend to an altitude of 400 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 400)" } } } +Reduce your altitude to 400 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 400)" } } } +Move down until you are at an altitude of 400 meters., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 400)" } } } +Descend until you reach a height of 400 meters., { "action": "descend", "params": { "altitude": { "type": "float", "value": 400.0 } } } +Lower your altitude to 400 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 400)" } } } +Hover in place for 12 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 720.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay in one spot for a duration of 12 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 720.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain stationary for a period of 12 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 720.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep still for 12 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 720.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Do not move for a total of 12 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 12.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second.,No JSON +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second.,No JSON +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second.,No JSON +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second.,No JSON +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached.,No JSON +Fly forward for 5 kilometers at a speed of 90 km/h., { "action": "fly", "params": { "speed": 90.0, "direction": { "type": "str", "value": "forward" }, "distance": { "type": "float", "value": 5.0 }, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,No JSON +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour., { "action": "fly", "params": { "speed": 90.0, "direction": { "type": "str", "value": "straight" }, "distance": 5000.0, "unit_speed": "km/h", "unit_distance": "meters" } } +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour., { "action": "fly", "params": { "speed": 90.0, "direction": { "type": "str", "value": "forward" }, "duration": { "type": "float", "value": 5.0 }, "unit_speed": "km/h", "unit_duration": "kilometers" } } +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour., { "action": "fly", "params": { "speed": 90.0, "direction": { "type": "str", "value": "ahead" }, "duration": 5000.0, "unit_speed": "m/s", "unit_duration": "seconds" } } +Ascend to an altitude of 1200 meters., { "action": "fly", "params": { "altitude": 1200, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Increase your elevation to 1200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 1200)" } } } +Climb to a height of 1200 meters.,{ "action": "fly", "params": {"altitude": 1200, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Reach an altitude of 1200 meters.,{ "action": "fly", "params": {"altitude": 1200, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Move upwards to a position of 1200 meters above ground level.,No JSON +Hover in place for 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1500.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1500.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1500.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain in place without moving for a period of 25 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 25.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold your position in mid-air for a total of 25 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 1500.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second.,No JSON +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second., { "action": "rotate", "params": { "angular_velocity": 55, "angle": 450, "is_clockwise": true, "unit": "degrees" } } +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,No JSON +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,No JSON +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,No JSON +Fly forward for 3.2 kilometers at a speed of 65 km/h.,No JSON +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour.,No JSON +Proceed straight for 3.2 kilometers at a pace of 65 km/h.,No JSON +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h., { "action": "fly", "params": { "speed": 65.0, "direction": { "type": "str", "value": "forward" }, "distance": 3.2, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h.,No JSON +Descend to an altitude of 500 meters.,{ "action": "descend", "params": {"altitude": 500, "unit_altitude": "meters" } } +Lower your altitude to 500 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Decrease your altitude to 500 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Descend until you reach an altitude of 500 meters.,{ +Bring yourself down to an altitude of 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Hover in place for 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1080.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary hover for a duration of 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1080.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay in one position for a period of 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 18.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in the air for a total of 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 18.0 * 60.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Do not move and stay at the same spot for the next 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 18.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise.,No JSON +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second., { "action": "rotate", "params": { "angular_velocity": 45.0, "angle": 180.0, "is_clockwise": false, "unit": "degrees" } } +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second.,No JSON +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second.,No JSON +Fly forward for 6 kilometers at a speed of 100 km/h.,No JSON +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h.,No JSON +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h., { "action": "fly", "params": { "speed": 100, "altitude": 100, "direction": { "type": "str", "value": "straight" }, "duration": { "type": "float", "value": 6 / 100 }, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Move forward for 6 kilometers while flying at a velocity of 100 km/h.,No JSON +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers., { "action": "fly", "params": { "speed": 100, "direction": { "type": "str", "value": "straight" }, "distance": 6, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Ascend to an altitude of 1400 meters., { "action": "fly", "params": { "altitude": 1400, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Climb to a height of 1400 meters.,{ "action": "fly", "params": {"altitude": 1400, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Reach an elevation of 1400 meters.,{ "action": "fly", "params": {"altitude": 1400, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Scale to a height of 1400 meters.,{ "action": "scale", "params": {"altitude": 1400, "unit_altitude": "meters" } } +Go up to an altitude of 1400 meters., { "action": "fly", "params": { "altitude": 1400, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Hover in place for 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in one spot for a duration of 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary position for the next half-hour., { "action": "hover", "params": { "duration": { "type": "float", "value": 1800.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain hovering without moving for a period of 30 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 30.0 * 60.0 // convert minutes to seconds }, "altitude": { "type": "float", "value": 0.0 // default reasonable value }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend yourself in the air for the next 30 minutes without any movement.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second.,No JSON +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second.,No JSON +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second.,No JSON +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second.,No JSON +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly forward for 3.7 kilometers at a speed of 70 km/h.,No JSON +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,No JSON +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h.,No JSON +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h.,No JSON +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,No JSON +Descend to an altitude of 600 meters.,{ "action": "descend", "params": {"altitude": 600, "unit_altitude": "meters" } } +Reduce your altitude to 600 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 600)" } } } +Move down to an altitude of 600 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 600)" } } } +Decrease your altitude until you reach 600 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 600)" } } } +Descend until you are at 600 meters altitude., { "action": "descend", "params": { "altitude": { "type": "float", "value": 600.0 } } } +Hover in place for 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1320.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1320.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold your position for a period of 22 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 1320.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain stationary for 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 22.0 * 60.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Do not move for the next 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1320.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second.,No JSON +Turn left by 210 degrees with a rotational velocity of 50 degrees per second.,No JSON +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second.,No JSON +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second.,No JSON +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second.,No JSON +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap.,No JSON +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest.,No JSON +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax., { "action": "fly", "params": { "speed": 110, "duration": 7, "unit_speed": "km/h", "unit_duration": "kilometers" } } +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest.,No JSON +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break.,No JSON +Ascend to an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Increase your elevation to 500 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Climb up to a height of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Reach an altitude of 500 meters.,{ "action": "fly", "params": {"altitude": 500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Move upward to a height of 500 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Fly forward for 10 kilometers at a speed of 80 km/h.,No JSON +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h.,No JSON +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h.,No JSON +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h.,No JSON +Move forward at a rate of 80 km/h for a total of 10 kilometers.,No JSON +Hover in place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in one spot for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position without movement for a period of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep floating in a fixed location for 15 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain in mid-air without any displacement for a total of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second.,No JSON +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn., +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation.,No JSON +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please touch down at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make your descent and land on the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is required for you to land at the designated area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure that you land precisely at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to an altitude of 100 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 100)" } } } +Reduce your altitude to 100 meters.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 0.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Decrease your altitude to 100 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 100)" } } } +Descend until you reach an altitude of 100 meters., { "action": "descend", "params": { "altitude": { "type": "float", "value": 100.0 } } } +Bring yourself down to an altitude of 100 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Fly backward for 5 kilometers at a speed of 40 km/h.,No JSON +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h.,No JSON +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h., { "action": "fly", "params": { "speed": 40.0, "direction": { "type": "str", "value": "south" }, "distance": 5.0, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h.,No JSON +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h.,No JSON +Circle around a specific location for 20 minutes., { "action": "rotate", "params": { "angular_velocity": 1.0, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Perform a circular motion around a particular spot for a duration of 20 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Move in a circular pattern around a designated area for a period of 20 minutes., { "action": "rotate", "params": { "angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Encircle a specific location for 20 minutes, continuously moving in a circular motion., { "action": "rotate", "params": { "angular_velocity": 1.0, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Follow a circular path around a particular place for a duration of 20 minutes., { "action": "rotate", "params": { "angular_velocity": 1.0, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,No JSON +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec.,No JSON +Turn left by 270 degrees at a rate of 60 degrees per second.,No JSON +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second.,No JSON +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees.,No JSON +Ascend to an altitude of 1000 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Reach a height of 1000 meters.,{ "action": "fly", "params": {"speed": 15.0, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 100, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Climb up to an elevation of 1000 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 100, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Increase the altitude to 1000 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 1000)" } } } +Achieve a vertical position of 1000 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 1000)" } } } +Fly forward for 15 kilometers at a speed of 100 km/h.,No JSON +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction.,No JSON +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h.,No JSON +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h., { "action": "fly", "params": { "speed": 100, "direction": { "type": "str", "value": "straight" }, "duration": { "type": "float", "value": 15 / 100 }, "unit_speed": "km/h", "unit_duration": "seconds", "unit_distance": "kilometers" } } +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers.,No JSON +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in midair for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain airborne without moving for 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend yourself in one spot for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80.0, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second.,No JSON +Rotate to the right by 90 degrees at a rate of 30 degrees every second.,No JSON +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second.,No JSON +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please land at the specified landing area.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 80.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } { "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 45, "is_clockwise": true, "unit": "degrees" } } +Ensure you land at the indicated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is important to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make sure to land precisely at the assigned landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to an altitude of 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Decrease your altitude to 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Lower yourself to an altitude of 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Go down to a height of 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Descend until you reach an altitude of 200 meters.,{ +Fly backward for 3 kilometers at a speed of 50 km/h.,No JSON +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour., { "action": "fly", "params": { "speed": 50.0, "direction": { "type": "str", "value": "south" }, "distance": 3.0, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour., { "action": "fly", "params": { "speed": 50.0, "direction": { "type": "str", "value": "south" }, "distance": 3.0, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour.,No JSON +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour.,No JSON +Circle around a specific location for 30 minutes., { "action": "rotate", "params": { "angular_velocity": 1.0, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Perform a 30-minute loop around a designated area., { "action": "rotate", "params": { "angular_velocity": 1.0, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Go in a circular route around a specific spot for half an hour., { "action": "fly", "params": { "speed": 15.0, "altitude": 80.0, "direction": { "type": "str", "value": "north" }, "duration": 900, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Complete a 30-minute circuit around a particular location., { "action": "fly", "params": { "speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "circular" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } } +Traverse in a circular path around a specific point for a duration of 30 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second.,No JSON +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 150, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second.,No JSON +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second.,No JSON +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Ascend to an altitude of 700 meters and swin.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 700, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Gain an elevation of 700 meters and swim., { "action": "fly", "params": { "speed": 10.5, "altitude": 700, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Reach a height of 700 meters and engage in swimming.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 700, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Ascend to a 700-meter altitude and partake in swimming., { "action": "fly", "params": { "altitude": 700, "duration": 0, "speed": 0, "unit_altitude": "meters", "unit_duration": "seconds", "direction": { "type": "str", "value": "up" } } } +Increase your altitude to 700 meters and then swim., { "action": "fly", "params": { "altitude": 700, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "meters", "unit_duration": "seconds", "unit_speed": "m/s" } } +Fly forward for 8 kilometers at a speed of 70 km/h.,No JSON +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h.,No JSON +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h., { "action": "fly", "params": { "speed": 70.0, "direction": { "type": "str", "value": "forward" }, "distance": 8.0, "unit_speed": "km/h", "unit_distance": "kilometers" } } +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h.,No JSON +Fly straight for a total of 8 kilometers at a speed of 70 km/h.,No JSON +Hover in place for 20 minutes and watch TV.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay stationary for a duration of 20 minutes while watching television.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position and engage in television viewing for a period of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold a steady hover for 20 minutes while enjoying television watching.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain in one place without moving for 20 minutes and entertain yourself by watching TV.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second.,No JSON +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second.,No JSON +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80.0, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second., { "action": "rotate", "params": { "angular_velocity": 50.0, "angle": 270.0, "is_clockwise": true, "unit": "degrees" } } +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation.,No JSON +Land at the designated landing zone, then sing loudly.,No JSON +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } }, "action": "sing", "params": {} } +After successfully landing at the designated landing zone, proceed to sing loudly., { "action": "sing", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ascend to an altitude of 500 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Increase your altitude to 500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Climb to a height of 500 feet., { "action +Reach an elevation of 500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Rise to a position 500 feet above ground level., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Fly forward for 1 mile at a speed of 30 mph., { "action": "fly", "params": {"speed": 30.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.344, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph.,No JSON +Travel straight ahead for 1 mile at a speed of 30 mph.,No JSON +Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,No JSON +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph.,No JSON +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in one spot for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position without moving for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in mid-air without any motion for a time span of 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold a hover position for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,No JSON +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second.,No JSON +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second.,No JSON +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees.,No JSON +Descend to an altitude of 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Decrease your altitude to 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Lower your altitude to 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Move down to an altitude of 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Descend until reaching an altitude of 200 meters.,{ "action": "descend", "params": {"altitude": 200, "unit_altitude": "meters" } } +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h.,No JSON +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h.,No JSON +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h., { "action": "fly", "params": { "speed": 50.0, "direction": { "type": "str", "value": "serpentine" }, "distance": { "type": "float", "value": 3000.0 }, "duration": { "type": "float", "value": 60.0 }, "unit_speed": "km/h", "unit_distance": "meters", "unit_duration": "seconds" } } +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h., { "action": "fly", "params": { "speed": 50.0, "altitude": 100.0, "direction": { "type": "str", "value": "north" }, "duration": 300.0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,No JSON +Perform a barrel roll to the left.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": false, "unit": "degrees" } } +Execute a left barrel roll.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Rotate in a barrel roll towards the left., { "action": "rotate", "params": { "angular_velocity": 0.5, "angle": 360, "is_clockwise": false, "unit": "degrees" } } +Perform a barrel roll in a counterclockwise direction.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": false, "unit": "degrees" } } +Initiate a leftward barrel roll., { "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees" } } +Ascend to an altitude of 1000 feet and maintain it for 20 minutes., { "action": "fly", "params": { "altitude": 1000, "duration": 20, "unit_altitude": "feet", "unit_duration": "minutes" } } +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes.,No JSON +Increase your elevation to 1000 feet and sustain it for the next 20 minutes.,No JSON +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes.,No JSON +Elevate to 1000 feet and retain that height for the next 20 minutes.,No JSON +Fly backward for 500 meters at a speed of 40 km/h.,No JSON +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h.,No JSON +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h.,No JSON +Reverse your flight and go for 500 meters at a velocity of 40 km/h., { "action": "fly", "params": { "speed": 40.0, "altitude": null, "direction": { "type": "str", "value": "south" }, "duration": null, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h.,No JSON +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second.,No JSON +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees.,No JSON +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second.,No JSON +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second.,No JSON +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change.,No JSON +Descend to an altitude of 100 feet and hold for 5 minutes.,No JSON +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes.,No JSON +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes., { "action": "hover", "params": { "altitude": { "type": "float", "value": 100.0 }, "duration": { "type": "float", "value": 300.0 }, "unit_altitude": "feet", "unit_duration": "seconds" } } +Descend until you reach an altitude of 100 feet and remain there for 5 minutes., { "action": "hover", "params": { "altitude": { "type": "float", "value": 100.0 }, "duration": { "type": "float", "value": 300.0 }, "unit_altitude": "feet", "unit_duration": "seconds" } } +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes., { "action": "hover", "params": { "altitude": { "type": "float", "value": 100.0 }, "duration": { "type": "float", "value": 300.0 }, "unit_altitude": "feet", "unit_duration": "seconds" } } +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h.,No JSON +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,No JSON +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h.,No JSON +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h., { "action": "fly", "params": { "speed": 20.0, "altitude": 100, "direction": { "type": "str", "value": "circular" }, "duration": 3600, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer., { "action": "fly", "params": { "speed": 20.0, "altitude": 100, "direction": { "type": "str", "value": "circular" }, "radius": 1000.0, "duration": 30, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Ascend to an altitude of 300 meters and maintain it for 30 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 300.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Climb to a height of 300 meters and stay there for a duration of 30 minutes.,No JSON +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 300.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes.,No JSON +Scale up to an altitude of 300 meters and sustain it for 30 minutes.,No JSON +Hover in place for 15 minutes and then proceed forward for 2 kilometers.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } { "action": "fly", "params": {"speed": 0.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 2000, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } { "action": "fly", "params": {"speed": 0.0, "altitude": 0.0, "direction": { "type": "str", "value": "ahead" }, "duration": 2000, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers., { "action": "hover", "params": { "duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } }, { "action": "fly", "params": { "speed": 10.0, "altitude": 100.0, "direction": { "type": "str", "value": "ahead" }, "duration": 2000.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers.,No JSON +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers., { "action": "hover", "params": { "duration": { "type": "float", "value": 900.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } }, { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } } +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80.0, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second., { "action": "rotate", "params": { "angular_velocity": 20.0, "angle": 90.0, "is_clockwise": true, "unit": "degrees" } } +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second.,No JSON +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second.,No JSON +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 80.0, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,No JSON +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph.,No JSON +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph., { "action": "fly", "params": { "speed": 25.0, "altitude": 100, "direction": { "type": "str", "value": "serpent" }, "duration": 1609.3472, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly in a zigzag pattern for a mile at a speed of 25 mph.,No JSON +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph.,No JSON +Descend to an altitude of 100 meters and hover in place for 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Lower your altitude to 100 meters and remain stationary for 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Descend until reaching an altitude of 100 meters and then hover for 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes., { "action": "hover", "params": { "duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone., { "action": "fly", "params": { "speed": 60.0, "direction": { "type": "str", "value": "forward" }, "distance": 3.0, "unit_speed": "km/h", "unit_distance": "kilometers" }, "action": "land", "params": { "location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area.,No JSON +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone., { "action": "fly", "params": { "speed": 60.0, "direction": { "type": "str", "value": "forward" }, "duration": { "type": "float", "value": 3.0 }, "unit_speed": "km/h", "unit_duration": "kilometers", "unit_altitude": "meters", "altitude": { "type": "float", "value": 0.0 } } } +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone., { "action": "fly", "params": { "speed": 60.0, "direction": { "type": "str", "value": "forward" }, "duration": { "type": "float", "value": 3.0 }, "unit_speed": "km/h", "unit_duration": "seconds", "unit_altitude": "meters", "landing_zone": { "type": "tuple", "value": "(latitude, longitude)" } } } +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area., { "action": "fly", "params": { "speed": 60.0, "altitude": 100, "direction": { "type": "str", "value": "straight" }, "duration": 3000, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "land", "params": { "location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second.,No JSON +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second.,No JSON +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second.,No JSON +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second.,No JSON +Perform a loop-de-loop and then watch TV.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Execute a loop-de-loop and subsequently engage in watching TV.,No JSON +Carry out a loop-de-loop and proceed to view television., { "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Conduct a loop-de-loop before indulging in some TV time.,No JSON +Maneuver a loop-de-loop and then enjoy some TV programming.,{ "action": "rotate", "params": {"angular_velocity": 1.0, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Ascend to an altitude of 500 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Increase your height to 500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Climb up to an elevation of 500 feet., { "action": "fly", "params": { "altitude": 500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Reach an altitude of 500 feet.,{ "action": "fly", "params": {"altitude": 500, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Go up to a height of 500 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 500)" } } } +Fly forward for 1 mile at a speed of 40 mph., { "action": "fly", "params": {"speed": 40.0, "altitude": null, "direction": { "type": "str", "value": "forward" }, "duration": null, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "seconds" } } +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,No JSON +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph.,No JSON +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph., { "action": "fly", "params": { "speed": 40.0, "direction": { "type": "str", "value": "forward" }, "duration": { "type": "float", "value": 1609.3472 }, "unit_speed": "mph", "unit_duration": "seconds", "unit_altitude": "meters" } } +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile.,No JSON +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain stationary for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay in one spot for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Float in the same position for 10 minutes.,No JSON +Suspend yourself in midair for a span of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,No JSON +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second., { "action": "fly", "params": { "speed": 15.0, "altitude": 150, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second.,No JSON +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees.,No JSON +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation., { "action": "fly", "params": { "speed": 15.0, "altitude": 80, "direction": { "type": "str", "value": "south" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please land at the specified landing zone.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 80.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } { "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 45, "is_clockwise": true, "unit": "degrees" } } +You are required to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make sure to land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is important to secure a landing at the designated zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Fly sideways for 500 meters., { "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "sideways" }, "duration": 500, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "meters" } } +Move horizontally for a distance of 500 meters while airborne.,{ "action": "fly", "params": {"speed": null, "altitude": null, "direction": { "type": "str", "value": "horizontal" }, "duration": null, "unit_speed": null, "unit_altitude": null, "unit_duration": null } } +Perform a lateral flight movement covering a distance of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "lateral" }, "duration": 50, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Traverse 500 meters in a sideways direction while in flight.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "sideways" }, "duration": 500, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "meters" } } +Travel parallel to the ground for a distance of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "parallel_to_ground" }, "duration": 500, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "meters" } } +Ascend to an altitude of 1000 feet., { "action": "fly", "params": { "altitude": 1000, "unit_altitude": "feet" } } +Increase your elevation to 1000 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 1000)" } } } +Climb to a height of 1000 feet., { "action": "fly", "params": { "altitude": 1000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Reach an altitude of 1000 feet.,{ "action": "fly", "params": {"altitude": 1000, "duration": 0, "speed": 0, "direction": { "type": "str", "value": "up" }, "unit_altitude": "feet", "unit_duration": "seconds", "unit_speed": "m/s" } } +Move upwards to a level of 1000 feet., { "action": "navigate_to_point", "params": { "coordinates": { "type": "tuple", "value": "(0, 0, 1000)" } } } +Fly in a circular pattern with a radius of 500 meters for 20 minutes.,No JSON +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes.,No JSON +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center.,No JSON +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes.,No JSON +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters., { "action": "fly", "params": { "speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "circular" }, "duration": 1200, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Descend to an altitude of 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Go down to a height of 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Lower yourself to an elevation of 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Decrease your altitude to 200 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 200)" } } } +Descend until you reach an altitude of 200 meters.,{ diff --git a/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Ground_Robot_LLaMA2-7b.txt b/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Ground_Robot_LLaMA2-7b.txt new file mode 100644 index 0000000..c3bda14 --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Ground_Robot_LLaMA2-7b.txt @@ -0,0 +1,1000 @@ +Move forward for 1 meter., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead covering a distance of 1 meter.,Please provide the JSON response.}} +Advance by 1 meter in the forward direction.,Please provide the JSON response.}} +Take a step forward spanning 1 meter.,Please provide the JSON response.}} +Move ahead for a length of 1 meter., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Rotate in an anti-clockwise direction by 90 degrees.,Please provide the JSON response.}} +Turn left by 90 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate 90 degrees counterclockwise.,Please provide the JSON response.}} +Spin in the opposite direction by 90 degrees.,Please provide the JSON response.}} +Move backward for 2 seconds.,Please provide the JSON corresponding to the given prompt.}} +Go backwards for a duration of 2 seconds.,Please provide the JSON response.}} +Reverse your direction and travel for a span of 2 seconds.,Please provide the JSON response.}} +Retreat for a time frame of 2 seconds.,Please provide the JSON response.}} +Take two seconds to move in the opposite direction.,Please provide the JSON corresponding to the given prompt.}} +Turn left and move forward for 5 meters.,Please provide the JSON response.}} +Move forward for 5 meters, then turn left.,Please provide the JSON response.}} +Proceed for 5 meters, then make a left turn.,Please provide the JSON response.}} +Take a left turn and continue moving forward for 5 meters.,Please provide the JSON response.}} +Make a leftward turn and advance for 5 meters.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Turn in a clockwise direction by 180 degrees.,Please provide the JSON response.}} +Rotate by 180 degrees in a clockwise manner.,Please provide the JSON response.}} +Execute a clockwise rotation of 180 degrees.,Please provide the JSON response.}} +Move forward at a velocity of 0.5 meters per second for 10 seconds.,Please provide the JSON response.}} +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.,Please provide the JSON response.}} +Advance at 0.5 meters per second for a total of 10 seconds.,Please provide the JSON response.}} +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.,Please note that I will only accept answers in the format of a JSON object, as specified in the problem statement.}} +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.,Please provide the JSON response.}} +Turn right and move forward for 3 meters.,Please provide the JSON response.}} +Proceed forward for a distance of 3 meters after making a right turn.,Please provide the JSON response.}} +After turning right, continue straight for 3 meters.,Please provide the JSON response.}} +Make a right turn and advance for a distance of 3 meters.,Please provide the JSON response.}} +Execute a rightward turn and then travel straight ahead for 3 meters.,Please provide the JSON response.}} +Move backward at a velocity of 1 meter per second for 4 seconds.,Please provide the JSON response.}} +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.,Please provide the JSON response.}} +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.,Note: I will give you multiple prompts, and you must answer them one by one. Please answer each prompt only once.}} +Rotate counterclockwise by 270 degrees.,Please provide the JSON response.}} +Rotate 270 degrees counterclockwise.,Please provide the JSON response.}} +Turn left by 270 degrees.,Please provide the JSON corresponding to the given prompt.}} +Perform a counterclockwise rotation of 270 degrees.,Please provide the JSON response.}} +Rotate in the opposite direction by 270 degrees.,Please provide the JSON response.}} +Move forward for 2 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead by a distance of 2 meters.,Please provide the JSON response.}} +Advance for a span of 2 meters.,Please provide the JSON response.}} +Travel forward, covering a distance of 2 meters.,Please note that I will only provide one answer, and you should only provide one answer for each prompt.}} +Move straight ahead, going 2 meters.,Please provide the JSON response.}} +Rotate clockwise by 45 degrees and move forward for 1 meter.,Please provide the JSON response.}} +Move forward for 1 meter while rotating 45 degrees clockwise.,Please provide the JSON response.}} +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.,Note: You can assume that the robot has already been initialized and is in a stable state before the given command is executed.}} +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.,Please provide the JSON response.}} +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.,Note: You can assume that the robot has already been initialized and is in a known state.}} +Turn left and move forward for 3 seconds.,Please provide the JSON response.}} +Proceed straight for 3 seconds after taking a left turn.,Please provide the JSON response.}} +Take a left turn and continue advancing for 3 seconds.,Please provide the JSON response.}} +Make a left turn and proceed forward for a duration of 3 seconds.,Note: I will give you multiple prompts, and you must answer them one by one.}} +After turning left, move straight ahead for 3 seconds.,Please provide the JSON response.}} +Move backward for 1 meter.,Please provide the JSON corresponding to the given prompt.}} +Reverse direction and travel 1 meter.,Please provide the JSON response.}} +Go back for a distance of 1 meter.,Please provide the JSON response.}} +Retreat for 1 meter.,Please provide the JSON response.}} +Take one step backward covering a distance of 1 meter.,Please provide the JSON response.}} +Rotate counterclockwise by 120 degrees and move forward for 5 meters.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.,Please provide the JSON response.}} +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.,Please provide the JSON response.}} +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Move forward at full speed for 20 seconds.,Please provide the JSON response.}} +Proceed ahead at maximum velocity for a duration of 20 seconds.,Please provide the JSON response.}} +Travel straight ahead at top speed for a duration of 20 seconds.,Please provide the JSON response.}} +Advance forward with utmost speed for a period of 20 seconds.,Please provide the JSON response.}} +Go straight ahead at full throttle for a duration of 20 seconds.,Please provide the JSON response.}} +Rotate clockwise by 60 degrees.,Please provide the JSON response.}} +Turn right by 60 degrees.,Please provide the JSON corresponding to the given prompt.}} +Perform a clockwise rotation of 60 degrees.,Please provide the JSON response.}} +Rotate in a clockwise direction, making a 60-degree turn.,Please provide the JSON response.}} +Rotate to the right, making a 60-degree angle.,Please provide the JSON response.}} +Move backward at a velocity of 0.75 meters per second for 8 seconds.,Please provide the JSON response.}} +Reverse at 0.75 meters per second for a duration of 8 seconds.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.,Please provide the JSON response.}} +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.,Please provide the JSON response.}} +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.,Please provide the JSON response.}} +Turn right and move forward for 4 meters.,Please provide the JSON response.}} +Take a right turn and proceed straight ahead for a distance of 4 meters.,Please provide the JSON response.}} +Make a right turn and continue moving forward for 4 meters.,Please provide the JSON response.}} +Rotate to the right and advance ahead for a distance of 4 meters.,Please provide the JSON response.}} +Go to the right and keep moving straight for 4 meters.,Please provide the JSON response.}} +Move forward for 3 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead for a distance of 3 meters.,Please provide the JSON response.}} +Advance ahead 3 meters.,Please provide the JSON response.}} +Go forward a total of 3 meters.,Please provide the JSON response.}} +Travel straight for a distance of 3 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.,Please provide the JSON response.}} +Turn left 90 degrees and proceed forward for a duration of 2 seconds.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.,Note: You can assume that the robot has already been initialized and is in a known state.}} +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.,Please provide the JSON response.}} +Make a left turn of 90 degrees and proceed forward for 2 seconds.,Note: I will give you the prompts one at a time, and you must answer each one individually. Good luck!}} +Move forward for 5 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead a distance of 5 meters.,Please provide the JSON response.}} +Advance for a total of 5 meters.,Please provide the JSON response.}} +Travel straight ahead covering a distance of 5 meters.,Please provide the JSON response.}} +Go forward a length of 5 meters.,Please provide the JSON response.}} +Turn left and continue for 10 seconds.,Please provide the JSON response.}} +Make a left turn and keep going for 10 seconds.,Please provide the JSON response.}} +Go left and continue for 10 seconds.,Please provide the JSON corresponding to the given prompt.}} +Take a left turn and continue for a duration of 10 seconds.,Please provide the JSON response.}} +Proceed by turning left and maintaining that direction for 10 seconds.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn 90 degrees counterclockwise.,Please provide the JSON response.}} +Rotate in the opposite direction by 90 degrees.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 90 degrees.,Please provide the JSON response.}} +Move in a counterclockwise direction, turning by 90 degrees.,Please provide the JSON response.}} +Back up 2 meters and stop.,Please provide the JSON corresponding to the given prompt.}} +Move back a distance of 2 meters and come to a halt.,Please provide the JSON response.}} +Reverse by 2 meters and come to a stop.,Please provide the JSON response.}} +Retreat 2 meters and bring yourself to a standstill.,Please provide the JSON response.}} +Step backward 2 meters and cease movement.,Please provide the JSON response.}} +Move forward at a speed of 0.5 meters per second for 6 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.,Please provide the JSON response.}} +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.,Please provide the JSON response.}} +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.,Please provide the JSON response.}} +Turn right and move forward for 1 meter.,Please provide the JSON response.}} +Make a right turn and proceed ahead for a distance of 1 meter.,Please provide the JSON response.}} +Take a right turn and continue moving straight for a distance of 1 meter.,Please provide the JSON response.}} +Head to the right and advance forward for 1 meter.,Please provide the JSON response.}} +Rotate right and proceed ahead for a length of 1 meter.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Turn in a clockwise direction until you have rotated 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Rotate 180 degrees in the clockwise direction.,Please provide the JSON response.}} +Turn to the right until you are facing the opposite direction.,Please provide the JSON response.}} +Move backward for 3 seconds.,Please provide the JSON response.}} +Go in reverse for a duration of 3 seconds.,Please provide the JSON response.}} +Reverse your movement for a total of 3 seconds.,Please provide the JSON response.}} +Backtrack for a period of 3 seconds.,Please provide the JSON response.}} +Take a 3-second step backwards.,Please provide the JSON response.}} +Turn left and continue for 7 meters.,Please provide the JSON response.}} +Take a left turn and proceed straight ahead for a distance of 7 meters.,Please provide the JSON response.}} +Make a left turn and keep going for 7 meters.,Please provide the JSON response.}} +Go left and carry on for a distance of 7 meters.,Please provide the JSON response.}} +Head to the left and continue for a length of 7 meters.,Please provide the JSON response.}} +Move forward at a speed of 1 meter per second for 4 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.,Please provide the JSON response.}} +Advance for 4 seconds, maintaining a speed of 1 meter per second.,Please provide the JSON response.}} +Travel forward for 4 seconds, moving at a rate of 1 meter per second.,Please provide the JSON response.}} +For a period of 4 seconds, move ahead at a speed of 1 meter per second.,Please provide the JSON response.}} +Rotate counterclockwise by 45 degrees.,Please provide the JSON response.}} +Change the orientation by 45 degrees in a counterclockwise direction.,Please provide the JSON response.}} +Turn left by 45 degrees.,Please provide the JSON response.}} +Rotate anticlockwise by an angle of 45 degrees.,Please provide the JSON response.}} +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.,Please provide the JSON response.}} +Go straight for 8 meters.,Please provide the JSON response.}} +Proceed in a straight line for a distance of 8 meters.,Please provide the JSON response.}} +Continue in a straight direction for a span of 8 meters.,Please provide the JSON response.}} +Maintain a straight path for a duration of 8 meters.,Please provide the JSON response.}} +Stay on course for a distance of 8 meters ahead.,Please provide the JSON response.}} +Turn right and move forward for 2 seconds.,Please provide the JSON response.}} +Proceed straight for 2 seconds after making a right turn.,Please provide the JSON response.}} +Take a right turn and continue moving ahead for a duration of 2 seconds.,Please provide the JSON response.}} +Make a right turn and advance forward for 2 seconds.,Please provide the JSON response.}} +After turning right, keep moving forward for a period of 2 seconds.,Please provide the JSON response.}} +Move backward for 4 meters and stop.,Please provide the JSON response.}} +Reverse for a distance of 4 meters and come to a halt.,Please provide the JSON response.}} +Go back for 4 meters and then come to a stop.,Please provide the JSON response.}} +Take 4 meters in reverse and cease movement.,Please provide the JSON response.}} +Travel in the opposite direction for a distance of 4 meters and then pause.,Please provide the JSON response.}} +Rotate clockwise by 270 degrees.,Please provide the JSON response.}} +Turn to the right by 270 degrees.,Please provide the JSON response.}} +Move in a clockwise direction, rotating 270 degrees.,Please provide the JSON response.}} +Spin in a clockwise manner, completing a 270 degree rotation.,Please provide the JSON response.}} +Rotate by 270 degrees in a clockwise fashion.,Please provide the JSON response.}} +Turn left and continue for 3 meters.,Please provide the JSON response.}} +Make a left turn and keep going for a distance of 3 meters.,Please provide the JSON response.}} +Proceed straight for 3 meters after making a left turn.,Please provide the JSON response.}} +After turning left, travel straight for 3 meters.,Please provide the JSON response.}} +Take a left and continue on for a distance of 3 meters.,Please provide the JSON response.}} +Move forward at a speed of 0.3 meters per second for 5 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.,Please provide the JSON response.}} +Advance at a rate of 0.3 meters per second for a period of 5 seconds.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.,Please provide the JSON response.}} +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.,Please provide the JSON response.}} +Rotate counterclockwise by 60 degrees.,Please provide the JSON response.}} +Turn 60 degrees counterclockwise.,Please provide the JSON corresponding to the given prompt.}} +Rotate in the opposite direction by 60 degrees.,Please provide the JSON response.}} +Rotate to the left by 60 degrees.,Please provide the JSON response.}} +Make a counterclockwise rotation of 60 degrees.,Please provide the JSON response.}} +Go straight for 6 seconds.,Please provide the JSON response.}} +Proceed in a straight line for a duration of 6 seconds.,Please provide the JSON response.}} +Keep moving forward in a straight path for 6 seconds.,Please note that I will only accept answers that are in the format of a JSON object, with the keys and values separated by a comma, and with the values enclosed in curly braces.}} +Maintain a straight course for 6 seconds.,Please provide the JSON response.}} +Continue in a straight direction for a period of 6 seconds.,Please provide the JSON response.}} +Turn right and move forward for 7 meters.,Please provide the JSON response.}} +Take a right turn and proceed straight ahead for a distance of 7 meters.,Please provide the JSON response.}} +Make a right-hand turn and continue moving forward for a length of 7 meters.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Head to the right side and advance for a distance of 7 meters.,Please provide the JSON response.}} +Rotate to the right and travel straight for 7 meters.,Please provide the JSON response.}} +Move 2 meters forward., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead by a distance of 2 meters.,Please provide the JSON response.}} +Advance 2 meters in the forward direction.,Please provide the JSON response.}} +Take a step forward for a distance of 2 meters.,Please provide the JSON response.}} +Move straight ahead, covering a distance of 2 meters.,Please provide the JSON response.}} +Turn left and move forward for 5 seconds.,Please provide the JSON response.}} +Move forward for 5 seconds after turning left.,Please provide the JSON response.}} +After making a left turn, proceed forward for 5 seconds.,Please provide the JSON response.}} +Take a left turn and continue moving forward for 5 seconds.,Please provide the JSON response.}} +Start moving forward for 5 seconds after making a left turn.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Rotate 90 degrees counterclockwise.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 90 degrees.,Please provide the JSON response.}} +Rotate by 90 degrees in the counterclockwise direction.,Please provide the JSON response.}} +Turn left by 90 degrees.,Please provide the JSON corresponding to the given prompt.}} +Move 3 meters backward.,Please provide the JSON response.}} +Go back 3 meters.,Please provide the JSON response.}} +Retreat 3 meters.,Please provide the JSON response.}} +Step 3 meters in reverse.,Please provide the JSON corresponding to the given prompt.}} +Travel in the opposite direction for 3 meters.,Please provide the JSON response.}} +Turn right and move forward for 1 meter.,Please provide the JSON response.}} +Take a right turn and proceed straight ahead for a distance of 1 meter.,Please provide the JSON response.}} +Make a right turn and advance ahead for a distance of 1 meter.,Please provide the JSON response.}} +Head to the right and continue moving forward for 1 meter.,Please provide the JSON response.}} +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.,Please provide the JSON response.}} +Go to the living room and stop.,Please provide the JSON response.}} +Please proceed to the living room and come to a halt.,Please provide the JSON response.}} +Make your way to the living room and cease moving.,Please provide the JSON response.}} +Head to the living room and stand still.,Please provide the JSON corresponding to the prompt.}} +Move towards the living room and come to a stop.,Please note that I will only answer in English, and I will not provide any explanation or justification for my answers.}} +Move 4 meters forward at a speed of 2 meters per second.,Please provide the JSON response.}} +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.,Please provide the JSON response.}} +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.,Note: I will give you multiple prompts, and you must answer them one by one. Please answer each prompt only once.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Turn 180 degrees in a clockwise direction.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Rotate by 180 degrees in the clockwise direction.,Please provide the JSON response.}} +Turn in a clockwise fashion, rotating 180 degrees.,Please provide the JSON response.}} +Turn left and move forward for 3 meters.,Please provide the JSON response.}} +Make a left turn and proceed straight ahead for a distance of 3 meters.,Please provide the JSON response.}} +Take a left and continue moving forward, covering a span of 3 meters.,Please provide the JSON response.}} +Rotate to the left and advance for 3 meters.,Please provide the JSON response.}} +Shift towards the left and travel straight for a distance of 3 meters.,Please provide the JSON response.}} +Move 2 meters backward at a speed of 0.5 meters per second.,Please provide the JSON response.}} +Back up 2 meters with a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.,Please provide the JSON response.}} +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.,Note: You can assume that the agent has the ability to move and rotate, but it cannot go to a location that is not in its current location.}} +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Go to the bedroom and stop.,Please provide the JSON response.}} +Please proceed to the bedroom and come to a halt.,Please provide the JSON response.}} +Make your way to the bedroom and cease your movement.,Please provide the JSON response.}} +Head to the bedroom and pause.,Please provide the JSON corresponding to the given prompt.}} +Go to the bedroom and stand still.,Please provide the JSON response.}} +Rotate counterclockwise by 45 degrees.,Please provide the JSON response.}} +Turn 45 degrees in the counterclockwise direction.,Please provide the JSON response.}} +Rotate anticlockwise at an angle of 45 degrees.,Please provide the JSON response.}} +Rotate left by 45 degrees.,Please provide the JSON response.}} +Perform a 45-degree counterclockwise rotation.,Please provide the JSON response.}} +Turn right and move forward for 4 meters.,Please provide the JSON response.}} +Proceed forward for a distance of 4 meters after making a right turn.,Please provide the JSON response.}} +Take a right and continue moving ahead for 4 meters.,Please provide the JSON response.}} +After making a right turn, advance straight for a distance of 4 meters.,Please provide the JSON response.}} +Make a right-hand turn and proceed forward for 4 meters.,Please provide the JSON response.}} +Move 1 meter forward at a speed of 1 meter per second.,Please provide the JSON response.}} +Proceed ahead by 1 meter with a velocity of 1 meter per second.,Please provide the JSON response.}} +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.,Note: Please provide the JSON response without any introduction, comments, or conclusion.}} +Go one meter ahead, moving at a rate of one meter per second.,Please provide the JSON response.}} +Travel forward for 1 meter while maintaining a speed of 1 meter per second.,Please provide the JSON response.}} +Rotate clockwise by 270 degrees.,Please provide the JSON response.}} +Turn 270 degrees in a clockwise direction.,Please provide the JSON response.}} +Rotate by 270 degrees in a clockwise manner.,Please provide the JSON response.}} +Execute a clockwise rotation of 270 degrees.,Please provide the JSON response.}} +Shift the orientation by 270 degrees in a clockwise fashion.,Please provide the JSON response.}} +Turn left and move forward for 2 seconds.,Please provide the JSON response.}} +Proceed forward for 2 seconds, then make a left turn.,Please provide the JSON response.}} +Take a left turn and continue moving straight ahead for 2 seconds.,Please provide the JSON response.}} +Make a left turn and drive forward for 2 seconds.,Please provide the JSON response.}} +After turning left, continue moving straight for 2 seconds.,Please provide the JSON response.}} +Move 3 meters backward at a speed of 1.5 meters per second.,Please provide the JSON response.}} +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.,Please provide the JSON response.}} +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.,Please provide the JSON response.}} +Go to the dining room and stop.,Please provide the JSON response.}} +Proceed to the dining room and come to a halt.,Please provide the JSON response.}} +Head over to the dining room and pause.,Please provide the JSON response.}} +Make your way to the dining room and bring yourself to a stop.,Please provide the JSON response.}} +Move towards the dining room and cease your motion.,Please provide the JSON response.}} +Rotate counterclockwise by 60 degrees.,Please provide the JSON response.}} +Turn left by 60 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate in the opposite direction by 60 degrees.,Please provide the JSON response.}} +Execute a 60-degree counterclockwise rotation.,Please provide the JSON response.}} +Rotate anticlockwise by 60 degrees.,Please provide the JSON response.}} +Move forward for 5 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead for a distance of 5 meters.,Please provide the JSON response.}} +Advance straight ahead for 5 meters.,Please provide the JSON response.}} +Travel forward for a distance of 5 meters.,Please provide the JSON response.}} +Go in the forward direction for 5 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn 90 degrees counterclockwise.,Please provide the JSON response.}} +Rotate anticlockwise by 90 degrees.,Please provide the JSON response.}} +Rotate to the left by 90 degrees.,Please provide the JSON response.}} +Change the orientation to the left by 90 degrees.,Please provide the JSON response.}} +Move backward for 3 seconds.,Please provide the JSON response.}} +Reverse for a duration of 3 seconds.,Please provide the JSON response.}} +Go in reverse for a period of 3 seconds.,Please provide the JSON response.}} +Travel backwards for a total of 3 seconds.,Please provide the JSON response.}} +Move in the opposite direction for 3 seconds.,Please provide the JSON response.}} +Turn left and move forward for 2 meters.,Please provide the JSON response.}} +Proceed forward for 2 meters after making a left turn.,Please provide the JSON response.}} +Make a left turn and advance for 2 meters.,Please provide the JSON response.}} +Take a left and continue forward for a distance of 2 meters.,Please provide the JSON response.}} +Move ahead for 2 meters after making a leftward turn.,Please provide the JSON response.}} +Make a U-turn and move in the opposite direction for 10 seconds.,Please provide the JSON response.}} +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.,Please provide the JSON response.}} +Turn around and travel in the opposite direction for a duration of 10 seconds.,Please provide the JSON response.}} +Perform a U-turn and move in the opposite direction for 10 seconds.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees and stop.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation and then come to a halt.,Please provide the JSON response.}} +Execute a clockwise rotation of 180 degrees and then cease movement.,Please provide the JSON response.}} +Turn right by 180 degrees and then stop.,Please provide the JSON response.}} +Rotate in a clockwise direction by 180 degrees and then come to a stop.,Please provide the JSON response.}} +Move diagonally to the right for 4 meters.,Please provide the JSON response.}} +Go right at an angle for a distance of 4 meters.,Please provide the JSON response.}} +Travel in a diagonal direction to the right covering a distance of 4 meters.,Please provide the JSON response.}} +Proceed at a diagonal towards the right, moving 4 meters.,Please provide the JSON response.}} +Move to the right diagonally, covering a distance of 4 meters.,Please provide the JSON response.}} +Turn right and move forward for 1 meter.,Please provide the JSON response.}} +Make a right turn and proceed one meter forward.,Please provide the JSON response.}} +Take a right and continue moving ahead for a distance of 1 meter.,Please provide the JSON response.}} +Rotate to the right and advance straight ahead for 1 meter.,Please provide the JSON response.}} +Facing towards the right, progress forward for a distance of 1 meter.,Please provide the JSON response.}} +Move in a zigzag pattern for 8 seconds.,Please provide the JSON response.}} +Perform a zigzag movement continuously for a duration of 8 seconds.,Note: You can assume that the agent has the ability to perform zigzag movement.}} +Traverse in a serpentine motion for 8 seconds.,Please provide the JSON response.}} +Alternate your path in a zigzagging pattern for the next 8 seconds.,Please provide the JSON response.}} +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.,Note: You can assume that the robot has already been initialized and is in a known initial state.}} +Rotate counterclockwise by 45 degrees and move forward for 3 meters.,Please provide the JSON response.}} +Turn left by 45 degrees and advance for a distance of 3 meters.,Please provide the JSON response.}} +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.,Please provide the JSON response.}} +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Move backward and stop at the nearest obstacle.,Please provide the JSON response.}} +Reverse and come to a halt once you reach the closest object in your path.,Note: You can assume that the agent has already been given the necessary permissions and capabilities to perform the actions specified in the ontology.}} +Back up and cease movement upon reaching the nearest obstruction.,Please provide the JSON response.}} +Retreat and come to a stop when you encounter the closest barrier.,Note: You can assume that the agent has already been given the necessary permissions and capabilities to perform the actions.}} +Go in reverse and stop once you reach the nearest obstacle.,Please provide the JSON response.}} +Turn left and move in a curved path for 6 meters.,Please provide the JSON response.}} +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Make a leftward turn and proceed along a curving route spanning 6 meters.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Go left and follow a curved path for a distance of 6 meters.,Please provide the JSON response.}} +Regulate your movement to the left and travel in a curved trajectory for 6 meters.,Please provide the JSON response.}} +Move forward at a speed of 1 meter per second for 10 seconds.,Please provide the JSON response.}} +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.,Please provide the JSON response.}} +Advance at a rate of 1 meter per second for 10 seconds.,Please provide the JSON response.}} +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.,Please provide the JSON response.}} +Travel forward for 10 seconds, covering a distance of 1 meter per second.,Please provide the JSON response.}} +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.,Please provide the JSON response.}} +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.,Note: I will give you multiple prompts, and you must answer them one by one. Please answer each prompt only once.}} +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to perform the actions.}} +After rotating 30 degrees clockwise, continue moving forward for 4 meters.,Note: You can assume that the robot has already been initialized and is in a known state before the given prompt.}} +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Move in a circular path with a radius of 2 meters for 7 seconds.,Please provide the JSON response.}} +Circle around with a radius of 2 meters for a duration of 7 seconds.,Please provide the JSON response.}} +Perform circular movement with a radius of 2 meters for 7 seconds.,Please provide the JSON response.}} +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.,Please provide the JSON response.}} +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.,Note: You can assume that the agent has the ability to move and rotate in 3D space.}} +Turn right and move forward for 5 seconds, then revert back.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Make a right turn and proceed forward for 5 seconds, then return back.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to perform the actions.}} +Take a right turn and advance ahead for 5 seconds, then go back in reverse.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving, rotating, and turning.}} +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.,Note: You can assume that the robot has a fixed reference frame and the user's perspective is fixed to the robot's reference frame.}} +Change direction to the right and go forward for 5 seconds, then reverse back.,Note: You can assume that the robot has already been initialized and is in a known state.}} +Move along the perimeter of the room for 1 minute.,Please provide the JSON response.}} +Walk around the edges of the room for 1 minute.,Please provide the JSON response.}} +Circulate along the boundary of the room for 1 minute.,Please provide the JSON response.}} +Patrol the perimeter of the room for 1 minute.,Please provide the JSON response.}} +Traverse the outer edges of the room for 1 minute.,Please provide the JSON response.}} +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,Please provide the JSON response.}} +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,Please provide the JSON response.}} +Rotate anticlockwise by 60 degrees and advance 3 meters.,Please provide the JSON response.}} +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving, rotating, and facing.}} +Make a 60-degree left turn and move forward 3 meters.,Please provide the JSON response.}} +Move forward at a variable speed for 10 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.,Please provide the JSON response.}} +Advance for a period of 10 seconds, with variable speed.,Please provide the JSON response.}} +Travel forward, varying the speed, for a total of 10 seconds.,Please provide the JSON response.}} +Move ahead for 10 seconds, adjusting the speed accordingly.,Please provide the JSON response.}} +Move backward and stop 1 meter away from the designated target.,Please provide the JSON response.}} +Reverse direction and come to a halt at a distance of 1 meter from the specified target.,Note: You can assume that the target is a specific location in the environment, and the agent has the necessary sensors and actuators to perform the actions.}} +Go in the opposite direction and pause when you are 1 meter away from the assigned target.,Please provide the JSON response.}} +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.,Please provide the JSON response.}} +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.,Please provide the JSON response.}} +Move forward for 1 meter., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead by 1 meter.,Please note that I will only answer in English, and I will not provide any explanation or justification for my answers.}} +Advance for a distance of 1 meter.,Please provide the JSON response.}} +Travel in a forward direction for 1 meter., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Go straight for a span of 1 meter.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn left by 90 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate anticlockwise by 90 degrees.,Please provide the JSON response.}} +Rotate to the left by 90 degrees.,Please provide the JSON response.}} +Spin counterclockwise by 90 degrees.,Please provide the JSON response.}} +Move backward for 2 seconds.,Please provide the JSON corresponding to the given prompt.}} +Go backward for a duration of 2 seconds.,Please provide the JSON response.}} +Reverse direction and continue for 2 seconds.,Please provide the JSON response.}} +Retreat for a period of 2 seconds.,Please provide the JSON response.}} +Take a step back and hold for 2 seconds.,Please provide the JSON corresponding to the given prompt.}} +Turn left and move forward for 3 meters.,Please provide the JSON response.}} +Take a left turn and proceed ahead for a distance of 3 meters.,Please provide the JSON response.}} +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Rotate to the left and proceed forward, covering a distance of 3 meters.,Please provide the JSON response.}} +Go left and move straight ahead for 3 meters.,Please provide the JSON response.}} +Move at a speed of 2 meters per second for 5 seconds.,Please provide the JSON response.}} +Travel with a velocity of 2 meters per second for a duration of 5 seconds.,Please provide the JSON response.}} +Maintain a pace of 2 meters per second for a period of 5 seconds.,Please provide the JSON response.}} +Perform movement with a speed of 2 meters per second over a span of 5 seconds.,Note: You can assume that the agent has the ability to perform the actions specified in the ontology.}} +Cover a distance at 2 meters per second for a time period of 5 seconds.,Note: You can assume that the agent has the ability to move and rotate, and the distance is a continuous quantity.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Rotate by 180 degrees in a clockwise direction.,Please provide the JSON response.}} +Perform a clockwise rotation of 180 degrees.,Please provide the JSON response.}} +Turn 180 degrees in a clockwise manner.,Please provide the JSON response.}} +Rotate in a clockwise fashion, making a 180-degree turn.,Please provide the JSON response.}} +Move forward for 4 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead, covering a distance of 4 meters.,Please provide the JSON response.}} +Advance forward, spanning 4 meters.,Please provide the JSON response.}} +Take 4 steps in the forward direction.,Please provide the JSON corresponding to the given prompt.}} +Travel a distance of 4 meters, moving in the forward direction.,Please provide the JSON response.}} +Turn right and move backward for 1 meter.,Please provide the JSON response.}} +Rotate to the right and travel in reverse for a distance of 1 meter.,Please provide the JSON response.}} +Make a right turn and proceed backwards for a length of 1 meter.,Please provide the JSON response.}} +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.,Please provide the JSON response.}} +Face right and move backwards, covering a distance of 1 meter.,Please provide the JSON response.}} +Rotate counterclockwise by 45 degrees.,Please provide the JSON response.}} +Rotate anti-clockwise by a 45-degree angle.,Please provide the JSON response.}} +Turn left by 45 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate in a counterclockwise direction by 45 degrees.,Please provide the JSON response.}} +Rotate to the left by 45 degrees.,Please provide the JSON response.}} +Move forward for 10 seconds.,Please provide the JSON response.}} +Proceed straight ahead for a duration of 10 seconds.,Please provide the JSON response.}} +Advance continuously for a period of 10 seconds.,Please provide the JSON response.}} +Travel forwards for a span of 10 seconds.,Please note that the prompt is not in the ontology, so you should ignore it and return a default value.}} +Progress ahead for a time interval of 10 seconds.,Please provide the JSON response.}} +Turn left and move at a speed of 1 meter per second for 2 seconds.,Please provide the JSON response.}} +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.,Note: I will give you the prompts one by one, and you have to answer them accordingly. Please make sure to answer only the given prompt and do not include any unnecessary information.}} +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.,Please provide the JSON response.}} +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.,Note: I will give you a hint, the action is "move".}} +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.,Please provide the JSON response.}} +Move backward for 3 meters.,Please provide the JSON response.}} +Go back 3 meters.,Please provide the JSON response.}} +Reverse your direction and travel 3 meters.,Please provide the JSON response.}} +Retreat for a distance of 3 meters.,Please provide the JSON response.}} +Take 3 steps backwards.,Please provide the JSON corresponding to the given prompt.}} +Rotate clockwise by 270 degrees.,Please provide the JSON response.}} +Rotate 270 degrees in a clockwise direction.,Please provide the JSON response.}} +Perform a clockwise rotation of 270 degrees.,Please provide the JSON response.}} +Turn right by 270 degrees.,Please provide the JSON response.}} +Rotate by 270 degrees in the clockwise direction.,Please provide the JSON response.}} +Move forward for 5 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead for a distance of 5 meters.,Please provide the JSON response.}} +Advance 5 meters in the forward direction.,Please provide the JSON response.}} +Take 5 meter steps forward.,Please provide the JSON corresponding to the given prompt.}} +Go ahead and travel a distance of 5 meters.,Please provide the JSON response.}} +Turn right and move at a speed of 1.5 meters per second for 4 seconds.,Please provide the JSON response.}} +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.,Note: I will give you a hint, the action in the ontology is "rotate".}} +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.,Please provide the JSON response.}} +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.,Note: I will give you the prompts one by one, and you have to answer them accordingly.}} +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.,Note: You can assume that the agent has the ability to move and rotate in 3D space.}} +Rotate counterclockwise by 60 degrees.,Please provide the JSON response.}} +Turn left by 60 degrees.,Please provide the JSON corresponding to the given prompt.}} +Move in an anti-clockwise direction by 60 degrees.,Please provide the JSON response.}} +Rotate in the opposite direction by 60 degrees.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 60 degrees.,Please provide the JSON response.}} +Move forward for 2 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead for a distance of 2 meters.,Please provide the JSON response.}} +Advance onward by 2 meters.,Please provide the JSON response.}} +Travel straight ahead, covering a distance of 2 meters.,Please note that I will only provide one answer for each prompt, so please make sure to provide a clear and concise answer.}} +Take 2 meters forward.,Please provide the JSON corresponding to the given prompt.}} +Turn left and move at a speed of 0.5 meters per second for 10 seconds.,Please provide the JSON response.}} +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.,Please provide the JSON response.}} +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.,Please provide the JSON response.}} +Face left and advance at a pace of 0.5 meters per second for 10 seconds.,Please provide the JSON response.}} +Move backward for 6 meters.,Please provide the JSON response.}} +Go back 6 meters.,Please provide the JSON response.}} +Reverse direction and move 6 meters.,Please provide the JSON response.}} +Retreat for a distance of 6 meters.,Please provide the JSON response.}} +Travel in the opposite direction and cover a distance of 6 meters.,Please provide the JSON response.}} +Move forward for 5 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead for a distance of 5 meters.,Please provide the JSON response.}} +Advance by 5 meters in a forward direction.,Please provide the JSON response.}} +Go ahead for a span of 5 meters.,Please provide the JSON corresponding to the given prompt.}} +Cover a distance of 5 meters by moving forward.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn 90 degrees counterclockwise.,Please provide the JSON response.}} +Rotate in a counterclockwise direction by 90 degrees.,Please provide the JSON response.}} +Rotate anti-clockwise by 90 degrees.,Please provide the JSON response.}} +Make a 90-degree counterclockwise rotation.,Please provide the JSON response.}} +Stop.,Note: You can assume that the agent has already been initialized with the necessary information to perform the actions.}} +Cease.,Note: Cease is not an action in the ontology, so it should be ignored.}} +Halt.,Note: Halt is not an action in the ontology, so it should be ignored.}} +Pause.,Please provide the JSON corresponding to the prompt "Pause."}} +Terminate.,Note: The prompt is a simple command to terminate the agent's task. The ontology does not include an action for terminating the task, so you should ignore this prompt.}} +Reverse for 2 seconds.,Please provide the JSON response.}} +Reverse for a duration of 2 seconds.,Please provide the JSON response.}} +Go back for 2 seconds.,Please provide the JSON corresponding to the given prompt.}} +Move in reverse for 2 seconds.,Please provide the JSON response.}} +Go in the opposite direction for 2 seconds.,Please provide the JSON response.}} +Turn left and move forward for 10 meters.,Please provide the JSON response.}} +Proceed forward for a distance of 10 meters after making a left turn.,Please provide the JSON response.}} +Make a left-hand turn and continue straight ahead for a distance of 10 meters.,Please provide the JSON response.}} +After turning left, continue moving straight ahead for a total of 10 meters.,Please provide the JSON response.}} +Execute a left turn and then travel forward for a distance of 10 meters.,Please provide the JSON response.}} +Move backward for 3 seconds.,Please provide the JSON response.}} +Go back for a duration of 3 seconds.,Please provide the JSON response.}} +Reverse movement for a period of 3 seconds.,Please provide the JSON response.}} +Retreat for 3 seconds.,Please provide the JSON response.}} +Take a step back for a duration of 3 seconds.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Rotate in a clockwise direction by 180 degrees.,Please provide the JSON response.}} +Turn right and rotate 180 degrees.,Please provide the JSON response.}} +Execute a rotation of 180 degrees in a clockwise direction.,Please provide the JSON response.}} +Turn right and move forward for 8 meters.,Please provide the JSON response.}} +Proceed forward for a distance of 8 meters after making a right turn.,Please provide the JSON response.}} +Take a right turn and continue moving straight ahead for a duration of 8 meters.,Please provide the JSON response.}} +After making a right-hand turn, advance 8 meters in a forward direction.,Please provide the JSON response.}} +Rotate to the right, then travel straight ahead for a distance of 8 meters.,Please provide the JSON response.}} +Move forward for 1 meter and stop.,Please provide the JSON response.}} +Proceed straight ahead for a distance of 1 meter and come to a halt.,Please provide the JSON response.}} +Advance one meter ahead and then come to a stop.,Please note that I will only accept answers in the format of a JSON object, and I will only evaluate the answer based on whether it conforms to the provided ontology.}} +Travel in the forward direction for a length of 1 meter and then cease movement.,Please provide the JSON response.}} +Move ahead for a distance of 1 meter, and then bring the movement to a stop.,Please provide the JSON response.}} +Rotate counterclockwise by 135 degrees.,Please provide the JSON response.}} +Rotate 135 degrees counterclockwise.,Please provide the JSON response.}} +Turn 135 degrees counterclockwise.,Please provide the JSON response.}} +Rotate anticlockwise by 135 degrees.,Please provide the JSON response.}} +Perform a 135 degree counterclockwise rotation.,Please provide the JSON response.}} +Move backward for 6 meters.,Please provide the JSON response.}} +Go in reverse for a distance of 6 meters.,Please provide the JSON response.}} +Take 6 steps back.,Please provide the JSON corresponding to the given prompt.}} +Retreat 6 meters.,Please provide the JSON response.}} +Travel 6 meters in the opposite direction.,Please provide the JSON response.}} +Turn left and move forward for 4 seconds.,Please provide the JSON response.}} +Take a left turn and proceed straight ahead for a duration of 4 seconds.,Please provide the JSON response.}} +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.,Note: I will give you the prompts one at a time, and you must answer each one individually. Good luck!}} +Pivot to the left and advance forward for a period of 4 seconds.,Please provide the JSON response.}} +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.,Please provide the JSON response.}} +Rotate clockwise by 60 degrees.,Please provide the JSON response.}} +Turn 60 degrees in a clockwise direction.,Please provide the JSON response.}} +Rotate the object by 60 degrees in the clockwise direction.,Please provide the JSON response.}} +Move in a clockwise direction, making a 60 degree turn.,Please provide the JSON response.}} +Rotate 60 degrees in a clockwise manner.,Please provide the JSON response.}} +Move forward for 7 meters and stop.,Please provide the JSON response.}} +Proceed straight for a distance of 7 meters and come to a halt.,Note: You can assume that the agent has the ability to move and rotate in 3D space.}} +Advance ahead covering a distance of 7 meters and then cease movement.,Note: You can assume that the agent has the ability to move and rotate in 3D space.}} +Go forward 7 meters and then come to a stop.,Please provide the JSON response.}} +Move straight ahead, covering a distance of 7 meters, and then halt.,Please provide the JSON response.}} +Reverse for 5 seconds.,Please provide the JSON response.}} +Reverse for a duration of 5 seconds.,Please provide the JSON response.}} +Perform a 5-second reverse.,Please provide the JSON response.}} +Execute a reverse motion for 5 seconds.,Please provide the JSON response.}} +Go backwards for a period of 5 seconds.,Please provide the JSON response.}} +Turn right and move forward for 9 meters.,Please provide the JSON response.}} +Move forward for 9 meters after turning right.,Please provide the JSON response.}} +After turning right, proceed ahead for a distance of 9 meters.,Please provide the JSON response.}} +Take a right turn, then continue moving straight for a distance of 9 meters.,Please provide the JSON response.}} +Make a right turn and travel forward for 9 meters.,Please provide the JSON response.}} +Move forward for 2 seconds and stop.,Please provide the JSON response.}} +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Go ahead for 2 seconds and then halt.,Please provide the JSON corresponding to the given prompt.}} +Advance for a period of 2 seconds and then cease movement.,Please provide the JSON response.}} +Travel forward for 2 seconds before stopping.,Please provide the JSON response.}} +Rotate counterclockwise by 30 degrees.,Please provide the JSON response.}} +Turn 30 degrees counterclockwise.,Please provide the JSON response.}} +Rotate in the anticlockwise direction by 30 degrees.,Please provide the JSON response.}} +Rotate to the left by 30 degrees.,Please provide the JSON response.}} +Rotate in a counterclockwise direction, making a 30-degree turn.,Please provide the JSON response.}} +Reverse for 4 meters.,Please provide the JSON response.}} +Move back for a distance of 4 meters.,Please provide the JSON response.}} +Go in reverse for a span of 4 meters.,Please provide the JSON response.}} +Retreat 4 meters in the opposite direction.,Please provide the JSON response.}} +Travel backwards, covering a distance of 4 meters.,Please provide the JSON response.}} +Turn left and move forward for 6 seconds.,Please provide the JSON response.}} +Proceed forward for 6 seconds after making a left turn.,Please provide the JSON response.}} +Make a left turn and advance for 6 seconds.,Please provide the JSON response.}} +Move ahead for 6 seconds after turning to the left.,Please provide the JSON response.}} +After veering left, continue straight for 6 seconds.,Please provide the JSON response.}} +Move forward for 5 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead for a distance of 5 meters.,Please provide the JSON response.}} +Advance straight on and cover a distance of 5 meters.,Note: You can assume that the agent has the ability to move in any direction (forward, backward, left, right, or any combination of these) and can move at any speed.}} +Head forward and travel 5 meters in that direction.,Please provide the JSON corresponding to the given prompt.}} +Move straight ahead and go a distance of 5 meters.,Please provide the JSON response.}} +Turn left and move forward for 2 seconds.,Please provide the JSON response.}} +Move ahead for 2 seconds after turning left.,Please provide the JSON response.}} +After turning to the left, proceed forward for a duration of 2 seconds.,Please provide the JSON response.}} +Take a left turn and then proceed straight for 2 seconds.,Please provide the JSON response.}} +Make a left turn and continue moving forward for a duration of 2 seconds.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn in the opposite direction by an angle of 90 degrees.,Please provide the JSON response.}} +Rotate anticlockwise by 90 degrees.,Please provide the JSON response.}} +Spin to the left by 90 degrees.,Please provide the JSON response.}} +Twist counterclockwise by 90 degrees.,Please provide the JSON response.}} +Move backward for 3 meters.,Please provide the JSON response.}} +Go in reverse for a distance of 3 meters.,Please provide the JSON response.}} +Travel three meters in the opposite direction.,Please provide the JSON response.}} +Retreat for a distance of 3 meters.,Please provide the JSON response.}} +Reverse your movement and cover a distance of 3 meters.,Please provide the JSON response.}} +Turn right and move forward for 1 meter.,Please provide the JSON response.}} +Proceed forward for 1 meter after turning to the right.,Please provide the JSON response.}} +Take a right turn and continue moving straight ahead for a distance of 1 meter.,Please provide the JSON response.}} +After making a right turn, proceed ahead for 1 meter.,Please provide the JSON response.}} +Rotate to the right and then advance for a distance of 1 meter.,Please provide the JSON response.}} +Move forward at a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Proceed ahead with a speed of 0.5 meters per second.,Please provide the JSON response.}} +Advance with a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Go forward at a rate of 0.5 meters per second.,Please provide the JSON response.}} +Travel in a forward direction at a velocity of 0.5 meters per second.,Please note that I will only provide the answer in the format of a JSON object, without any additional information or comments.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Turn by 180 degrees in a clockwise direction.,Please provide the JSON response.}} +Rotate in a clockwise manner, completing a 180-degree turn.,Please provide the JSON response.}} +Execute a clockwise rotation, rotating by 180 degrees.,Please provide the JSON response.}} +Move forward for 10 meters at a velocity of 2 meters per second.,Please provide the JSON response.}} +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to move around in.}} +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.,Please provide the JSON response.}} +Go ahead for 10 meters, moving at a pace of 2 meters per second.,Please provide the JSON response.}} +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.,Note: You can assume that the robot has already been initialized and is in a known state.}} +Turn left and move forward for 5 seconds.,Please provide the JSON response.}} +Make a left turn and proceed straight ahead for a duration of 5 seconds.,Please provide the JSON response.}} +Take a left and advance in a forward direction for a span of 5 seconds.,Please provide the JSON response.}} +Rotate to the left and proceed ahead for a duration of 5 seconds.,Please provide the JSON response.}} +Veer left and move forward for an interval of 5 seconds.,Please provide the JSON response.}} +Move backward at a velocity of 1 meter per second.,Please provide the JSON response.}} +Go in reverse at a speed of 1 meter per second.,Please provide the JSON response.}} +Travel backwards with a velocity of 1 meter per second.,Please provide the JSON response.}} +Move in the opposite direction at a rate of 1 meter per second.,Please provide the JSON response.}} +Go backward at a speed of 1 meter per second.,Please provide the JSON response.}} +Rotate counterclockwise by 45 degrees.,Please provide the JSON response.}} +Rotate 45 degrees counterclockwise.,Please provide the JSON response.}} +Turn left by 45 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate in an anticlockwise direction by 45 degrees.,Please provide the JSON response.}} +Rotate to the left by 45 degrees.,Please provide the JSON response.}} +Move forward for 7 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead for a distance of 7 meters.,Please provide the JSON response.}} +Advance 7 meters in the forward direction.,Please provide the JSON response.}} +Travel straight ahead for a length of 7 meters.,Please provide the JSON response.}} +Go straight for 7 meters.,Please provide the JSON response.}} +Turn right and move forward for 4 meters.,Please provide the JSON response.}} +Take a right turn and proceed ahead for a distance of 4 meters.,Please provide the JSON response.}} +Make a right turn and advance straight ahead covering a distance of 4 meters.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Rotate towards the right and continue moving forward for 4 meters.,Please provide the JSON response.}} +Go right and travel straight ahead, covering a distance of 4 meters.,Please provide the JSON response.}} +Move forward for 3 seconds.,Please provide the JSON response.}} +Go straight ahead for a duration of 3 seconds.,Please provide the JSON response.}} +Proceed in a forward direction for a span of 3 seconds.,Please provide the JSON response.}} +Advance ahead for a period of 3 seconds.,Please provide the JSON response.}} +Travel forward for a duration of 3 seconds.,Please provide the JSON response.}} +Turn left and move forward for 2 meters.,Please provide the JSON response.}} +Proceed straight for a distance of 2 meters after making a left turn.,Please provide the JSON response.}} +For a span of 2 meters, continue moving forward after taking a left turn.,Please provide the JSON response.}} +Make a left turn and advance ahead for 2 meters.,Please provide the JSON response.}} +After turning left, go straight for a distance of 2 meters.,Please provide the JSON response.}} +Rotate clockwise by 270 degrees.,Please provide the JSON response.}} +Turn to the right by 270 degrees.,Please provide the JSON response.}} +Rotate in a clockwise direction by 270 degrees.,Please provide the JSON response.}} +Perform a 270-degree clockwise rotation.,Please provide the JSON response.}} +Rotate by 270 degrees in a clockwise manner.,Please provide the JSON response.}} +Move backward for 6 meters.,Please provide the JSON response.}} +Reverse direction and travel a distance of 6 meters.,Note: You can assume that the agent has the ability to move in any direction (forward, backward, left, right, or any combination of these) and can move at any speed. Also, the distance unit is meter.}} +Go back 6 meters.,Please provide the JSON response.}} +Retreat for a distance of 6 meters.,Please provide the JSON response.}} +Move in the opposite direction for 6 meters.,Please provide the JSON response.}} +Turn right and move forward for 5 seconds.,Please provide the JSON response.}} +Take a right turn and proceed ahead for a duration of 5 seconds.,Please provide the JSON response.}} +Make a right turn and continue moving straight for 5 seconds.,Please provide the JSON response.}} +Go right and advance for a period of 5 seconds.,Please provide the JSON response.}} +Shift to the right and travel in a forward direction for 5 seconds.,Please provide the JSON response.}} +Move forward at a velocity of 0.3 meters per second for 10 meters.,Please provide the JSON response.}} +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.,Please provide the JSON response.}} +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.,Please provide the JSON response.}} +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.,Note: You can assume that the robot has already been initialized and is in a known state.}} +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Rotate counterclockwise by 120 degrees.,Please provide the JSON response.}} +Rotate 120 degrees counterclockwise.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 120 degrees.,Please provide the JSON response.}} +Turn left by 120 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate in the opposite direction by 120 degrees.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn left by 90 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate anti-clockwise by 90 degrees.,Please provide the JSON response.}} +Rotate in the opposite direction by 90 degrees.,Please provide the JSON response.}} +Rotate counter to the clockwise direction by 90 degrees.,Please provide the JSON response.}} +Move forward for 5 meters., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead for a distance of 5 meters.,Please provide the JSON response.}} +Advance ahead by 5 meters.,Please provide the JSON response.}} +Travel in a forward direction, covering a distance of 5 meters.,Please note that I will only provide one answer for each prompt, so please make sure to provide a clear and concise answer.}} +Move straight ahead and travel a distance of 5 meters.,Please provide the JSON response.}} +Turn left and move forward for 2 seconds.,Please provide the JSON response.}} +Proceed forward for 2 seconds after turning left.,Please provide the JSON response.}} +After making a left turn, continue straight ahead for 2 seconds.,Please provide the JSON response.}} +Take a left turn and then advance forward for 2 seconds.,Please provide the JSON response.}} +Rotate to the left and travel straight for 2 seconds.,Please provide the JSON response.}} +Stop and wait.,Please provide the JSON corresponding to the given prompt.}} +Cease and remain still.,Please provide the JSON corresponding to the given prompt.}} +Halt and stay put.,Please provide the JSON corresponding to the given prompt.}} +Pause and remain stationary.,Please provide the JSON corresponding to the given prompt.}} +Desist and await further instruction.,Note: You can assume that the agent has already been initialized with the necessary information and capabilities.}} +Move backward for 10 meters.,Please provide the JSON corresponding to the given prompt.}} +Go back a distance of 10 meters.,Please provide the JSON response.}} +Retreat for a distance of 10 meters.,Please provide the JSON response.}} +Reverse your direction and travel 10 meters.,Please provide the JSON response.}} +Take 10 steps backward.,Please provide the JSON corresponding to the given prompt.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Rotate in a clockwise direction by 180 degrees.,Please provide the JSON response.}} +Turn by 180 degrees in a clockwise manner.,Please provide the JSON response.}} +Execute a clockwise rotation of 180 degrees.,Please provide the JSON response.}} +Turn right and move forward for 3 seconds.,Please provide the JSON response.}} +Make a right turn and proceed forward for a duration of 3 seconds.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Take a right and continue moving straight ahead for a total of 3 seconds.,Please provide the JSON response.}} +Rotate to the right and advance for a period of 3 seconds.,Please provide the JSON response.}} +Face towards the right and travel forward for a duration of 3 seconds.,Please provide the JSON response.}} +Go to the living room and stop.,Please provide the JSON response.}} +Proceed to the living room and come to a halt.,Please provide the JSON response.}} +Move to the living room and cease all movement.,Please provide the JSON response.}} +Make your way to the living room and stand still.,Please provide the JSON response.}} +Head to the living room and remain stationary.,Please provide the JSON response.}} +Move 2 meters to the left., Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Shift your position by 2 meters towards the left.,Please provide the JSON response.}} +Change your location by 2 meters in a leftward direction.,Please provide the JSON response.}} +Relocate yourself 2 meters to the left.,Please provide the JSON response.}} +Move to the left by a distance of 2 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 45 degrees.,Please provide the JSON response.}} +Turn left by 45 degrees.,Please provide the JSON corresponding to the given prompt.}} +Execute a counterclockwise rotation of 45 degrees.,Please provide the JSON response.}} +Rotate anticlockwise by an angle of 45 degrees.,Please provide the JSON response.}} +Perform a 45-degree rotation in the counterclockwise direction.,Please provide the JSON response.}} +Move forward at a speed of 0.5 meters per second for 4 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.,Please provide the JSON response.}} +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.,Note: I'll give you the ontology again for reference.}} +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Turn left and move forward for 7 meters.,Please provide the JSON response.}} +Make a left turn and proceed straight ahead covering a distance of 7 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Take a left turn and continue moving ahead, advancing 7 meters.,Please provide the JSON response.}} +Head to the left and travel straight for 7 meters.,Please provide the JSON response.}} +Rotate in the left direction and proceed forward, covering a distance of 7 meters.,Please provide the JSON response.}} +Stop and reverse direction.,Please provide the JSON corresponding to the given prompt.}} +Come to a halt and begin moving in the opposite direction.,Please provide the JSON response.}} +Cease forward motion and start moving backwards.,Please provide the JSON response.}} +Bring yourself to a stop and change your direction to the opposite way.,Please provide the JSON response.}} +Halt your movement and proceed in the opposite direction.,Please provide the JSON corresponding to the given prompt.}} +Move 3 meters to the right.,Please provide the JSON response.}} +Shift 3 meters towards the right.,Please provide the JSON response.}} +Go 3 meters horizontally in the right direction.,Please provide the JSON response.}} +Change your position by moving 3 meters to the right.,Please provide the JSON response.}} +Traverse a distance of 3 meters towards the right.,Please provide the JSON response.}} +Rotate clockwise by 60 degrees.,Please provide the JSON response.}} +Perform a clockwise rotation of 60 degrees.,Please provide the JSON response.}} +Rotate 60 degrees in a clockwise direction.,Please provide the JSON response.}} +Turn to the right by 60 degrees.,Please provide the JSON response.}} +Rotate to the right by an angle of 60 degrees.,Please provide the JSON response.}} +Turn right and move forward for 1 second.,Please provide the JSON response.}} +Take a right turn and proceed straight ahead for 1 second.,Please provide the JSON response.}} +Make a right turn and advance for 1 second.,Please provide the JSON response.}} +Rotate to the right and move forward for 1 second.,Please provide the JSON response.}} +Go right and continue moving forward for 1 second.,Please provide the JSON response.}} +Go to the bedroom and stop.,Please provide the JSON response.}} +Head to the bedroom and come to a halt.,Please provide the JSON response.}} +Make your way to the bedroom and cease all movement.,Please provide the JSON response.}} +Proceed to the bedroom and pause.,Please provide the JSON response.}} +Go to the bedroom and stand still.,Please provide the JSON response.}} +Move backward for 8 meters.,Please provide the JSON response.}} +Go 8 meters in reverse.,Please provide the JSON response.}} +Travel 8 meters in the opposite direction.,Please provide the JSON response.}} +Retreat for a distance of 8 meters.,Please provide the JSON response.}} +Reverse 8 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 270 degrees.,Please provide the JSON response.}} +Turn left by 270 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate anti-clockwise by 270 degrees.,Please provide the JSON response.}} +Rotate in the opposite direction by 270 degrees.,Please provide the JSON response.}} +Perform a 270-degree counterclockwise rotation.,Please provide the JSON response.}} +Turn left and move forward for 6 seconds.,Please provide the JSON response.}} +Go forward for 6 seconds after turning left.,Please provide the JSON response.}} +Take a left turn and proceed straight for 6 seconds.,Please provide the JSON response.}} +After turning left, continue moving forward for 6 seconds.,Please provide the JSON response.}} +Make a left turn and move ahead for 6 seconds.,Please provide the JSON response.}} +Turn left and move forward for 5 meters.,Please provide the JSON response.}} +Take a left turn and proceed ahead covering a distance of 5 meters.,Please provide the JSON response.}} +Make a left turn and continue moving straight, covering a distance of 5 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Go left and advance forward, traveling a distance of 5 meters.,Please provide the JSON response.}} +Execute a left turn and proceed straight, ensuring a distance of 5 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn 90 degrees in the counterclockwise direction.,Please provide the JSON response.}} +Rotate anti-clockwise at a 90-degree angle.,Please provide the JSON response.}} +Spin to the left by 90 degrees.,Please provide the JSON response.}} +Rotate in the counterclockwise direction, making a 90-degree turn.,Please provide the JSON response.}} +Move backward for 3 seconds.,Please provide the JSON response.}} +Go in reverse for a duration of 3 seconds.,Please provide the JSON response.}} +Take a step back and continue for a total of 3 seconds.,Please provide the JSON response.}} +Reverse your movement and maintain it for 3 seconds.,Please provide the JSON response.}} +Retreat for a period of 3 seconds.,Please provide the JSON response.}} +Turn right and move forward for 10 meters.,Please provide the JSON response.}} +Proceed forward for 10 meters after making a right turn.,Please provide the JSON response.}} +Take a right and continue moving ahead for a distance of 10 meters.,Please provide the JSON response.}} +Make a right turn and travel straight ahead for a total of 10 meters.,Please provide the JSON response.}} +After turning right, advance forward and cover a distance of 10 meters.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Turn in a clockwise direction by 180 degrees.,Please provide the JSON response.}} +Execute a rotation of 180 degrees in a clockwise manner.,Please provide the JSON response.}} +Rotate by 180 degrees, following the clockwise direction.,Please provide the JSON response.}} +Move forward at a speed of 0.5 meters per second for 4 seconds.,Please provide the JSON response.}} +Go ahead for 4 seconds at a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.,Please provide the JSON response.}} +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.,Please provide the JSON response.}} +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.,Note: I will give you a hint, the answer should have an "action" field with a value of "move".}} +Turn left and move backward for 2 meters.,Please provide the JSON response.}} +Take a left turn and proceed backwards for a distance of 2 meters.,Please provide the JSON response.}} +Make a left turn and travel in reverse for a distance of 2 meters.,Please provide the JSON response.}} +Rotate left and proceed in reverse for a total distance of 2 meters.,Please provide the JSON response.}} +Shift to the left and move backwards covering a distance of 2 meters.,Please provide the JSON response.}} +Move forward for 7 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 7 seconds.,Please provide the JSON response.}} +Advance for a period of 7 seconds.,Please provide the JSON response.}} +Keep moving forward for 7 seconds.,Please provide the JSON response.}} +Continue ahead for a total of 7 seconds.,Please provide the JSON response.}} +Rotate counterclockwise by 30 degrees.,Please provide the JSON response.}} +Turn left by an angle of 30 degrees.,Please provide the JSON response.}} +Rotate anticlockwise by 30 degrees.,Please provide the JSON response.}} +Rotate in the opposite direction by 30 degrees.,Please provide the JSON response.}} +Make a 30 degree counterclockwise rotation.,Please provide the JSON response.}} +Move backward at a speed of 1 meter per second for 6 seconds.,Please provide the JSON response.}} +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.,Please provide the JSON response.}} +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.,Please provide the JSON response.}} +Travel backwards for 6 seconds at a speed of 1 meter per second.,Please provide the JSON response.}} +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.,Please provide the JSON response.}} +Turn right and move forward for 8 meters.,Please provide the JSON response.}} +Proceed for 8 meters after taking a right turn.,Please provide the JSON response.}} +Take a right and continue straight ahead for a distance of 8 meters.,Please provide the JSON response.}} +Make a right turn and then proceed ahead for 8 meters.,Please provide the JSON response.}} +After turning right, cover a distance of 8 meters by moving forward.,Please provide the JSON response.}} +Rotate clockwise by 270 degrees.,Please provide the JSON response.}} +Turn 270 degrees to the right.,Please provide the JSON response.}} +Turn three-quarters of a full rotation to the right.,Please provide the JSON response.}} +Perform a clockwise rotation of 270 degrees.,Please provide the JSON response.}} +Rotate in the clockwise direction, making a 270-degree turn.,Please provide the JSON response.}} +Move forward and then immediately stop.,Please provide the JSON corresponding to the given prompt.}} +Proceed forward and promptly come to a halt.,Please note that I will only answer in English, and I will not provide any explanation or justification for my answers.}} +Advance and instantaneously cease movement.,Please provide the JSON response.}} +Go forward and abruptly pause.,Please provide the JSON corresponding to the given prompt.}} +Move ahead and promptly end motion.,Please provide the JSON corresponding to the given prompt.}} +Turn left and move backward for 4 meters.,Please provide the JSON response.}} +Make a left turn and proceed backwards for a distance of 4 meters.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Go in the opposite direction and turn to the left, covering a distance of 4 meters.,Please provide the JSON response.}} +Rotate to your left and travel in the reverse direction, moving 4 meters behind.,Please provide the JSON response.}} +Head left and travel in reverse for a total of 4 meters.,Please provide the JSON response.}} +Move forward for 10 seconds at a speed of 0.3 meters per second.,Please provide the JSON response.}} +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.,Please provide the JSON response.}} +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.,Please provide the JSON response.}} +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.,Note: I will give you a hint, the answer should have an "action" field with a value of "go_to_goal".}} +Rotate counterclockwise by 60 degrees.,Please provide the JSON response.}} +Turn left by 60 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate in the opposite direction by 60 degrees.,Please provide the JSON response.}} +Make a counterclockwise rotation of 60 degrees.,Please provide the JSON response.}} +Rotate leftwards by 60 degrees.,Please provide the JSON response.}} +Move backward and then immediately stop.,Please provide the JSON corresponding to the given prompt.}} +Reverse and come to a sudden halt.,Please provide the JSON corresponding to the prompt "Reverse and come to a sudden halt."}} +Go in reverse and abruptly cease.,Please provide the JSON corresponding to the given prompt.}} +Back up and instantly come to a standstill.,Please provide the JSON corresponding to the given prompt.}} +Move backwards and promptly come to a stop.,Please provide the JSON corresponding to the given prompt.}} +Turn right and move forward for 6 meters.,Please provide the JSON response.}} +Make a right turn and proceed straight ahead for a distance of 6 meters.,Please provide the JSON response.}} +Go to your right and continue moving forward for a total of 6 meters.,Please provide the JSON response.}} +Take a right turn and advance ahead, covering a distance of 6 meters.,Please provide the JSON response.}} +Head towards the right and maintain a straight path for 6 meters.,Please provide the JSON response.}} +Rotate clockwise by 120 degrees.,Please provide the JSON response.}} +Turn 120 degrees in a clockwise direction.,Please provide the JSON response.}} +Move in a clockwise rotation by 120 degrees.,Please provide the JSON response.}} +Adjust the rotation by 120 degrees in a clockwise manner.,Please provide the JSON response.}} +Execute a 120-degree clockwise rotation.,Please provide the JSON response.}} +Move forward and then backward for 5 meters.,Please provide the JSON response.}} +Proceed ahead and then return in reverse for a distance of 5 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Advance forward and then retract for a distance of 5 meters.,Note: You can assume that the agent has the ability to perform the actions described in the ontology.}} +Go straight ahead and then move backward covering a span of 5 meters.,Please provide the JSON response.}} +Propel forward and then reverse, covering a distance of 5 meters.,Please provide the JSON response.}} +Move forward for 10 meters.,Please provide the JSON response.}} +Proceed straight for a distance of 10 meters.,Please provide the JSON response.}} +Advance ahead by 10 meters.,Please provide the JSON response.}} +Go straight ahead covering a distance of 10 meters.,Please provide the JSON response.}} +Travel in a forward direction for 10 meters.,Please note that I will only answer in English, and I will not provide any explanation or justification for my answers.}} +Turn left and move forward for 5 meters.,Please provide the JSON response.}} +Make a left turn and proceed ahead for a distance of 5 meters.,Please provide the JSON response.}} +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.,Please provide the JSON response.}} +Take a leftward turn and advance for 5 meters.,Please provide the JSON response.}} +Face left and go straight for 5 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Rotate in an anticlockwise direction by 90 degrees.,Please provide the JSON response.}} +Perform a 90-degree counterclockwise rotation.,Please provide the JSON response.}} +Turn left by 90 degrees.,Please provide the JSON corresponding to the given prompt.}} +Anti-rotate by 90 degrees.,Please provide the JSON response.}} +Move backward for 3 meters.,Please provide the JSON response.}} +Go in reverse for a distance of 3 meters.,Please provide the JSON response.}} +Retreat by 3 meters.,Please provide the JSON response.}} +Step back 3 meters.,Please provide the JSON corresponding to the given prompt.}} +Reverse direction and travel 3 meters.,Please provide the JSON response.}} +Turn right and move forward at 0.5 m/s for 20 seconds.,Please provide the JSON response.}} +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.,Please provide the JSON response.}} +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.,Please provide the JSON response.}} +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.,Note: I will give you multiple prompts, and you must answer them one by one.}} +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.,Note: You can assume that the agent has already been initialized with the necessary information, such as its position, orientation, and velocity.}} +Go to the living room and stop.,Please provide the JSON response.}} +Please proceed to the living room and come to a halt.,Please provide the JSON response.}} +Make your way to the living room and cease movement.,Please provide the JSON response.}} +Head over to the living room and pause.,Please provide the JSON corresponding to the prompt.}} +Walk into the living room and stand still.,Please note that the prompt is not in the ontology, so you should ignore it.}} +Move forward for 2 seconds at a speed of 1 meter per second.,Please provide the JSON response.}} +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.,Please provide the JSON response.}} +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Move ahead at a rate of 1 meter per second for 2 seconds.,Please provide the JSON response.}} +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a clockwise rotation of 180 degrees.,Please provide the JSON response.}} +Rotate 180 degrees in the clockwise direction.,Please provide the JSON response.}} +Turn in a clockwise direction and rotate by 180 degrees.,Please provide the JSON response.}} +Execute a 180-degree clockwise rotation.,Please provide the JSON response.}} +Move forward for 4 meters and then turn left.,Please provide the JSON response.}} +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Go straight for a distance of 4 meters followed by a left turn.,Note: You can assume that the robot has already been initialized and is ready to perform the actions.}} +Advance in the forward direction, covering 4 meters, and then make a leftward turn.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Move ahead for 4 meters and then change direction by turning left.,Please provide the JSON response.}} +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,Please provide the JSON response.}} +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,Please provide the JSON response.}} +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.,Please provide the JSON response.}} +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to perform the actions.}} +Go to the bedroom and stop.,Please provide the JSON response.}} +Proceed to the bedroom and come to a halt.,Please note that I will only answer in English, and I will not provide any explanation or justification for my answers.}} +Make your way to the bedroom and cease your movement.,Please provide the JSON response.}} +Head towards the bedroom and come to a standstill.,Please provide the JSON response.}} +Move to the bedroom and pause.,Please provide the JSON response.}} +Move backward for 7 meters at a speed of 0.8 meters per second.,Please provide the JSON response.}} +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.,Please provide the JSON response.}} +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.,Note: I will give you a hint, the action in the ontology is "go_to_goal".}} +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.,Please provide the JSON response.}} +Turn left and move forward for 5 meters at a speed of 2 meters per second.,Please provide the JSON response.}} +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to perform the actions.}} +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.,Note: You can assume that the robot has already determined its initial position and orientation, and that the environment is static and obstacle-free.}} +Back up for 1 meter and then execute a 90-degree turn to the right.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Reverse for 1 meter and then make a right turn of 90 degrees.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.,Note: Please provide the JSON response without any introduction, comments, or conclusion.}} +Retreat by 1 meter and then make a right turn of 90 degrees.,Please provide the JSON response.}} +Take a step back for 1 meter and then execute a 90-degree right turn.,Please provide the JSON response.}} +Navigate to the specified GPS coordinates and play a pre-recorded message.,Please provide the GPS coordinates and the pre-recorded message.}} +Please go to the given GPS coordinates and play the pre-recorded message.,Please provide the GPS coordinates and the pre-recorded message.}} +Can you navigate to the provided GPS coordinates and start playing the recorded message?,Note: The GPS coordinates are in the format of latitude, longitude, and the recorded message is a string.}} +Follow the given GPS coordinates and play the message that has been prerecorded.,Please provide the JSON response.}} +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.,Please provide the JSON response.}} +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.,Note: You can assume that the robot has enough energy and space to perform the actions described in the prompt.}} +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.,Note: You can assume that the robot has enough energy and space to perform the actions.}} +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.,Note: You can assume that the robot has enough energy and space to perform the actions described in the prompt.}} +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.,Note: You can assume that the robot has enough energy and space to perform the action.}} +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.,Note: You can assume that the robot has enough energy and space to perform the actions described in the prompt.}} +Spin around in a circle three times and then stop abruptly.,Please note that the prompt is asking for a sequence of actions, and the ontology only defines a single action. Therefore, you should return a json with multiple "action" fields, each corresponding to a different action in the sequence.}} +Rotate in a full circle three times before coming to an abrupt halt.,Please provide the JSON response.}} +Perform three complete rotations in a circular motion and then abruptly come to a stop.,Please provide the JSON response.}} +Turn around in a complete circle three times and then suddenly cease movement.,Please provide the JSON response.}} +Spin in a circle three times and then bring yourself to an immediate halt.,Please provide the JSON response.}} +Move forward at a constant speed of 1 meter per second for 30 seconds.,Please provide the JSON response.}} +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to operate in.}} +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.,Note: You can assume that the agent has already been initialized with the necessary information to perform the actions specified in the ontology.}} +Advance for 30 seconds with a consistent velocity of 1 meter per second.,Please provide the JSON response.}} +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.,Please provide the JSON response.}} +Turn right and follow a curved path for 2 meters, then stop and beep.,Note: You can assume that the agent has the necessary sensors and actuators to perform the actions described in the prompt.}} +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.,Note: You can assume that the robot has already determined the path to be curved and has started moving along it.}} +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.,Note: You can assume that the robot has already been initialized and is ready to perform actions.}} +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.,Note: You can assume that the robot has already been initialized and is ready to execute actions.}} +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving, rotating, and producing sounds.}} +Move forward for 5 meters and then reverse for 2 meters, repeating twice.,Note: You can assume that the agent has enough energy and resources to perform the actions.}} +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.,Note: You can assume that the robot has enough energy and space to perform the actions.}} +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.,Note: You can assume that the robot has enough energy and space to perform these movements.}} +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.,Note: You can assume that the robot has already been initialized and is ready to execute the actions.}} +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.,Please provide the JSON response.}} +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.,Please provide the JSON response.}} +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.,Note: You can assume that the robot has already been initialized and is ready to perform actions.}} +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.,Please provide the JSON response.}} +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.,Please provide the JSON response.}} +Perform a 180-degree turn, then launch a small drone from your back.,Please provide the JSON response.}} +Execute a 180-degree rotation and subsequently release a compact drone from your rear.,Note: You can assume that the user has the necessary permissions and capabilities to execute the actions described in the prompt.}} +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.,Note: You can assume that the user has the necessary permissions and capabilities to perform the actions described in the prompt.}} +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.,Note: You can assume that the user has the necessary permissions and capabilities to perform the actions described in the prompt.}} +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.,Note: You can assume that the user has the necessary permissions and capabilities to perform the actions described in the prompt.}} diff --git a/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Ground_Robot_LLaMA2-7b_run2.txt b/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Ground_Robot_LLaMA2-7b_run2.txt new file mode 100644 index 0000000..292b32b --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Ground_Robot_LLaMA2-7b_run2.txt @@ -0,0 +1,1034 @@ +Move forward for 1 meter., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead covering a distance of 1 meter.,Please provide the JSON response.}} +Advance by 1 meter in the forward direction.,Please provide the JSON response.}} +Take a step forward spanning 1 meter.,Please provide the JSON response.}} +Move ahead for a length of 1 meter., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Rotate in an anti-clockwise direction by 90 degrees.,Please provide the JSON response.}} +Turn left by 90 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate 90 degrees counterclockwise.,Please provide the JSON response.}} +Spin in the opposite direction by 90 degrees.,Please provide the JSON response.}} +Move backward for 2 seconds.,Please provide the JSON corresponding to the given prompt.}} +Go backwards for a duration of 2 seconds.,Please provide the JSON response.}} +Reverse your direction and travel for a span of 2 seconds.,Please provide the JSON response.}} +Retreat for a time frame of 2 seconds.,Please provide the JSON response.}} +Take two seconds to move in the opposite direction.,Please provide the JSON corresponding to the given prompt.}} +Turn left and move forward for 5 meters.,Please provide the JSON response.}} +Move forward for 5 meters, then turn left.,Please provide the JSON response.}} +Proceed for 5 meters, then make a left turn.,Please provide the JSON response.}} +Take a left turn and continue moving forward for 5 meters.,Please provide the JSON response.}} +Make a leftward turn and advance for 5 meters.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Turn in a clockwise direction by 180 degrees.,Please provide the JSON response.}} +Rotate by 180 degrees in a clockwise manner.,Please provide the JSON response.}} +Execute a clockwise rotation of 180 degrees.,Please provide the JSON response.}} +Move forward at a velocity of 0.5 meters per second for 10 seconds.,Please provide the JSON response.}} +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.,Please provide the JSON response.}} +Advance at 0.5 meters per second for a total of 10 seconds.,Please provide the JSON response.}} +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.,Please note that I will only accept answers in the format of a JSON object, as specified in the problem statement.}} +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.,Please provide the JSON response.}} +Turn right and move forward for 3 meters.,Please provide the JSON response.}} +Proceed forward for a distance of 3 meters after making a right turn.,Please provide the JSON response.}} +After turning right, continue straight for 3 meters.,Please provide the JSON response.}} +Make a right turn and advance for a distance of 3 meters.,Please provide the JSON response.}} +Execute a rightward turn and then travel straight ahead for 3 meters.,Please provide the JSON response.}} +Move backward at a velocity of 1 meter per second for 4 seconds.,Please provide the JSON response.}} +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.,Please provide the JSON response.}} +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.,Note: I will give you multiple prompts, and you must answer them one by one. Please answer each prompt only once.}} +Rotate counterclockwise by 270 degrees.,Please provide the JSON response.}} +Rotate 270 degrees counterclockwise.,Please provide the JSON response.}} +Turn left by 270 degrees.,Please provide the JSON corresponding to the given prompt.}} +Perform a counterclockwise rotation of 270 degrees.,Please provide the JSON response.}} +Rotate in the opposite direction by 270 degrees.,Please provide the JSON response.}} +Move forward for 2 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead by a distance of 2 meters.,Please provide the JSON response.}} +Advance for a span of 2 meters.,Please provide the JSON response.}} +Travel forward, covering a distance of 2 meters.,Please note that I will only provide one answer, and you should only provide one answer for each prompt.}} +Move straight ahead, going 2 meters.,Please provide the JSON response.}} +Rotate clockwise by 45 degrees and move forward for 1 meter.,Please provide the JSON response.}} +Move forward for 1 meter while rotating 45 degrees clockwise.,Please provide the JSON response.}} +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.,Note: You can assume that the robot has already been initialized and is in a stable state before the given command is executed.}} +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.,Please provide the JSON response.}} +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.,Note: You can assume that the robot has already been initialized and is in a known state.}} +Turn left and move forward for 3 seconds.,Please provide the JSON response.}} +Proceed straight for 3 seconds after taking a left turn.,Please provide the JSON response.}} +Take a left turn and continue advancing for 3 seconds.,Please provide the JSON response.}} +Make a left turn and proceed forward for a duration of 3 seconds.,Note: I will give you multiple prompts, and you must answer them one by one.}} +After turning left, move straight ahead for 3 seconds.,Please provide the JSON response.}} +Move backward for 1 meter.,Please provide the JSON corresponding to the given prompt.}} +Reverse direction and travel 1 meter.,Please provide the JSON response.}} +Go back for a distance of 1 meter.,Please provide the JSON response.}} +Retreat for 1 meter.,Please provide the JSON response.}} +Take one step backward covering a distance of 1 meter.,Please provide the JSON response.}} +Rotate counterclockwise by 120 degrees and move forward for 5 meters.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.,Please provide the JSON response.}} +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.,Please provide the JSON response.}} +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Move forward at full speed for 20 seconds.,Please provide the JSON response.}} +Proceed ahead at maximum velocity for a duration of 20 seconds.,Please provide the JSON response.}} +Travel straight ahead at top speed for a duration of 20 seconds.,Please provide the JSON response.}} +Advance forward with utmost speed for a period of 20 seconds.,Please provide the JSON response.}} +Go straight ahead at full throttle for a duration of 20 seconds.,Please provide the JSON response.}} +Rotate clockwise by 60 degrees.,Please provide the JSON response.}} +Turn right by 60 degrees.,Please provide the JSON corresponding to the given prompt.}} +Perform a clockwise rotation of 60 degrees.,Please provide the JSON response.}} +Rotate in a clockwise direction, making a 60-degree turn.,Please provide the JSON response.}} +Rotate to the right, making a 60-degree angle.,Please provide the JSON response.}} +Move backward at a velocity of 0.75 meters per second for 8 seconds.,Please provide the JSON response.}} +Reverse at 0.75 meters per second for a duration of 8 seconds.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.,Please provide the JSON response.}} +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.,Please provide the JSON response.}} +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.,Please provide the JSON response.}} +Turn right and move forward for 4 meters.,Please provide the JSON response.}} +Take a right turn and proceed straight ahead for a distance of 4 meters.,Please provide the JSON response.}} +Make a right turn and continue moving forward for 4 meters.,Please provide the JSON response.}} +Rotate to the right and advance ahead for a distance of 4 meters.,Please provide the JSON response.}} +Go to the right and keep moving straight for 4 meters.,Please provide the JSON response.}} +Move forward for 3 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead for a distance of 3 meters.,Please provide the JSON response.}} +Advance ahead 3 meters.,Please provide the JSON response.}} +Go forward a total of 3 meters.,Please provide the JSON response.}} +Travel straight for a distance of 3 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.,Please provide the JSON response.}} +Turn left 90 degrees and proceed forward for a duration of 2 seconds.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.,Note: You can assume that the robot has already been initialized and is in a known state.}} +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.,Please provide the JSON response.}} +Make a left turn of 90 degrees and proceed forward for 2 seconds.,Note: I will give you the prompts one at a time, and you must answer each one individually. Good luck!}} +Move forward for 5 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead a distance of 5 meters.,Please provide the JSON response.}} +Advance for a total of 5 meters.,Please provide the JSON response.}} +Travel straight ahead covering a distance of 5 meters.,Please provide the JSON response.}} +Go forward a length of 5 meters.,Please provide the JSON response.}} +Turn left and continue for 10 seconds.,Please provide the JSON response.}} +Make a left turn and keep going for 10 seconds.,Please provide the JSON response.}} +Go left and continue for 10 seconds.,Please provide the JSON corresponding to the given prompt.}} +Take a left turn and continue for a duration of 10 seconds.,Please provide the JSON response.}} +Proceed by turning left and maintaining that direction for 10 seconds.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn 90 degrees counterclockwise.,Please provide the JSON response.}} +Rotate in the opposite direction by 90 degrees.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 90 degrees.,Please provide the JSON response.}} +Move in a counterclockwise direction, turning by 90 degrees.,Please provide the JSON response.}} +Back up 2 meters and stop.,Please provide the JSON corresponding to the given prompt.}} +Move back a distance of 2 meters and come to a halt.,Please provide the JSON response.}} +Reverse by 2 meters and come to a stop.,Please provide the JSON response.}} +Retreat 2 meters and bring yourself to a standstill.,Please provide the JSON response.}} +Step backward 2 meters and cease movement.,Please provide the JSON corresponding to the given prompt.}} +Move forward at a speed of 0.5 meters per second for 6 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.,Please provide the JSON response.}} +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to perform the actions.}} +Turn right and move forward for 1 meter.,Please provide the JSON response.}} +Make a right turn and proceed ahead for a distance of 1 meter.,Please provide the JSON response.}} +Take a right turn and continue moving straight for a distance of 1 meter.,Please provide the JSON response.}} +Head to the right and advance forward for 1 meter.,Please provide the JSON response.}} +Rotate right and proceed ahead for a length of 1 meter.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Turn in a clockwise direction until you have rotated 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Rotate 180 degrees in the clockwise direction.,Please provide the JSON response.}} +Turn to the right until you are facing the opposite direction.,Please provide the JSON response.}} +Move backward for 3 seconds.,Please provide the JSON response.}} +Go in reverse for a duration of 3 seconds.,Please provide the JSON response.}} +Reverse your movement for a total of 3 seconds.,Please provide the JSON response.}} +Backtrack for a period of 3 seconds.,Please provide the JSON response.}} +Take a 3-second step backwards.,Please provide the JSON corresponding to the given prompt.}} +Turn left and continue for 7 meters.,Please provide the JSON response.}} +Take a left turn and proceed straight ahead for a distance of 7 meters.,Please provide the JSON response.}} +Make a left turn and keep going for 7 meters.,Please provide the JSON response.}} +Go left and carry on for a distance of 7 meters.,Please provide the JSON response.}} +Head to the left and continue for a length of 7 meters.,Please provide the JSON response.}} +Move forward at a speed of 1 meter per second for 4 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.,Please provide the JSON response.}} +Advance for 4 seconds, maintaining a speed of 1 meter per second.,Please provide the JSON response.}} +Travel forward for 4 seconds, moving at a rate of 1 meter per second.,Please provide the JSON response.}} +For a period of 4 seconds, move ahead at a speed of 1 meter per second.,Please provide the JSON response.}} +Rotate counterclockwise by 45 degrees.,Please provide the JSON response.}} +Change the orientation by 45 degrees in a counterclockwise direction.,Please provide the JSON response.}} +Turn left by 45 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate anticlockwise by an angle of 45 degrees.,Please provide the JSON response.}} +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.,Please provide the JSON response.}} +Go straight for 8 meters.,Please provide the JSON response.}} +Proceed in a straight line for a distance of 8 meters.,Please provide the JSON response.}} +Continue in a straight direction for a span of 8 meters.,Please provide the JSON response.}} +Maintain a straight path for a duration of 8 meters.,Note: You can assume that the robot has already been initialized and is ready to perform the action.}} +Stay on course for a distance of 8 meters ahead.,Please provide the JSON response.}} +Turn right and move forward for 2 seconds.,Please provide the JSON response.}} +Proceed straight for 2 seconds after making a right turn.,Please provide the JSON response.}} +Take a right turn and continue moving ahead for a duration of 2 seconds.,Please provide the JSON response.}} +Make a right turn and advance forward for 2 seconds.,Please provide the JSON response.}} +After turning right, keep moving forward for a period of 2 seconds.,Please provide the JSON response.}} +Move backward for 4 meters and stop.,Please provide the JSON response.}} +Reverse for a distance of 4 meters and come to a halt.,Please provide the JSON response.}} +Go back for 4 meters and then come to a stop.,Please provide the JSON response.}} +Take 4 meters in reverse and cease movement.,Please provide the JSON corresponding to the given prompt.}} +Travel in the opposite direction for a distance of 4 meters and then pause.,Please provide the JSON response.}} +Rotate clockwise by 270 degrees.,Please provide the JSON response.}} +Turn to the right by 270 degrees.,Please provide the JSON response.}} +Move in a clockwise direction, rotating 270 degrees.,Please provide the JSON response.}} +Spin in a clockwise manner, completing a 270 degree rotation.,Please provide the JSON response.}} +Rotate by 270 degrees in a clockwise fashion.,Please provide the JSON response.}} +Turn left and continue for 3 meters.,Please provide the JSON response.}} +Make a left turn and keep going for a distance of 3 meters.,Please provide the JSON response.}} +Proceed straight for 3 meters after making a left turn.,Please provide the JSON response.}} +After turning left, travel straight for 3 meters.,Please provide the JSON response.}} +Take a left and continue on for a distance of 3 meters.,Please provide the JSON response.}} +Move forward at a speed of 0.3 meters per second for 5 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.,Please provide the JSON response.}} +Advance at a rate of 0.3 meters per second for a period of 5 seconds.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.,Please provide the JSON response.}} +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.,Please provide the JSON response.}} +Rotate counterclockwise by 60 degrees.,Please provide the JSON response.}} +Turn 60 degrees counterclockwise.,Please provide the JSON corresponding to the given prompt.}} +Rotate in the opposite direction by 60 degrees.,Please provide the JSON response.}} +Rotate to the left by 60 degrees.,Please provide the JSON response.}} +Make a counterclockwise rotation of 60 degrees.,Please provide the JSON response.}} +Go straight for 6 seconds.,Please provide the JSON response.}} +Proceed in a straight line for a duration of 6 seconds.,Please provide the JSON response.}} +Keep moving forward in a straight path for 6 seconds.,Please note that I will only accept answers that are in the format of a JSON object, with the keys and values separated by a comma, and with the values enclosed in curly braces.}} +Maintain a straight course for 6 seconds.,Please provide the JSON response.}} +Continue in a straight direction for a period of 6 seconds.,Please provide the JSON response.}} +Turn right and move forward for 7 meters.,Please provide the JSON response.}} +Take a right turn and proceed straight ahead for a distance of 7 meters.,Please provide the JSON response.}} +Make a right-hand turn and continue moving forward for a length of 7 meters.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Head to the right side and advance for a distance of 7 meters.,Please provide the JSON response.}} +Rotate to the right and travel straight for 7 meters.,Please provide the JSON response.}} +Move 2 meters forward., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead by a distance of 2 meters.,Please provide the JSON response.}} +Advance 2 meters in the forward direction.,Please provide the JSON response.}} +Take a step forward for a distance of 2 meters.,Please provide the JSON response.}} +Move straight ahead, covering a distance of 2 meters.,Please provide the JSON response.}} +Turn left and move forward for 5 seconds.,Please provide the JSON response.}} +Move forward for 5 seconds after turning left.,Please provide the JSON response.}} +After making a left turn, proceed forward for 5 seconds.,Please provide the JSON response.}} +Take a left turn and continue moving forward for 5 seconds.,Please provide the JSON response.}} +Start moving forward for 5 seconds after making a left turn.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Rotate 90 degrees counterclockwise.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 90 degrees.,Please provide the JSON response.}} +Rotate by 90 degrees in the counterclockwise direction.,Please provide the JSON response.}} +Turn left by 90 degrees.,Please provide the JSON corresponding to the given prompt.}} +Move 3 meters backward.,Please provide the JSON response.}} +Go back 3 meters.,Please provide the JSON response.}} +Retreat 3 meters.,Please provide the JSON response.}} +Step 3 meters in reverse.,Please provide the JSON corresponding to the given prompt.}} +Travel in the opposite direction for 3 meters.,Please provide the JSON response.}} +Turn right and move forward for 1 meter.,Please provide the JSON response.}} +Take a right turn and proceed straight ahead for a distance of 1 meter.,Please provide the JSON response.}} +Make a right turn and advance ahead for a distance of 1 meter.,Please provide the JSON response.}} +Head to the right and continue moving forward for 1 meter.,Please provide the JSON response.}} +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.,Please provide the JSON response.}} +Go to the living room and stop.,Please provide the JSON response.}} +Please proceed to the living room and come to a halt.,Please provide the JSON response.}} +Make your way to the living room and cease moving.,Please provide the JSON response.}} +Head to the living room and stand still.,Please provide the JSON corresponding to the prompt.}} +Move towards the living room and come to a stop.,Please note that I will only answer in English, and I will not provide any explanation or justification for my answers.}} +Move 4 meters forward at a speed of 2 meters per second.,Please provide the JSON response.}} +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.,Please provide the JSON response.}} +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.,Note: I will give you multiple prompts, and you must answer them one by one. Please answer each prompt only once.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Turn 180 degrees in a clockwise direction.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Rotate by 180 degrees in the clockwise direction.,Please provide the JSON response.}} +Turn in a clockwise fashion, rotating 180 degrees.,Please provide the JSON response.}} +Turn left and move forward for 3 meters.,Please provide the JSON response.}} +Make a left turn and proceed straight ahead for a distance of 3 meters.,Please provide the JSON response.}} +Take a left and continue moving forward, covering a span of 3 meters.,Please provide the JSON response.}} +Rotate to the left and advance for 3 meters.,Please provide the JSON response.}} +Shift towards the left and travel straight for a distance of 3 meters.,Please provide the JSON response.}} +Move 2 meters backward at a speed of 0.5 meters per second.,Please provide the JSON response.}} +Back up 2 meters with a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.,Please provide the JSON response.}} +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.,Note: You can assume that the agent has the ability to move and rotate, but it cannot go to a location that is not in its current location.}} +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Go to the bedroom and stop.,Please provide the JSON response.}} +Please proceed to the bedroom and come to a halt.,Please provide the JSON response.}} +Make your way to the bedroom and cease your movement.,Please provide the JSON response.}} +Head to the bedroom and pause.,Please provide the JSON corresponding to the given prompt.}} +Go to the bedroom and stand still.,Please provide the JSON response.}} +Rotate counterclockwise by 45 degrees.,Please provide the JSON response.}} +Turn 45 degrees in the counterclockwise direction.,Please provide the JSON response.}} +Rotate anticlockwise at an angle of 45 degrees.,Please provide the JSON response.}} +Rotate left by 45 degrees.,Please provide the JSON response.}} +Perform a 45-degree counterclockwise rotation.,Please provide the JSON response.}} +Turn right and move forward for 4 meters.,Please provide the JSON response.}} +Proceed forward for a distance of 4 meters after making a right turn.,Please provide the JSON response.}} +Take a right and continue moving ahead for 4 meters.,Please provide the JSON response.}} +After making a right turn, advance straight for a distance of 4 meters.,Please provide the JSON response.}} +Make a right-hand turn and proceed forward for 4 meters.,Please provide the JSON response.}} +Move 1 meter forward at a speed of 1 meter per second.,Please provide the JSON response.}} +Proceed ahead by 1 meter with a velocity of 1 meter per second.,Please provide the JSON response.}} +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.,Note: Please provide the JSON response without any introduction, comments, or conclusion.}} +Go one meter ahead, moving at a rate of one meter per second.,Please provide the JSON response.}} +Travel forward for 1 meter while maintaining a speed of 1 meter per second.,Please provide the JSON response.}} +Rotate clockwise by 270 degrees.,Please provide the JSON response.}} +Turn 270 degrees in a clockwise direction.,Please provide the JSON response.}} +Rotate by 270 degrees in a clockwise manner.,Please provide the JSON response.}} +Execute a clockwise rotation of 270 degrees.,Please provide the JSON response.}} +Shift the orientation by 270 degrees in a clockwise fashion.,Please provide the JSON response.}} +Turn left and move forward for 2 seconds.,Please provide the JSON response.}} +Proceed forward for 2 seconds, then make a left turn.,Please provide the JSON response.}} +Take a left turn and continue moving straight ahead for 2 seconds.,Please provide the JSON response.}} +Make a left turn and drive forward for 2 seconds.,Please provide the JSON response.}} +After turning left, continue moving straight for 2 seconds.,Please provide the JSON response.}} +Move 3 meters backward at a speed of 1.5 meters per second.,Please provide the JSON response.}} +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.,Please provide the JSON response.}} +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.,Please provide the JSON response.}} +Go to the dining room and stop.,Please provide the JSON response.}} +Proceed to the dining room and come to a halt.,Please provide the JSON response.}} +Head over to the dining room and pause.,Please provide the JSON response.}} +Make your way to the dining room and bring yourself to a stop.,Please provide the JSON response.}} +Move towards the dining room and cease your motion.,Please provide the JSON response.}} +Rotate counterclockwise by 60 degrees.,Please provide the JSON response.}} +Turn left by 60 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate in the opposite direction by 60 degrees.,Please provide the JSON response.}} +Execute a 60-degree counterclockwise rotation.,Please provide the JSON response.}} +Rotate anticlockwise by 60 degrees.,Please provide the JSON response.}} +Move forward for 5 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead for a distance of 5 meters.,Please provide the JSON response.}} +Advance straight ahead for 5 meters.,Please provide the JSON response.}} +Travel forward for a distance of 5 meters.,Please provide the JSON response.}} +Go in the forward direction for 5 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn 90 degrees counterclockwise.,Please provide the JSON response.}} +Rotate anticlockwise by 90 degrees.,Please provide the JSON response.}} +Rotate to the left by 90 degrees.,Please provide the JSON response.}} +Change the orientation to the left by 90 degrees.,Please provide the JSON response.}} +Move backward for 3 seconds.,Please provide the JSON response.}} +Reverse for a duration of 3 seconds.,Please provide the JSON response.}} +Go in reverse for a period of 3 seconds.,Please provide the JSON response.}} +Travel backwards for a total of 3 seconds.,Please provide the JSON response.}} +Move in the opposite direction for 3 seconds.,Please provide the JSON response.}} +Turn left and move forward for 2 meters.,Please provide the JSON response.}} +Proceed forward for 2 meters after making a left turn.,Please provide the JSON response.}} +Make a left turn and advance for 2 meters.,Please provide the JSON response.}} +Take a left and continue forward for a distance of 2 meters.,Please provide the JSON response.}} +Move ahead for 2 meters after making a leftward turn.,Please provide the JSON response.}} +Make a U-turn and move in the opposite direction for 10 seconds.,Please provide the JSON response.}} +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.,Please provide the JSON response.}} +Turn around and travel in the opposite direction for a duration of 10 seconds.,Please provide the JSON response.}} +Perform a U-turn and move in the opposite direction for 10 seconds.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees and stop.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation and then come to a halt.,Please provide the JSON response.}} +Execute a clockwise rotation of 180 degrees and then cease movement.,Please provide the JSON response.}} +Turn right by 180 degrees and then stop.,Please provide the JSON response.}} +Rotate in a clockwise direction by 180 degrees and then come to a stop.,Please provide the JSON response.}} +Move diagonally to the right for 4 meters.,Please provide the JSON response.}} +Go right at an angle for a distance of 4 meters.,Please provide the JSON response.}} +Travel in a diagonal direction to the right covering a distance of 4 meters.,Please provide the JSON response.}} +Proceed at a diagonal towards the right, moving 4 meters.,Please provide the JSON response.}} +Move to the right diagonally, covering a distance of 4 meters.,Please provide the JSON response.}} +Turn right and move forward for 1 meter.,Please provide the JSON response.}} +Make a right turn and proceed one meter forward.,Please provide the JSON response.}} +Take a right and continue moving ahead for a distance of 1 meter.,Please provide the JSON response.}} +Rotate to the right and advance straight ahead for 1 meter.,Please provide the JSON response.}} +Facing towards the right, progress forward for a distance of 1 meter.,Please provide the JSON response.}} +Move in a zigzag pattern for 8 seconds.,Please provide the JSON response.}} +Perform a zigzag movement continuously for a duration of 8 seconds.,Note: You can assume that the agent has the ability to perform zigzag movement.}} +Traverse in a serpentine motion for 8 seconds.,Please provide the JSON response.}} +Alternate your path in a zigzagging pattern for the next 8 seconds.,Please provide the JSON response.}} +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.,Note: You can assume that the robot has already been initialized and is in a known initial state.}} +Rotate counterclockwise by 45 degrees and move forward for 3 meters.,Please provide the JSON response.}} +Turn left by 45 degrees and advance for a distance of 3 meters.,Please provide the JSON response.}} +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.,Please provide the JSON response.}} +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Move backward and stop at the nearest obstacle.,Please provide the JSON response.}} +Reverse and come to a halt once you reach the closest object in your path.,Note: You can assume that the agent has already been given the necessary permissions and capabilities to perform the actions specified in the ontology.}} +Back up and cease movement upon reaching the nearest obstruction.,Please provide the JSON response.}} +Retreat and come to a stop when you encounter the closest barrier.,Note: You can assume that the agent has already been given the necessary permissions and capabilities to perform the actions.}} +Go in reverse and stop once you reach the nearest obstacle.,Please provide the JSON response.}} +Turn left and move in a curved path for 6 meters.,Please provide the JSON response.}} +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Make a leftward turn and proceed along a curving route spanning 6 meters.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Go left and follow a curved path for a distance of 6 meters.,Please provide the JSON response.}} +Regulate your movement to the left and travel in a curved trajectory for 6 meters.,Please provide the JSON response.}} +Move forward at a speed of 1 meter per second for 10 seconds.,Please provide the JSON response.}} +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.,Please provide the JSON response.}} +Advance at a rate of 1 meter per second for 10 seconds.,Please provide the JSON response.}} +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.,Please provide the JSON response.}} +Travel forward for 10 seconds, covering a distance of 1 meter per second.,Please provide the JSON response.}} +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.,Please provide the JSON response.}} +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.,Note: I will give you multiple prompts, and you must answer them one by one. Please answer each prompt only once.}} +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to perform the actions.}} +After rotating 30 degrees clockwise, continue moving forward for 4 meters.,Note: You can assume that the robot has already been initialized and is in a known state before the given prompt.}} +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Move in a circular path with a radius of 2 meters for 7 seconds.,Please provide the JSON response.}} +Circle around with a radius of 2 meters for a duration of 7 seconds.,Please provide the JSON response.}} +Perform circular movement with a radius of 2 meters for 7 seconds.,Please provide the JSON response.}} +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.,Please provide the JSON response.}} +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.,Note: You can assume that the agent has the ability to move and rotate in 3D space.}} +Turn right and move forward for 5 seconds, then revert back.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Make a right turn and proceed forward for 5 seconds, then return back.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to perform the actions.}} +Take a right turn and advance ahead for 5 seconds, then go back in reverse.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving, rotating, and turning.}} +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.,Note: You can assume that the robot has a fixed reference frame and the user's perspective is fixed to the robot's reference frame.}} +Change direction to the right and go forward for 5 seconds, then reverse back.,Note: You can assume that the robot has already been initialized and is in a known state.}} +Move along the perimeter of the room for 1 minute.,Please provide the JSON response.}} +Walk around the edges of the room for 1 minute.,Please provide the JSON response.}} +Circulate along the boundary of the room for 1 minute.,Please provide the JSON response.}} +Patrol the perimeter of the room for 1 minute.,Please provide the JSON response.}} +Traverse the outer edges of the room for 1 minute.,Please provide the JSON response.}} +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,Please provide the JSON response.}} +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,Please provide the JSON response.}} +Rotate anticlockwise by 60 degrees and advance 3 meters.,Please provide the JSON response.}} +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving, rotating, and facing.}} +Make a 60-degree left turn and move forward 3 meters.,Please provide the JSON response.}} +Move forward at a variable speed for 10 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.,Please provide the JSON response.}} +Advance for a period of 10 seconds, with variable speed.,Please provide the JSON response.}} +Travel forward, varying the speed, for a total of 10 seconds.,Please provide the JSON response.}} +Move ahead for 10 seconds, adjusting the speed accordingly.,Please provide the JSON response.}} +Move backward and stop 1 meter away from the designated target.,Please provide the JSON response.}} +Reverse direction and come to a halt at a distance of 1 meter from the specified target.,Note: You can assume that the target is a specific location in the environment, and the agent has the necessary sensors and actuators to perform the actions.}} +Go in the opposite direction and pause when you are 1 meter away from the assigned target.,Please provide the JSON response.}} +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.,Please provide the JSON response.}} +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.,Please provide the JSON response.}} +Move forward for 1 meter., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead by 1 meter.,Please note that I will only answer in English, and I will not provide any explanation or justification for my answers.}} +Advance for a distance of 1 meter.,Please provide the JSON response.}} +Travel in a forward direction for 1 meter., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Go straight for a span of 1 meter.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn left by 90 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate anticlockwise by 90 degrees.,Please provide the JSON response.}} +Rotate to the left by 90 degrees.,Please provide the JSON response.}} +Spin counterclockwise by 90 degrees.,Please provide the JSON response.}} +Move backward for 2 seconds.,Please provide the JSON corresponding to the given prompt.}} +Go backward for a duration of 2 seconds.,Please provide the JSON response.}} +Reverse direction and continue for 2 seconds.,Please provide the JSON response.}} +Retreat for a period of 2 seconds.,Please provide the JSON response.}} +Take a step back and hold for 2 seconds.,Please provide the JSON corresponding to the given prompt.}} +Turn left and move forward for 3 meters.,Please provide the JSON response.}} +Take a left turn and proceed ahead for a distance of 3 meters.,Please provide the JSON response.}} +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Rotate to the left and proceed forward, covering a distance of 3 meters.,Please provide the JSON response.}} +Go left and move straight ahead for 3 meters.,Please provide the JSON response.}} +Move at a speed of 2 meters per second for 5 seconds.,Please provide the JSON response.}} +Travel with a velocity of 2 meters per second for a duration of 5 seconds.,Please provide the JSON response.}} +Maintain a pace of 2 meters per second for a period of 5 seconds.,Please provide the JSON response.}} +Perform movement with a speed of 2 meters per second over a span of 5 seconds.,Note: You can assume that the agent has the ability to perform the actions specified in the ontology.}} +Cover a distance at 2 meters per second for a time period of 5 seconds.,Note: You can assume that the agent has the ability to move and rotate, and the distance is a continuous quantity.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Rotate by 180 degrees in a clockwise direction.,Please provide the JSON response.}} +Perform a clockwise rotation of 180 degrees.,Please provide the JSON response.}} +Turn 180 degrees in a clockwise manner.,Please provide the JSON response.}} +Rotate in a clockwise fashion, making a 180-degree turn.,Please provide the JSON response.}} +Move forward for 4 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead, covering a distance of 4 meters.,Please provide the JSON response.}} +Advance forward, spanning 4 meters.,Please provide the JSON response.}} +Take 4 steps in the forward direction.,Please provide the JSON corresponding to the given prompt.}} +Travel a distance of 4 meters, moving in the forward direction.,Please provide the JSON response.}} +Turn right and move backward for 1 meter.,Please provide the JSON response.}} +Rotate to the right and travel in reverse for a distance of 1 meter.,Please provide the JSON response.}} +Make a right turn and proceed backwards for a length of 1 meter.,Please provide the JSON response.}} +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.,Please provide the JSON response.}} +Face right and move backwards, covering a distance of 1 meter.,Please provide the JSON response.}} +Rotate counterclockwise by 45 degrees.,Please provide the JSON response.}} +Rotate anti-clockwise by a 45-degree angle.,Please provide the JSON response.}} +Turn left by 45 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate in a counterclockwise direction by 45 degrees.,Please provide the JSON response.}} +Rotate to the left by 45 degrees.,Please provide the JSON response.}} +Move forward for 10 seconds.,Please provide the JSON response.}} +Proceed straight ahead for a duration of 10 seconds.,Please provide the JSON response.}} +Advance continuously for a period of 10 seconds.,Please provide the JSON response.}} +Travel forwards for a span of 10 seconds.,Please note that the prompt is not in the ontology, so you should ignore it and return a default value.}} +Progress ahead for a time interval of 10 seconds.,Please provide the JSON response.}} +Turn left and move at a speed of 1 meter per second for 2 seconds.,Please provide the JSON response.}} +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.,Note: I will give you the prompts one by one, and you have to answer them accordingly. Please make sure to answer only the given prompt and do not include any unnecessary information.}} +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.,Please provide the JSON response.}} +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.,Note: I will give you a hint, the action is "move".}} +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.,Please provide the JSON response.}} +Move backward for 3 meters.,Please provide the JSON response.}} +Go back 3 meters.,Please provide the JSON response.}} +Reverse your direction and travel 3 meters.,Please provide the JSON response.}} +Retreat for a distance of 3 meters.,Please provide the JSON response.}} +Take 3 steps backwards.,Please provide the JSON corresponding to the given prompt.}} +Rotate clockwise by 270 degrees.,Please provide the JSON response.}} +Rotate 270 degrees in a clockwise direction.,Please provide the JSON response.}} +Perform a clockwise rotation of 270 degrees.,Please provide the JSON response.}} +Turn right by 270 degrees.,Please provide the JSON response.}} +Rotate by 270 degrees in the clockwise direction.,Please provide the JSON response.}} +Move forward for 5 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead for a distance of 5 meters.,Please provide the JSON response.}} +Advance 5 meters in the forward direction.,Please provide the JSON response.}} +Take 5 meter steps forward.,Please provide the JSON corresponding to the given prompt.}} +Go ahead and travel a distance of 5 meters.,Please provide the JSON response.}} +Turn right and move at a speed of 1.5 meters per second for 4 seconds.,Please provide the JSON response.}} +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.,Note: I will give you a hint, the action in the ontology is "rotate".}} +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.,Please provide the JSON response.}} +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.,Note: I will give you the prompts one by one, and you have to answer them accordingly.}} +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.,Note: You can assume that the agent has the ability to move and rotate in 3D space.}} +Rotate counterclockwise by 60 degrees.,Please provide the JSON response.}} +Turn left by 60 degrees.,Please provide the JSON corresponding to the given prompt.}} +Move in an anti-clockwise direction by 60 degrees.,Please provide the JSON response.}} +Rotate in the opposite direction by 60 degrees.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 60 degrees.,Please provide the JSON response.}} +Move forward for 2 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead for a distance of 2 meters.,Please provide the JSON response.}} +Advance onward by 2 meters.,Please provide the JSON response.}} +Travel straight ahead, covering a distance of 2 meters.,Please note that I will only provide one answer for each prompt, so please make sure to provide a clear and concise answer.}} +Take 2 meters forward.,Please provide the JSON corresponding to the given prompt.}} +Turn left and move at a speed of 0.5 meters per second for 10 seconds.,Please provide the JSON response.}} +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.,Please provide the JSON response.}} +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.,Please provide the JSON response.}} +Face left and advance at a pace of 0.5 meters per second for 10 seconds.,Please provide the JSON response.}} +Move backward for 6 meters.,Please provide the JSON response.}} +Go back 6 meters.,Please provide the JSON response.}} +Reverse direction and move 6 meters.,Please provide the JSON response.}} +Retreat for a distance of 6 meters.,Please provide the JSON response.}} +Travel in the opposite direction and cover a distance of 6 meters.,Please provide the JSON response.}} +Move forward for 5 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead for a distance of 5 meters.,Please provide the JSON response.}} +Advance by 5 meters in a forward direction.,Please provide the JSON response.}} +Go ahead for a span of 5 meters.,Please provide the JSON corresponding to the given prompt.}} +Cover a distance of 5 meters by moving forward.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn 90 degrees counterclockwise.,Please provide the JSON response.}} +Rotate in a counterclockwise direction by 90 degrees.,Please provide the JSON response.}} +Rotate anti-clockwise by 90 degrees.,Please provide the JSON response.}} +Make a 90-degree counterclockwise rotation.,Please provide the JSON response.}} +Stop.,Note: You can assume that the agent has already been initialized with the necessary information to perform the actions.}} +Cease.,Note: Cease is not an action in the ontology, so it should be ignored.}} +Halt.,Note: Halt is not an action in the ontology, so it should be ignored.}} +Pause.,Please provide the JSON corresponding to the prompt "Pause."}} +Terminate.,Note: The prompt is a simple command to terminate the agent's task. The ontology does not include an action for terminating the task, so you should ignore this prompt.}} +Reverse for 2 seconds.,Please provide the JSON response.}} +Reverse for a duration of 2 seconds.,Please provide the JSON response.}} +Go back for 2 seconds.,Please provide the JSON corresponding to the given prompt.}} +Move in reverse for 2 seconds.,Please provide the JSON response.}} +Go in the opposite direction for 2 seconds.,Please provide the JSON response.}} +Turn left and move forward for 10 meters.,Please provide the JSON response.}} +Proceed forward for a distance of 10 meters after making a left turn.,Please provide the JSON response.}} +Make a left-hand turn and continue straight ahead for a distance of 10 meters.,Please provide the JSON response.}} +After turning left, continue moving straight ahead for a total of 10 meters.,Please provide the JSON response.}} +Execute a left turn and then travel forward for a distance of 10 meters.,Please provide the JSON response.}} +Move backward for 3 seconds.,Please provide the JSON response.}} +Go back for a duration of 3 seconds.,Please provide the JSON response.}} +Reverse movement for a period of 3 seconds.,Please provide the JSON response.}} +Retreat for 3 seconds.,Please provide the JSON response.}} +Take a step back for a duration of 3 seconds.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Rotate in a clockwise direction by 180 degrees.,Please provide the JSON response.}} +Turn right and rotate 180 degrees.,Please provide the JSON response.}} +Execute a rotation of 180 degrees in a clockwise direction.,Please provide the JSON response.}} +Turn right and move forward for 8 meters.,Please provide the JSON response.}} +Proceed forward for a distance of 8 meters after making a right turn.,Please provide the JSON response.}} +Take a right turn and continue moving straight ahead for a duration of 8 meters.,Please provide the JSON response.}} +After making a right-hand turn, advance 8 meters in a forward direction.,Please provide the JSON response.}} +Rotate to the right, then travel straight ahead for a distance of 8 meters.,Please provide the JSON response.}} +Move forward for 1 meter and stop.,Please provide the JSON response.}} +Proceed straight ahead for a distance of 1 meter and come to a halt.,Please provide the JSON response.}} +Advance one meter ahead and then come to a stop.,Please note that I will only accept answers in the format of a JSON object, and I will only evaluate the answer based on whether it conforms to the provided ontology.}} +Travel in the forward direction for a length of 1 meter and then cease movement.,Please provide the JSON response.}} +Move ahead for a distance of 1 meter, and then bring the movement to a stop.,Please provide the JSON response.}} +Rotate counterclockwise by 135 degrees.,Please provide the JSON response.}} +Rotate 135 degrees counterclockwise.,Please provide the JSON response.}} +Turn 135 degrees counterclockwise.,Please provide the JSON response.}} +Rotate anticlockwise by 135 degrees.,Please provide the JSON response.}} +Perform a 135 degree counterclockwise rotation.,Please provide the JSON response.}} +Move backward for 6 meters.,Please provide the JSON response.}} +Go in reverse for a distance of 6 meters.,Please provide the JSON response.}} +Take 6 steps back.,Please provide the JSON corresponding to the given prompt.}} +Retreat 6 meters.,Please provide the JSON response.}} +Travel 6 meters in the opposite direction.,Please provide the JSON response.}} +Turn left and move forward for 4 seconds.,Please provide the JSON response.}} +Take a left turn and proceed straight ahead for a duration of 4 seconds.,Please provide the JSON response.}} +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.,Note: I will give you the prompts one at a time, and you must answer each one individually. Good luck!}} +Pivot to the left and advance forward for a period of 4 seconds.,Please provide the JSON response.}} +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.,Please provide the JSON response.}} +Rotate clockwise by 60 degrees.,Please provide the JSON response.}} +Turn 60 degrees in a clockwise direction.,Please provide the JSON response.}} +Rotate the object by 60 degrees in the clockwise direction.,Please provide the JSON response.}} +Move in a clockwise direction, making a 60 degree turn.,Please provide the JSON response.}} +Rotate 60 degrees in a clockwise manner.,Please provide the JSON response.}} +Move forward for 7 meters and stop.,Please provide the JSON response.}} +Proceed straight for a distance of 7 meters and come to a halt.,Note: You can assume that the agent has the ability to move and rotate in 3D space.}} +Advance ahead covering a distance of 7 meters and then cease movement.,Note: You can assume that the agent has the ability to move and rotate in 3D space.}} +Go forward 7 meters and then come to a stop.,Please provide the JSON response.}} +Move straight ahead, covering a distance of 7 meters, and then halt.,Please provide the JSON response.}} +Reverse for 5 seconds.,Please provide the JSON response.}} +Reverse for a duration of 5 seconds.,Please provide the JSON response.}} +Perform a 5-second reverse.,Please provide the JSON response.}} +Execute a reverse motion for 5 seconds.,Please provide the JSON response.}} +Go backwards for a period of 5 seconds.,Please provide the JSON response.}} +Turn right and move forward for 9 meters.,Please provide the JSON response.}} +Move forward for 9 meters after turning right.,Please provide the JSON response.}} +After turning right, proceed ahead for a distance of 9 meters.,Please provide the JSON response.}} +Take a right turn, then continue moving straight for a distance of 9 meters.,Please provide the JSON response.}} +Make a right turn and travel forward for 9 meters.,Please provide the JSON response.}} +Move forward for 2 seconds and stop.,Please provide the JSON response.}} +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Go ahead for 2 seconds and then halt.,Please provide the JSON corresponding to the given prompt.}} +Advance for a period of 2 seconds and then cease movement.,Please provide the JSON response.}} +Travel forward for 2 seconds before stopping.,Please provide the JSON response.}} +Rotate counterclockwise by 30 degrees.,Please provide the JSON response.}} +Turn 30 degrees counterclockwise.,Please provide the JSON response.}} +Rotate in the anticlockwise direction by 30 degrees.,Please provide the JSON response.}} +Rotate to the left by 30 degrees.,Please provide the JSON response.}} +Rotate in a counterclockwise direction, making a 30-degree turn.,Please provide the JSON response.}} +Reverse for 4 meters.,Please provide the JSON response.}} +Move back for a distance of 4 meters.,Please provide the JSON response.}} +Go in reverse for a span of 4 meters.,Please provide the JSON response.}} +Retreat 4 meters in the opposite direction.,Please provide the JSON response.}} +Travel backwards, covering a distance of 4 meters.,Please provide the JSON response.}} +Turn left and move forward for 6 seconds.,Please provide the JSON response.}} +Proceed forward for 6 seconds after making a left turn.,Please provide the JSON response.}} +Make a left turn and advance for 6 seconds.,Please provide the JSON response.}} +Move ahead for 6 seconds after turning to the left.,Please provide the JSON response.}} +After veering left, continue straight for 6 seconds.,Please provide the JSON response.}} +Move forward for 5 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead for a distance of 5 meters.,Please provide the JSON response.}} +Advance straight on and cover a distance of 5 meters.,Note: You can assume that the agent has the ability to move in any direction (forward, backward, left, right, or any combination of these) and can move at any speed.}} +Head forward and travel 5 meters in that direction.,Please provide the JSON corresponding to the given prompt.}} +Move straight ahead and go a distance of 5 meters.,Please provide the JSON response.}} +Turn left and move forward for 2 seconds.,Please provide the JSON response.}} +Move ahead for 2 seconds after turning left.,Please provide the JSON response.}} +After turning to the left, proceed forward for a duration of 2 seconds.,Please provide the JSON response.}} +Take a left turn and then proceed straight for 2 seconds.,Please provide the JSON response.}} +Make a left turn and continue moving forward for a duration of 2 seconds.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn in the opposite direction by an angle of 90 degrees.,Please provide the JSON response.}} +Rotate anticlockwise by 90 degrees.,Please provide the JSON response.}} +Spin to the left by 90 degrees.,Please provide the JSON response.}} +Twist counterclockwise by 90 degrees.,Please provide the JSON response.}} +Move backward for 3 meters.,Please provide the JSON response.}} +Go in reverse for a distance of 3 meters.,Please provide the JSON response.}} +Travel three meters in the opposite direction.,Please provide the JSON response.}} +Retreat for a distance of 3 meters.,Please provide the JSON response.}} +Reverse your movement and cover a distance of 3 meters.,Please provide the JSON response.}} +Turn right and move forward for 1 meter.,Please provide the JSON response.}} +Proceed forward for 1 meter after turning to the right.,Please provide the JSON response.}} +Take a right turn and continue moving straight ahead for a distance of 1 meter.,Please provide the JSON response.}} +After making a right turn, proceed ahead for 1 meter.,Please provide the JSON response.}} +Rotate to the right and then advance for a distance of 1 meter.,Please provide the JSON response.}} +Move forward at a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Proceed ahead with a speed of 0.5 meters per second.,Please provide the JSON response.}} +Advance with a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Go forward at a rate of 0.5 meters per second.,Please provide the JSON response.}} +Travel in a forward direction at a velocity of 0.5 meters per second.,Please note that I will only provide the answer in the format of a JSON object, without any additional information or comments.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Turn by 180 degrees in a clockwise direction.,Please provide the JSON response.}} +Rotate in a clockwise manner, completing a 180-degree turn.,Please provide the JSON response.}} +Execute a clockwise rotation, rotating by 180 degrees.,Please provide the JSON response.}} +Move forward for 10 meters at a velocity of 2 meters per second.,Please provide the JSON response.}} +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to move around in.}} +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.,Please provide the JSON response.}} +Go ahead for 10 meters, moving at a pace of 2 meters per second.,Please provide the JSON response.}} +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.,Note: You can assume that the robot has already been initialized and is in a known state.}} +Turn left and move forward for 5 seconds.,Please provide the JSON response.}} +Make a left turn and proceed straight ahead for a duration of 5 seconds.,Please provide the JSON response.}} +Take a left and advance in a forward direction for a span of 5 seconds.,Please provide the JSON response.}} +Rotate to the left and proceed ahead for a duration of 5 seconds.,Please provide the JSON response.}} +Veer left and move forward for an interval of 5 seconds.,Please provide the JSON response.}} +Move backward at a velocity of 1 meter per second.,Please provide the JSON response.}} +Go in reverse at a speed of 1 meter per second.,Please provide the JSON response.}} +Travel backwards with a velocity of 1 meter per second.,Please provide the JSON response.}} +Move in the opposite direction at a rate of 1 meter per second.,Please provide the JSON response.}} +Go backward at a speed of 1 meter per second.,Please provide the JSON response.}} +Rotate counterclockwise by 45 degrees.,Please provide the JSON response.}} +Rotate 45 degrees counterclockwise.,Please provide the JSON response.}} +Turn left by 45 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate in an anticlockwise direction by 45 degrees.,Please provide the JSON response.}} +Rotate to the left by 45 degrees.,Please provide the JSON response.}} +Move forward for 7 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed ahead for a distance of 7 meters.,Please provide the JSON response.}} +Advance 7 meters in the forward direction.,Please provide the JSON response.}} +Travel straight ahead for a length of 7 meters.,Please provide the JSON response.}} +Go straight for 7 meters.,Please provide the JSON response.}} +Turn right and move forward for 4 meters.,Please provide the JSON response.}} +Take a right turn and proceed ahead for a distance of 4 meters.,Please provide the JSON response.}} +Make a right turn and advance straight ahead covering a distance of 4 meters.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Rotate towards the right and continue moving forward for 4 meters.,Please provide the JSON response.}} +Go right and travel straight ahead, covering a distance of 4 meters.,Please provide the JSON response.}} +Move forward for 3 seconds.,Please provide the JSON response.}} +Go straight ahead for a duration of 3 seconds.,Please provide the JSON response.}} +Proceed in a forward direction for a span of 3 seconds.,Please provide the JSON response.}} +Advance ahead for a period of 3 seconds.,Please provide the JSON response.}} +Travel forward for a duration of 3 seconds.,Please provide the JSON response.}} +Turn left and move forward for 2 meters.,Please provide the JSON response.}} +Proceed straight for a distance of 2 meters after making a left turn.,Please provide the JSON response.}} +For a span of 2 meters, continue moving forward after taking a left turn.,Please provide the JSON response.}} +Make a left turn and advance ahead for 2 meters.,Please provide the JSON response.}} +After turning left, go straight for a distance of 2 meters.,Please provide the JSON response.}} +Rotate clockwise by 270 degrees.,Please provide the JSON response.}} +Turn to the right by 270 degrees.,Please provide the JSON response.}} +Rotate in a clockwise direction by 270 degrees.,Please provide the JSON response.}} +Perform a 270-degree clockwise rotation.,Please provide the JSON response.}} +Rotate by 270 degrees in a clockwise manner.,Please provide the JSON response.}} +Move backward for 6 meters.,Please provide the JSON response.}} +Reverse direction and travel a distance of 6 meters.,Note: You can assume that the agent has the ability to move in any direction (forward, backward, left, right, or any combination of these) and can move at any speed. Also, the distance unit is meter.}} +Go back 6 meters.,Please provide the JSON response.}} +Retreat for a distance of 6 meters.,Please provide the JSON response.}} +Move in the opposite direction for 6 meters.,Please provide the JSON response.}} +Turn right and move forward for 5 seconds.,Please provide the JSON response.}} +Take a right turn and proceed ahead for a duration of 5 seconds.,Please provide the JSON response.}} +Make a right turn and continue moving straight for 5 seconds.,Please provide the JSON response.}} +Go right and advance for a period of 5 seconds.,Please provide the JSON response.}} +Shift to the right and travel in a forward direction for 5 seconds.,Please provide the JSON response.}} +Move forward at a velocity of 0.3 meters per second for 10 meters.,Please provide the JSON response.}} +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.,Please provide the JSON response.}} +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.,Please provide the JSON response.}} +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.,Note: You can assume that the robot has already been initialized and is in a known state.}} +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Rotate counterclockwise by 120 degrees.,Please provide the JSON response.}} +Rotate 120 degrees counterclockwise.,Please provide the JSON response.}} +Perform a counterclockwise rotation of 120 degrees.,Please provide the JSON response.}} +Turn left by 120 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate in the opposite direction by 120 degrees.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn left by 90 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate anti-clockwise by 90 degrees.,Please provide the JSON response.}} +Rotate in the opposite direction by 90 degrees.,Please provide the JSON response.}} +Rotate counter to the clockwise direction by 90 degrees.,Please provide the JSON response.}} +Move forward for 5 meters., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Proceed straight ahead for a distance of 5 meters.,Please provide the JSON response.}} +Advance ahead by 5 meters.,Please provide the JSON response.}} +Travel in a forward direction, covering a distance of 5 meters.,Please note that I will only provide one answer for each prompt, so please make sure to provide a clear and concise answer.}} +Move straight ahead and travel a distance of 5 meters.,Please provide the JSON response.}} +Turn left and move forward for 2 seconds.,Please provide the JSON response.}} +Proceed forward for 2 seconds after turning left.,Please provide the JSON response.}} +After making a left turn, continue straight ahead for 2 seconds.,Please provide the JSON response.}} +Take a left turn and then advance forward for 2 seconds.,Please provide the JSON response.}} +Rotate to the left and travel straight for 2 seconds.,Please provide the JSON response.}} +Stop and wait.,Please provide the JSON corresponding to the given prompt.}} +Cease and remain still.,Please provide the JSON corresponding to the given prompt.}} +Halt and stay put.,Please provide the JSON corresponding to the given prompt.}} +Pause and remain stationary.,Please provide the JSON corresponding to the given prompt.}} +Desist and await further instruction.,Note: You can assume that the agent has already been initialized with the necessary information and capabilities.}} +Move backward for 10 meters.,Please provide the JSON corresponding to the given prompt.}} +Go back a distance of 10 meters.,Please provide the JSON response.}} +Retreat for a distance of 10 meters.,Please provide the JSON response.}} +Reverse your direction and travel 10 meters.,Please provide the JSON response.}} +Take 10 steps backward.,Please provide the JSON corresponding to the given prompt.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Rotate in a clockwise direction by 180 degrees.,Please provide the JSON response.}} +Turn by 180 degrees in a clockwise manner.,Please provide the JSON response.}} +Execute a clockwise rotation of 180 degrees.,Please provide the JSON response.}} +Turn right and move forward for 3 seconds.,Please provide the JSON response.}} +Make a right turn and proceed forward for a duration of 3 seconds.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Take a right and continue moving straight ahead for a total of 3 seconds.,Please provide the JSON response.}} +Rotate to the right and advance for a period of 3 seconds.,Please provide the JSON response.}} +Face towards the right and travel forward for a duration of 3 seconds.,Please provide the JSON response.}} +Go to the living room and stop.,Please provide the JSON response.}} +Proceed to the living room and come to a halt.,Please provide the JSON response.}} +Move to the living room and cease all movement.,Please provide the JSON response.}} +Make your way to the living room and stand still.,Please provide the JSON response.}} +Head to the living room and remain stationary.,Please provide the JSON response.}} +Move 2 meters to the left., +Consider the following ontology: +{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}} +Shift your position by 2 meters towards the left.,Please provide the JSON response.}} +Change your location by 2 meters in a leftward direction.,Please provide the JSON response.}} +Relocate yourself 2 meters to the left.,Please provide the JSON response.}} +Move to the left by a distance of 2 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 45 degrees.,Please provide the JSON response.}} +Turn left by 45 degrees.,Please provide the JSON corresponding to the given prompt.}} +Execute a counterclockwise rotation of 45 degrees.,Please provide the JSON response.}} +Rotate anticlockwise by an angle of 45 degrees.,Please provide the JSON response.}} +Perform a 45-degree rotation in the counterclockwise direction.,Please provide the JSON response.}} +Move forward at a speed of 0.5 meters per second for 4 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.,Please provide the JSON response.}} +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.,Note: I'll give you the ontology again for reference.}} +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Turn left and move forward for 7 meters.,Please provide the JSON response.}} +Make a left turn and proceed straight ahead covering a distance of 7 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Take a left turn and continue moving ahead, advancing 7 meters.,Please provide the JSON response.}} +Head to the left and travel straight for 7 meters.,Please provide the JSON response.}} +Rotate in the left direction and proceed forward, covering a distance of 7 meters.,Please provide the JSON response.}} +Stop and reverse direction.,Please provide the JSON corresponding to the given prompt.}} +Come to a halt and begin moving in the opposite direction.,Please provide the JSON response.}} +Cease forward motion and start moving backwards.,Please provide the JSON response.}} +Bring yourself to a stop and change your direction to the opposite way.,Please provide the JSON response.}} +Halt your movement and proceed in the opposite direction.,Please provide the JSON corresponding to the given prompt.}} +Move 3 meters to the right.,Please provide the JSON response.}} +Shift 3 meters towards the right.,Please provide the JSON response.}} +Go 3 meters horizontally in the right direction.,Please provide the JSON response.}} +Change your position by moving 3 meters to the right.,Please provide the JSON response.}} +Traverse a distance of 3 meters towards the right.,Please provide the JSON response.}} +Rotate clockwise by 60 degrees.,Please provide the JSON response.}} +Perform a clockwise rotation of 60 degrees.,Please provide the JSON response.}} +Rotate 60 degrees in a clockwise direction.,Please provide the JSON response.}} +Turn to the right by 60 degrees.,Please provide the JSON response.}} +Rotate to the right by an angle of 60 degrees.,Please provide the JSON response.}} +Turn right and move forward for 1 second.,Please provide the JSON response.}} +Take a right turn and proceed straight ahead for 1 second.,Please provide the JSON response.}} +Make a right turn and advance for 1 second.,Please provide the JSON response.}} +Rotate to the right and move forward for 1 second.,Please provide the JSON response.}} +Go right and continue moving forward for 1 second.,Please provide the JSON response.}} +Go to the bedroom and stop.,Please provide the JSON response.}} +Head to the bedroom and come to a halt.,Please provide the JSON response.}} +Make your way to the bedroom and cease all movement.,Please provide the JSON response.}} +Proceed to the bedroom and pause.,Please provide the JSON response.}} +Go to the bedroom and stand still.,Please provide the JSON response.}} +Move backward for 8 meters.,Please provide the JSON response.}} +Go 8 meters in reverse.,Please provide the JSON response.}} +Travel 8 meters in the opposite direction.,Please provide the JSON response.}} +Retreat for a distance of 8 meters.,Please provide the JSON response.}} +Reverse 8 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 270 degrees.,Please provide the JSON response.}} +Turn left by 270 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate anti-clockwise by 270 degrees.,Please provide the JSON response.}} +Rotate in the opposite direction by 270 degrees.,Please provide the JSON response.}} +Perform a 270-degree counterclockwise rotation.,Please provide the JSON response.}} +Turn left and move forward for 6 seconds.,Please provide the JSON response.}} +Go forward for 6 seconds after turning left.,Please provide the JSON response.}} +Take a left turn and proceed straight for 6 seconds.,Please provide the JSON response.}} +After turning left, continue moving forward for 6 seconds.,Please provide the JSON response.}} +Make a left turn and move ahead for 6 seconds.,Please provide the JSON response.}} +Turn left and move forward for 5 meters.,Please provide the JSON response.}} +Take a left turn and proceed ahead covering a distance of 5 meters.,Please provide the JSON response.}} +Make a left turn and continue moving straight, covering a distance of 5 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Go left and advance forward, traveling a distance of 5 meters.,Please provide the JSON response.}} +Execute a left turn and proceed straight, ensuring a distance of 5 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Turn 90 degrees in the counterclockwise direction.,Please provide the JSON response.}} +Rotate anti-clockwise at a 90-degree angle.,Please provide the JSON response.}} +Spin to the left by 90 degrees.,Please provide the JSON response.}} +Rotate in the counterclockwise direction, making a 90-degree turn.,Please provide the JSON response.}} +Move backward for 3 seconds.,Please provide the JSON response.}} +Go in reverse for a duration of 3 seconds.,Please provide the JSON response.}} +Take a step back and continue for a total of 3 seconds.,Please provide the JSON response.}} +Reverse your movement and maintain it for 3 seconds.,Please provide the JSON response.}} +Retreat for a period of 3 seconds.,Please provide the JSON response.}} +Turn right and move forward for 10 meters.,Please provide the JSON response.}} +Proceed forward for 10 meters after making a right turn.,Please provide the JSON response.}} +Take a right and continue moving ahead for a distance of 10 meters.,Please provide the JSON response.}} +Make a right turn and travel straight ahead for a total of 10 meters.,Please provide the JSON response.}} +After turning right, advance forward and cover a distance of 10 meters.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a 180-degree clockwise rotation.,Please provide the JSON response.}} +Turn in a clockwise direction by 180 degrees.,Please provide the JSON response.}} +Execute a rotation of 180 degrees in a clockwise manner.,Please provide the JSON response.}} +Rotate by 180 degrees, following the clockwise direction.,Please provide the JSON response.}} +Move forward at a speed of 0.5 meters per second for 4 seconds.,Please provide the JSON response.}} +Go ahead for 4 seconds at a velocity of 0.5 meters per second.,Please provide the JSON response.}} +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.,Please provide the JSON response.}} +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.,Please provide the JSON response.}} +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.,Note: I will give you a hint, the answer should have an "action" field with a value of "move".}} +Turn left and move backward for 2 meters.,Please provide the JSON response.}} +Take a left turn and proceed backwards for a distance of 2 meters.,Please provide the JSON response.}} +Make a left turn and travel in reverse for a distance of 2 meters.,Please provide the JSON response.}} +Rotate left and proceed in reverse for a total distance of 2 meters.,Please provide the JSON response.}} +Shift to the left and move backwards covering a distance of 2 meters.,Please provide the JSON response.}} +Move forward for 7 seconds.,Please provide the JSON response.}} +Proceed ahead for a duration of 7 seconds.,Please provide the JSON response.}} +Advance for a period of 7 seconds.,Please provide the JSON response.}} +Keep moving forward for 7 seconds.,Please provide the JSON response.}} +Continue ahead for a total of 7 seconds.,Please provide the JSON response.}} +Rotate counterclockwise by 30 degrees.,Please provide the JSON response.}} +Turn left by an angle of 30 degrees.,Please provide the JSON response.}} +Rotate anticlockwise by 30 degrees.,Please provide the JSON response.}} +Rotate in the opposite direction by 30 degrees.,Please provide the JSON response.}} +Make a 30 degree counterclockwise rotation.,Please provide the JSON response.}} +Move backward at a speed of 1 meter per second for 6 seconds.,Please provide the JSON response.}} +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.,Please provide the JSON response.}} +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.,Please provide the JSON response.}} +Travel backwards for 6 seconds at a speed of 1 meter per second.,Please provide the JSON response.}} +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.,Please provide the JSON response.}} +Turn right and move forward for 8 meters.,Please provide the JSON response.}} +Proceed for 8 meters after taking a right turn.,Please provide the JSON response.}} +Take a right and continue straight ahead for a distance of 8 meters.,Please provide the JSON response.}} +Make a right turn and then proceed ahead for 8 meters.,Please provide the JSON response.}} +After turning right, cover a distance of 8 meters by moving forward.,Please provide the JSON response.}} +Rotate clockwise by 270 degrees.,Please provide the JSON response.}} +Turn 270 degrees to the right.,Please provide the JSON response.}} +Turn three-quarters of a full rotation to the right.,Please provide the JSON response.}} +Perform a clockwise rotation of 270 degrees.,Please provide the JSON response.}} +Rotate in the clockwise direction, making a 270-degree turn.,Please provide the JSON response.}} +Move forward and then immediately stop.,Please provide the JSON corresponding to the given prompt.}} +Proceed forward and promptly come to a halt.,Please note that I will only answer in English, and I will not provide any explanation or justification for my answers.}} +Advance and instantaneously cease movement.,Please provide the JSON response.}} +Go forward and abruptly pause.,Please provide the JSON corresponding to the given prompt.}} +Move ahead and promptly end motion.,Please provide the JSON corresponding to the given prompt.}} +Turn left and move backward for 4 meters.,Please provide the JSON response.}} +Make a left turn and proceed backwards for a distance of 4 meters.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Go in the opposite direction and turn to the left, covering a distance of 4 meters.,Please provide the JSON response.}} +Rotate to your left and travel in the reverse direction, moving 4 meters behind.,Please provide the JSON response.}} +Head left and travel in reverse for a total of 4 meters.,Please provide the JSON response.}} +Move forward for 10 seconds at a speed of 0.3 meters per second.,Please provide the JSON response.}} +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}} +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.,Please provide the JSON response.}} +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.,Please provide the JSON response.}} +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.,Note: I will give you a hint, the answer should have an "action" field with a value of "go_to_goal".}} +Rotate counterclockwise by 60 degrees.,Please provide the JSON response.}} +Turn left by 60 degrees.,Please provide the JSON corresponding to the given prompt.}} +Rotate in the opposite direction by 60 degrees.,Please provide the JSON response.}} +Make a counterclockwise rotation of 60 degrees.,Please provide the JSON response.}} +Rotate leftwards by 60 degrees.,Please provide the JSON response.}} +Move backward and then immediately stop.,Please provide the JSON corresponding to the given prompt.}} +Reverse and come to a sudden halt.,Please provide the JSON corresponding to the prompt "Reverse and come to a sudden halt."}} +Go in reverse and abruptly cease.,Please provide the JSON corresponding to the given prompt.}} +Back up and instantly come to a standstill.,Please provide the JSON corresponding to the given prompt.}} +Move backwards and promptly come to a stop.,Please provide the JSON corresponding to the given prompt.}} +Turn right and move forward for 6 meters.,Please provide the JSON response.}} +Make a right turn and proceed straight ahead for a distance of 6 meters.,Please provide the JSON response.}} +Go to your right and continue moving forward for a total of 6 meters.,Please provide the JSON response.}} +Take a right turn and advance ahead, covering a distance of 6 meters.,Please provide the JSON response.}} +Head towards the right and maintain a straight path for 6 meters.,Please provide the JSON response.}} +Rotate clockwise by 120 degrees.,Please provide the JSON response.}} +Turn 120 degrees in a clockwise direction.,Please provide the JSON response.}} +Move in a clockwise rotation by 120 degrees.,Please provide the JSON response.}} +Adjust the rotation by 120 degrees in a clockwise manner.,Please provide the JSON response.}} +Execute a 120-degree clockwise rotation.,Please provide the JSON response.}} +Move forward and then backward for 5 meters.,Please provide the JSON response.}} +Proceed ahead and then return in reverse for a distance of 5 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Advance forward and then retract for a distance of 5 meters.,Note: You can assume that the agent has the ability to perform the actions described in the ontology.}} +Go straight ahead and then move backward covering a span of 5 meters.,Please provide the JSON response.}} +Propel forward and then reverse, covering a distance of 5 meters.,Please provide the JSON response.}} +Move forward for 10 meters.,Please provide the JSON response.}} +Proceed straight for a distance of 10 meters.,Please provide the JSON response.}} +Advance ahead by 10 meters.,Please provide the JSON response.}} +Go straight ahead covering a distance of 10 meters.,Please provide the JSON response.}} +Travel in a forward direction for 10 meters.,Please note that I will only answer in English, and I will not provide any explanation or justification for my answers.}} +Turn left and move forward for 5 meters.,Please provide the JSON response.}} +Make a left turn and proceed ahead for a distance of 5 meters.,Please provide the JSON response.}} +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.,Please provide the JSON response.}} +Take a leftward turn and advance for 5 meters.,Please provide the JSON response.}} +Face left and go straight for 5 meters.,Please provide the JSON response.}} +Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}} +Rotate in an anticlockwise direction by 90 degrees.,Please provide the JSON response.}} +Perform a 90-degree counterclockwise rotation.,Please provide the JSON response.}} +Turn left by 90 degrees.,Please provide the JSON corresponding to the given prompt.}} +Anti-rotate by 90 degrees.,Please provide the JSON response.}} +Move backward for 3 meters.,Please provide the JSON response.}} +Go in reverse for a distance of 3 meters.,Please provide the JSON response.}} +Retreat by 3 meters.,Please provide the JSON response.}} +Step back 3 meters.,Please provide the JSON corresponding to the given prompt.}} +Reverse direction and travel 3 meters.,Please provide the JSON response.}} +Turn right and move forward at 0.5 m/s for 20 seconds.,Please provide the JSON response.}} +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.,Please provide the JSON response.}} +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.,Please provide the JSON response.}} +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.,Note: I will give you multiple prompts, and you must answer them one by one.}} +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.,Note: You can assume that the agent has already been initialized with the necessary information, such as its position, orientation, and velocity.}} +Go to the living room and stop.,Please provide the JSON response.}} +Please proceed to the living room and come to a halt.,Please provide the JSON response.}} +Make your way to the living room and cease movement.,Please provide the JSON response.}} +Head over to the living room and pause.,Please provide the JSON corresponding to the prompt.}} +Walk into the living room and stand still.,Please note that the prompt is not in the ontology, so you should ignore it.}} +Move forward for 2 seconds at a speed of 1 meter per second.,Please provide the JSON response.}} +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.,Please provide the JSON response.}} +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Move ahead at a rate of 1 meter per second for 2 seconds.,Please provide the JSON response.}} +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.,Please provide the JSON response.}} +Rotate clockwise by 180 degrees.,Please provide the JSON response.}} +Perform a clockwise rotation of 180 degrees.,Please provide the JSON response.}} +Rotate 180 degrees in the clockwise direction.,Please provide the JSON response.}} +Turn in a clockwise direction and rotate by 180 degrees.,Please provide the JSON response.}} +Execute a 180-degree clockwise rotation.,Please provide the JSON response.}} +Move forward for 4 meters and then turn left.,Please provide the JSON response.}} +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Go straight for a distance of 4 meters followed by a left turn.,Note: You can assume that the robot has already been initialized and is ready to perform the actions.}} +Advance in the forward direction, covering 4 meters, and then make a leftward turn.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Move ahead for 4 meters and then change direction by turning left.,Please provide the JSON response.}} +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,Please provide the JSON response.}} +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,Please provide the JSON response.}} +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.,Please provide the JSON response.}} +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to perform the actions.}} +Go to the bedroom and stop.,Please provide the JSON response.}} +Proceed to the bedroom and come to a halt.,Please note that I will only answer in English, and I will not provide any explanation or justification for my answers.}} +Make your way to the bedroom and cease your movement.,Please provide the JSON response.}} +Head towards the bedroom and come to a standstill.,Please provide the JSON response.}} +Move to the bedroom and pause.,Please provide the JSON response.}} +Move backward for 7 meters at a speed of 0.8 meters per second.,Please provide the JSON response.}} +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.,Please provide the JSON response.}} +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.,Note: I will give you a hint, the action in the ontology is "go_to_goal".}} +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompts.}} +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.,Please provide the JSON response.}} +Turn left and move forward for 5 meters at a speed of 2 meters per second.,Please provide the JSON response.}} +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.,Note: I will give you multiple prompts, and you must answer them one by one.}} +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to perform the actions.}} +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.,Note: You can assume that the robot has already determined its initial position and orientation, and that the environment is static and obstacle-free.}} +Back up for 1 meter and then execute a 90-degree turn to the right.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Reverse for 1 meter and then make a right turn of 90 degrees.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}} +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.,Note: Please provide the JSON response without any introduction, comments, or conclusion.}} +Retreat by 1 meter and then make a right turn of 90 degrees.,Please provide the JSON response.}} +Take a step back for 1 meter and then execute a 90-degree right turn.,Please provide the JSON response.}} +Navigate to the specified GPS coordinates and play a pre-recorded message.,Please provide the GPS coordinates and the pre-recorded message.}} +Please go to the given GPS coordinates and play the pre-recorded message.,Please provide the GPS coordinates and the pre-recorded message.}} +Can you navigate to the provided GPS coordinates and start playing the recorded message?,Note: The GPS coordinates are in the format of latitude, longitude, and the recorded message is a string.}} +Follow the given GPS coordinates and play the message that has been prerecorded.,Please provide the JSON response.}} +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.,Please provide the JSON response.}} +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.,Note: You can assume that the robot has enough energy and space to perform the actions described in the prompt.}} +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.,Note: You can assume that the robot has enough energy and space to perform the actions.}} +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.,Note: You can assume that the robot has enough energy and space to perform the actions described in the prompt.}} +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.,Note: You can assume that the robot has enough energy and space to perform the action.}} +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.,Note: You can assume that the robot has enough energy and space to perform the actions described in the prompt.}} +Spin around in a circle three times and then stop abruptly.,Please note that the prompt is asking for a sequence of actions, and the ontology only defines a single action. Therefore, you should return a json with multiple "action" fields, each corresponding to a different action in the sequence.}} +Rotate in a full circle three times before coming to an abrupt halt.,Please provide the JSON response.}} +Perform three complete rotations in a circular motion and then abruptly come to a stop.,Please provide the JSON response.}} +Turn around in a complete circle three times and then suddenly cease movement.,Please provide the JSON response.}} +Spin in a circle three times and then bring yourself to an immediate halt.,Please provide the JSON response.}} +Move forward at a constant speed of 1 meter per second for 30 seconds.,Please provide the JSON response.}} +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to operate in.}} +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.,Note: You can assume that the agent has already been initialized with the necessary information to perform the actions specified in the ontology.}} +Advance for 30 seconds with a consistent velocity of 1 meter per second.,Please provide the JSON response.}} +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.,Please provide the JSON response.}} +Turn right and follow a curved path for 2 meters, then stop and beep.,Note: You can assume that the agent has the necessary sensors and actuators to perform the actions described in the prompt.}} +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.,Note: You can assume that the robot has already determined the path to be curved and has started moving along it.}} +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.,Note: You can assume that the robot has already been initialized and is ready to perform actions.}} +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.,Note: You can assume that the robot has already been initialized and is ready to execute actions.}} +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving, rotating, and producing sounds.}} +Move forward for 5 meters and then reverse for 2 meters, repeating twice.,Note: You can assume that the agent has enough energy and resources to perform the actions.}} +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.,Note: You can assume that the robot has enough energy and space to perform the actions.}} +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.,Note: You can assume that the robot has enough energy and space to perform these movements.}} +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, such as moving and rotating.}} +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.,Note: You can assume that the robot has already been initialized and is ready to execute the actions.}} +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.,Please provide the JSON response.}} +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.,Please provide the JSON response.}} +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.,Note: You can assume that the robot has already been initialized and is ready to perform actions.}} +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.,Please provide the JSON response.}} +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.,Please provide the JSON response.}} +Perform a 180-degree turn, then launch a small drone from your back.,Please provide the JSON response.}} +Execute a 180-degree rotation and subsequently release a compact drone from your rear.,Note: You can assume that the user has the necessary permissions and capabilities to execute the actions described in the prompt.}} +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.,Note: You can assume that the user has the necessary permissions and capabilities to perform the actions described in the prompt.}} +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.,Note: You can assume that the user has the necessary permissions and capabilities to perform the actions described in the prompt.}} +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.,Note: Please provide the JSON response without any introduction, comments, or conclusion.}} diff --git a/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Robotic_Arm_LLaMA2-7b.txt b/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Robotic_Arm_LLaMA2-7b.txt new file mode 100644 index 0000000..206f764 --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_Robotic_Arm_LLaMA2-7b.txt @@ -0,0 +1,998 @@ +Lift the object with a force of 10 Newtons.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a 10 Newton force to lift the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert a 10 Newton force to raise the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a force of 10 Newtons to elevate the object.,{ "action": "elevate_object", "params": { "force": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_speed": "cm/s" }} +Employ a 10 Newton force to hoist the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the shoulder joint counterclockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the shoulder joint anti-clockwise at a 90-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "anti-clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the shoulder joint in a counterclockwise direction, making a 90-degree rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the shoulder joint in a counterclockwise manner, turning it by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the shoulder joint in the opposite direction of the clock by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": -90.0 }, "direction": { "type": "str", "value": "opposite_clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move to position X:50, Y:30, Z:15.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 50.0, "y": 30.0, "z": 15.0 } } }} +Change your location to coordinates X:50, Y:30, Z:15.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Transfer yourself to the position with the coordinates X:50, Y:30, Z:15.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [50.0, 30.0, 15.0] } }} +Relocate to the coordinates X:50, Y:30, Z:15., Note: The prompt is in the format of a human language sentence, and the JSON should be in the format of a JSON object conformant to the ontology. +Go to the point specified by X:50, Y:30, Z:15.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Extend the arm by 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the length of the arm by 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm outwards by 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by an additional 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 40.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Expand the arm's reach by 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Grip the object with a force of 15 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 15 kilograms to grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert a 15 kilogram force to hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Securely hold the object with a 15 kilogram force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a force of 15 kilograms to get a firm grip on the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the elbow joint clockwise by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the elbow joint in a clockwise direction, rotating it by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Clockwise rotate the elbow joint by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the elbow joint in the clockwise direction, making a 60 degree turn.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the elbow joint to the right, moving it 60 degrees in a clockwise rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Lift the object to a height of 1 meter.,{ "action": "move_arm", "params": { "arm_name": { "type": "str", "value": "main" }, "height": { "type": "float", "value": 1.0 }, "speed": { "type": "float", "value": 1.0 }, "unit": "meters" }} +Elevate the object to a 1-meter height.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Raise the object to a height of 1 meter.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Hoist the object to a 1-meter elevation.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Bring the object up to a height of 1 meter.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Move to position X:25, Y:40, Z:10 at a velocity of 10 cm/s.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 25.0, "y": 40.0, "z": 10.0 } }, "velocity": { "type": "float", "value": 10.0 }, "unit_velocity": "centimeters/s" }} +Proceed to coordinates X:25, Y:40, Z:10 with a speed of 10 cm/s., Note: The prompt is in the format of a robotic arm command, but the coordinates are not in the ontology, so I will ignore them. +Travel to position X:25, Y:40, Z:10 traveling at a pace of 10 cm/s.,{ "action": "move_to_position", "params": { "position": { "type": "3D_vector", "value": { "x": 25.0, "y": 40.0, "z": 10.0 } }, "pace": { "type": "float", "value": 10.0 }, "unit_pace": "centimeters/second" }} +Transfer yourself to X:25, Y:40, Z:10 while maintaining a velocity of 10 cm/s.,{ "action": "move_to", "params": { "position": { "type": "3D_vector", "value": [25.0, 40.0, 10.0] }, "velocity": { "type": "3D_vector", "value": [10.0, 0.0, 0.0] }, "unit_position": "centimeters", "unit_velocity": "cm/s" }} +Journey to coordinates X:25, Y:40, Z:10 at a rate of 10 cm/s.,{ "action": "move_to", "params": { "coordinates": { "type": "list", "value": [ { "x": { "type": "float", "value": 25.0 }, "y": { "type": "float", "value": 40.0 }, "z": { "type": "float", "value": 10.0 } } ] }, "rate": { "type": "float", "value": 10.0 }, "unit": "centimeters/s" }} +Rotate the wrist joint counterclockwise by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint anticlockwise by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "anticlockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint in a counterclockwise direction by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint to the left by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "left" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the position of the wrist joint by rotating it counterclockwise 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Retract the arm by 25 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -25.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Pull the arm back by a distance of 25 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": -25.0 }, "direction": { "type": "str", "value": "backward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Withdraw the arm, reducing its length by 25 centimeters.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -25.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Bring the arm back, shortening it by 25 centimeters.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -25.0 }, "speed": { "type": "float", "value": 0.5 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Decrease the length of the arm by 25 centimeters through retraction.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -25.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Grip the object with a force of 20 Newtons.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a 20 Newton force to hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert a grip on the object with a 20 Newton force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use 20 Newtons of force to firmly grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Ensure a 20 Newton force is applied when gripping the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the shoulder joint clockwise by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the shoulder joint in a clockwise direction for a 45-degree rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the shoulder joint by 45 degrees in a clockwise direction.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the shoulder joint in a clockwise manner, moving it 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the shoulder joint to the right by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move to position X:15, Y:25, Z:5 at a velocity of 5 cm/s.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 15.0, "y": 25.0, "z": 5.0 } }, "velocity": { "type": "float", "value": 5.0 }, "unit_velocity": "centimeters/s" }} +Travel to coordinates X:15, Y:25, Z:5 with a speed of 5 cm/s.,{ "action": "move_to_coordinates", "params": { "coordinates": { "type": "list", "value": [ { "x": { "type": "float", "value": 15.0 }, "y": { "type": "float", "value": 25.0 }, "z": { "type": "float", "value": 5.0 } } ] }, "speed": { "type": "float", "value": 5.0 }, "unit": "centimeters/s" }} +Go to location X:15, Y:25, Z:5 with a velocity of 5 cm/s.,{ "action": "move_to_location", "params": { "location": { "type": "3D_vector", "value": { "x": 15.0, "y": 25.0, "z": 5.0 } }, "velocity": { "type": "float", "value": 5.0 }, "unit_velocity": "cm/s" }} +Proceed towards position X:15, Y:25, Z:5 at a rate of 5 cm/s.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 15.0, "y": 25.0, "z": 5.0 } }, "speed": { "type": "float", "value": 5.0 }, "unit_speed": "centimeters/s" }} +Travel at a speed of 5 cm/s to reach coordinates X:15, Y:25, Z:5.,{ "action": "move_to_coordinates", "params": { "coordinates": { "type": "dict", "value": { "X": { "type": "float", "value": 15.0 }, "Y": { "type": "float", "value": 25.0 }, "Z": { "type": "float", "value": 5.0 } } }, "speed": { "type": "float", "value": 5.0 }, "unit": "centimeters/s" }} +Extend the arm by 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the length of the arm by 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 50.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm outwards by an additional 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Elongate the arm to add 30 centimeters to its length.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 50.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Expand the arm's reach by 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lift the object to a height of 2 meters.,{ "action": "move_arm", "params": { "arm_name": { "type": "str", "value": "main" }, "height": { "type": "float", "value": 2.0 }, "speed": { "type": "float", "value": 0.5 }, "unit": "meters" }} +Raise the object to a height measuring 2 meters.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Elevate the object to a 2 meter height.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Hoist the object up to a vertical distance of 2 meters.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Ascend the object to a 2 meter elevation.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Rotate the elbow joint counterclockwise by 75 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 75.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the elbow joint in the opposite direction by an angle of 75 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -75.0 }, "direction": { "type": "str", "value": "opposite" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the elbow joint anticlockwise by 75 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 75.0 }, "direction": { "type": "str", "value": "anticlockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the elbow joint in a counterclockwise direction, making a 75 degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 75.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the elbow joint by rotating it counterclockwise with a 75 degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 75.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move to position X:35, Y:50, Z:20.,{ "action": "move_to_position", "params": { "position": { "type": "3D_vector", "value": [35.0, 50.0, 20.0] } }} +Go to coordinates X:35, Y:50, Z:20., Please provide the JSON. +Transfer yourself to the location with coordinates X:35, Y:50, Z:20.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [35, 50, 20] } }} +Change your position to X:35, Y:50, Z:20.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "X:35, Y:50, Z:20" } }} +Relocate yourself to the coordinates X:35, Y:50, Z:20., Note: The ontology is not exhaustive, and you may encounter actions or parameters that are not present in the ontology. In such cases, you should ignore the unrecognized fields or actions and return only the recognized parts of the JSON. +Retract the arm by 10 centimeters at a velocity of 15 cm/s.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -10.0 }, "speed": { "type": "float", "value": 15.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Withdraw the arm by a distance of 10 centimeters, moving at a speed of 15 cm/s.,{ "action": "retract_arm", "params": { "distance": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 15.0 }, "unit_distance": "centimeters", "unit_speed": "cm/s" }} +Pull the arm back by 10 centimeters, with a velocity of 15 cm/s.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -10.0 }, "direction": { "type": "str", "value": "backward" }, "speed": { "type": "float", "value": 15.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Bring the arm back by a length of 10 centimeters, traveling at a rate of 15 cm/s.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 15.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Move the arm backwards by 10 centimeters at a speed of 15 cm/s.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": -10.0 }, "direction": { "type": "str", "value": "backwards" }, "speed": { "type": "float", "value": 15.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Grip the object with a force of 25 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 25.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a 25-kilogram force to grip the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 25.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a force of 25 kilograms to secure your grip on the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 25.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert 25 kilograms of force to firmly grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 25.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a grip to the object, using a 25-kilogram force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 25.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the wrist joint clockwise by 90 degrees and dance.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "action": "dance"} +Dance while rotating the wrist joint 90 degrees clockwise.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Perform a 90-degree clockwise wrist joint rotation and then dance.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "action": "dance"} +Begin by rotating the wrist joint 90 degrees clockwise, followed by dancing.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "action": "dance"} +Start by turning the wrist joint clockwise by 90 degrees, then proceed to dance.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "action": "dance"} +Lift the arm to a height of 50 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 50.0 }, "direction": { "type": "str", "value": "upward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Raise the arm to a height of 50 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 50.0 }, "direction": { "type": "str", "value": "upward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Elevate the arm to a height of 50 centimeters.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Hoist the arm to a height of 50 centimeters.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Bring the arm up to a height of 50 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 50.0 }, "direction": { "type": "str", "value": "up" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Rotate the base joint counterclockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the base joint 90 degrees counterclockwise.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the base joint in a counterclockwise direction by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the base joint to the left by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "left" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Make a 90-degree counterclockwise rotation of the base joint.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm by 30 centimeters and hold for 10 seconds.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "hold_arm", "params": { "duration": { "type": "float", "value": 10.0 }, "unit_duration": "seconds" }} +Stretch the arm outwards, increasing its length by 30 centimeters for a duration of 10 seconds.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by 30 centimeters and maintain the position for 10 seconds.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 0.5 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "maintain_position", "params": {}} +Protract the arm by 30 centimeters and keep it in that state for 10 seconds., Note: I'll give you the prompt again for reference: "Protract the arm by 30 centimeters and keep it in that state for 10 seconds." +Stretch the arm forward, elongating it by 30 centimeters, and sustain the position for 10 seconds.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 0.5 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Move to position X:100, Y:50, Z:80 with a velocity of 10 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 100.0, "y": 50.0, "z": 80.0 } }, "velocity": { "type": "float", "value": 10.0 }, "unit_velocity": "meters/second" }} +Travel to coordinates X:100, Y:50, Z:80 at a speed of 10 meters per second.,{ "action": "move_to_coordinates", "params": { "coordinates": { "type": "dict", "value": { "X": { "type": "float", "value": 100.0 }, "Y": { "type": "float", "value": 50.0 }, "Z": { "type": "float", "value": 80.0 } } }, "speed": { "type": "float", "value": 10.0 }, "unit": "meters/second" }} +Go to location X:100, Y:50, Z:80 at a rate of 10 meters per second.,{ "action": "move_to", "params": { "location": { "type": "3D_vector", "value": [100, 50, 80] }, "rate": { "type": "float", "value": 10.0 }, "unit": "meters/second" }} +Reach the point X:100, Y:50, Z:80 at a velocity of 10 meters per second., Note: X, Y, and Z are the coordinates of the point in 3D space. +Advance to position X:100, Y:50, Z:80 with a speed of 10 meters per second., Please note that the prompt is asking for a specific position in 3D space, and the speed at which the robot should move to reach that position. The JSON response should include the appropriate values for the position and speed, as well as any other relevant information (such as the joint angles or grip force) that are needed to carry out the action. +Activate the grip mechanism with a force of 8 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Engage the grip mechanism using a force of 8 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 8 kilograms to activate the grip mechanism.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a force of 8 kilograms to activate the grip mechanism's gripping function.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Activate the grip mechanism by exerting a force of 8 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the wrist joint clockwise by 30 degrees and hold for 5 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in a clockwise direction, angling it by 30 degrees and maintaining the position for a duration of 5 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint to the right by 30 degrees, keeping it in that position for 5 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }, "duration": { "type": "float", "value": 5.0 }} +Retract the arm to its home position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm back to its original position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Return the arm to the starting point.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Bring the arm back to its home position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm back to where it started.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move to position X:0, Y:0, Z:100 with a velocity of 5 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 0.0, "y": 0.0, "z": 100.0 } }, "velocity": { "type": "float", "value": 5.0 }, "unit_velocity": "meters/second" }} +Change your coordinates to X:0, Y:0, Z:100, and maintain a constant velocity of 5 meters per second.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "X:0, Y:0, Z:100" } }} +Head towards position X:0, Y:0, Z:100 at a speed of 5 meters per second.,{ "action": "move_to", "params": { "position": { "type": "3D", "value": { "x": 0.0, "y": 0.0, "z": 100.0 } }, "speed": { "type": "float", "value": 5.0 }, "unit": "meters/s" }} +Set your destination to X:0, Y:0, Z:100 and travel at a velocity of 5 meters per second.,{ "action": "set_destination", "params": { "destination": { "type": "3D_vector", "value": [0.0, 0.0, 100.0] }, "velocity": { "type": "float", "value": 5.0 }, "unit_velocity": "meters/second" }} +Travel to the location specified by X:0, Y:0, Z:100 with a constant velocity of 5 meters per second.,{ "action": "move_to", "params": { "location": { "type": "3D_vector", "value": [0, 0, 100] }, "velocity": { "type": "float", "value": 5.0 }, "unit_velocity": "meters/second" }} +Grip the object with 10 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 10 kilograms to grip the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert 10 kilograms of force to securely hold the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use 10 kilograms of force to firmly grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a gripping force of 10 kilograms to firmly hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Extend the arm by 20 centimeters, then retract it by 10 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -10.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by 20 centimeters, then shorten it by 10 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "shorten_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm outwards by 20 centimeters, then pull it back in by 10 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 20.0 }, "direction": { "type": "str", "value": "outwards" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, { "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -10.0 }, "direction": { "type": "str", "value": "inwards" }, "speed +Increase the arm's length by 20 centimeters, then decrease it by 10 centimeters., Note: I will give you multiple prompts, and you must return the corresponding JSON for each one. +Expand the arm by 20 centimeters, then shrink it by 10 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "contract_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Rotate the base joint clockwise by 180 degrees and hold.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Please rotate the base joint in a clockwise direction by 180 degrees and maintain that position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the base joint 180 degrees in a clockwise manner and keep it in place.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the base joint in a clockwise direction by 180 degrees and hold that position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the base joint in a clockwise fashion, making a 180-degree turn, and hold steady.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D_vector", "value": { "x": 50.0, "y": 100.0, "z": 0.0 } }, "velocity": { "type": "float", "value": 7.0 }, "unit_velocity": "meters/second" }} +Go to coordinates X:50, Y:100, Z:0 at a speed of 7 meters per second., Note: The ontology is not exhaustive, and you may encounter actions or parameters that are not present in the ontology. In such cases, you should ignore the unrecognized fields or actions and return only the recognized parts of the JSON. +Travel to the point X:50, Y:100, Z:0 with a velocity of 7 meters per second.,{ "action": "move_to", "params": { "position": { "type": "3D_vector", "value": [50.0, 100.0, 0.0] }, "velocity": { "type": "3D_vector", "value": [7.0, 0.0, 0.0] }, "unit_position": "meters", "unit_velocity": "meters/s" }} +Change your position to X:50, Y:100, Z:0 at a rate of 7 meters per second., Note: The prompt is in the format of a human language command, and the JSON should be in the format of the ontology. +Reach the coordinates X:50, Y:100, Z:0 while moving at a speed of 7 meters per second., Note: The prompt is in the format of a robotic arm command, but it is not a valid command in the ontology. Therefore, I will ignore it and return an empty JSON. +Lift the arm to a height of 80 centimeters and hold for 8 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Raise the arm to a height of 80 centimeters and maintain the position for 8 seconds., Note: I will give you a hint, the answer should have an "action" field with the value "move_joint", and a "params" field with the value { "joint_name": "shoulder", "angle": 80.0, "direction": "clockwise", "speed": 0.5, "unit": "centimeters", "unit_speed": "cm/s" } +Elevate the arm to a height of 80 centimeters and keep it there for a duration of 8 seconds., Note: You can assume that the arm is initially at its home position, and that the robot has the necessary capabilities to perform the actions specified in the prompt. +Hoist the arm up to a height of 80 centimeters and remain in that position for a period of 8 seconds., Note: I will give you multiple prompts, and you must answer each one with a corresponding JSON. +Move the arm upward to a height of 80 centimeters and hold steady for 8 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Retract the arm halfway and pause for 3 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }, "pause": { "type": "float", "value": 3.0 }} +Pull the arm back to the middle point and wait for 3 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, { "action": "wait", "params": { "duration": { "type": "float", "value": 3.0 }, "unit": "seconds" } }} +Bring the arm back halfway and hold for a duration of 3 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm in reverse to reach the half position, then take a pause of 3 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -45.0 }, "direction": { "type": "str", "value": "reverse" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, { "action": "pause", "params": { "duration": { "type": "float", "value": 3.0 }, "unit": "seconds" } }} +Withdraw the arm to the midpoint, then wait for 3 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "midpoint" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, { "action": "wait", "params": { "duration": { "type": "float", "value": 3.0 }, "unit": "seconds" } }} +Rotate the wrist joint counterclockwise by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint to the left by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "left" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint anticlockwise by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "anticlockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in a counterclockwise direction by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the wrist joint 60 degrees in the opposite direction of the clock.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "opposite_clock" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 75.0, "y": 25.0, "z": 50.0 } }, "velocity": { "type": "float", "value": 8.0 }, "unit_velocity": "meters/second" }} +Go to coordinates X:75, Y:25, Z:50 at a speed of 8 meters per second., Note: The coordinates are in meters, the speed is in meters per second, and the Z-coordinate is in meters. +Travel to X:75, Y:25, Z:50 at a velocity of 8 meters per second.,{ "action": "move_to", "params": { "position": { "type": "3D_vector", "value": [75, 25, 50] }, "velocity": { "type": "float", "value": 8.0 }, "unit_position": "meters", "unit_velocity": "meters/s" }} +Proceed to position X:75, Y:25, Z:50 at a rate of 8 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "float", "value": [75, 25, 50] }, "rate": { "type": "float", "value": 8.0 }, "unit": "meters/second" }} +Head towards X:75, Y:25, Z:50 with a speed of 8 meters per second.,{ "action": "move_to", "params": { "position": { "type": "3D_vector", "value": [75, 25, 50] }, "speed": { "type": "float", "value": 8.0 }, "unit": "meters/second" }} +Extend the arm by 25 centimeters and hold for 4 seconds.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 25.0 }, "speed": { "type": "float", "value": 0.5 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "hold_arm", "params": { "duration": { "type": "float", "value": 4.0 }, "unit_duration": "seconds" }} +Stretch out the arm, increasing its length by 25 centimeters, and keep it in that position for 4 seconds.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 25.0 }, "speed": { "type": "float", "value": 0.5 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Lengthen the arm by 25 centimeters and maintain the position for a duration of 4 seconds.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 25.0 }, "speed": { "type": "float", "value": 0.5 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "maintain_position", "params": { "duration": { "type": "float", "value": 4.0 }, "unit_duration": "seconds" }} +Protract the arm, adding 25 centimeters to its length, and hold steady for a period of 4 seconds., Note: I'll give you the prompt again for reference: "Protract the arm, adding 25 centimeters to its length, and hold steady for a period of 4 seconds." +Elongate the arm by 25 centimeters and sustain the extension for a duration of 4 seconds., Note: I'll give you the prompt again for reference: "Elongate the arm by 25 centimeters and sustain the extension for a duration of 4 seconds." +Grip the object with 6 kilograms of force, then release after 2 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 6.0 }, "duration": { "type": "float", "value": 2.0 }, "unit_force": "newtons", "unit_duration": "seconds" }, "action": "release_grip"} +Apply a pressure of 6 kilograms to secure your grip on the object, and then let go after 2 seconds., Note: I will give you multiple prompts, and you must answer each one with the corresponding JSON. +Exert a force of 6 kilograms to grasp the object tightly, and then release it after a duration of 2 seconds., Note: I will give you a hint, the force value is in the range of [0, 10] and the duration value is in the range of [0, 10]. +Clamp onto the object with a force of 6 kilograms, and then loosen your grip after 2 seconds., Note: I'll give you the ontology again for reference. +Use 6 kilograms of pressure to firmly hold onto the object, and then release it after a 2-second interval., Note: The ontology is not exhaustive, and you may encounter actions or parameters that are not present in the ontology. In such cases, you should ignore the unrecognized fields and return only the recognized fields. +Rotate the base joint counterclockwise by 270 degrees and hold.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 270.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the base joint in an anti-clockwise direction by 270 degrees and maintain the new position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 270.0 }, "direction": { "type": "str", "value": "anti-clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the base joint by 270 degrees in a counterclockwise direction and keep it there.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 270.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Make a 270-degree counterclockwise rotation to the base joint and hold it.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 270.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the base joint counterclockwise by 270 degrees and keep it steady.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 270.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move to position X:200, Y:150, Z:100 with a velocity of 12 meters per second and then dance.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 200.0, "y": 150.0, "z": 100.0 } }, "velocity": { "type": "float", "value": 12.0 }, "unit_velocity": "meters/second" }} +Dance after moving to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second., Note: The prompt is in a different format than the previous examples, but the ontology remains the same. +After reaching the position X:200, Y:150, Z:100 with a velocity of 12 meters per second, start dancing.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "dancing" } }} +Begin dancing once you have moved to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +After traveling to the position X:200, Y:150, Z:100 at a velocity of 12 meters per second, proceed to dance.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "dancing" } }} +Turn the robot arm on.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Activate the robot arm.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Switch on the robot arm.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Power up the robot arm.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Enable the robot arm.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Open the gripper completely.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "open" } }} +Fully open the gripper.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "fully_open" } }} +Open the gripper all the way.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "open" } }} +Ensure that the gripper is completely open.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Make sure the gripper is fully opened.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Move the arm to position X:50, Y:75, Z:100.,{ "action": "move_arm", "params": { "position": { "type": "3D_vector", "value": [50.0, 75.0, 100.0] } }} +Position the arm to coordinates X:50, Y:75, Z:100.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Adjust the arm to X:50, Y:75, Z:100.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "X:50, Y:75, Z:100" } }} +Shift the arm to coordinates X:50, Y:75, Z:100.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Set the arm to position X:50, Y:75, Z:100.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "X:50, Y:75, Z:100" } }} +Rotate the elbow joint counterclockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the elbow joint in the counterclockwise direction, making a 90-degree rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the elbow joint towards the left, turning it by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -90.0 }, "direction": { "type": "str", "value": "towards_left" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the elbow joint counterclockwise, making a rotation of 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Spin the elbow joint in a counterclockwise manner, angling it by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm by 20 centimeters at a velocity of 10 cm/s.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 10.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the arm length by 20 centimeters, moving at a speed of 10 cm/s., Note: I'll give you the prompt again for reference: "Increase the arm length by 20 centimeters, moving at a speed of 10 cm/s." +Stretch the arm out by an additional 20 centimeters, with a velocity of 10 cm/s.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 40.0 }, "speed": { "type": "float", "value": 10.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by 20 centimeters, moving at a rate of 10 cm/s.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 10.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Expand the arm's reach by 20 centimeters at a speed of 10 cm/s.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 10.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Grip the object with 3 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 3000.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a 3-kilogram force to grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 3.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert 3 kilograms of force to grip the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 3.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a force of 3 kilograms to hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 3.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Hold the object with a force of 3 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 3000.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Retract the arm by 30 centimeters at a velocity of 5 cm/s.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -30.0 }, "speed": { "type": "float", "value": 5.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Move the arm backwards by a distance of 30 centimeters, with a speed of 5 cm/s.,{ "action": "move_arm", "params": { "distance": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 5.0 }, "unit_distance": "centimeters", "unit_speed": "cm/s" }} +Withdraw the arm by 30 centimeters, advancing at a rate of 5 cm/s.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -30.0 }, "speed": { "type": "float", "value": 5.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Pull back the arm by 30 centimeters, traveling at a velocity of 5 cm/s., Note: I'll give you the prompt again for reference: "Pull back the arm by 30 centimeters, traveling at a velocity of 5 cm/s." +Reverse the arm's position by 30 centimeters, with a speed of 5 cm/s., Note: I'll give you the prompt again for reference: "Reverse the arm's position by 30 centimeters, with a speed of 5 cm/s." +Rotate the wrist joint counterclockwise by 180 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Alter the position of the wrist joint in a counterclockwise direction by an angle of 180 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint counterclockwise with a rotation of 180 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in a counterclockwise manner, shifting it by 180 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Perform a 180 degree counterclockwise rotation on the wrist joint.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm to position X:100, Y:0, Z:50.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 100.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the position of the arm to X:100, Y:0, Z:50.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 100.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Relocate the arm so that it is at X:100, Y:0, Z:50.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Shift the arm's position to X:100, Y:0, Z:50.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 100.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Transfer the arm to the coordinates X:100, Y:0, Z:50.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Open the gripper halfway.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Partially open the gripper.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "partially_open" } }} +Open the gripper to a halfway position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Adjust the gripper to a halfway open position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "midway" } }} +Set the gripper to open at a midpoint.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "midpoint" } }} +Rotate the shoulder joint clockwise by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the shoulder joint in a clockwise direction at a 45-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the shoulder joint to the right by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the shoulder joint in a clockwise motion, 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the shoulder joint by rotating it clockwise at a 45-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm by 10 centimeters at a velocity of 8 cm/s.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 8.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the length of the arm by 10 centimeters at a speed of 8 centimeters per second., Note: I'll give you the prompt again for reference: "Increase the length of the arm by 10 centimeters at a speed of 8 centimeters per second." +Lengthen the arm by 10 centimeters with a velocity of 8 centimeters per second.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 8.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm outwards by 10 centimeters, moving at a speed of 8 centimeters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 10.0 }, "direction": { "type": "str", "value": "outwards" }, "speed": { "type": "float", "value": 8.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Expand the arm's length by 10 centimeters, while maintaining a velocity of 8 centimeters per second., Note: I'll give you the prompt again for reference: Expand the arm's length by 10 centimeters, while maintaining a velocity of 8 centimeters per second. +Grip the object with 2 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 2000.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply 2 kilograms of force to grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 2000.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert a force of 2 kilograms to grab hold of the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 2000.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Hold onto the object with a force of 2 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 2000.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use 2 kilograms of force to secure your grip on the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 2.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Retract the arm by 15 centimeters at a velocity of 6 cm/s.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -15.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 6.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Move the arm back by 15 centimeters with a speed of 6 cm per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": -15.0 }, "direction": { "type": "str", "value": "backward" }, "speed": { "type": "float", "value": 6.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Withdraw the arm, reducing its length by 15 centimeters, at a rate of 6 centimeters per second.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -15.0 }, "speed": { "type": "float", "value": 6.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Pull back the arm, decreasing its extension by 15 centimeters, moving at a pace of 6 centimeters per second., Note: I'll give you the prompt again for reference: "Pull back the arm, decreasing its extension by 15 centimeters, moving at a pace of 6 centimeters per second." +Reverse the position of the arm, reducing its protrusion by 15 centimeters, traveling at a speed of 6 centimeters per second., Note: I will give you a hint, the action is "move_joint". +Rotate the elbow joint clockwise by 135 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 135.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the elbow joint in a clockwise direction, turning it 135 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 135.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the elbow joint to the right, rotating it by 135 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 135.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the elbow joint in a clockwise manner, making a 135-degree turn.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 135.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the elbow joint to the right, adjusting it by 135 degrees in a clockwise direction.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 135.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm to position X:0, Y:100, Z:20.,{ "action": "move_arm", "params": { "position": { "type": "3D", "value": { "X": 0.0, "Y": 100.0, "Z": 20.0 } } }} +Adjust the position of the arm to X coordinate 0, Y coordinate 100, and Z coordinate 20.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Alter the arm's location to X:0, Y:100, Z:20.,{ "action": "move_arm", "params": { "location": { "type": "3D_vector", "value": [0.0, 1.0, 0.0] } }} +Shift the arm's position to the coordinates X:0, Y:100, and Z:20.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "position": { "type": "float", "value": [0.0, 100.0, 20.0] }} +Change the arm's placement to X coordinate 0, Y coordinate 100, and Z coordinate 20.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Close the gripper completely.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "closed" } }} +Fully close the gripper.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Shut the gripper completely.,{ "action": "release_grip"} +Ensure the gripper is completely closed.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Make sure the gripper is closed tightly.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Rotate the wrist joint clockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint 90 degrees clockwise.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in a clockwise direction by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint by 90 degrees in a clockwise manner.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Perform a 90-degree clockwise rotation of the wrist joint.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Swim.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Take a swim.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Go for a swim.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Jump in the water and swim.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Engage in swimming.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Watch TV.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Please turn on the television and start watching.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Begin watching television.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Start watching your favorite TV show.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Get ready to enjoy some television programming.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Lift the object and move it 30 centimeters to the left.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "destination": { "type": "str", "value": "left" }, "distance": { "type": "float", "value": 30.0 }, "unit": "centimeters" }} +Pick up the item and shift it 30 centimeters towards the left.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "item" }, "distance": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "towards_left" }, "speed": { "type": "float", "value": 0.5 }, "unit": "centimeters" }} +Grasp the object and relocate it 30 centimeters towards the left.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 5.0 }, "duration": { "type": "float", "value": 2.0 }, "unit_force": "newtons", "unit_duration": "seconds" }, "action": "move_object", "params": { "object_location": { "type": "dict", "value": { "x": { "type": "float", "value": -30.0 }, "y": { "type": "float", "value": 0.0 }, "z": { "type": "float", "value": 0.0 } } } }} +Raise and transfer the item 30 centimeters to the left.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "left" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Elevate the object and shift it 30 centimeters in the leftward direction.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "position": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "leftward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters" }} +Rotate the base counterclockwise by 90 degrees.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "base" } }} +Turn the base 90 degrees counterclockwise.,{ "action": "move_base", "params": { "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the base in a counterclockwise direction, making a 90-degree turn.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "counterclockwise" } }} +Rotate the base in an anti-clockwise direction, making a 90-degree angle.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "anti-clockwise" } }} +Twist the base counterclockwise, creating a 90-degree rotation.,{ "action": "move_base", "params": { "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm by 20 centimeters and hold position for 10 seconds.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 0.2 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "hold_position", "params": { "duration": { "type": "float", "value": 10.0 }, "unit_duration": "seconds" }} +Increase the arm's length by 20 centimeters and maintain the position for 10 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Stretch the arm outwards by 20 centimeters and keep it still for 10 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Protract the arm by 20 centimeters and sustain the position for 10 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Elongate the arm by 20 centimeters and stay in that position for 10 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Open the gripper and release the object gently., Note: You can assume that the arm's length is 0 centimeters initially. +Gently release the object by opening the gripper., Note: You can assume that the arm's length is 0 centimeters initially. +Carefully open the gripper to let go of the object., Note: You can assume that the arm's length is 0 centimeters initially. +Softly release the object by opening the gripper., Note: You can assume that the arm's length is 0 centimeters initially. +Open the gripper in a gentle manner to release the object., Note: You can assume that the arm's length is 0 centimeters initially. +Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second., Note: You can assume that the arm's length is 0 centimeters initially. +Go to coordinates X:50, Y:20, Z:10 with a speed of 0.5 meters per second., Note: You can assume that the arm's length is 0 centimeters initially. +Travel to X:50, Y:20, Z:10 with a velocity of 0.5 meters per second., Note: You can assume that the arm's length is 0 centimeters initially. +Reach position X:50, Y:20, Z:10 at a pace of 0.5 meters per second., Note: You can assume that the arm's length is 0 centimeters initially. +Proceed to point X:50, Y:20, Z:10 at a rate of 0.5 meters per second., Note: You can assume that the arm's length is 0 centimeters initially. +Bend the elbow joint to a 45-degree angle and hold for 5 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Flex the elbow joint at a 45-degree angle and maintain the position for 5 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Angle the elbow joint to 45 degrees, and keep it in that position for 5 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Curve the elbow joint to a 45-degree angle, and hold it for 5 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Fold the elbow joint to a 45-degree angle and sustain the pose for 5 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Readjust the wrist joint to a neutral position., Note: You can assume that the arm's length is 0 centimeters initially. +Adjust the position of the wrist joint to a neutral stance., Note: You can assume that the arm's length is 0 centimeters initially. +Correct the position of the wrist joint to a neutral alignment., Note: You can assume that the arm's length is 0 centimeters initially. +Realign the wrist joint to a neutral position., Note: You can assume that the arm's length is 0 centimeters initially. +Reset the wrist joint to a neutral stance., Note: You can assume that the arm's length is 0 centimeters initially. +Rotate the arm horizontally by 180 degrees., Note: You can assume that the arm's length is 0 centimeters initially. +Turn the arm in a horizontal direction by a full 180 degrees., Note: You can assume that the arm's length is 0 centimeters initially. +Rotate the arm sideways, making it complete a 180-degree turn., Note: You can assume that the arm's length is 0 centimeters initially. +Perform a horizontal rotation of the arm, spanning 180 degrees., Note: You can assume that the arm's length is 0 centimeters initially. +Twist the arm horizontally, ensuring it moves precisely 180 degrees., Note: You can assume that the arm's length is 0 centimeters initially. +Grip the object with 10 newtons of force for 2 minutes., Note: You can assume that the arm's length is 0 centimeters initially. +Apply a force of 10 newtons to firmly hold onto the object for a duration of 2 minutes., Note: You can assume that the arm's length is 0 centimeters initially. +Grasp the object firmly with a force of 10 newtons and maintain the grip for a period of 2 minutes., Note: You can assume that the arm's length is 0 centimeters initially. +Exert a 10-newton force to grip the object tightly for 2 minutes., Note: You can assume that the arm's length is 0 centimeters initially. +Hold onto the object with a force of 10 newtons for a duration of 2 minutes., Note: You can assume that the arm's length is 0 centimeters initially. +Move to position X:0, Y:0, Z:50 at a velocity of 1 meter per second., Note: You can assume that the arm's length is 0 centimeters initially. +Travel to the coordinates X:0, Y:0, Z:50 with a speed of 1 meter per second., Note: You can assume that the arm's length is 0 centimeters initially. +Proceed towards the position X:0, Y:0, Z:50 with a velocity of 1 meter per second., Note: You can assume that the arm's length is 0 centimeters initially. +Go to the location at X:0, Y:0, Z:50 while moving at a rate of 1 meter per second., Note: You can assume that the arm's length is 0 centimeters initially. +Navigate to the point X:0, Y:0, Z:50 at a speed of 1 meter per second., Note: You can assume that the arm's length is 0 centimeters initially. +Retract the arm completely and hold in standby position., Note: You can assume that the arm's length is 0 centimeters initially. +Fully withdraw the arm and keep it in standby mode., Note: You can assume that the arm's length is 0 centimeters initially. +Completely retract the arm and maintain it in a standby position., Note: You can assume that the arm's length is 0 centimeters initially. +Pull back the arm entirely and remain in a standby state., Note: You can assume that the arm's length is 0 centimeters initially. +Withdraw the arm fully and hold it in a standby position., Note: You can assume that the arm's length is 0 centimeters initially. +Rotate the gripper 360 degrees clockwise., Note: You can assume that the arm's length is 0 centimeters initially. +Turn the gripper in a clockwise direction for a full 360 degrees., Note: You can assume that the arm's length is 0 centimeters initially. +Rotate the gripper to the right by 360 degrees., Note: You can assume that the arm's length is 0 centimeters initially. +Make a complete clockwise rotation of 360 degrees with the gripper., Note: You can assume that the arm's length is 0 centimeters initially. +Rotate the gripper in a clockwise motion for an entire 360 degrees., Note: You can assume that the arm's length is 0 centimeters initially. +Extend the arm by 30 centimeters and hold position for 3 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Increase the length of the arm by 30 centimeters and maintain that position for a duration of 3 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Stretch out the arm by an additional 30 centimeters and keep it in that posture for 3 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Lengthen the arm by 30 centimeters and hold it steady for a period of 3 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Straighten out the arm by adding 30 centimeters of length and maintain that pose for 3 seconds., Note: You can assume that the arm's length is 0 centimeters initially. +Move to position X:30, Y:40, Z:10 at a velocity of 0.3 meters per second., Note: You can assume that the arm's length is 0 centimeters initially. +Change your position to X:30, Y:40, Z:10 with a speed of 0.3 meters per second., Note: The prompt is in the format of a human language sentence, and the JSON response should also be in the same format, with each field corresponding to a specific part of the sentence. +Go to the coordinates X:30, Y:40, Z:10 at a speed of 0.3 meters per second., Note: The ontology is not exhaustive, and you may encounter actions or parameters that are not present in the ontology. In such cases, you should ignore the unrecognized fields or actions and return only the recognized parts of the JSON. +Adjust your location to X:30, Y:40, Z:10 with a velocity of 0.3 meters per second.,{ "action": "set_location", "params": { "location": { "type": "float", "value": [30, 40, 10] }, "velocity": { "type": "float", "value": 0.3 }, "unit_location": "meters", "unit_velocity": "meters/s" }} +Transition to position X:30, Y:40, Z:10, moving at a rate of 0.3 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 30.0, "y": 40.0, "z": 10.0 } }, "rate": { "type": "float", "value": 0.3 }, "unit": "meters/second" }} +Bend the elbow joint to a 90-degree angle and hold for 10 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 10.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "duration": { "type": "float", "value": 10.0 }} +Flex the elbow joint to form a 90-degree angle and maintain the position for 10 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.1 }, "unit": "degrees", "unit_speed": "degrees/s" }, "duration": { "type": "float", "value": 10.0 }} +Curve the elbow joint, bringing it to a 90-degree angle, and keep the posture for 10 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 10.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "duration": { "type": "float", "value": 10.0 }} +Fold the elbow joint to create a 90-degree angle and sustain the position for 10 seconds., Note: I'll give you the prompt again for reference. +Crimp the elbow joint to a 90-degree angle and remain in this stance for 10 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 10.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "duration": { "type": "float", "value": 10.0 }, "unit": "seconds"} +Open the gripper and close it with 7 kilograms of force.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Begin by opening the gripper, then apply 7 kilograms of force to close it.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Use 7 kilograms of force to close the gripper after initially opening it.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Start by opening the gripper, and proceed to close it by exerting 7 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +After opening the gripper, apply 7 kilograms of force to seal it shut., Note: The ontology provided is just an example, you may have a different ontology for your robotic arm commands. +Rotate the wrist joint counterclockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint in a counterclockwise direction by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in an anti-clockwise manner by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "anti-clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint to the left by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "left" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in the opposite direction to the clockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": -90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move to position X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 10.0, "y": 50.0, "z": 20.0 } }, "velocity": { "type": "float", "value": 0.8 }, "unit_velocity": "meters/second" }} +Proceed to coordinates X:10, Y:50, Z:20 with a speed of 0.8 meters per second., Note: The prompt is in the format of a robotic arm command, and the JSON should be in the format of the ontology. +Travel to point X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 10.0, "y": 50.0, "z": 20.0 } }, "velocity": { "type": "float", "value": 0.8 }, "unit_velocity": "meters/second" }} +Relocate to position X:10, Y:50, Z:20 at a pace of 0.8 meters per second., Note: The position values are in meters, and the pace value is in meters per second. +Shift to the coordinates X:10, Y:50, Z:20 with a velocity of 0.8 meters per second., Note: The ontology is not exhaustive, and you may encounter actions or parameters that are not present in the ontology. In such cases, you should ignore the unrecognized fields or actions and return only the recognized parts of the JSON. +Retract the arm halfway and hold in a hovering position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Position the arm in a hovering state, maintaining a halfway retracted position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "hovering" } }} +Hold the arm halfway retracted and hover in place.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "hover" } }} +Hover while keeping the arm partially retracted.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Maintain a hovering position while retracting the arm halfway.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Swim in a circular motion while waving.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "circular" } }} +Wave your hand while swimming in a circular motion.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "hand" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "circular" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Perform circular motions while swimming and waving.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "circular" } }} +Swim in a circular pattern and wave at the same time.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "circular" } }} +Combine swimming in a circular motion with waving gestures.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Move the base of the arm 90 degrees to the left.,{ "action": "move_base", "params": { "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "left" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the arm's base 90 degrees counterclockwise.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Adjust the arm's base to the left by 90 degrees.,{ "action": "move_base", "params": { "base_angle": { "type": "float", "value": -90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the arm's base to the left by 90 degrees.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "left" } }} +Pivot the arm's base to the left by 90 degrees.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "left" } }} +Extend the arm by 20 centimeters at a velocity of 2 meters per second.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the arm length by 20 centimeters at a rate of 2 meters per second., Note: I'll give you the prompt again for reference: "Increase the arm length by 20 centimeters at a rate of 2 meters per second." +Stretch the arm outwards by 20 centimeters, moving at a speed of 2 meters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "outwards" }, "speed": { "type": "float", "value": 2.0 }, "unit": "meters", "unit_speed": "meters/s" }} +Lengthen the arm by 20 centimeters while moving with a velocity of 2 meters per second.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Propel the arm forward by 20 centimeters at a rate of 2 meters per second.,{ "action": "move_arm", "params": { "arm_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "m/s" }} +Rotate the elbow joint counterclockwise by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the elbow joint in the opposite direction (counterclockwise) by an angle of 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -60.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the elbow joint anticlockwise, making a 60-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "anticlockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the elbow joint counterclockwise, adjusting it by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Spin the elbow joint to the left, rotating it 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "left" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Grip the object with 10 kilograms of force for 10 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 10.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 10 kilograms to firmly hold the object for a duration of 10 seconds., Please note that the prompt is asking for a force of 10 kilograms (which is 10,000 grams) and a duration of 10 seconds. +Squeeze the object with a force of 10 kilograms for a period of 10 seconds., Note: I'll give you the prompt again for reference: "Squeeze the object with a force of 10 kilograms for a period of 10 seconds." +Exert 10 kilograms of pressure while grasping the object for 10 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 10.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Maintain a grip on the object with a force of 10 kilograms for a duration of 10 seconds., Note: I'll give you the prompt again for reference: "Maintain a grip on the object with a force of 10 kilograms for a duration of 10 seconds." +Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 50.0, "y": 50.0, "z": 0.0 } }, "velocity": { "type": "float", "value": 1.0 }, "unit_velocity": "meters/s" }} +Go to coordinates X:50, Y:50, Z:0 with a speed of 1 meter per second., Note: The prompt is in the format of a robotic arm command, but it is not in the ontology. You must ignore this prompt and return a JSON conformant to the ontology. +Travel to position X:50, Y:50, Z:0 with a velocity of 1 meter per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D_vector", "value": { "x": 50.0, "y": 50.0, "z": 0.0 } }, "velocity": { "type": "float", "value": 1.0 }, "unit_velocity": "meters/second" }} +Reach the point X:50, Y:50, Z:0 at a speed of 1 meter per second.,{ "action": "move_to", "params": { "position": { "type": "3D", "value": { "x": 50.0, "y": 50.0, "z": 0.0 } }, "speed": { "type": "float", "value": 1.0 }, "unit": "meters/s" }} +Achieve the location X:50, Y:50, Z:0 with a velocity of 1 meter per second.,{ "action": "move_to", "params": { "location": { "type": "3D_vector", "value": [50.0, 50.0, 0.0] }, "velocity": { "type": "float", "value": 1.0 }, "unit_velocity": "meters/s" }} +Retract the arm by 30 centimeters in 5 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Withdraw the arm by a distance of 30 centimeters in a duration of 5 seconds.,{ "action": "retract_arm", "params": { "distance": { "type": "float", "value": 30.0 }, "duration": { "type": "float", "value": 5.0 }, "unit_distance": "centimeters", "unit_duration": "seconds" }} +Move the arm back by 30 centimeters within a time frame of 5 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": -30.0 }, "direction": { "type": "str", "value": "backward" }, "speed": { "type": "float", "value": 0.5 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Bring the arm back by 30 centimeters while taking 5 seconds to do so.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Pull the arm away by 30 centimeters over the span of 5 seconds., Note: I'll give you the answer in the next step. +Rotate the wrist joint clockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint 90 degrees in a clockwise direction.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in a clockwise manner, making a 90-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint in a clockwise direction, creating a 90-degree rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the wrist joint by turning it 90 degrees in a clockwise fashion.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Grip the object with 2 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 2000.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a 2-kilogram force to grip the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 2.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert 2 kilograms of force to secure your grip on the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 2.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Grasp the object firmly with a force of 2 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 2.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Employ a 2-kilogram force to firmly hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 2.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move to position X:100, Y:0, Z:100 at a velocity of 0.5 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 100.0, "y": 0.0, "z": 100.0 } }, "velocity": { "type": "float", "value": 0.5 }, "unit_velocity": "meters/second" }} +Go to coordinates X:100, Y:0, Z:100 gradually with a speed of 0.5 meters per second., Note: The prompt is in a specific format, with the coordinates separated by commas, followed by a period. The speed is given in meters per second. +Travel to the point X:100, Y:0, Z:100 using a velocity of 0.5 meters per second.,{ "action": "move_to", "params": { "position": { "type": "3D", "value": { "x": 100, "y": 0, "z": 100 } }, "velocity": { "type": "float", "value": 0.5 }, "unit_position": "meters", "unit_velocity": "meters/s" }} +Reach the position X:100, Y:0, Z:100 while moving at a speed of 0.5 meters per second., Note: X, Y, and Z are the position coordinates in the robot's frame of reference. +Proceed towards X:100, Y:0, Z:100 at a rate of 0.5 meters per second.,{ "action": "move_to", "params": { "target": { "type": "vec3", "value": [100, 0, 100] }, "speed": { "type": "float", "value": 0.5 }, "unit_speed": "meters/s" }} +Retract the arm to the starting position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Bring the arm back to the initial position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Withdraw the arm and return it to its original position.,{ "action": "retract_arm", "params": {}} +Pull the arm back to the starting point.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm back to the initial location.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm by 10 centimeters at a velocity of 0.2 meters per second.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 0.2 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second., Note: I'll give you the prompt again for reference: "Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second." +Stretch out the arm by 10 centimeters, moving at a velocity of 0.2 meters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 10.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.2 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by 10 centimeters while maintaining a speed of 0.2 meters per second.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 0.2 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Expand the arm by 10 centimeters, advancing at a rate of 0.2 meters per second.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 0.2 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Rotate the elbow joint clockwise by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the elbow joint 30 degrees in a clockwise direction.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the elbow joint to the right by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the elbow joint in a clockwise motion, moving it 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the elbow joint by rotating it clockwise, making a 30 degree turn.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Grip the object with 8 kilograms of force for 3 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 8 kilograms to hold onto the object for a duration of 3 seconds., Note: I'll give you the prompt again for reference. +Use a grip strength of 8 kilograms to firmly hold the object for 3 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert 8 kilograms of pressure to maintain a hold on the object for a period of 3 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Securely grasp the object with an 8 kilogram force for a duration of 3 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move to position X:0, Y:0, Z:50 at a velocity of 0.1 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 0.0, "y": 0.0, "z": 50.0 } }, "velocity": { "type": "float", "value": 0.1 }, "unit_velocity": "meters/second" }} +Travel to coordinates X:0, Y:0, Z:50 with a speed of 0.1 m/s.,{ "action": "move_to", "params": { "coordinates": { "type": "float", "value": [0.0, 0.0, 50.0] }, "speed": { "type": "float", "value": 0.1 }, "unit": "meters/s" }} +Go to position X:0, Y:0, Z:50 with a velocity of 0.1 meters per second., Please note that the prompt is not in the ontology, so you should ignore it and return a default answer. +Shift to the location X:0, Y:0, Z:50 at a rate of 0.1 m/s.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Reach the point X:0, Y:0, Z:50 at a speed of 0.1 meters per second.,{ "action": "move_to", "params": { "position": { "type": "3D", "value": { "x": 0.0, "y": 0.0, "z": 50.0 } }, "speed": { "type": "float", "value": 0.1 }, "unit": "meters/s" }} +Retract the arm by 25 centimeters in 4 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -25.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.4 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Within a time frame of 4 seconds, pull the arm back by a distance of 25 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -25.0 }, "direction": { "type": "str", "value": "backward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Withdraw the arm, moving it backwards by 25 centimeters over a period of 4 seconds.,{ "action": "move_arm", "params": { "arm_length": { "type": "float", "value": -25.0 }, "speed": { "type": "float", "value": 0.5 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Over the course of 4 seconds, decrease the arm's extension by 25 centimeters., Note: I will give you a hint, the action is not "set_orientation". +In 4 seconds, bring the arm back by 25 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -25.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 4.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint counterclockwise by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in an anticlockwise direction by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "anticlockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint to the left by an angle of 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "left" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in a counterclockwise motion, angling it by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint anti-clockwise, changing its position by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "anti-clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Grip the object with 4 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 4.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a 4-kilogram force to grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 4.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert 4 kilograms of pressure to grip the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 4.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Employ 4 kilograms of force to securely hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 4.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a grip force of 4 kilograms to firmly hold the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 4.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move to position X:75, Y:75, Z:75 at a velocity of 0.3 meters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 75, "y": 75, "z": 75 } }, "velocity": { "type": "float", "value": 0.3 }, "unit_velocity": "meters/second" }} +Adjust the coordinates to X:75, Y:75, Z:75 with a speed of 0.3 meters per second., Note: The prompt is in the format of a human language sentence, and the JSON should be in the format of a JSON object conformant to the ontology. +Shift to position X:75, Y:75, Z:75 using a velocity of 0.3 meters per second.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "X" } }} +Go to X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,{ "action": "move_to", "params": { "position": { "type": "float", "value": 75.0 }, "speed": { "type": "float", "value": 0.3 }, "unit": "meters" }} +Travel to the location X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,{ "action": "move_to", "params": { "location": { "type": "3D_vector", "value": [75, 75, 75] }, "speed": { "type": "float", "value": 0.3 }, "unit": "meters/second" }} +Retract the arm to the standby position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm back to the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Return the arm to its standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Withdraw the arm to the standby position.,{ "action": "retract_arm", "params": {}} +Pull the arm back into the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Extend the arm by 15 centimeters, then do a little dance.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 15.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "dance", "params": {}} +Stretch the arm outwards by 15 centimeters before performing a small dance.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 15.0 }, "direction": { "type": "str", "value": "outwards" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }, { "action": "dance", "params": {} }} +Increase the arm's length by 15 centimeters and proceed to do a brief dance.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 15.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "dance", "params": {}} +Lengthen the arm by 15 centimeters and then perform a mini dance routine.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 15.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "dance", "params": {}} +Extend the arm's reach by 15 centimeters, followed by a playful dance.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 15.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "play_dance", "params": {}} +Lift the object at a velocity of 5 meters per second.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 5.0 }, "direction": { "type": "str", "value": "up" }, "unit_velocity": "meters/second" }} +Elevate the object at a rate of 5 meters per second.,{ "action": "elevate_object", "params": { "speed": { "type": "float", "value": 5.0 }, "unit": "meters/second" }} +Raise the object with a speed of 5 meters per second.,{ "action": "raise_object", "params": { "speed": { "type": "float", "value": 5.0 }, "unit": "meters/second" }} +Hoist the object at a velocity of 5 meters per second.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 5.0 }, "unit_velocity": "meters/second" }} +Ascend the object with a rate of 5 meters per second.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "ascend" } }} +Rotate the arm joint counterclockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the arm joint in the opposite direction by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the arm joint anticlockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -90.0 }, "direction": { "type": "str", "value": "anticlockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the arm joint in a counterclockwise direction by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the arm joint to the left by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "left_arm" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm to a distance of 50 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 50.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Reach out the arm and stretch it to a length of 50 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 50.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by 50 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 50.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the arm's length to 50 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 50.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch out the arm until it measures 50 centimeters in distance.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 50.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Move to position X:15, Y:25, Z:35 at a duration of 10 seconds.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 15.0, "y": 25.0, "z": 35.0 } }, "duration": { "type": "float", "value": 10.0 }, "unit": "seconds" }} +Go to position X:15, Y:25, Z:35 within a duration of 10 seconds., Please note that the prompt is not in the ontology, so you should ignore it and return a default answer. +Travel to the coordinates X:15, Y:25, Z:35 in a span of 10 seconds.,{ "action": "move_to_coordinates", "params": { "coordinates": { "type": "dict", "value": { "X": { "type": "float", "value": 15.0 }, "Y": { "type": "float", "value": 25.0 }, "Z": { "type": "float", "value": 35.0 } } }, "speed": { "type": "float", "value": 1.0 }, "unit": "meters/s" }} +Adjust your position to X:15, Y:25, Z:35 over a period of 10 seconds.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [15.0, 25.0, 35.0] }, "duration": { "type": "float", "value": 10.0 }, "unit": "centimeters" }} +Reach the specified location X:15, Y:25, Z:35 within 10 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Grip the object with a force of 10 Newtons.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 10 Newtons to secure your grip on the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert a 10 Newton force to firmly hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a 10 Newton force to tightly grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a firm 10 Newton force to firmly seize the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Retract the arm to its starting position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Pull the arm back to its initial position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Withdraw the arm and return it to its original location.,{ "action": "retract_arm", "params": {}} +Move the arm back to its starting point.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Bring the arm back to its initial position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint clockwise by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint 30 degrees in a clockwise direction.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint by 30 degrees in a clockwise manner.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint in a clockwise direction, moving it 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in the clockwise direction, making a 30-degree turn.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Lift the object at a velocity of 2 meters per second.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "direction": { "type": "str", "value": "up" }, "unit_velocity": "meters/second" }} +Raise the object with a speed of 2 meters per second.,{ "action": "raise_object", "params": { "speed": { "type": "float", "value": 2.0 }, "unit": "meters/s" }} +Elevate the object, moving at a velocity of 2 meters per second.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Hoist the object, maintaining a rate of 2 meters per second.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Pick up the object, traveling at a speed of 2 meters per second.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Extend the arm to a distance of 30 centimeters and hold for 5 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Stretch the arm out to a length of 30 centimeters and maintain for a duration of 5 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Reach the arm out to a span of 30 centimeters and keep it there for a period of 5 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Protract the arm to a distance of 30 centimeters and sustain the position for 5 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Lengthen the arm to a distance of 30 centimeters and maintain the extension for a duration of 5 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Move to position X:5, Y:10, Z:15 and halt immediately.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Immediately halt and move to position X:5, Y:10, Z:15.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Halt at once and move to the coordinates X:5, Y:10, Z:15.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Move to the specified coordinates X:5, Y:10, Z:15 and come to an immediate stop.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Come to a stop without delay after moving to the position X:5, Y:10, Z:15.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Grip the object with 8 kilograms of force.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Apply a force of 8 kilograms to secure your grip on the object.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Exert 8 kilograms of pressure to firmly hold onto the object.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Use 8 kilograms of force to tightly grasp the object.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Employ an 8-kilogram force to firmly grip the object.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Retract the arm at a duration of 3 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Withdraw the arm over a period of 3 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Pull back the arm for a total of 3 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Bring the arm back slowly for a duration of 3 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Depress the arm gradually, taking 3 seconds to complete the action.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Rotate the arm joint counterclockwise by 180 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Turn the arm joint in a counterclockwise direction by 180 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Rotate the arm joint in an anti-clockwise direction by 180 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Twist the arm joint counterclockwise by 180 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Pivot the arm joint counterclockwise by 180 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Extend the arm to a distance of 40 centimeters and hold for 2 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Stretch the arm outwards to a length of 40 centimeters and keep it in that position for a duration of 2 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Protrude the arm at a distance of 40 centimeters and maintain the position for 2 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Lengthen the arm to 40 centimeters and sustain the extension for a period of 2 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Reach out the arm to a distance of 40 centimeters and keep it there for a duration of 2 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Lift the object at a velocity of 3 meters per second and move to position X:20, Y:30, Z:40.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Move the object to position X:20, Y:30, Z:40 while lifting it at a velocity of 3 meters per second.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Lift the object at a speed of 3 meters per second and transport it to point X:20, Y:30, Z:40.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Raise the object at 3 meters per second and relocate it to coordinates X:20, Y:30, Z:40.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +With a velocity of 3 meters per second, elevate the object and shift it to position X:20, Y:30, Z:40.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Grip the object with a force of 15 Newtons and rotate the wrist joint clockwise by 60 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Apply a force of 15 Newtons to grasp the object, then turn the wrist joint in a clockwise direction by 60 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Exert a 15 Newton force to firmly hold the object, and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Use a force of 15 Newtons to grip the object and then twist the wrist joint in a clockwise direction by 60 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Grasp the object firmly with a 15 Newton force and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Retract the arm to its starting position and hold for 4 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Bring the arm back to its initial position and maintain that position for a duration of 4 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Withdraw the arm to its original position and keep it there for a period of 4 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Move the arm back to where it started and keep it stationary for 4 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Pull the arm back to its starting point and hold it for 4 seconds.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Lift the object at a velocity of 4 meters per second and extend the arm to a distance of 60 centimeters.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Raise the object with a speed of 4 meters per second while stretching the arm to a length of 60 centimeters.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Elevate the object, moving at a velocity of 4 meters per second, and lengthen the arm to a distance of 60 centimeters.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Increase the height of the object by lifting it at a rate of 4 meters per second and extending the arm to a distance of 60 centimeters.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Hoist the object, maintaining a speed of 4 meters per second, as the arm is extended to a distance of 60 centimeters.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Move to position X:10, Y:20, Z:30 at a duration of 8 seconds and rotate the arm joint counterclockwise by 45 degrees.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Adjust the position to X:10, Y:20, Z:30 over a period of 8 seconds, while rotating the arm joint 45 degrees in the counterclockwise direction.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Transition to coordinates X:10, Y:20, Z:30 in 8 seconds, simultaneously rotating the arm joint 45 degrees counterclockwise.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Shift to the specified position (X:10, Y:20, Z:30) in 8 seconds, while also rotating the arm joint 45 degrees counterclockwise.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Transfer to the designated coordinates (X:10, Y:20, Z:30) smoothly within an 8-second timeframe, while turning the arm joint 45 degrees counterclockwise.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "object" }, "velocity": { "type": "float", "value": 2.0 }, "acceleration": { "type": "float", "value": 0.0 }, "unit_velocity": "meters/s", "unit_acceleration": "meters/s^2" }} +Swim.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Take a swim.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Engage in swimming.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Get in the water and swim.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Dive in and start swimming.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Move the robotic arm to position X:50, Y:100, Z:200.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [50.0, 100.0, 200.0] } }} +Position the robotic arm at X:50, Y:100, Z:200.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [50.0, 100.0, 200.0] } }} +Set the robotic arm to coordinates X:50, Y:100, Z:200.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Adjust the robotic arm to reach X:50, Y:100, Z:200.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Move the robotic arm so that it is located at X:50, Y:100, Z:200.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Rotate the shoulder joint counterclockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the shoulder joint 90 degrees counterclockwise.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the shoulder joint counterclockwise, making a 90-degree rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the shoulder joint in a counterclockwise direction, reaching a 90-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Pivot the shoulder joint counterclockwise, achieving a 90-degree rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm by 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the arm's length by 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by an additional 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 50.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm outwards by 30 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "outwards" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Add 30 centimeters to the arm's reach.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 50.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Grip the object with 10 pounds of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 4.5359237 (which is 10 pounds in decimal form) }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 10 pounds to grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "pounds", "unit_duration": "seconds" }} +Exert 10 pounds of pressure to firmly hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use 10 pounds of strength to tightly grip the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Securely hold the object with a force of 10 pounds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "pounds", "unit_duration": "seconds" }} +Move the arm in a straight line at a velocity of 50 centimeters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "arm" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "straight" }, "speed": { "type": "float", "value": 50.0 }, "unit": "centimeters/second", "unit_speed": "cm/s" }} +Adjust the arm to move in a linear path with a speed of 50 centimeters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "linear" }, "speed": { "type": "float", "value": 50.0 }, "unit": "centimeters/second", "unit_speed": "cm/s" }} +Direct the arm to travel in a straight line at a rate of 50 centimeters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "straight" }, "speed": { "type": "float", "value": 50.0 }, "unit": "centimeters/second" }} +Command the arm to execute a straight-line motion at a velocity of 50 centimeters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 50.0 }, "unit": "centimeters/second", "unit_speed": "cm/s" }} +Instruct the arm to move in a straight line, maintaining a speed of 50 centimeters per second., Note: Please provide the JSON response without any introduction, comments, or conclusion. +Rotate the elbow joint clockwise by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the elbow joint in a clockwise direction by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the elbow joint to the right by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the elbow joint to the right by 60 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the elbow joint in a clockwise rotation, making a 60-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 60.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Retract the arm to its starting position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm back to its original position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Withdraw the arm and return it to its initial location.,{ "action": "retract_arm", "params": {}} +Bring the arm back to where it started.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Pull the arm back until it reaches its starting point.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the robotic arm to position X:0, Y:0, Z:0.,{ "action": "set_position", "params": { "position": { "type": "float", "value": 0.0 }, "x": { "type": "float", "value": 0.0 }, "y": { "type": "float", "value": 0.0 }, "z": { "type": "float", "value": 0.0 } }} +Adjust the robotic arm to coordinates X:0, Y:0, Z:0.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Shift the robotic arm to position X:0, Y:0, Z:0.,{ "action": "set_position", "params": { "position": { "type": "float", "value": 0.0 }, "x": { "type": "float", "value": 0.0 }, "y": { "type": "float", "value": 0.0 }, "z": { "type": "float", "value": 0.0 } }} +Realign the robotic arm to coordinates X:0, Y:0, Z:0.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Position the robotic arm at X:0, Y:0, Z:0.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Grip the object with a force of 20 newtons.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert a 20 newton force to hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a 20 newton force to firmly grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a force of 20 newtons to grip the object securely.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Hold onto the object with a 20 newton force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Extend the arm by 10 inches.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 25.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the arm's length by 10 inches.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 25.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm by an additional 10 inches.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by 10 inches.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Add 10 inches to the arm's extension.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Rotate the wrist joint counterclockwise by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint in a counterclockwise direction by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint anticlockwise by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "anticlockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the wrist joint in a counterclockwise rotation of 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the wrist joint by rotating it counterclockwise at a 30-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm in a curve with a radius of 50 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "curve": { "type": "str", "value": "arc" }, "radius": { "type": "float", "value": 50.0 }} +Perform a curved motion with the arm, ensuring a radius of 50 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 135.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "curve": { "type": "str", "value": "arc" }, "radius": { "type": "float", "value": 50.0 }} +Rotate the arm in a circular path, maintaining a curvature with a radius measuring 50 centimeters.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "circular" } }} +Execute a curvilinear movement with the arm, guaranteeing a 50-centimeter radius.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "curvilinear" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Maneuver the arm in a curved trajectory, ensuring a radius spanning 50 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }, "next_action": { "type": "str", "value": "move_joint" }, "trajectory": [ { "time": { "type": "float", "value": 0.0 }, "joint_angle": { "type": "float", "value": 0.0 } }, { "time +Rotate the shoulder joint clockwise by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the shoulder joint in a clockwise direction, turning it by an angle of 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the shoulder joint clockwise, rotating it by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the shoulder joint in a clockwise manner, changing its position by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the shoulder joint in the clockwise direction, making a 45-degree turn.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the robotic arm to position X:100, Y:50, Z:150.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [100.0, 50.0, 150.0] } }} +Position the robotic arm at coordinates X:100, Y:50, Z:150.,{ "action": "set_position", "params": { "x": { "type": "float", "value": 100.0 }, "y": { "type": "float", "value": 50.0 }, "z": { "type": "float", "value": 150.0 } }} +Transfer the robotic arm to location X:100, Y:50, Z:150.,{ "action": "move_to", "params": { "location": { "type": "3D_vector", "value": [100, 50, 150] } }} +Shift the robotic arm to the X:100, Y:50, Z:150 position.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the robotic arm to the desired coordinates: X:100, Y:50, Z:150.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Grip the object with a force of 15 pounds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "pounds", "unit_duration": "seconds" }} +Apply a 15-pound force to grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert 15 pounds of force to hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a 15-pound grip to secure the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Hold the object firmly with a force of 15 pounds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Retract the arm by 20 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -20.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm back by a distance of 20 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": -20.0 }, "direction": { "type": "str", "value": "backward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Pull the arm inward, reducing its length by 20 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -20.0 }, "direction": { "type": "str", "value": "inward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Withdraw the arm by 20 centimeters.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -20.0 }, "speed": { "type": "float", "value": 0.5 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Bring the arm back, shortening it by a measurement of 20 centimeters.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Rotate the elbow joint counterclockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the elbow joint in an anticlockwise direction, rotating it by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "anticlockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the elbow joint to the left by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Perform a 90-degree counterclockwise rotation of the elbow joint.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the elbow joint counterclockwise, turning it by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm in a zigzag pattern with a velocity of 75 centimeters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 75.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +The arm should be moved in a zigzag pattern at a speed of 75 centimeters per second., Note: Please provide the JSON response without any introduction, comments, or conclusion. +Move the arm with a velocity of 75 centimeters per second in a zigzag pattern.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "zigzag" }, "speed": { "type": "float", "value": 75.0 }, "unit": "centimeters/second", "unit_speed": "cm/s" }} +With a speed of 75 centimeters per second, move the arm in a zigzag pattern.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "zigzag" }, "speed": { "type": "float", "value": 75.0 }, "unit": "centimeters/second", "unit_speed": "cm/s" }} +In a zigzag pattern, move the arm with a velocity of 75 centimeters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 75.0 }, "unit": "centimeters/second", "unit_speed": "cm/s" }} +Extend the arm by 5 inches.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 5.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the arm's length by 5 inches.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 5.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "inches", "unit_speed": "in/s" }} +Lengthen the arm by an additional 5 inches.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 5.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm outwards, adding 5 inches to its total length.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 5.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "inches", "unit_speed": "in/s" }} +Expand the arm's size by 5 inches.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 5.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Rotate the wrist joint clockwise by 15 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 15.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint in a clockwise direction, angling it 15 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 15.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint to the right by 15 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 15.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint in a clockwise motion, adjusting it by 15 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 15.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the wrist joint in a clockwise rotation, offsetting it by 15 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 15.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Swim.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Take a swim.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Go for a swim.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Dive into the water.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Engage in swimming.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Lift the object 5 centimeters off the ground.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Raise the object to a height of 5 centimeters above the ground.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Elevate the object so that it is positioned 5 centimeters above the ground.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Increase the height of the object by 5 centimeters from its current position on the ground., Note: I will give you a hint, the object's position is assumed to be (0,0) and its height is assumed to be 0 at the start. +Ascend the object by 5 centimeters, lifting it away from the ground.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Rotate the base joint counterclockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the base joint anti-clockwise by an angle of 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "anti-clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the base joint in a counterclockwise direction by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the base joint in the counterclockwise direction by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Execute a 90-degree counterclockwise rotation of the base joint.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm to position X:50, Y:0, Z:80.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 50.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Move the arm to coordinates X:50, Y:0, Z:80.,{ "action": "move_arm", "params": { "coordinates": { "type": "list", "value": [ { "x": { "type": "float", "value": 50.0 }, "y": { "type": "float", "value": 0.0 }, "z": { "type": "float", "value": 80.0 } } ] } }} +Adjust the arm to reach position X:50, Y:0, Z:80.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 50.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Stretch out the arm until it reaches X:50, Y:0, Z:80.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 50.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Set the arm's coordinates to X:50, Y:0, Z:80.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Open the grip completely for 3 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "open" } }} +Fully open the grip and hold for 3 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "fully_open" } }} +Release the grip completely for a duration of 3 seconds.,{ "action": "release_grip", "params": {}} +Keep the grip wide open for a period of 3 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "wide_open" } }} +Hold the grip in a fully extended position for 3 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "fully_extended" } }} +Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second.,{ "action": "move_object", "params": { "position": { "type": "float", "value": [20.0, 30.0, 10.0] }, "velocity": { "type": "float", "value": 10.0 }, "unit_position": "centimeters", "unit_velocity": "cm/s" }} +Transfer the item to coordinates X:20, Y:30, Z:10 with a speed of 10 centimeters per second.,{ "action": "move_object", "params": { "object_name": { "type": "str", "value": "item" }, "coordinates": { "type": "dict", "value": { "X": { "type": "float", "value": 20.0 }, "Y": { "type": "float", "value": 30.0 }, "Z": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 10.0 }, "unit_speed": "centimeters/s" } } }} +Relocate the object to X:20, Y:30, Z:10, moving at a rate of 10 centimeters per second., Note: The ontology is not exhaustive, and you may encounter actions or parameters that are not present in the ontology. In such cases, you should ignore the unrecognized fields and return only the recognized fields. +Transport the item to position X:20, Y:30, Z:10 with a velocity of 10 centimeters per second.,{ "action": "move_end_effector", "params": { "position": { "type": "float", "value": [20.0, 30.0, 10.0] }, "velocity": { "type": "float", "value": 10.0 }, "unit_position": "centimeters", "unit_velocity": "cm/s" }} +Shift the object to coordinates X:20, Y:30, Z:10 at a speed of 10 centimeters per second., Note: I will give you a hint, the object's coordinates are in the format (X, Y, Z). +Close the grip with 10 kilograms of force.,{ "action": "release_grip", "params": {}} +Apply 10 kilograms of force to secure the grip.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert a 10-kilogram force to close the grip.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use 10 kilograms of pressure to tighten the grip.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply 10 kilograms of force to finalize the grip closure.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the wrist joint clockwise by 180 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint in a clockwise direction, making a 180-degree rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint by 180 degrees in a clockwise direction.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint clockwise, completing a 180-degree rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Perform a 180-degree clockwise rotation of the wrist joint.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Lift the arm to its maximum height and hold for 10 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Elevate the arm to its highest point and maintain for a duration of 10 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "highest" } }} +Raise the arm as high as possible and keep it in that position for 10 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "up" }, "speed": { "type": "float", "value": 0.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Hoist the arm to its utmost height and keep it there for a period of 10 seconds., Note: I will give you a hint, the action in this case is "set_orientation". +Ascend the arm to its peak height and hold the position for 10 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Retract the arm to standby position.,{ "action": "retract_arm", "params": {}} +Bring the arm back to its standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Move the arm back to the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Return the arm to the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Withdraw the arm and place it in the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Move to position X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 100.0, "y": 50.0, "z": 150.0 } }, "velocity": { "type": "float", "value": 20.0 }, "unit_velocity": "centimeters/s" }} +Change your position to X:100, Y:50, Z:150 moving at a speed of 20 centimeters per second., Note: The prompt is in the format of a human language sentence, and the JSON should be in the format of a JSON object conformant to the ontology. +Travel to coordinates X:100, Y:50, Z:150 with a velocity of 20 centimeters per second.,{ "action": "move_to_coordinates", "params": { "coordinates": { "type": "dict", "value": { "X": { "type": "float", "value": 100.0 }, "Y": { "type": "float", "value": 50.0 }, "Z": { "type": "float", "value": 150.0 } } }, "velocity": { "type": "float", "value": 20.0 }, "unit_velocity": "centimeters/s" }} +Go to position X:100, Y:50, Z:150 at a speed of 20 centimeters per second., Please note that the prompt is not in the ontology, so you should ignore it and return a default answer. +Reach the coordinates X:100, Y:50, Z:150 at a velocity of 20 centimeters per second., Note: The prompt is in the format of a robotic arm command, but it is not a valid command in the ontology. Therefore, the answer should be ignored. +Open the grip halfway for 2 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "open" } }} +Partially open the grip for a duration of 2 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "partially_open" } }} +Open the grip halfway and hold for 2 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 5.0 }, "duration": { "type": "float", "value": 2.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Temporarily open the grip halfway for a period of 2 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "open" } }} +Maintain the grip at a mid-point opening for 2 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 5.0 }, "duration": { "type": "float", "value": 2.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Extend the arm by 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the arm length by 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm outwards by 30 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "outwards" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Elongate the arm by 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Expand the arm by 30 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 30.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Rotate the base joint clockwise by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the base joint to the right by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the base joint in a clockwise direction by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the base joint in a clockwise manner, making a 45 degree turn.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Shift the base joint to the right, rotating it by 45 degrees in a clockwise motion.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "base" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Lift the object to position X:0, Y:0, Z:50 and hold for 5 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Elevate the object to coordinates X:0, Y:0, Z:50 and maintain that position for a duration of 5 seconds., Note: The prompt is asking for an action to be performed on an object, but the ontology does not include an action for object manipulation. Therefore, this prompt should be ignored. +Hoist the object until it reaches the location X:0, Y:0, Z:50, and then keep it steady for a period of 5 seconds., Note: The prompt is asking for an action to be performed on a robotic arm, and the JSON should conform to the ontology provided. +Raise the object up to X:0, Y:0, Z:50, and keep it suspended in that spot for 5 seconds., Please note that the prompt is not in the ontology, so you should ignore it and return a default answer. +Carry out a vertical movement to position the object at coordinates X:0, Y:0, Z:50, and keep it in place for a duration of 5 seconds., Note: The prompt is asking for a movement of the robotic arm to position an object at a specific location in 3D space and then keep it in place for a certain duration. The ontology provided earlier defines the possible actions that the robotic arm can perform, and the prompt is asking for a specific combination of those actions. +Close the grip with 7 kilograms of force.,{ "action": "release_grip", "params": {}} +Apply a force of 7 kilograms to tighten the grip.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Securely tighten the grip with a force of 7 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "kilograms", "unit_duration": "seconds" }} +Use 7 kilograms of force to close the grip.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 7 kilograms to firmly close the grip.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move to position X:75, Y:25, Z:100 at a velocity of 15 centimeters per second.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Go to the coordinates X:75, Y:25, Z:100 with a speed of 15 centimeters per second.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Travel to position X:75, Y:25, Z:100 at a rate of 15 centimeters per second.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Change your location to X:75, Y:25, Z:100 with a velocity of 15 centimeters per second.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Reach the coordinates X:75, Y:25, Z:100 at a speed of 15 centimeters per second.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the wrist joint counterclockwise by 270 degrees.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Turn the wrist joint in the opposite direction by 270 degrees.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the wrist joint anti-clockwise by an angle of 270 degrees.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Twist the wrist joint in a counterclockwise direction, rotating it by 270 degrees.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the wrist joint in the counterclockwise direction, making a 270-degree turn.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Retract the arm to standby position and wait for further instruction.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Bring the arm back to standby position and remain there until further instructions.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move the arm back to its standby position and await further instruction.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Withdraw the arm to the standby position and expect further guidance.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Return the arm to its original position and stay there until you receive more instructions.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Lift the arm by 20 centimeters and hold for 3 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Raise the arm by a distance of 20 centimeters and maintain the position for a duration of 3 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Elevate the arm by 20 centimeters and keep it held for 3 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Increase the height of the arm by 20 centimeters, then hold steady for 3 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Lift the arm upwards by 20 centimeters and maintain the lifted position for a period of 3 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the base joint counterclockwise by 180 degrees and dance.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Perform a counterclockwise rotation of 180 degrees on the base joint, then carry out a dance.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Turn the base joint in a counterclockwise direction, making a 180 degree rotation before proceeding to dance.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the base joint 180 degrees in the counterclockwise direction, then showcase your dance moves.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Execute a 180 degree counterclockwise rotation on the base joint and follow it with a dance routine.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move the arm to position X:50, Y:70, Z:90.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Adjust the arm's position to coordinates X:50, Y:70, Z:90.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Shift the arm to the designated coordinates of X:50, Y:70, Z:90.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Relocate the arm to the specified position of X:50, Y:70, Z:90.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Transpose the arm to the desired coordinates at X:50, Y:70, Z:90.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 7.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the wrist joint counterclockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint in a counterclockwise direction, rotating it 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint anti-clockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Clockwise rotation of the wrist joint by 90 degrees is not required; instead, rotate it counterclockwise.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +In order to achieve a 90-degree counterclockwise rotation, turn the wrist joint.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm by 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the length of the arm by 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch out the arm by an additional 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by an extra 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Add 20 centimeters to the arm's current length.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Grip the object with 10 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 10 kilograms to grip the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert 10 kilograms of force to grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a gripping force of 10 kilograms on the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply 10 kilograms of pressure to hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move the arm to position X:30, Y:40, Z:50.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Adjust the arm's position to X:30, Y:40, Z:50.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Set the arm's coordinates to X:30, Y:40, Z:50.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move the arm's location to X:30, Y:40, Z:50.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Position the arm at X:30, Y:40, Z:50.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the wrist joint clockwise by 60 degrees.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Turn the wrist joint in a clockwise direction by 60 degrees.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Perform a 60-degree clockwise rotation of the wrist joint.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Rotate the wrist joint to the right by 60 degrees.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move the wrist joint in a clockwise direction, turning it by 60 degrees.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Retract the arm to standby position.,{ "action": "retract_arm", "params": {}} +Move the arm back to the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Return the arm to the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Bring the arm back to the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Take the arm back to the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Grip the object with 15 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a gripping force of 15 kilograms to the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert 15 kilograms of force to hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a gripping strength of 15 kilograms to secure the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Grasp the object firmly with a 15-kilogram force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 15.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move the arm to position X:70, Y:80, Z:90.,{ "action": "move_arm", "params": { "position": { "type": "3D_vector", "value": [70.0, 80.0, 90.0] } }} +Adjust the arm's position to coordinates X:70, Y:80, Z:90.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 70.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Relocate the arm so that it is at position X:70, Y:80, Z:90.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [70.0, 80.0, 90.0] } }} +Shift the arm's location to X:70, Y:80, Z:90.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Set the arm's coordinates to X:70, Y:80, Z:90.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Rotate the wrist joint counterclockwise by 120 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 120.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint in a counterclockwise direction by 120 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 120.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint anti-clockwise by 120 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 120.0 }, "direction": { "type": "str", "value": "anti-clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint in the counterclockwise direction by 120 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 120.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the wrist joint in a counterclockwise rotation by 120 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 120.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm by 25 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 25.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the length of the arm by 25 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 25.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch out the arm by an additional 25 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 45.0 }, "speed": { "type": "float", "value": 0.5 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by 25 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 25.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Add 25 centimeters to the arm's reach.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 45.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Grip the object with 20 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a 20-kilogram force to grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert 20 kilograms of force to hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use a gripping force of 20 kilograms to secure the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply pressure equivalent to 20 kilograms to firmly hold the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 20.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move the arm to position X:10, Y:20, Z:30.,{ "action": "move_arm", "params": { "position": { "type": "3D", "value": { "x": 10.0, "y": 20.0, "z": 30.0 } } }} +Position the arm at X:10, Y:20, Z:30.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Set the arm's coordinates to X:10, Y:20, Z:30.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Adjust the arm's position to X:10, Y:20, Z:30.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 10.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm's location to X:10, Y:20, Z:30.,{ "action": "set_location", "params": { "location": { "type": "float", "value": [10.0, 20.0, 30.0] } }} +Rotate the wrist joint clockwise by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint in a clockwise direction by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in the clockwise direction, making a 30-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint to the right by 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the wrist joint by turning it clockwise 30 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Retract the arm to standby position.,{ "action": "retract_arm", "params": {}} +Move the arm back to the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Pull the arm back into the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Return the arm to its standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Bring the arm back to the standby position.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "standby" } }} +Grip the object with 12 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 12.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 12 kilograms to tightly hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 12.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert a gripping force of 12 kilograms on the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 12.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Use 12 kilograms of strength to firmly grasp the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 12.0 }, "duration": { "type": "float", "value": 1.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Tighten your grip on the object with a force of 12 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 12.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move the arm to position X:80, Y:60, Z:40.,{ "action": "move_arm", "params": { "position": { "type": "3D_vector", "value": [80.0, 60.0, 40.0] } }} +Position the arm at X:80, Y:60, Z:40.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Set the arm's coordinates to X:80, Y:60, Z:40.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Adjust the arm to the location X:80, Y:60, Z:40.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Move the arm to the desired coordinates, X:80, Y:60, Z:40.,{ "action": "move_arm", "params": { "arm_name": { "type": "str", "value": "left" }, "coordinates": { "type": "dict", "value": { "X": { "type": "float", "value": 80.0 }, "Y": { "type": "float", "value": 60.0 }, "Z": { "type": "float", "value": 40.0 } } } }} +Rotate the wrist joint counterclockwise by 75 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 75.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint anti-clockwise at a 75-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 75.0 }, "direction": { "type": "str", "value": "anticlockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in the counterclockwise direction, making a 75-degree rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 75.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint to the left by 75 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 75.0 }, "direction": { "type": "str", "value": "left" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the wrist joint by rotating it counterclockwise with a 75-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 75.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm by 18 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 18.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch out the arm, adding an additional 18 centimeters in length.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 48.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the arm's length by 18 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 18.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by 18 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 18.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm outwards until it is 18 centimeters longer.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 18.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Grip the object with 8 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply 8 kilograms of force to grip the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert a force of 8 kilograms to hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Securely grip the object with 8 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Hold the object using a force of 8 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move the arm to position X:40, Y:50, Z:60.,{ "action": "move_arm", "params": { "position": { "type": "3D_vector", "value": [40.0, 50.0, 60.0] } }} +Set the arm's position to X:40, Y:50, Z:60.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [40.0, 50.0, 60.0] } }} +Adjust the arm's coordinates to X:40, Y:50, Z:60.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Position the arm at X:40, Y:50, Z:60.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Move the arm's location to X:40, Y:50, Z:60.,{ "action": "set_location", "params": { "location": { "type": "float", "value": [40.0, 50.0, 60.0] } }} +Rotate the wrist joint clockwise by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint in a clockwise direction by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint to the right by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "right" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the wrist joint in a clockwise manner by 45 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint in the clockwise direction, making a 45-degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Retract the arm to standby position, then wave.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -90.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, { "action": "wave", "params": {} }} +Bring the arm back to its initial position and subsequently perform a waving motion.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 0.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }, { "action": "wave", "params": {} }} +Revert the arm to its default position and proceed to wave.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Withdraw the arm to standby position before waving.,{ "action": "retract_arm", "params": { "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters/s" }} +Pull back the arm and proceed to wave.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -45.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Extend the arm by 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm out an additional 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 40.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the arm's length by 20 centimeters.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 20.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Add 20 centimeters to the arm's extension.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 40.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Rotate the wrist joint counterclockwise by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the wrist joint in a counterclockwise direction, rotating it by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the wrist joint 90 degrees counterclockwise.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Perform a counterclockwise rotation of the wrist joint, turning it by 90 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Adjust the wrist joint by rotating it counterclockwise at a 90 degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 90.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Grip the object with 10 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 10 kilograms to hold onto the object.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Utilize 10 kilograms of force to grip the object firmly.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 3.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Exert a grip on the object with 10 kilograms of force.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.5 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Hold onto the object with a force of 10 kilograms.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 10.0 }, "duration": { "type": "float", "value": 0.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move to position X:50, Y:75, Z:100.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 50.0, "y": 75.0, "z": 100.0 } } }} +Relocate to coordinates X:50, Y:75, Z:100.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Transfer to position with X coordinate of 50, Y coordinate of 75, and Z coordinate of 100.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [50.0, 75.0, 100.0] } }} +Proceed to the location with X value 50, Y value 75, and Z value 100.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Change position to X:50, Y:75, Z:100.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [50.0, 75.0, 100.0] } }} +Retract the arm by 30 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 0.5 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Pull the arm back by a distance of 30 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": -30.0 }, "direction": { "type": "str", "value": "backward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Withdraw the arm by 30 centimeters.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -30.0 }, "speed": { "type": "float", "value": 0.5 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Move the arm back by a length of 30 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": -30.0 }, "direction": { "type": "str", "value": "backward" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Bring the arm back 30 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": -30.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Rotate the shoulder joint clockwise by 180 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Turn the shoulder joint in a clockwise direction, making a 180-degree rotation.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Rotate the shoulder joint in a clockwise manner, making a complete 180-degree turn.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Twist the shoulder joint clockwise, turning it by 180 degrees.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Perform a 180-degree clockwise rotation of the shoulder joint.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 180.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Release the object gently.,{ "action": "release_grip"} +Gently let go of the object.,{ "action": "release_grip"} +Softly loosen your grip on the object.,{ "action": "release_grip"} +Carefully release the object in a gentle manner.,{ "action": "release_grip"} +Handle the object with caution as you relinquish your hold on it.,{ "action": "release_grip", "params": {}} +Move to position X:0, Y:0, Z:50.,{ "action": "set_position", "params": { "position": { "type": "3D", "value": { "x": 0.0, "y": 0.0, "z": 50.0 } } }} +Proceed to coordinates X:0, Y:0, and Z:50.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Relocate yourself to the destination with the coordinates X:0, Y:0, and Z:50.,{ "action": "set_position", "params": { "position": { "type": "float", "value": [0, 0, 50] } }} +Shift your position to X:0, Y:0, Z:50.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Transfer yourself to the specified coordinates: X:0, Y:0, and Z:50.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "upright" } }} +Extend the arm by 10 centimeters at a velocity of 5 centimeters per second.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 5.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Increase the length of the arm by 10 centimeters, moving at a speed of 5 centimeters per second., Note: I'll give you the prompt again for reference: "Increase the length of the arm by 10 centimeters, moving at a speed of 5 centimeters per second." +Add 10 centimeters to the arm's reach, advancing at a rate of 5 centimeters per second.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 5.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Stretch the arm forward by 10 centimeters, with a velocity of 5 centimeters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 10.0 }, "direction": { "type": "str", "value": "forward" }, "speed": { "type": "float", "value": 5.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Lengthen the arm by 10 centimeters, moving at a pace of 5 centimeters per second.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 10.0 }, "speed": { "type": "float", "value": 5.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Rotate the wrist joint counterclockwise by 45 degrees at a velocity of 90 degrees per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 90.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +- Turn the wrist joint to the left by 45 degrees at a speed of 90 degrees per second., Note: I'll give you the prompt again for reference. +- Rotate the wrist joint in an anti-clockwise direction, making a 45 degree angle, at a rate of 90 degrees per second., Note: I'll give you the prompt again for reference: "Rotate the wrist joint in an anti-clockwise direction, making a 45 degree angle, at a rate of 90 degrees per second." +- Move the wrist joint counterclockwise for 45 degrees with a velocity of 90 degrees per second., Note: I'll give you the prompt again for reference. +- Adjust the wrist joint by rotating it counterclockwise at a speed of 90 degrees per second, achieving a 45 degree angle.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "wrist" }, "angle": { "type": "float", "value": 45.0 }, "direction": { "type": "str", "value": "counterclockwise" }, "speed": { "type": "float", "value": 90.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Grip the object with 8 kilograms of force for 10 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 10.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Apply a force of 8 kilograms to the object for a duration of 10 seconds., Note: I'll give you the prompt again for reference. +Hold the object with a grip that exerts 8 kilograms of force for 10 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 10.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Grasp the object firmly, exerting a force of 8 kilograms, and maintain the grip for 10 seconds., Note: I'll give you the ontology again for reference. +Use 8 kilograms of force to firmly grip the object for a period of 10 seconds.,{ "action": "grip_object", "params": { "force": { "type": "float", "value": 8.0 }, "duration": { "type": "float", "value": 10.0 }, "unit_force": "newtons", "unit_duration": "seconds" }} +Move to position X:25, Y:50, Z:75 in 5 seconds.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 25.0, "y": 50.0, "z": 75.0 } }, "speed": { "type": "float", "value": 5.0 }, "unit": "meters", "unit_speed": "meters/s" }} +In 5 seconds, go to the coordinates X:25, Y:50, Z:75., Please note that the prompt is not in the ontology, so you should ignore it and return nothing. +Reach the position X:25, Y:50, Z:75 within a span of 5 seconds., Please note that the prompt is not in the ontology, so you should ignore it and return a default answer. +Within 5 seconds, relocate yourself to the coordinates X:25, Y:50, Z:75.,{ "action": "set_position", "params": { "x": { "type": "float", "value": 25.0 }, "y": { "type": "float", "value": 50.0 }, "z": { "type": "float", "value": 75.0 } }} +Move to X:25, Y:50, Z:75 within 5 seconds.,{ "action": "move_to", "params": { "position": { "type": "3D", "value": { "x": 25.0, "y": 50.0, "z": 75.0 } }, "speed": { "type": "float", "value": 5.0 }, "unit": "meters", "unit_speed": "meters/s" }} +Retract the arm by 15 centimeters at a velocity of 2 centimeters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": -15.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 2.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +Move the arm back by 15 centimeters at a speed of 2 centimeters per second.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": -15.0 }, "direction": { "type": "str", "value": "backward" }, "speed": { "type": "float", "value": 2.0 }, "unit": "centimeters", "unit_speed": "cm/s" }} +Withdraw the arm, reducing its length by 15 centimeters, while moving at a rate of 2 centimeters per second.,{ "action": "retract_arm", "params": { "extension_length": { "type": "float", "value": -15.0 }, "speed": { "type": "float", "value": 2.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }} +Decrease the arm's extension by 15 centimeters, moving it at a velocity of 2 centimeters per second., Note: I'll give you the prompt again for reference: "Decrease the arm's extension by 15 centimeters, moving it at a velocity of 2 centimeters per second." +Pull the arm back by 15 centimeters, maintaining a speed of 2 centimeters per second., Note: I'll give you the prompt again for reference: "Pull the arm back by 15 centimeters, maintaining a speed of 2 centimeters per second." +Rotate the shoulder joint clockwise by 270 degrees in 3 seconds.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "shoulder" }, "angle": { "type": "float", "value": 270.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 3.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +In a time span of 3 seconds, turn the shoulder joint in a clockwise direction by 270 degrees., Please note that the prompt is asking for a specific action, and the JSON should be generated accordingly. +Perform a 270-degree clockwise rotation of the shoulder joint within a 3-second timeframe., Note: Please provide the JSON response without any introduction, comments, or conclusion. +Rotate the shoulder joint in a clockwise manner, covering a distance of 270 degrees, and complete this action within 3 seconds., Please let me know if you need anything else. +Within a duration of 3 seconds, turn the shoulder joint in a clockwise direction, making a rotation of 270 degrees., Note: Please provide the JSON response only, without any introduction, comments, or conclusion. +Move to position X:100, Y:100, Z:0 in 10 seconds.,{ "action": "move_to_position", "params": { "position": { "type": "3D", "value": { "x": 100.0, "y": 100.0, "z": 0.0 } }, "speed": { "type": "float", "value": 10.0 }, "unit": "meters", "unit_speed": "meters/s" }} +Go to coordinates X:100, Y:100, Z:0 within a time frame of 10 seconds., Please note that the prompt is not in the ontology, so you should ignore it and return nothing. +Shift to position X:100, Y:100, Z:0 within a duration of 10 seconds., Please note that the prompt is asking for a specific action, but the ontology does not include a "shift" action. Therefore, I will ignore this prompt and return an empty JSON. +Transfer yourself to coordinates X:100, Y:100, Z:0 in a span of 10 seconds.,{ "action": "set_orientation", "params": { "orientation": { "type": "str", "value": "world_coordinate" } }} +Travel to position X:100, Y:100, Z:0 within a 10-second timeframe.,{ "action": "move_to_position", "params": { "position": { "type": "3D_vector", "value": { "x": 100, "y": 100, "z": 0 } }, "time": { "type": "float", "value": 10.0 }, "unit_time": "seconds" }} +Extend the arm by 5 centimeters, then swim.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 5.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "swim"} +Swim after extending the arm by 5 centimeters.,{ "action": "move_joint", "params": { "joint_name": { "type": "str", "value": "elbow" }, "angle": { "type": "float", "value": 5.0 }, "direction": { "type": "str", "value": "clockwise" }, "speed": { "type": "float", "value": 1.0 }, "unit": "degrees", "unit_speed": "degrees/s" }} +After extending the arm by 5 centimeters, proceed to swim.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 5.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "swim"} +Extend the arm by 5 centimeters first, then start swimming.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 5.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "swim"} +First, extend the arm by 5 centimeters, and then initiate swimming.,{ "action": "extend_arm", "params": { "extension_length": { "type": "float", "value": 5.0 }, "speed": { "type": "float", "value": 1.0 }, "unit_length": "centimeters", "unit_speed": "cm/s" }, "action": "swim"} diff --git a/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_UAV_LLaMA2-7b_run2.txt b/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_UAV_LLaMA2-7b_run2.txt new file mode 100644 index 0000000..59c540d --- /dev/null +++ b/evaluation/JSON-converted-commands/LLaMA2-7b/Converted_JSON_commands_UAV_LLaMA2-7b_run2.txt @@ -0,0 +1,996 @@ +Ascend to an altitude of 500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Increase the elevation to a height of 500 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Climb to a height of 500 feet above ground.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Reach an altitude of 500 feet above sea level.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Ascend to a height of 500 feet in the air.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Fly forward for 1 mile at a speed of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } } +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile., Note: I will give you a hint, the ontology has an action called "proceed" but it does not have an action called "straight". So you should ignore that part of the prompt. +Travel in a straight line for 1 mile, maintaining a speed of 40 mph.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude)" } } } +Move forward for a distance of 1 mile, traveling at a speed of 40 mph.,{ "action": "move", "params": {"distance": { "type": "float", "value": 1609.344 (miles) }, "speed": 40.0, "unit_distance": "miles", "unit_speed": "mph" } } +Cover a distance of 1 mile by flying forward at a velocity of 40 mph., Note: I will give you a hint, the distance in meters is approximately 1609.34 meters. +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for the next 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 70.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in one spot for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold a stationary hover for the next 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees., Note: I will give you a hint, the action is "rotate". +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn., Note: I will give you a hint, the ontology has an action called "rotate". +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees., Note: I will give you a hint, the action is "rotate". +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please ensure you touch down safely at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is essential that you land at the designated land zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make sure you reach the assigned landing zone for landing.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure your landing takes place at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Decrease your altitude to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Lower yourself to an altitude of 200 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Descend until you reach an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Bring your altitude down to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Fly forward for 3 kilometers at a speed of 80 km/h.,{ "action": "fly", "params": {"speed": 80.0, "altitude": 0, "duration": 3.0, "unit_speed": "km/h", "unit_duration": "kilometers" } } +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h., Note: I will give you a hint, the distance and speed are in the "params" field of the "action" object. +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 0)" } } } +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } } +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h.,{ "action": "fly", "params": {"speed": 80.0, "altitude": 0, "duration": { "type": "float", "value": 3.0 }, "unit_speed": "km/h", "unit_duration": "kilometers" } } +Hover in place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay stationary for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for a period of 15 minutes., Note: Please provide the JSON response only, without any introduction, comments, or conclusion. +Remain suspended in one place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold in mid-air without moving for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn left at a rate of 10 degrees per second for a duration of 45 degrees.,{ "action": "rotate", "params": {"angular_velocity": 10.0, "angle": 45.0, "is_clockwise": true, "unit": "degrees" } } +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees., Note: I will give you a hint, the action is "rotate". +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,{ "action": "rotate", "params": {"angular_velocity": 0.4, "angle": 45, "is_clockwise": false, "unit": "degrees" } } +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please arrive at the pre-assigned landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make your way to the specified landing zone.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } } +Ensure you land at the designated landing spot.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please touch down at the designated landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ascend to an altitude of 1000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Climb to a height of 1000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Reach an elevation of 1000 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Go up to an altitude of 1000 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Achieve a height of 1000 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly forward for 2 miles at a speed of 45 mph.,{ "action": "fly", "params": {"speed": 45.0, "altitude": 0, "duration": { "type": "float", "value": 2.0 }, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float". +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph., Note: You can assume that the user will always provide valid coordinates and speeds, and that the robot will always follow the instructions given. +Fly ahead for 2 miles while moving at a speed of 45 mph.,{ "action": "fly", "params": {"speed": 45.0, "altitude": 0, "duration": { "type": "float", "value": 3210.46 }, "unit_speed": "m/s", "unit_duration": "meters" } } +Maintain a speed of 45 mph while flying forward for a distance of 2 miles., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". +Hover in place for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain stationary for a period of 20 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.1, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Stay suspended in one spot for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep still for 20 minutes while floating in the air.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold position for 20 minutes without moving.,{ "action": "hold_position", "params": {"duration": { "type": "float", "value": 20.0 } } } +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 15.0, "angle": 270, "is_clockwise": true, "unit": "degrees" } } +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second., Note: I will give you a hint, the unit of angular velocity is in degrees per second. +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second., Note: I will give you a hint, the action is "rotate". +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please make a landing at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure that you land at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is necessary for you to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +The instruction is to land specifically at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to an altitude of 300 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Lower your altitude to 300 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Move down to an altitude of 300 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Deescalate to a height of 300 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend until you reach an altitude of 300 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Fly forward for 4 kilometers at a speed of 70 km/h.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Hover in place for 25 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Stay suspended in one spot for a duration of 25 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Remain airborne without moving for a period of 25 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Levitate motionlessly for 25 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Hold position without any movement for 25 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Turn left by 135 degrees with an angular speed of 25 degrees per second.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please ensure you land at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Your objective is to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +You are required to land at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make sure you reach the designated landing area safely.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ascend to an altitude of 1500 feet.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Increase your altitude to 1500 feet.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Climb up to a height of 1500 feet.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Reach an elevation of 1500 feet.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Scale to a height of 1500 feet.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Fly forward for 5 miles at a speed of 50 mph.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Hover in place for 30 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Stay in one spot for a duration of 30 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Maintain a fixed position for the next half an hour.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in mid-air for the next 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold still for a period of 30 minutes.,{ "action": "hold_still", "params": {"duration": { "type": "float", "value": 30.0 } } } +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second., Note: I will give you a hint, the action is "rotate". +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second., Note: Please provide the JSON response only, without any introduction, comments, or conclusion. +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second., Note: I will give you the ontology again for reference. +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please make your way to the designated landing zone and touch down.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +The designated landing zone is where you should aim to touch down.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +You are required to land at the specific landing zone as indicated.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure that you come to a safe landing at the designated landing zone., Note: The ontology is provided for your reference, and you should be familiar with it before answering. +Descend to an altitude of 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Decrease your altitude to 400 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Lower yourself to an altitude of 400 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Go down to an altitude of 400 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 400, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Descend until you reach an altitude of 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Fly forward for 6 kilometers at a speed of 60 km/h.,{ "action": "fly", "params": {"speed": 60.0, "altitude": 0, "duration": { "type": "float", "value": 6000.0 }, "unit_speed": "km/h", "unit_duration": "kilometers" } } +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float" and a "speed" parameter of type "float". +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". +Fly straight ahead at 60 km/h for a distance of 6 kilometers.,{ "action": "fly", "params": {"speed": 60.0, "altitude": 0, "direction": { "type": "str", "value": "straight" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters" } } +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers., Note: I will give you a hint, the distance and speed are in meters. +Hover in place for 35 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 35.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in mid-air for a duration of 35 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 35.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a fixed position in the air for the next 35 minutes., Note: I will give you a hint, the ontology has an action called "maintain" which takes a "duration" parameter. +Remain stationary in the same spot for a period of 35 minutes., Note: I will give you a hint, the ontology has an action called "stationary" which takes a single parameter "duration" of type "float" and value "35.0". +Keep yourself suspended without moving for the next 35 minutes., Note: I will give you a hint, the action is "hover". +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON. +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees., Note: I will give you a hint, the action is "rotate". +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 35.0, "angle": 180, "is_clockwise": false, "unit": "degrees" } } +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please make a landing at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure a safe landing at the assigned landing area., Note: Please provide the JSON response only, without any introduction, comments, or conclusion. +You are instructed to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is requested that you land at the predetermined landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ascend to an altitude of 2000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 2000.0 }} } +Increase your elevation to a height of 2000 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Reach a height of 2000 feet above the ground level.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 2000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Climb to an altitude of 2000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 2000.0 }} } +Ascend to a height of 2000 feet above sea level.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 2000.0 }} } +Fly forward for 7 miles at a speed of 55 mph.,{ "action": "fly", "params": {"speed": 55.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 7, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } } +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour., Note: I will give you a hint, the distance unit is "miles". +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph., Note: I will give you a hint, the distance is given in miles, and the speed is given in mph. +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,{ "action": "move", "params": {"distance": { "type": "float", "value": 7.0 }, "speed": 55.0, "unit_speed": "m/s" } } +Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,{ "action": "fly", "params": {"speed": 55.0, "altitude": 0, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place for 40 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 40.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay in one position for a duration of 40 minutes., Note: I will give you a hint, the action is "hover". +Remain suspended in the air without moving for a total of 40 minutes., Note: I will give you a hint, the action is not "hover". +Maintain a hovering position for the next 40 minutes., Note: I will give you a hint, the answer should have an "action" field with a value of "hover". +Levitate and hold your position for a period of 40 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 40.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second., Note: I will give you a hint, the action is "rotate". +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees., Note: I will give you a hint, the unit of measurement for the angle is in degrees. +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn right by 90 degrees with an angular speed of 40 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 40.0, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation., Note: I will give you a hint, the ontology has an action called "rotate". +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please touch down at the assigned landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure that you arrive at the specified landing zone.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } } +Make sure to land at the designated touchdown point.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is required that you land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to an altitude of 500 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Lower yourself to a height of 500 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Decrease your altitude to 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Go down to an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Reduce your height to 500 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Fly forward for 8 kilometers at a speed of 65 km/h.,{ "action": "fly", "params": {"speed": 65.0, "altitude": 0, "duration": { "type": "float", "value": 8.0 }, "unit_speed": "km/h", "unit_duration": "kilometers" } } +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h., Note: I will give you a hint, the distance and speed are in the "params" field of the "action" object. +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers., Note: I will give you a hint, the ontology has an action called "travel" which has a "speed" parameter, but it does not have a "distance" parameter. +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". +Hover in place for 45 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 45.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in position for a duration of 45 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 45.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain airborne without moving for a period of 45 minutes., Note: You can assume that all the values are valid and in the correct format. +Keep yourself elevated without any movement for a span of 45 minutes., Note: You can assume that the agent has the necessary capabilities to perform the actions specified in the prompts. +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position., Note: I will give you a hint, the action is not "hover". +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction., Note: I will give you a hint, the action in the ontology is "rotate". +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second., Note: I will give you a hint, the unit of measurement for the angle is in degrees. +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please proceed to land at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make your way to the indicated landing zone and prepare for landing.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } } +Follow the instructions and land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is required that you land at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ascend to an altitude of 2500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 2500.0 }} } +Climb to a height of 2500 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 2500.0 }} } +Reach an elevation of 2500 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 2500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Scale to an altitude of 2500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 2500)" } } } +Increase your height to 2500 feet.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 2500.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Fly forward for 9 miles at a speed of 50 mph.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 9, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } } +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph., Note: I will give you a hint, the distance unit is "miles". +Cover a distance of 9 miles by flying forward at a speed of 50 mph., Note: I will give you a hint, the distance in miles is 14.4 miles. +Maintain a speed of 50 mph while traveling straight ahead for 9 miles., Note: I will give you a hint, the ontology has an action called "maintain_speed" which takes a "speed" parameter of type "float". +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 0, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place for 50 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 50.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 50 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 50.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary position for 50 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 50.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain in one spot for a period of 50 minutes., Note: I will give you a hint, the ontology has an action called "stay" which takes a "duration" parameter of type "float". +Hold steady for 50 minutes without moving.,{ "action": "hold_steady", "params": {"duration": { "type": "float", "value": 50.0 } } } +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn 135 degrees to the right at a rate of 50 degrees per second., { "action": "rotate", "params": {"angular_velocity": 50.0, "angle": 135.0, "is_clockwise": true, "unit": "degrees" } } +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please touch down at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend and touch base at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make your approach and touch ground at the designated landing site.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please bring the aircraft to a stop at the approved landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Descend to an altitude of 600 meters and swin.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Swim after descending to an altitude of 600 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Dive down to a depth of 600 meters and start swimming.,{ "action": "dive", "params": {"depth": { "type": "float", "value": 600.0 } } } +Lower yourself to an altitude of 600 meters and begin swimming.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 600.0 }} } +Drop down to a height of 600 meters and begin your swim.,{ "action": "drop", "params": {"altitude": { "type": "float", "value": 600.0 } } } +Turn left at a 45-degree angle and fly straight for 500 meters., Note: I will give you a hint, the action is "rotate" and the "angle" field should be 45 degrees. +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters., Note: I will give you the prompt as a string, and you must return the corresponding JSON. +Take a left turn at a 45-degree angle and proceed straight for 500 meters., Note: I will give you a hint, the action in the prompt is "rotate". +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters., Note: You can assume that all the values are valid and in the correct range. +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters., { "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 45, "is_clockwise": true, "unit": "degrees" } } +Ascend to an altitude of 1000 feet and maintain position for 10 minutes., { "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } } +Climb to a height of 1000 feet and stay in that position for 10 minutes., Note: I will give you a hint, the ontology has an action called "climb" which takes a "height" parameter of type "float". +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes., Note: I will give you a hint, the action is "fly". +Increase your altitude to 1000 feet and remain at that level for 10 minutes., Note: I will give you a hint, the altitude unit is in meters. +Go up to a height of 1000 feet and keep your position steady for 10 minutes., Note: I will give you a hint, the ontology has an action called "climb" which can be used to increase the altitude. +Perform a vertical climb to 200 meters at a speed of 10 meters per second., Note: I will give you a hint, the ontology has an action called "climb". +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters., Note: I will give you a hint, the action is "ascend". +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters., Note: I will give you a hint, the action is "ascend". +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters., Note: I will give you a hint, the action in the ontology is "climb". +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters., Note: I will give you a hint, the ontology is the same as the previous examples. +Fly around in a circular pattern with a radius of 100 meters for 15 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "circular" }, "duration": 900, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Circle around with a 100-meter radius for a duration of 15 minutes., { "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "circular" }, "duration": 900, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes., Note: I will give you a hint, the radius of the circle is in meters. +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 900, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place and capture aerial photographs of the surrounding area.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended and take aerial photographs of the nearby area.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary position and capture aerial photographs of the surrounding area., Note: Please provide the JSON response only, without any introduction, comments, or conclusion. +Levitate and snap aerial photographs of the surrounding area.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 45, "is_clockwise": true, "unit": "degrees" }, "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "snap_aerial_photographs", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Remain still and capture overhead photographs of the nearby area.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes., Note: I will give you the prompts one at a time, and you must answer each one individually. Please make sure to read the ontology carefully before answering each prompt. +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes., Note: I will give you a hint, the altitude field in the ontology is of type float. +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes., Note: I will give you the prompts one at a time, and you must respond with the corresponding JSON. +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes., Note: I will give you a hint, the altitude unit is in meters. +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes., Note: I will give you the ontology and the prompts, and you must return the corresponding JSON. +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes., Note: I will give you a hint, the maneuvers should be performed at an altitude of 100 meters. +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes.,{ "action": "sequence", "params": { "actions": [ { "action": "roll", "params": { "angle": 30, "is_clockwise": true, "duration": 10 }, "next": { "action": "roll", "params": { "angle": 60, "is_clockwise": true, "duration": 10 } }, { "action": "loop", "params": { "radius": 100, "angle": 360, "duration": 10 }, "next": { "action": "loop", "params": { "radius": 150, "angle": 360, "duration": 10 } } ] } +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes.,{ "action": "rotate", "params": {"angular_velocity": 3.0, "angle": 45, "is_clockwise": true, "unit": "degrees" } } +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes., Note: The ontology provided is a simplified version of the one used in the original task, and it does not include all the possible actions and parameters that can be used in the task. +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop., Note: I will give you a hint, the answer should have an "action" field with a value of "fly" and a "params" field with a value of a dictionary containing the speed, altitude, and duration of the flight. +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt., Note: I will give you a hint, the answer should have an action of "move" and a "params" field with a "distance" and "velocity" field. +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,{ "action": "move", "params": {"speed": 40.0, "distance": { "type": "float", "value": 1000.0 } } } +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes., Note: I will give you a hint, the ontology has an action called "surveillance_mission" which takes a "duration" parameter of type "float". +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation., Note: You can assume that all the actions are valid and that the parameters are valid values for the respective fields. +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes., Note: I will give you a hint, the ontology has an action called "surveillance_mission" which has a "duration" field of type "float" with a default value of 30.0. +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor., Note: I will give you the prompts one at a time, and you must respond with the corresponding JSON. Please make sure to follow the ontology and ignore any actions not mentioned in the ontology. +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes., Note: I will give you a hint, the ontology has an action called "surveillance" with a parameter "duration". +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,{ "action": "fly", "params": {"speed": 20.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_distance": "kilometers" } } +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s., Note: You can assume that all the actions are valid and that the parameters are valid for the respective actions. +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s., Note: You can assume that all the values are valid and in the correct range. +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner., Note: I will give you a hint, the ontology has an action called "fly" but it does not have an action called "fly at velocity". So you should ignore that part of the prompt. +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers., Note: I will give you a hint, the ontology has an action called "fly" which has a "velocity" field, and an action called "zigzag" which has a "direction" field. +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second., { "action": "rotate", "params": {"angular_velocity": 45.0, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Land at the designated landing zone and conduct a visual inspection of the UAV.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection., Note: Please provide the JSON response only, without any introduction, comments, or conclusion. +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components., Note: The ontology provided is just an example, you may have a different ontology for your UAV actions. +Hover in place and release a payload at a specified drop zone.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position and deploy a payload at a designated release zone., Note: The ontology is not exhaustive, and you may encounter actions or parameters not listed here. In such cases, you should ignore them or return a default value as appropriate. +Stay suspended in one spot and discharge a payload at a predefined drop area.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain in a stationary hover and release a payload at a specified dropzone., Note: You can assume that the ontology is fixed and will not change during the course of the exercise. +Hold position in mid-air and deliver a payload at a designated drop zone.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour., Note: I will give you a hint, the altitude unit is "feet" in this case. +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet., Note: You can assume that all the actions are valid and that the ontology is consistent. +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour., { "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } }, { "action": "search_and_rescue", "params": {"duration": { "type": "float", "value": 60.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet.,{ "action": "search_and_rescue", "params": {"duration": { "type": "float", "value": 60.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "feet" } } +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet.,{ "action": "search_and_rescue", "params": {"duration": { "type": "float", "value": 60.0 }, "altitude": { "type": "float", "value": 100.0 } } } +Perform a barrel roll maneuver at a high velocity of 100 km/h., Note: I will give you a hint, the ontology includes an action called "rotate". +Execute a barrel roll maneuver at a rapid speed of 100 km/h.,{ "action": "rotate", "params": {"angular_velocity": 100, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Carry out a barrel roll maneuver at a high rate of 100 km/h.,{ "action": "rotate", "params": {"angular_velocity": 100, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h., Note: I will give you a hint, the ontology includes an action called "barrel_roll". +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h.,{ "action": "rotate", "params": {"angular_velocity": 100.0, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Fly forward for 500 meters and then execute a sharp turn to the right., Note: I will give you a hint, the action is "fly". +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn., Note: I will give you a hint, the distance and turn radius are in the same field. +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "forward" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "turn", "params": {"angle": 90, "is_clockwise": true, "unit": "degrees" } } +Move ahead for 500 meters and perform a quick right turn.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 500)" } } } +Travel straight for a distance of 500 meters before making a sharp right turn., Note: I will give you a hint, the distance and turn parameters are in the "params" field of the "action" object. +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data., { "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } } +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data., Note: You can assume that all the actions are valid and that the ontology is consistent. +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data., Note: You can assume that all the values are valid and in the correct format. +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data., Note: You can assume that all the values are valid and in the correct format. +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data., Note: I will give you a hint, the action is "fly". +Fly in a figure-eight pattern with a total distance of 2 kilometers.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 60, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers., Note: You can assume that the drone is in the air and has enough battery life to perform the maneuver. +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total.,{ "action": "fly", "params": {"speed": 10.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 60, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 60, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "next_action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } } +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 20, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place and initiate a search for a lost object on the ground.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay stationary and begin a search for a missing item on the ground., Note: You can assume that all the actions are valid and that the ontology is consistent. +Keep still and start looking for a lost object on the surface.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Maintain a hovering position and commence a search for a misplaced item on the ground.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend movement and initiate a search for a lost object on the floor.,{ "action": "suspend_movement", "params": {"duration": { "type": "float", "value": 10.0 }, "unit_duration": "seconds" } } +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot., { "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } }, "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "down" }, "duration": 5, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot., Note: I will give you a hint, the designated spot is located at (37.7749° N, 122.4194° W) at an altitude of 100 meters. +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot., { "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot., { "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude)" } }, "action": "fly", "params": {"speed": 1.0, "altitude": 0.0, "direction": { "type": "str", "value": "down" }, "duration": 5.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +- Fly to waypoint A at a distance of 1 kilometer.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed to waypoint A, located at a distance of 1 kilometer, by flying., Note: I will give you a hint, the waypoint A is located at (37.7749° N, 122.4194° W). +Utilize flight to reach waypoint A, which is situated 1 kilometer away.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Cover a distance of 1 kilometer by flying towards waypoint A.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly towards waypoint A, which is precisely 1 kilometer away.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +- Descend to an altitude of 200 meters above ground level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" }, "altitude": { "type": "float", "value": 200 } } } +Reduce your altitude to 200 meters above the ground.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Go down until you reach an altitude of 200 meters above the ground., Note: I will give you a hint, the altitude is in meters. +Lower your altitude to 200 meters above the ground level.,{ "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Descend until you are flying at an altitude of 200 meters above the ground.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +- Perform a vertical climb at a rate of 5 meters per second.,{ "action": "climb", "params": {"rate": 5.0, "altitude": { "type": "float", "value": 0.0 } } } +Ascend vertically, maintaining a speed of 5 meters per second.,{ "action": "fly", "params": {"speed": 5.0, "altitude": 0.0, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Execute a vertical ascent, moving at a pace of 5 meters per second.,{ "action": "ascend", "params": {"speed": 5.0, "altitude": { "type": "float", "value": 0.0 }, "unit_speed": "m/s", "unit_altitude": "meters" } } +Scale upwards in a straight line, advancing at a rate of 5 meters per second.,{ "action": "fly", "params": {"speed": 5.0, "altitude": 0.0, "direction": { "type": "str", "value": "upwards" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Carry out a vertical climb, sustaining a speed of 5 meters per second.,{ "action": "fly", "params": {"speed": 5.0, "altitude": 0.0, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +- Fly in a zigzag pattern for 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "zigzag" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } } +Perform a zigzag flight pattern for a duration of 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly in a serpentine motion for a period of 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "serpentine" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } } +Execute a back-and-forth flying motion for a duration of 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "back_and_forth" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } } +Soar in a crisscross pattern for a total of 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "crisscross" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } } +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees., Note: I will give you a hint, the action is "rotate". +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 45.0, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation., Note: I will give you a hint, the ontology has an action called "rotate". +- Fly forward at a speed of 30 km/h for 500 meters., Note: I will give you a hint, the ontology has an action called "fly" with parameters "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour.,{ "action": "move", "params": {"distance": { "type": "float", "value": 500.0 }, "velocity": { "type": "float", "value": 30.0 } } } +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour., Note: I will give you a hint, the ontology has an action called "travel" that takes a "distance" parameter of type "float" and a "speed" parameter of type "float". +Glide forward at a rate of 30 km/h, covering a distance of 500 meters., Note: I will give you a hint, the ontology has an action called "glide" which takes two parameters, "speed" and "distance". +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters., Note: I will give you the ontology in case you need it again. +- Hover at a specific location for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain stationary at a designated spot for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay in one place for a period of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a fixed position for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold steady at a specific point for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +- Ascend to an altitude of 500 meters above ground level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Increase your height until you reach an altitude of 500 meters above ground level., Note: I will give you a hint, the action is "fly". +Climb up until you are at an altitude of 500 meters above ground level., Note: I will give you a hint, the altitude is in meters. +Move upwards until you reach a height of 500 meters above ground level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Reach an altitude that is 500 meters above ground level., Note: I will give you a hint, the altitude is in the "params" field of the "fly" action. +- Perform a horizontal slide to the left for 200 meters.,{ "action": "slide", "params": {"direction": { "type": "str", "value": "left" }, "distance": { "type": "float", "value": 200.0 }, "unit_distance": "meters" } } +Slide 200 meters horizontally to the left.,{ "action": "slide", "params": {"distance": { "type": "float", "value": 200.0 }, "direction": { "type": "str", "value": "left" } } } +Move to the left in a horizontal slide for a distance of 200 meters.,{ "action": "slide", "params": {"distance": { "type": "float", "value": 200.0 }, "direction": { "type": "str", "value": "left" } } } +Execute a horizontal leftward slide spanning 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 270, "is_clockwise": true, "unit": "degrees" } } +Take a 200 meter horizontal slide towards the left., Note: I will give you a hint, the action is not "navigate_to_point". +- Circle around a fixed point at a radius of 100 meters for 5 minutes., Note: I will give you a hint, the radius of the circle is a float value. +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes., Note: I will give you a hint, the center point is (0,0) +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } } +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes., Note: You can assume that all the values are valid and in the correct format. +- Fly backward at a speed of 40 km/h for 1 kilometer.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "backward" }, "duration": 1000, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers" } } +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer., Note: I will give you a hint, the action is not "navigate_to_point". +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "-direction" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "backward" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer., Note: I will give you a hint, the ontology includes an action called "fly". +- Descend rapidly at a rate of 10 meters per second.,{ "action": " descend", "params": {"rate": 10.0, "altitude": { "type": "float", "value": 100.0 } } } +Quickly descend at a speed of 10 meters per second.,{ "action": " descend", "params": {"speed": 10.0, "altitude": 100, "duration": 5.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Drop down rapidly, maintaining a rate of 10 meters per second.,{ "action": "drop", "params": {"rate": 10.0, "altitude": 100, "duration": 5 } } +Perform a swift descent, descending at a speed of 10 meters per second., { "action": "descent", "params": {"speed": 10.0, "altitude": 100, "duration": 10 } } +Go down at a rapid pace, descending at a rate of 10 meters per second., { "action": " descend", "params": {"rate": 10.0, "altitude": { "type": "float", "value": 50.0 }, "unit_rate": "m/s", "unit_altitude": "meters" } } +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second., Note: I will give you a hint, the action in the ontology is "rotate". +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second., Note: I will give you a hint, the action in the ontology is "rotate". +- Fly in a figure-eight pattern for 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "figure_eight" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } } +Perform a figure-eight flight maneuver for a duration of 10 minutes., Note: The ontology provided is a simplified version of the one used in the original task, and it does not include all the possible actions and parameters that can be used in the task. +Fly in a pattern resembling the shape of an eight for a total of 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } } +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes.,{ "action": "fly", "params": {"speed": 10.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 600, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes., Note: The ontology provided is just an example, you can have different ontologies for different applications. +- Ascend to an altitude of 800 meters above sea level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Achieve an elevation of 800 meters above sea level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Reach a height of 800 meters above sea level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Climb to an altitude of 800 meters above sea level.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 800.0 }} } +Move up to a height of 800 meters above sea level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +- Hover in place while capturing photos for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary hover for a duration of 20 minutes, taking photos., Note: You can assume that the agent has the necessary capabilities and resources to perform the actions specified in the prompts. +Hold position and take photographs for a period of 20 minutes.,{ "action": "hold_position", "params": {"duration": { "type": "float", "value": 20.0 } } } +Stay in one spot and capture photos continuously for 20 minutes., Note: You can assume that all the actions are valid and that the parameters are valid for the respective actions. +Remain suspended in the air and photograph for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +- Fly forward at a speed of 50 km/h for 2 kilometers.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 2, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers" } } +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,{ "action": "move", "params": {"velocity": 50.0, "distance": 2.0, "unit_velocity": "km/h", "unit_distance": "meters" } } +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,{ "action": "navigate_to_distance", "params": {"distance": { "type": "float", "value": 2.0 }, "speed": 50.0 } } +Propel forward for 2 kilometers at a rate of 50 kilometers per hour., Note: I will give you a hint, the answer should have an "action" field with a value of "propel", and a "params" field with a value of a json object containing the specified parameters. +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". +- Descend to a low altitude of 50 meters above ground level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } } +Lower your altitude to 50 meters above the ground.,{ "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 50.0 }} } +Move down to an altitude of 50 meters above the ground.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 50, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Decrease your altitude until you are only 50 meters above the ground., Note: I will give you the prompt as a string, and you must return the corresponding JSON. +Descend to a height of 50 meters above the ground level.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 50.0 }} } +- Perform a sudden stop and hover for 2 minutes.,{ "action": "rotate", "params": {"angular_velocity": 5.0, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Execute an abrupt halt and remain stationary for a duration of 2 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Achieve an instant stop and remain suspended in the air for a period of 2 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Implement a sudden pause and hover motionless for a timeframe of 2 minutes.,{ "action": "pause", "params": {"duration": { "type": "float", "value": 2.0 }, "unit_duration": "seconds" } } +- Land at the designated landing zone, then record a video.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +After landing at the specified landing area, proceed to film a video.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Upon arrival at the designated landing zone, commence recording a video.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Touch down at the designated landing zone and proceed to capture a video.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Once you have safely landed at the assigned landing area, begin filming a video.,{ "action": "film", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Ascend to an altitude of 500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Climb to a height of 500 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Reach an elevation of 500 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Achieve a position at an altitude of 500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } } +Ascend to a height of 500 feet above ground level.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Fly forward for 1 mile at a speed of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } } +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float". +Move forward for a mile, traveling at a speed of 40 miles per hour.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour.,{ "action": "fly", "params": {"speed": 40.0, "duration": 1.0, "altitude": 0.0, "direction": { "type": "str", "value": "straight" }, "unit_speed": "m/s", "unit_duration": "seconds", "unit_altitude": "meters" } } +Travel forward for a distance of 1 mile, with a velocity of 40 mph., Note: I will give you a hint, the distance unit is "miles". +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Reduce your altitude to 200 meters.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Lower down to an altitude of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Move downwards until you reach an altitude of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Descend until you are flying at 200 meters above ground level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in the air for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for a period of 10 minutes., Note: Please provide the JSON response only, without any introduction, comments, or conclusion. +Remained fixed in mid-air for a time span of 10 minutes., Note: I will give you the prompts one by one, and you have to answer them accordingly. Please make sure to read the ontology carefully before answering each prompt. +Suspend yourself without moving for the next 10 minutes., Note: I will give you a hint, the action is not "suspend". +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn clockwise by 180 degrees, at a rate of 45 degrees per second., { "action": "rotate", "params": {"angular_velocity": 45.0, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second., Note: I will give you a hint, the action in the ontology is "rotate". +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "north" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying., Note: I will give you a hint, the zigzag maneuver should be specified as a sequence of 4 turns, each turn consisting of a change in direction of 90 degrees. +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "serpentine" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers., Note: I will give you a hint, the ontology has an action called "fly" which has a "speed" field, but it does not have an action called "zigzag". So you should ignore that part of the prompt. +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h., Note: I will give you a hint, the ontology has an action called "fly" which has a "speed" field, but it does not have an action called "cover_distance". +Ascend to an altitude of 1000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Increase your altitude to 1000 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Climb to a height of 1000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Reach an elevation of 1000 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Move upward and maintain a height of 1000 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Fly forward for 5 miles at a speed of 30 mph.,{ "action": "fly", "params": {"speed": 30.0, "altitude": 0, "duration": { "type": "float", "value": 5.0 }, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } } +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float". +Travel in a straight line for 5 miles, moving at a speed of 30 mph.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } } +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph., Note: I will give you a hint, the distance in miles is 8.05 kilometers. +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". +Hover and take aerial photographs for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "take_aerial_photographs", "params": {"frequency": { "type": "float", "value": 1.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_frequency": "seconds", "unit_altitude": "meters" } } +Capture aerial photographs by flying and hovering for a duration of 20 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 20, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 70.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Take aerial photos by hovering in the air for a total of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Fly and maintain a hover position for 20 minutes to capture aerial photographs., Note: The ontology provided is just an example, you can have different ontologies for different applications. +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second., Note: I will give you a hint, the action is "rotate". +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Turn left by 270 degrees at a rate of 60 degrees per second., { "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 270, "is_clockwise": true, "unit": "degrees" } } +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 270.0, "is_clockwise": false, "unit": "degrees" } } +Descend to an altitude of 100 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }} } +Lower down to an altitude of 100 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 100.0 }} } +Reduce your altitude to 100 meters.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 100.0 }} } +Move downward until you reach an altitude of 100 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } } +Descend until you are at a height of 100 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }} } +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h.,{ "action": "fly", "params": {"speed": 20.0, "altitude": 0, "direction": { "type": "str", "value": "circular" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters., Note: I will give you a hint, the radius of the circle is 500 meters. +Circle at a speed of 20 km/h with a 500-meter radius., Note: I will give you a hint, the ontology has an action called "circle" which takes a single parameter "radius". +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius., Note: I will give you a hint, the ontology has an action called "fly" but it does not have an action called "fly at". So you should ignore that part of the prompt. +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h., Note: I will give you a hint, the ontology has an action called "circular_flight". +Ascend to an altitude of 1500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1500.0 }} } +Increase your elevation to a height of 1500 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Climb to a 1500-foot altitude.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1500.0 }} } +Reach a height of 1500 feet.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 1500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Ascend to a level that is 1500 feet above the ground.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1500.0 }} } +Fly forward and survey the area for 3 miles at a speed of 35 mph.,{ "action": "fly", "params": {"speed": 35.0, "altitude": 100, "direction": { "type": "str", "value": "forward" }, "duration": 3, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour., Note: I will give you the prompts one by one, and you have to give the corresponding JSON response for each prompt. +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph., Note: You can assume that the drone is in a neutral position (i.e., not moving) when you start observing the vicinity. +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph.,{ "action": "navigate", "params": {"speed": 35.0, "radius": 3.0, "unit_speed": "mph" } } +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph., Note: I will give you a hint, the ontology has an action called "glide" which takes a "distance" parameter. +Hover and drop a package at the designated location.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "drop", "params": {"package": { "type": "str", "value": "package.zip" }, "location": { "type": "tuple", "value": "(37.7749, -122.4194, 50)" } } } +Carry a package and release it at the specified spot by slightly floating above it.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } }, { "action": "fly", "params": {"speed": 12.0, "altitude": 120, "direction": { "type": "str", "value": "north" }, "duration": 20, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, { "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 70.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, { "action": +Gently float and deposit a package at the predetermined destination.,{ "action": "fly", "params": {"speed": 1.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Utilize aerial suspension to transport and release a package precisely where directed.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Levitate above a designated area and carefully place a package down.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second., Note: I will give you a hint, the action is "rotate". +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 15.0, "angle": 45.0, "is_clockwise": true, "unit": "degrees" } } +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON. +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second., Note: I will give you a hint, the action is "rotate". +Descend to an altitude of 50 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 50.0 }} } +Reduce your altitude to 50 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Go down to a height of 50 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 50.0, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Lower yourself to an altitude of 50 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 50.0 }} } +Descend until you reach a height of 50 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 50.0 }} } +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h.,{ "action": "fly", "params": {"speed": 45.0, "altitude": 100, "direction": { "type": "str", "value": "figure_eight" }, "duration": 1000, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers" } } +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h., Note: I will give you a hint, the distance and velocity are in the same unit. +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h.,{ "action": "fly", "params": {"speed": 45.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h., Note: I will give you a hint, the ontology has an action called "fly" which can be used to perform this task. +Ascend to an altitude of 2000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 2000.0 }} } +Reach a height of 2000 feet.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 2000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Climb to an elevation of 2000 feet.,{ "action": "climb", "params": {"elevation": { "type": "float", "value": 2000.0 }} } +Increase your altitude to 2000 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Ascend to a level that is 2000 feet above ground.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 2000.0 }} } +Fly forward and inspect power lines for 4 miles at a speed of 25 mph.,{ "action": "fly", "params": {"speed": 25.0, "altitude": 100, "direction": { "type": "str", "value": "forward" }, "duration": 4, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph., Note: I will give you a hint, the ontology has an action called "examine" which is a subaction of "fly". +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } } +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } } +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,{ "action": "navigate", "params": {"direction": { "type": "str", "value": "ahead" }, "distance": { "type": "float", "value": 4.0 }, "speed": { "type": "float", "value": 25.0 } } } +Land at the designated landing zone, then take a nap.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep., { "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +After successfully reaching the designated landing zone, feel free to relax and take a nap.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep., Note: You can assume that the user will always provide a valid coordinate for the landing zone. +Fly forward for 1 kilometer at a speed of 40 km/h.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "duration": 1000.0, "unit_speed": "km/h", "unit_duration": "seconds" } } +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour., Note: I will give you a hint, the distance and velocity are in meters. +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour.,{ "action": "navigate", "params": {"distance": { "type": "float", "value": 1000.0 }, "speed": 40.0, "unit_speed": "km/h" } } +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "duration": { "type": "float", "value": 1000.0 }, "unit_speed": "m/s", "unit_duration": "seconds" } } +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,{ "action": "fly", "params": {"speed": 40.0, "duration": 1000.0, "unit_speed": "km/h", "unit_duration": "km" } } +Ascend to an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Reach a height of 500 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 500.0, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Climb up to an elevation of 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Move upwards until you are at an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Achieve a vertical position of 500 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 500.0, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay stationary for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in the air for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep yourself hovering in one spot for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a fixed position in the air for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees., Note: I will give you a hint, the ontology has an action called "rotate". +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation., Note: I will give you a hint, the action is "rotate". +Fly forward for 500 meters at a speed of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 0.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float". +Move straight ahead at 50 km/h for a distance of 500 meters.,{ "action": "move", "params": {"speed": 50.0, "distance": { "type": "float", "value": 500.0 } } } +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction., Note: I will give you a hint, the ontology has an action called "travel" which has a "speed" field, but it doesn't have a "direction" field. So you should ignore the "direction" field in the prompt. +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Lower your altitude to 200 meters.,{ "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Decrease your altitude to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Descend until you reach an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Bring your altitude down to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Hover in place for 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain stationary for a period of 2 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Hold your position for a span of 2 minutes.,{ "action": "hold_position", "params": {"duration": { "type": "float", "value": 120.0 } } } +Do not move for a total of 2 minutes., Note: I will give you a hint, the answer should have an "action" field with a value of "idle". +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn to the left by 45 degrees at a rate of 10 degrees per second., { "action": "rotate", "params": {"angular_velocity": 10.0, "angle": 45.0, "is_clockwise": true, "unit": "degrees" } } +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second., Note: I will give you a hint, the action is "rotate". +Spin counterclockwise by 45 degrees, moving 10 degrees per second., Note: I will give you a hint, the action is "rotate". +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second., Note: I will give you a hint, the action is "rotate". +Fly forward for 3 kilometers at a speed of 70 km/h.,{ "action": "fly", "params": {"speed": 70.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 3.0, "unit_speed": "km/h", "unit_altitude": "meters" } } +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h.,{ "action": "move", "params": {"distance": { "type": "float", "value": 3000.0 }, "velocity": { "type": "float", "value": 70.0 } } } +Travel straight ahead for 3 kilometers at a rate of 70 km/h.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 0)" } } } +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h., Note: I will give you a hint, the distance and speed are in the "params" field of the "action" field. +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers., Note: I will give you a hint, the ontology has an action called "move" which has a "speed" parameter, and a "distance" parameter. +Ascend to an altitude of 800 meters.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 800.0 }} } +Reach a height of 800 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Climb to an elevation of 800 meters.,{ "action": "climb", "params": {"elevation": { "type": "float", "value": 800.0 } } } +Increase your altitude to 800 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } } +Go up to a height of 800 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for the next 15 minutes., Note: I will give you a hint, the answer should have an "action" field with a value of "hover". +Remain in place without moving for a period of 15 minutes., Note: I will give you a hint, the action in this case is "hover". +Suspend motion for a time period of 15 minutes.,{ "action": "suspend_motion", "params": {"duration": { "type": "float", "value": 15.0 } } } +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second., Note: I will give you a hint, the action is "rotate". +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees., Note: I will give you a hint, the ontology has an action called "rotate". +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 40.0, "angle": 270, "is_clockwise": true, "unit": "degrees" } } +Fly forward for 2.5 kilometers at a speed of 55 km/h.,{ "action": "fly", "params": {"speed": 55.0, "altitude": 0, "duration": { "type": "float", "value": 2.5 }, "unit_speed": "km/h", "unit_duration": "kilometers" } } +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction., Note: I will give you a hint, the ontology has an action called "cover_distance" which takes a "distance" parameter of type "float". +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h.,{ "action": "fly", "params": {"speed": 55.0, "altitude": 0, "direction": { "type": "str", "value": "straight" }, "duration": 2.5, "unit_speed": "km/h", "unit_altitude": "meters" } } +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,{ "action": "fly", "params": {"speed": 55.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Descend to an altitude of 300 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 300.0 }} } +Lower yourself to a height of 300 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 300.0 }} } +Reduce your altitude to 300 meters.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 300.0 }} } +Move down to a height of 300 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 300, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Descend until you reach an altitude of 300 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 300.0 }} } +Hover in place for 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 8.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 8.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary position for a period of 8 minutes., Note: I will give you a hint, the ontology has an action called "stationary". +Suspend movement and remain in one spot for 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 8.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep hovering without moving for a total of 8 minutes., Note: I will give you a hint, the answer should have an 8 in the "duration" field. +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn left at a rate of 25 degrees per second for 120 degrees.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Fly forward for 4 kilometers at a speed of 80 km/h.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Travel at 80 km/h in a straight path for 4 kilometers.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Ascend to an altitude of 1000 meters.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Increase your altitude to 1000 meters.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Reach a height of 1000 meters.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Climb up to an elevation of 1000 meters.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Scale up to an altitude of 1000 meters.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } } +Hover in place for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in one spot for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay airborne without moving for a period of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Keep stationary in mid-air for a period of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend motion and hover in the same position for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Fly forward for 2.7 kilometers at a speed of 60 km/h.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Descend to an altitude of 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Reduce your altitude to 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Move down until you are at an altitude of 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Descend until you reach a height of 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Lower your altitude to 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Hover in place for 12 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Stay in one spot for a duration of 12 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Remain stationary for a period of 12 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Keep still for 12 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Do not move for a total of 12 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Fly forward for 5 kilometers at a speed of 90 km/h.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Ascend to an altitude of 1200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Increase your elevation to 1200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Climb to a height of 1200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Reach an altitude of 1200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Move upwards to a position of 1200 meters above ground level.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Hover in place for 25 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} } +Stay still for a duration of 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 25.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 25.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain in place without moving for a period of 25 minutes., Note: I will give you a hint, the action is "hover". +Hold your position in mid-air for a total of 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 25.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second., Note: I will give you a hint, the action is "rotate". +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 55.0, "angle": 450.0, "is_clockwise": true, "unit": "degrees" } } +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON. +Fly forward for 3.2 kilometers at a speed of 65 km/h.,{ "action": "fly", "params": {"speed": 65.0, "altitude": 0, "duration": { "type": "float", "value": 3.2 }, "unit_speed": "km/h", "unit_duration": "kilometers" } } +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour.,{ "action": "move", "params": {"distance": { "type": "float", "value": 3.2 }, "velocity": { "type": "float", "value": 65 } } } +Proceed straight for 3.2 kilometers at a pace of 65 km/h., Note: I will give you a hint, the answer should have an "action" field with a value of "proceed", and a "params" field with a value of a dictionary containing the "distance" and "speed" fields. +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h.,{ "action": "fly", "params": {"speed": 65.0, "altitude": 100, "direction": { "type": "str", "value": "forward" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h., Note: I will give you a hint, the coordinates are in the format (latitude, longitude) +Descend to an altitude of 500 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Lower your altitude to 500 meters.,{ "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Decrease your altitude to 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Descend until you reach an altitude of 500 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Bring yourself down to an altitude of 500 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Hover in place for 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 18.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary hover for a duration of 18 minutes., Note: I will give you a hint, the answer should have an "action" field with a value of "hover". +Stay in one position for a period of 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 18.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain suspended in the air for a total of 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 18.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Do not move and stay at the same spot for the next 18 minutes., Note: I will give you a hint, the answer should have an "action" field with a value of "stay". +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise., Note: I will give you the ontology again for reference. +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Fly forward for 6 kilometers at a speed of 100 km/h.,{ "action": "fly", "params": {"speed": 100.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 6000.0, "unit_speed": "km/h", "unit_altitude": "meters" } +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h., Note: I will give you a hint, the distance and speed are in the "params" field of the "action" object. +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h., Note: You can assume that all the actions are valid and that the parameters are valid for the respective actions. +Move forward for 6 kilometers while flying at a velocity of 100 km/h.,{ "action": "fly", "params": {"speed": 100.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 6, "unit_speed": "km/h", "unit_altitude": "meters" } } +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers., Note: I will give you a hint, the ontology has an action called "fly" which has a "speed" field, but it does not have a "distance" field. +Ascend to an altitude of 1400 meters.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1400.0 }} } +Climb to a height of 1400 meters.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1400.0 }} } +Reach an elevation of 1400 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1400, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Scale to a height of 1400 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1400, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Go up to an altitude of 1400 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1400, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Hover in place for 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in one spot for a duration of 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a stationary position for the next half-hour.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain hovering without moving for a period of 30 minutes., Note: I will give you a hint, the action is "hover". +Suspend yourself in the air for the next 30 minutes without any movement., Note: I will give you a hint, the action is not "hover". +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second., Note: I will give you a hint, the action is "rotate". +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON. +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 6.0, "angle": 540, "is_clockwise": true, "unit": "degrees" } } +Fly forward for 3.7 kilometers at a speed of 70 km/h.,{ "action": "fly", "params": {"speed": 70.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 3.7, "unit_speed": "km/h", "unit_altitude": "meters" } } +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h., Note: I will give you a hint, the ontology has an action called "cover_distance" which takes a "distance" parameter of type "float". +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h., Note: I will give you the prompts one by one, and you have to answer them accordingly. Please make sure to answer only in JSON format, without any introduction, comments, or conclusion. +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 0)" } } } +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h., Note: I will give you a hint, the ontology has an action called "propel" which takes a "distance" parameter of type "float" and a "speed" parameter of type "float". +Descend to an altitude of 600 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 600.0 }} } +Reduce your altitude to 600 meters.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 600.0 }} } +Move down to an altitude of 600 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Decrease your altitude until you reach 600 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Descend until you are at 600 meters altitude.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 600.0 }} } +Hover in place for 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 22.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay still for a duration of 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 22.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold your position for a period of 22 minutes.,{ "action": "hold_position", "params": {"duration": { "type": "float", "value": 22.0 } } } +Remain stationary for 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 22.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Do not move for the next 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 22.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn left by 210 degrees with a rotational velocity of 50 degrees per second., { "action": "rotate", "params": {"angular_velocity": 50.0, "angle": 210.0, "is_clockwise": true, "unit": "degrees" } } +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second., Note: I will give you a hint, the action is "rotate". +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap.,{ "action": "fly", "params": {"speed": 110.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 7, "unit_speed": "km/h", "unit_altitude": "meters" } } +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest., Note: I will give you a hint, the distance and speed are in the "params" field of the "action" object. +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON. +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest., Note: I will give you the prompt as a string, and you must return the corresponding JSON. +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break.,{ "action": "move", "params": {"speed": 110.0, "distance": { "type": "float", "value": 7.0 } } } +Ascend to an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Increase your elevation to 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Climb up to a height of 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Reach an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Move upward to a height of 500 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } } +Fly forward for 10 kilometers at a speed of 80 km/h.,{ "action": "fly", "params": {"speed": 80.0, "altitude": 0, "duration": 10000, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers" } } +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float" and a "speed" parameter of type "float". +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h.,{ "action": "fly", "params": {"speed": 80.0, "altitude": 0, "duration": 10, "unit_speed": "km/h", "unit_duration": "kilometers" } } +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". +Move forward at a rate of 80 km/h for a total of 10 kilometers.,{ "action": "move", "params": {"speed": 80.0, "distance": { "type": "float", "value": 10.0 } } } +Hover in place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in one spot for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position without movement for a period of 15 minutes., Note: Please provide the JSON response only, without any introduction, comments, or conclusion. +Keep floating in a fixed location for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain in mid-air without any displacement for a total of 15 minutes., Note: I will give you a hint, the action is not "hover". +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second., Note: I will give you the ontology again for reference. +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn., Note: I will give you a hint, the action is "rotate". +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON. +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please touch down at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make your descent and land on the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is required for you to land at the designated area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure that you land precisely at the designated landing zone., Note: I will give you a hint, the designated landing zone is located at (37.7749° N, 122.4194° W) at an altitude of 100 meters. +Descend to an altitude of 100 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }} } +Reduce your altitude to 100 meters.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 100.0 }} } +Decrease your altitude to 100 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Descend until you reach an altitude of 100 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }} } +Bring yourself down to an altitude of 100 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Fly backward for 5 kilometers at a speed of 40 km/h.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "backward" }, "duration": 5, "unit_speed": "km/h", "unit_altitude": "meters" } } +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h., Note: I will give you a hint, the ontology has an action called "reverse_course" +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h., Note: I will give you a hint, the ontology has an action called "travel" that takes a "distance" parameter of type "float" and a "speed" parameter of type "float". +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h., Note: I will give you a hint, the ontology has an action called "fly" but it does not have an action called "backward". So you should ignore that part of the prompt. +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h., { "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "reverse" }, "duration": 5, "unit_speed": "km/h", "unit_altitude": "meters" } } +Circle around a specific location for 20 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Perform a circular motion around a particular spot for a duration of 20 minutes., Note: I will give you a hint, the spot is located at (37.7749° N, 122.4194° W) at an altitude of 100 meters. +Move in a circular pattern around a designated area for a period of 20 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Encircle a specific location for 20 minutes, continuously moving in a circular motion., Note: I will give you a hint, the location is in the format of (latitude, longitude). +Follow a circular path around a particular place for a duration of 20 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec., Note: I will give you a hint, the action is "rotate". +Turn left by 270 degrees at a rate of 60 degrees per second., { "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 270, "is_clockwise": true, "unit": "degrees" } } +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees., Note: I will give you a hint, the action is "rotate". +Ascend to an altitude of 1000 meters.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Reach a height of 1000 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Climb up to an elevation of 1000 meters.,{ "action": "climb", "params": {"elevation": { "type": "float", "value": 1000.0 }} } +Increase the altitude to 1000 meters.,{ "action": "fly", "params": {"speed": 12.0, "altitude": 1000, "direction": { "type": "str", "value": "north" }, "duration": 20, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Achieve a vertical position of 1000 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly forward for 15 kilometers at a speed of 100 km/h.,{ "action": "fly", "params": {"speed": 100.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters" } } +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction., Note: I will give you a hint, the ontology has an action called "drive" which has a "speed" field, but it doesn't have a "velocity" field. +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h., Note: I will give you a hint, the ontology has an action called "travel" but it does not have a specific action called "travel straight ahead". So you should ignore that part of the prompt. +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes the speed and altitude as parameters. +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers.,{ "action": "move", "params": {"speed": 100.0, "distance": { "type": "float", "value": 15.0 } } } +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in midair for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position for a period of 10 minutes., Note: Please provide the JSON response only, without any introduction, comments, or conclusion. +Remain airborne without moving for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend yourself in one spot for a duration of 10 minutes., Note: I will give you a hint, the action is "hover". +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second., Note: I will give you the prompt as a string, and you must return the corresponding JSON. +Rotate to the right by 90 degrees at a rate of 30 degrees every second., Note: I will give you a hint, the action is "rotate". +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second., Note: I will give you a hint, the action is "rotate". +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation., Note: I will give you a hint, the ontology has an action called "rotate". +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please land at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ensure you land at the indicated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is important to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make sure to land precisely at the assigned landing area.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } }, "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Decrease your altitude to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Lower yourself to an altitude of 200 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Go down to a height of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Descend until you reach an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Fly backward for 3 kilometers at a speed of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "backward" }, "duration": 3, "unit_speed": "km/h", "unit_altitude": "meters" } } +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour., Note: I will give you a hint, the ontology has an action called "fly" but it does not have an action called "reverse_direction". So you should ignore that part of the prompt. +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour., Note: I will give you a hint, the ontology has an action called "cover_distance" which takes two parameters, "distance" and "speed". +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour., Note: I will give you a hint, the ontology has an action called "fly" which has a "speed" field, and an action called "navigate_to_point" which has a "coordinates" field. +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour., Note: I will give you a hint, the ontology has an action called "fly_in_reverse". +Circle around a specific location for 30 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Perform a 30-minute loop around a designated area.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 300, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } } +Go in a circular route around a specific spot for half an hour.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Complete a 30-minute circuit around a particular location.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 300, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Traverse in a circular path around a specific point for a duration of 30 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second., Note: I will give you a hint, the action is "rotate". +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON. +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 90.0, "angle": 360.0, "is_clockwise": true, "unit": "degrees" } } +Ascend to an altitude of 700 meters and swin.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 700.0 } } } +Gain an elevation of 700 meters and swim.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Reach a height of 700 meters and engage in swimming.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 700, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Ascend to a 700-meter altitude and partake in swimming.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 700.0 } } } +Increase your altitude to 700 meters and then swim.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 700)" } } } +Fly forward for 8 kilometers at a speed of 70 km/h.,{ "action": "fly", "params": {"speed": 70.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 0.0, "unit_speed": "km/h", "unit_altitude": "meters" } } +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float" and a "speed" parameter of type "float". +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h., Note: I will give you the prompts one at a time, and you must respond with the corresponding JSON. +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h., Note: I will give you a hint, the ontology has an action called "travel" that takes a "distance" parameter of type "float" and a "speed" parameter of type "float". +Fly straight for a total of 8 kilometers at a speed of 70 km/h., Note: I will give you a hint, the answer should have a "distance" field. +Hover in place for 20 minutes and watch TV.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay stationary for a duration of 20 minutes while watching television., Note: I will give you a hint, the ontology has an action called "watch_television" which has a "duration" field of type "float". +Maintain a hovering position and engage in television viewing for a period of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Hold a steady hover for 20 minutes while enjoying television watching.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain in one place without moving for 20 minutes and entertain yourself by watching TV., Note: You can assume that the user has already given the necessary permissions and authorizations to perform the actions. +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation., Note: I will give you a hint, the ontology has an action called "rotate". +Land at the designated landing zone, then sing loudly.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } }, "action": "sing", "params": {"volume": 10.0} } +After successfully landing at the designated landing zone, proceed to sing loudly.,{ "action": "rotate", "params": {"angular_velocity": 10.0, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Ascend to an altitude of 500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Increase your altitude to 500 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Climb to a height of 500 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Reach an elevation of 500 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Rise to a position 500 feet above ground level.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Fly forward for 1 mile at a speed of 30 mph.,{ "action": "fly", "params": {"speed": 30.0, "altitude": 0, "duration": 1.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph., Note: I will give you a hint, the distance in miles is 1609.34 meters. +Travel straight ahead for 1 mile at a speed of 30 mph.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 0)" } } } +Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,{ "action": "move", "params": {"distance": { "type": "float", "value": 1609.344 }, "speed": 30.0, "unit_distance": "meters" } } +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph., Note: I will give you a hint, the distance in meters is approximately 1609.34 meters. +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay suspended in one spot for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain a hovering position without moving for a period of 10 minutes., Note: Please provide the JSON response only, without any introduction, comments, or conclusion. +Stay suspended in mid-air without any motion for a time span of 10 minutes., Note: I will give you a hint, the action in this case is "hover". +Hold a hover position for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees., Note: I will give you a hint, the action is "rotate". +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate". +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second., Note: I will give you a hint, the action in the ontology is "rotate". +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees., Note: You can assume that all the values are valid and in the correct range. +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Decrease your altitude to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Lower your altitude to 200 meters.,{ "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Move down to an altitude of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Descend until reaching an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "north" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h., Note: I will give you a hint, the zigzag maneuver should be specified as a sequence of 4 turns, each turn should be specified as a tuple of (angle, distance) where angle is the angle of turn in degrees and distance is the distance to turn in meters. +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h., Note: I will give you a hint, the ontology has an action called "fly" and it has a field called "speed". +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "zigzag" }, "duration": 3000, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "zigzag" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters" } } +Perform a barrel roll to the left.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Execute a left barrel roll.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Rotate in a barrel roll towards the left.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Perform a barrel roll in a counterclockwise direction.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees" } } +Initiate a leftward barrel roll.,{ "action": "rotate", "params": {"angular_velocity": 0.7, "angle": 135, "is_clockwise": true, "unit": "degrees" } } +Ascend to an altitude of 1000 feet and maintain it for 20 minutes., { "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }, "duration": 20, "unit": "feet" } } +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes., Note: I will give you a hint, the altitude unit is meters. +Increase your elevation to 1000 feet and sustain it for the next 20 minutes., Note: I will give you a hint, the action is "fly". +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes., Note: I will give you a hint, the altitude unit is meters. +Elevate to 1000 feet and retain that height for the next 20 minutes., Note: I will give you a hint, the action is "elevate". +Fly backward for 500 meters at a speed of 40 km/h.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0.0, "direction": { "type": "str", "value": "backward" }, "duration": 500, "unit_speed": "km/h", "unit_altitude": "meters" } } +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h., Note: I will give you a hint, the ontology has an action called "cover" which takes a "distance" parameter of type "float" and a "velocity" parameter of type "float". +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h.,{ "action": "move", "params": {"distance": { "type": "float", "value": 500.0 }, "speed": 40.0, "unit_distance": "meters", "unit_speed": "km/h" } } +Reverse your flight and go for 500 meters at a velocity of 40 km/h., Note: I will give you a hint, the action is "fly". +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h., Note: I will give you a hint, the ontology has an action called "fly" but it does not have an action called "fly_opposite_direction". So you should ignore that part of the prompt. +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees., Note: I will give you a hint, the action is "rotate". +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second., Note: I will give you a hint, the action is "rotate". +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second., { "action": "rotate", "params": {"angular_velocity": 15.0, "angle": 45.0, "is_clockwise": false, "unit": "degrees" } } +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change., { "action": "rotate", "params": {"angular_velocity": 15.0, "angle": 45, "is_clockwise": false, "unit": "degrees" } } +Descend to an altitude of 100 feet and hold for 5 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }, "duration": { "type": "float", "value": 5.0 } } } +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" }, "altitude": { "type": "float", "value": 100.0 } } } +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes., Note: I will give you the prompt as a string, and you must return the corresponding JSON. +Descend until you reach an altitude of 100 feet and remain there for 5 minutes., { "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }, "duration": { "type": "float", "value": 5.0 } } } +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes., { "action": "hover", "params": {"duration": { "type": "float", "value": 5.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h.,{ "action": "fly", "params": {"speed": 20.0, "altitude": 0, "direction": { "type": "str", "value": "circular" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,{ "action": "fly", "params": {"speed": 20.0, "altitude": 100, "direction": { "type": "str", "value": "circular" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h.,{ "action": "fly", "params": {"speed": 20.0, "altitude": 0, "direction": { "type": "str", "value": "circular" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h., Note: I will give you a hint, the maneuver should be described using the "action" field, and the "params" field should contain the relevant information for that action. +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer., Note: I will give you a hint, the radius of a circle is 1000 meters. +Ascend to an altitude of 300 meters and maintain it for 30 minutes., Note: I will give you a hint, the ontology has an action called "ascend" which takes an altitude as a parameter. +Climb to a height of 300 meters and stay there for a duration of 30 minutes., Note: You can assume that all the values are valid and in the correct format. +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes., Note: I will give you a hint, the action is "ascend". +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes., Note: You can assume that all the actions are valid and that the parameters are valid values for the respective fields. +Scale up to an altitude of 300 meters and sustain it for 30 minutes., Note: I will give you a hint, the altitude unit is meters. +Hover in place for 15 minutes and then proceed forward for 2 kilometers., Note: I will give you a hint, the answer should have an "action" field with a value of "hover" and a "params" field with a value of a dictionary containing a "duration" field with a value of 900 (15 minutes in seconds). +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers., Note: You can assume that all the actions are valid and the parameters are valid and consistent with the ontology. +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers., Note: You can assume that the position of the drone is already known. +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers., Note: You can assume that all the actions are valid and that the parameters are valid for the respective actions. +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers., Note: I will give you a hint, the action is "advance_forward". +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second., Note: I will give you a hint, the action is "rotate". +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second., Note: I will give you a hint, the action is "rotate". +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second., { "action": "rotate", "params": {"angular_velocity": 0.2, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 0.2, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second., Note: I will give you a hint, the action is "rotate". +Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,{ "action": "fly", "params": {"speed": 25.0, "altitude": 0, "direction": { "type": "str", "value": "serpentine" }, "duration": 1, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph., Note: You can assume that the serpentine flight maneuver is defined as a sequence of 5 turns, each turn being 90 degrees. Each turn is performed at a constant speed of 25 mph. +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph.,{ "action": "fly", "params": {"speed": 25.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 1000, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly in a zigzag pattern for a mile at a speed of 25 mph.,{ "action": "fly", "params": {"speed": 25.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 1000, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph., Note: I will give you a hint, the ontology has an action called "curve" which can be used to specify a curved flight path. +Descend to an altitude of 100 meters and hover in place for 10 minutes.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude)" } }, "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes., Note: You can assume that all the values are valid and in the correct format. +Lower your altitude to 100 meters and remain stationary for 10 minutes., { "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 100.0 }} } +Descend until reaching an altitude of 100 meters and then hover for 10 minutes., Note: I will give you a hint, the altitude field in the ontology is of type float. +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone., Note: I will give you a hint, the landing zone is a tuple of latitude and longitude. +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area., Note: I will give you the ontology and the prompt, and you have to return the corresponding JSON. +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone., Note: I will give you the ontology and the prompt, and you have to return the corresponding JSON. +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone., Note: I will give you the ontology and the prompt, and you have to return the corresponding JSON. +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area., Note: I will give you the ontology and the prompt, and you have to return the corresponding JSON. +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second., Note: I will give you a hint, the action is "rotate". +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 180, "is_clockwise": false, "unit": "degrees" } } +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second., Note: I will give you a hint, the unit of measurement for the angle is in degrees. +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation., Note: I will give you a hint, the ontology has an action called "rotate". +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second., Note: I will give you a hint, the action is "rotate". +Perform a loop-de-loop and then watch TV.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Execute a loop-de-loop and subsequently engage in watching TV.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Carry out a loop-de-loop and proceed to view television.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } } +Conduct a loop-de-loop before indulging in some TV time., Note: You can assume that the agent has the necessary capabilities and resources to perform the actions specified in the prompts. +Maneuver a loop-de-loop and then enjoy some TV programming.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" }, "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } } +Ascend to an altitude of 500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} } +Increase your height to 500 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Climb up to an elevation of 500 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } } +Reach an altitude of 500 feet.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Go up to a height of 500 feet.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Fly forward for 1 mile at a speed of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } } +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } } +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } } +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } } +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } } +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Remain stationary for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Stay in one spot for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Float in the same position for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Suspend yourself in midair for a span of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } } +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate". +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees., Note: I will give you a hint, the action is "rotate". +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation., Note: I will give you a hint, the action is "rotate". +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Please land at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +You are required to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Make sure to land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +It is important to secure a landing at the designated zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Fly sideways for 500 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Move horizontally for a distance of 500 meters while airborne.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Perform a lateral flight movement covering a distance of 500 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Traverse 500 meters in a sideways direction while in flight.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Travel parallel to the ground for a distance of 500 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } } +Ascend to an altitude of 1000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Increase your elevation to 1000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Climb to a height of 1000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Reach an altitude of 1000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Move upwards to a level of 1000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Fly in a circular pattern with a radius of 500 meters for 20 minutes.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} } +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } +Go down to a height of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Lower yourself to an elevation of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } } +Decrease your altitude to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } } +Descend until you reach an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} } diff --git a/evaluation/Tables/avg_Scores_v1.tgn b/evaluation/Tables/avg_Scores_v1.tgn new file mode 100644 index 0000000..8efb082 --- /dev/null +++ b/evaluation/Tables/avg_Scores_v1.tgn @@ -0,0 +1 @@ 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However, the given speed and distance parameters do not match the values in the JSON structure.","cspan":1,"rspan":1,"markup":[0,198]},{"value":"4","cspan":1,"rspan":1,"markup":[0,1]},{"value":"The command corresponds closely with the JSON structure for the \"move\" action, with some parameter mismatches.","cspan":1,"rspan":1,"markup":[0,110]},{"value":"","cspan":1,"rspan":1,"markup":[]},{"value":"","cspan":1,"rspan":1,"markup":[]}],[{"value":"Ground R","cspan":1,"rspan":1,"markup":[0,8]},{"value":"LLaMA-7b","cspan":1,"rspan":1,"markup":[0,8]},{"value":"Go back 6 meters.","cspan":1,"rspan":1,"markup":[0,17]},{"value":"\"3.5; 0; The natural language command partially matches the \"move\" JSON structure. The correct direction (backwards) isn't specified in the JSON structure, and there's no specification for 'distance' in JSON which should be '6' as per the natural language command. However, \"unit\" as \"meter\" aligns with the natural language command.","cspan":1,"rspan":1,"markup":[0,333]},{"value":"3.5","cspan":1,"rspan":1,"markup":[0,3]},{"value":"The command partially matches the JSON structure, but some details are missing.","cspan":1,"rspan":1,"markup":[0,79]},{"value":"","cspan":1,"rspan":1,"markup":[]},{"value":"","cspan":1,"rspan":1,"markup":[]}],[{"value":"Ground R","cspan":1,"rspan":1,"markup":[0,8]},{"value":"LLaMA-7b","cspan":1,"rspan":1,"markup":[0,8]},{"value":"Perform a 180-degree clockwise rotation.","cspan":1,"rspan":1,"markup":[0,40]},{"value":"\"5; 0; The natural language command correctly matches with the JSON structure for the 'rotate\" action. It specifies the 'angle' parameter as 180 and 'is_clockwise' parameter as True, both of which are included in the structure.","cspan":1,"rspan":1,"markup":[0,227]},{"value":"5","cspan":1,"rspan":1,"markup":[0,1]},{"value":"The command exactly matches the JSON structure for the \"rotate\" action.","cspan":1,"rspan":1,"markup":[0,71]},{"value":"","cspan":1,"rspan":1,"markup":[]},{"value":"","cspan":1,"rspan":1,"markup":[]}],[{"value":"Ground R","cspan":1,"rspan":1,"markup":[0,8]},{"value":"LLaMA-7b","cspan":1,"rspan":1,"markup":[0,8]},{"value":"Perform a clockwise rotation of 270 degrees.","cspan":1,"rspan":1,"markup":[0,44]},{"value":"\"4; 0; The command corresponds mostly with the 'rotate' action in JSON structure, including the 'angle' and 'is_clockwise' parameters. However, the 'angular_velocity' parameter is not mentioned in the command.","cspan":1,"rspan":1,"markup":[0,209]},{"value":"4","cspan":1,"rspan":1,"markup":[0,1]},{"value":"The command mostly corresponds to the JSON structure for the \"rotate\" action.","cspan":1,"rspan":1,"markup":[0,77]},{"value":"","cspan":1,"rspan":1,"markup":[]},{"value":"","cspan":1,"rspan":1,"markup":[]}],[{"value":"Ground R","cspan":1,"rspan":1,"markup":[0,8]},{"value":"LLaMA-7b","cspan":1,"rspan":1,"markup":[0,8]},{"value":"Rotate anticlockwise by 60 degrees and advance 3 meters.","cspan":1,"rspan":1,"markup":[0,56]},{"value":"\"4; 0; The command matches with two JSON structures but the rotation direction is not specified in the JSON parameters. The moving action matches perfectly with the second JSON structure and rotation without direction matches with the third structure.","cspan":1,"rspan":1,"markup":[0,251]},{"value":"4","cspan":1,"rspan":1,"markup":[0,1]},{"value":"The command matches with multiple JSON structures, but some details are missing.","cspan":1,"rspan":1,"markup":[0,80]},{"value":"","cspan":1,"rspan":1,"markup":[]},{"value":"","cspan":1,"rspan":1,"markup":[]}],[{"value":"Ground R","cspan":1,"rspan":1,"markup":[0,8]},{"value":"GPT3.5","cspan":1,"rspan":1,"markup":[0,6]},{"value":"Make sure to land precisely at the assigned landing area.","cspan":1,"rspan":1,"markup":[0,57]},{"value":"{\"action\": \"land\", \"params\": {\"location\": {\"type\": \"tuple\", \"value\": \"(37.7749, -122.4194)\"}}","cspan":1,"rspan":1,"markup":[0,93]},{"value":"5","cspan":1,"rspan":1,"markup":[0,1]},{"value":"Exactly conform.","cspan":1,"rspan":1,"markup":[0,16]},{"value":"","cspan":1,"rspan":1,"markup":[]},{"value":"","cspan":1,"rspan":1,"markup":[]}],[{"value":"UAV","cspan":1,"rspan":1,"markup":[0,3]},{"value":"GPT3.5","cspan":1,"rspan":1,"markup":[0,6]},{"value":"Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.","cspan":1,"rspan":1,"markup":[0,92]},{"value":"{\"action\": \"fly\", \"params\": {\"speed\": 30.0, \"altitude\": 0, \"direction\": {\"type\": \"str\", \"value\": \"forward\"}, \"duration\": 10, \"unit_speed\": \"km/h\", \"unit_altitude\": \"meters\", \"unit_duration\": \"seconds\"}}","cspan":1,"rspan":1,"markup":[0,202]},{"value":"4","cspan":1,"rspan":1,"markup":[0,1]},{"value":"The command partially conforms to the JSON structure. Some details are missing or incorrect.","cspan":1,"rspan":1,"markup":[0,92]},{"value":"","cspan":1,"rspan":1,"markup":[]},{"value":"","cspan":1,"rspan":1,"markup":[]}],[{"value":"UAV","cspan":1,"rspan":1,"markup":[0,3]},{"value":"GPT3.5","cspan":1,"rspan":1,"markup":[0,6]},{"value":"Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.","cspan":1,"rspan":1,"markup":[0,104]},{"value":"{\"action\": \"fly\", \"params\": {\"speed\": 90.0, \"altitude\": 0, \"direction\": {\"type\": \"str\", \"value\": \"forward\"}, \"duration\": 200, \"unit_speed\": \"km/h\", \"unit_altitude\": \"meters\", \"unit_duration\": \"seconds\"}}","cspan":1,"rspan":1,"markup":[0,203]},{"value":"2","cspan":1,"rspan":1,"markup":[0,1]},{"value":"The JSON structure partially matches the command. Some details are inferred or incorrect.","cspan":1,"rspan":1,"markup":[0,89]},{"value":"","cspan":1,"rspan":1,"markup":[]},{"value":"","cspan":1,"rspan":1,"markup":[]}],[{"value":"UAV","cspan":1,"rspan":1,"markup":[0,3]},{"value":"GPT3.5","cspan":1,"rspan":1,"markup":[0,6]},{"value":"Keep yourself elevated without any movement for a span of 45 minutes.","cspan":1,"rspan":1,"markup":[0,69]},{"value":"{\"action\": \"hover\", \"params\": {\"duration\": {\"type\": \"float\", \"value\": 2700.0}, \"altitude\": {\"type\": \"float\", \"value\": 0.0}, \"unit_duration\": \"seconds\", \"unit_altitude\": \"meters\"}}","cspan":1,"rspan":1,"markup":[0,179]},{"value":"3","cspan":1,"rspan":1,"markup":[0,1]},{"value":"The command partially matches the JSON structure. The duration is incorrect, and the altitude information is not mentioned in the command.","cspan":1,"rspan":1,"markup":[0,138]},{"value":"","cspan":1,"rspan":1,"markup":[]},{"value":"","cspan":1,"rspan":1,"markup":[]}]]},"theme":null,"fixed_layout":false,"markup":{"instances":[{},null,{"style":{"fontWeight":"","fontStyle":"","textDecoration":"","color":"","backgroundColor":""}}]},"options":{"table_caption":"","table_label":"tab:my-table"}} \ No newline at end of file diff --git a/evaluation/Tables/sample_scoring_table.docx b/evaluation/Tables/sample_scoring_table.docx new file mode 100644 index 0000000000000000000000000000000000000000..2f4d27656b3b999510f24cd683600b737cceed96 GIT binary patch literal 11837 zcmaia1y~)+vh~J-1b6q~?hrhvy4&~F5~^)9#P&Z_H(;i;a41Ru+nDV zFhAX+?(7Z6+q%|Z$wm`xlgfO7i+#O{VW~kVq1Zd0GWW5j7VpuohPGV}D)kybV24PaFlUM~a+N3joXQu9o=mM^=8 za=4-=QU$}~vlcypWW>QCcI<8h_TRcc2@C+p{I3o|c)P>ET3^P_+Qyz%-`dWQ#>LVi zQf@@5hYr5=5+(L5^fDVoMU(>QFjP#$5^T%p*wRb{d&DX2=FB#ZgnAOBF(c#rc;w(% 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+++ b/evaluation/evaluations/.~lock.Evaluated_JSON_commands_Ground_Robot.txt# @@ -0,0 +1 @@ +,riotu,riotu-MSI,05.10.2023 10:14,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file diff --git a/evaluation/evaluations/.~lock.average_and_SEM_GPT4_score.txt# b/evaluation/evaluations/.~lock.average_and_SEM_GPT4_score.txt# new file mode 100644 index 0000000..060756d --- /dev/null +++ b/evaluation/evaluations/.~lock.average_and_SEM_GPT4_score.txt# @@ -0,0 +1 @@ +,riotu,riotu-MSI,16.11.2023 09:04,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file diff --git a/evaluation/evaluations/.~lock.average_and_SEM_human_score.txt# b/evaluation/evaluations/.~lock.average_and_SEM_human_score.txt# new file mode 100644 index 0000000..cd5fb08 --- /dev/null +++ b/evaluation/evaluations/.~lock.average_and_SEM_human_score.txt# @@ -0,0 +1 @@ +,riotu,riotu-MSI,15.11.2023 13:42,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file diff --git a/evaluation/evaluations/.~lock.average_and_confidence_GPT4score_total_per_model.txt# b/evaluation/evaluations/.~lock.average_and_confidence_GPT4score_total_per_model.txt# new file mode 100644 index 0000000..52426f2 --- /dev/null +++ b/evaluation/evaluations/.~lock.average_and_confidence_GPT4score_total_per_model.txt# @@ -0,0 +1 @@ +,riotu,riotu-MSI,16.11.2023 09:18,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file diff --git a/evaluation/evaluations/Ground-Robot/GPT3.5/.~lock.Evaluated_JSON_commands_Ground_Robot_v2_SELECTED_5pct_manual_eval.txt# b/evaluation/evaluations/Ground-Robot/GPT3.5/.~lock.Evaluated_JSON_commands_Ground_Robot_v2_SELECTED_5pct_manual_eval.txt# new file mode 100644 index 0000000..97cb2ec --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/GPT3.5/.~lock.Evaluated_JSON_commands_Ground_Robot_v2_SELECTED_5pct_manual_eval.txt# @@ -0,0 +1 @@ +,riotu,riotu-MSI,15.11.2023 13:23,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file 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b/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot-v1.txt new file mode 100644 index 0000000..74b5020 --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot-v1.txt @@ -0,0 +1,1001 @@ +Move forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['4; The command mostly matches the JSON structure. However, the command did not specify the "linear_speed" of the movement, so even though the JSON structure has a value for it, it\'s not mentioned in the command.'] +Proceed straight ahead covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1.0, "is_forward": true}}'];['4; The natural language command almost exactly matches the JSON command structure. However, the natural language command does not mention the linear speed whereas it is present in the JSON command structure.'] +Advance by 1 meter in the forward direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true}}'];['2; The action "move" is correctly matched in the natural language command and JSON structure. The "is_forward" key matches the forward direction in the command. However, the "linear_speed" key in JSON does not conform with the command. Also, the command specifies a distance, which is not indicated in the provided JSON structure.'] +Take a step forward spanning 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['4; The command does match with the move action in the JSON structure and includes the "distance" and "is_forward" parameters. However, the "linear_speed" value is not specified in the command, hence it\'s not exactly conforming. The absence of the "unit" parameter in the natural language instruction is also a reason to remove a point, since it assumes that the mentioned distance of 1 is in meters but did not specify it directly.'] +Move ahead for a length of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];['1; The command partially matches with the given JSON. However, the "linear_speed" value is not specified in the command and hence should not be assumed as 1. Also the "unit" key is not presented in the JSON command.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command matches the existing keys in the sample ontology and the provided JSON structure but the "angular_velocity" is not specified therefore a score of 5 cannot be given.'] +Rotate in an anti-clockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command matches the action and structure of the JSON code, but the "angular_velocity" value should not be 0 as indicated in the JSON provided. This value should reflect a measure of the speed at which the rotation is happening, which is not provided in the natural language command.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The command is almost entirely conform with the JSON structure. However, the "angular_velocity" value is provided as 0 in the JSON, while it is not specified in the command. In the sample ontology, it\'s mentioned as 0.35.'] +Rotate 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command \'Rotate 90 degrees counterclockwise\' somewhat matches with the JSON structure. However, the "angular_velocity" has been set to zero and not 0.35, which doesn\'t fully conform to the sample ontology.'] +Spin in the opposite direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command corresponds to the action "rotate" in the JSON structure regarding the rotation and direction (opposite means anti-clockwise which can be interpreted as "is_clockwise": false). However, the angular velocity value provided in the JSON structure does not match the command as there is no velocity mentioned in the command.'] +Move backward for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['2; The action is consistent with the given JSON structure but the units of distance in the given command is seconds not meters. Also, there\'s no parameter to accommodate direction like backward or forward in the sample JSON structure hence "is_forward" is used here even though it is not in the copied JSON structure. Linear speed is assumed to be -1 to accommodate the backwards movement but it is not clearly stated in the natural language command. Based on these mismatches, the conformity is not high.'] +Go backwards for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "duration": 2, "is_forward": false, "unit": "seconds"}}'];["3; The specified action 'move' and the parameters 'is_forward' and 'unit' are matching with the sample keys in the ontology. However, the parameters 'linear_speed' and 'duration' are not explicitly mentioned in the command and are inferred. Moreover, the parameter 'distance' from the ontology is not mentioned in the JSON structure and is replaced with 'duration'. Due to these mismatches in parameters, the conformity score is given as 3."] +Reverse your direction and travel for a span of 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['2; The command issued can be interpreted as a \'move\' action with a negative linear speed, indicating a reversal of direction. However, the distance key is wrongly paired with a time value ("2 seconds"), which does not conform to the sample key structure. The \'is_forward\' field is correct, being indicated by "reverse your direction". Overall, there are discrepancies due to usage of time for distance and absence of time key-value pair in the schema.'] +Retreat for a time frame of 2 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "time_frame": 2, "unit": "seconds"}}'];['1; The natural language command specifies an action of retreating for a given time, however the JSON information reflects a movement command with unspecified distance and speed, and an unexpected "time_frame" key which does not exist in the sample ontology. Also, "is_forward" parameter is incorrectly set to false which contradicts with the "retreat" command.'] +Take two seconds to move in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'];['2; The natural language command mentions an action of moving in the opposite direction, which is somewhat indicated in the JSON by the "is_forward": false parameter. However, the natural language command specifies a timeframe of "two seconds" but the JSON structure uses distance and speed for movement, not time. So the conformity is not perfect.'] +Turn left and move forward for 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The JSON structures partially conform to the natural language command. The command "Turn left and move forward for 5 meters" could be represented by these two JSON actions of rotation and movement. However, the parameters for angular_velocity and linear_speed were not specified in the command and thus the provided values (0.5, and 1) are assumptions. The command asked for a left turn which was correctly translated to a counterclockwise rotation ("is_clockwise": false). The distance of 5 meters to be moved forward was also correctly captured. The "unit" key is identified correctly in both cases.'] +Move forward for 5 meters, then turn left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false}}'];['2; The provided JSON mostly conforms to the command but there are discrepancies. "linear_speed":0.5 is not directly specified by the natural language command and "angular_velocity":10 is not mentioned either in the command when it says "turn left". However, the move and rotate actions with given parameters of distance and angle are correct respectively.'] +Proceed for 5 meters, then make a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["4; The JSON information fairly matches the command. The action to move forward a distance of 5 meters is correctly represented in the first JSON structure. However, the rotation angle for the left turn isn't specified in the command, but assumed as 90 degrees in the second JSON structure. The correctness of this assumption can vary depending on specific contexts. The linear_speed and angular_velocity are given as 1 in the JSON structures despite not being mentioned in the command."] +Take a left turn and continue moving forward for 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The command to move forward for 5 meters is correctly matched with the provided JSON. However, the command for the left turn doesn\'t exactly match the JSON provided. The direction (clockwise) was interpreted inversely (should be "is_clockwise": True for a left turn), and the angle provided in the JSON is 90, not 40. The angular velocity in the JSON is 0.35, but in interpretation it was given as 0.5.'] +Make a leftward turn and advance for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The JSON information partially matches with the command. While the command to move is correct, there is no indication of making a turn in the JSON structure.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The JSON representation correctly captures the action of rotating and the direction (clockwise). But the angle of rotation specified in the natural language command (180 degrees) is correct in the JSON. However, the "angular_velocity" is given as 0 in the JSON, which is not specified in the natural language command. Additionally, the "unit" json key is missing from the JSON structure.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["4; The natural language command has been correctly converted to a JSON format, and the action type and parameters (An 'angle' of 180 degrees, a 'clockwise' rotation) conform to the sample keys given. However, the 'angular_velocity' does not match between the natural language command and the JSON command - it's not mentioned in the natural language command, but is specified in the JSON command."] +Turn in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The JSON structure matches the natural language command for the rotation aspect but the "angular_velocity" value should not be 0 as it is not specified in the command and is presumed to not be 0 during any rotation.'] +Rotate by 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": true}}'];['4; The command "Rotate by 180 degrees in a clockwise manner" corresponds to the JSON structure overall - the action is "rotate", the angle is 180, and is_clockwise is true. However, the angular_velocity is not defined in the command, hence the default_angular_velocity is taken for JSON, therefore 1 point is deducted.'] +Execute a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The command refers to a valid action ("rotate") and parameters ("angle" and "is_clockwise") from the ontology, but the "angular_velocity" value is not provided in the command, so it\'s not a full match.'] +Move forward at a velocity of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "m"}}'];['3; The command provided partial match with the JSON structure. \'Move forward\' matches with "action": "move" and "is_forward": true. \'Velocity of 0.5 meters per second\' matches with "linear_speed": 0.5 and "unit": "meter". However, the duration for the action \'10 seconds\' is not represented in the JSON structure. Also, the JSON structure includes a "distance" parameter which is not mentioned in the command.'] +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['2; The linear_speed matches well to the value given in the command. The command has specified a duration of movement which is not reflected in the JSON. Also, the command does not specify the direction of the movement (forward or backward), which is a parameter in the JSON structure. Lastly, the distance parameter in the JSON does not match with the command as it is not specified in the command.'] +Advance at 0.5 meters per second for a total of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5.0, "is_forward": true}}'];['1; The natural language command requests for a movement with duration specified in seconds but the JSON has parameters for distance in terms of unit (meter), whereby the distance value does not match the command. There is no key in the JSON structure pertaining to time duration. The linear speed does match.'] +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The JSON structure and the natural language command don\'t fully conform to each other and the sample keys. The natural language command specifies a duration of 10 seconds for the movement, however, this is not considered in the JSON object. Instead, it lists "distance" and "unit" keys, which were not mentioned in the command. There is a mismatch in the given values and its units.'] +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['1; The given command requests the agent to move at a certain speed for a definite time period, instead of a distance. However, the provided JSON structure contains keys for "linear_speed" and "is_forward", which match with the command. But the \'distance\' key does not comply with the time period asked and the \'unit\': \'meter\' may be different as the command does not explicitly state the unit of movement.'] +Turn right and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true}}'];['4; The natural language command mostly conforms to the given JSON structures. The turning direction, moving direction and distance match correctly. However, the JSON information provided does not indicate any value for the "angular_velocity" in the "rotate" action and "linear_speed" in the "move" action. Also, the "unit" for distance in the "move" action and the "angle" in the "rotate" action are not specified in the provided JSON strings which actually exist in the sample ontology.'] +Proceed forward for a distance of 3 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; Almost conform. The JSON STRUCTURE given on the right properly depicts the command "Proceed forward for a distance of 3 meters after making a right turn." However according to the sample ontology, the "angular_velocity" key and "linear_speed" key is required but it has been set to zero in the given JSON structure. This means that the action will not be performed which doesn\'t match with the command. But overall, the structure and keys used correctly depict the movement and rotation action mentioned in the command.'] +After turning right, continue straight for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['1; The natural language command specifies a rotation action ("turning right") and a move action ("continue straight for 3 meters"). However, the provided JSON structure only represents the move action. The command "turning right" isn\'t represented in the provided JSON structure, nor could a speed of moving forward be assumed to be 1. Furthermore, the rotation action is not provided in the JSON structure. The JSON structure would require an additional action for "rotate" with appropriate parameters to fully match the natural language command.'] +Make a right turn and advance for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; Although the commands given in the natural language somewhat match the JSON commands, there are discrepancies in the parameter values. Natural language command mentions a right turn, which implies a clockwise rotation, but in the JSON command the "is_clockwise" value is missing. Furthermore, the "angular_velocity" value is given as 0 in JSON whereas it is not specified in the natural language command. In the movement action, the "distance" parameter is correctly interpreted as 3, but the "linear_speed" is given as 0.5 in JSON whereas it\'s not defined in the command.'] +Execute a rightward turn and then travel straight ahead for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; Some parts of the JSONs match with the command. The command dictates for a rightward turn and moving straight afterward, both of which can be translated to the provided JSONs. However, the command does not specify the speed of the turn or the linear speed of the movement, which are both included in the JSONS. The JSONs and the command thus exhibit partial conformity.'] +Move backward at a velocity of 1 meter per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];["3; Although the action and parameters match the ontology, the 'is_forward' key is being set to false despite the command instructing to 'move backward', indicating non-conformity. The 'distance' key should ideally match the command 'for 4 seconds' but isn't exactly representative of the natural language command as in this context 'distance' would technically represent 'time'."] +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "second"}}'];["4; The natural language command matches mostly with the JSON structure. The keys 'action', 'params', 'linear_speed', 'distance', and 'unit' all correspond directly. 'is_forward' is inferred to be False based on 'Go in reverse' command. But the measure of distance for movement is not clear in natural language command, while in JSON it is taken as 'second', so one point is subtracted."] +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['3.5; Partially conform. The natural language command matches the JSON structure for the "move" action but "Reverse direction" is not explicitly represented by one of the keys in the JSON structure. Instead it is inferred from the absence of the "is_forward" key\'s value, set as "false". Additionally, the duration "for a period of 4 seconds" is converted to distance in the JSON, which may not always be accurate as the link between time, speed and distance (\'time = distance/speed\') assumes constant speed.'] +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "second"}}'];["3; The provided JSON structure partially matches the natural language command. The JSON includes the 'action' key with the 'move' value and 'params' key with 'linear_speed' and 'unit', but uses 'distance' instead of time duration and does not include a boolean for 'is_forward'."] +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 4, "is_forward": false, "unit": "seconds"}}'];['2; The given JSON does have some matching points such as the action being "move" and parameters like "linear_speed" and "distance". However, the order of calculations seems to be incorrect. The "is_forward" key is assigned to False correctly to represent the opposite direction. But the "distance" key should be calculated by multiplying the linear_speed and second, not just the second. Moreover, the unit in the JSON is "seconds" which is not available in the sample keys. The available unit in the ontology is "meter". Therefore, it\'s partly conform but contains errors.'] +Rotate counterclockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'];['4; The JSON structure does mostly conform with the command, describing rotation action, specific angle and direction, but the "angular_velocity" parameter does not match with the command, which does not provide details about speed.'] +Rotate 270 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure correctly represents the action (\'rotate\') and angle of the rotation (270 degrees), as well as the direction of rotation (counterclockwise, thus `is_clockwise` is `false`). However, the "angular_velocity" is not mentioned in the command, so its value (1) in the JSON structure cannot be confirmed valid.'] +Turn left by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4; The command matches the "rotate" action in the JSON sample ontology. The angle value of 270 and the counterclockwise rotation also match. However, the "angular_velocity" is stated as 0.35 in the sample but no speed is specified in the command, hence it\'s presumptuous to assign it a value of 1 in the JSON result which is why the score is 4 and not 5.'] +Perform a counterclockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'];['4; The natural language command is mostly matching the JSON structure. The rotation action is correct, as is the angle of 270. However, the angular_velocity parameter in the JSON is 0, while this information is not provided in the natural language command. Also, the natural command specifies a counterclockwise (is_clockwise: False) rotation which is correctly reflected in the JSON. The unit of measurement is also missing in the natural command as well as the JSON structure.'] +Rotate in the opposite direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'];['3; Although the rotation action and the angle parameters are correct, there is a discrepancy in the angular_velocity value. In the provided JSON, the angular_velocity is 0.35, but in the command it is not stated. The "is_clockwise" parameter should be false for "opposite direction", but it correctly assumes the absence of this mention equates to false.'] +Move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['5; The natural language command directly matches the JSON structure provided. The action "move" is correct, the boolean for "is_forward" is true, and the distance has been changed accordingly in parameters to match the command. However, the linear speed is not mentioned in the command but is included in the JSON structure. This does not cause an issue since linear speed could be a default value in command if not specified.'] +Proceed ahead by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3; The command matches the move action in the JSON structure but the linear_speed value in the JSON (0.5) doesn\'t match the command (it gives no specific speed so it cannot be determined if it\'s a match). The conformities of the "distance", "is_forward", and "unit" are correctly reflected in the JSON structure from the command.'] +Advance for a span of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Travel forward, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'];['5; The command "Travel forward, covering a distance of 2 meters" corresponds perfectly to the provided JSON, even when the linear_speed is not indicated in the command, in the JSON it\'s stated as 0, which can be taken as no specific speed required. The direction is forward and the distance is 2 meters is exactly what is indicated in the action "move".'] +Move straight ahead, going 2 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true}}'];['3; The natural language command partially matches the JSON structure. The command instructs a movement action which aligns with the "move" action in the JSON. However, the command specifies a distance of 2 meters, but does not specify a speed. The JSON structure assumes a "linear_speed" of 1.0, but this value is not present in the command. Also, the direction "straight ahead" could be interpreted as "is_forward": true, but it is not explicitly stated in the command. Thus, the match is not exact.'] +Rotate clockwise by 45 degrees and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; The actions "rotate" and "move" match but their parameters are not entirely correct. The "angular_velocity" and "linear_speed" are specified as 0 in the JSON but these values are not provided in the command. The rotation is correctly specified as clockwise and the move direction as forward. The units of measurement also match. The angle of rotation is specified as 45 degrees in the command but is 40 in the JSON. The distance to move is correct.'] +Move forward for 1 meter while rotating 45 degrees clockwise.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['2; The action "move" and the "distance" of 1 meter and "is_forward" parameter are correctly identified in the JSON compared to the natural language command. However, the linear_speed of 0.5 is not mentioned in the language command. Also, the command of rotating 45 degrees clockwise is not converted to its relevant JSON structure. Hence, the match is not accurate.'] +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; Most of the elements are in conformity with the JSON information. The "rotate" command matches perfectly, but in the "move" command, the "linear_speed" is not mentioned in the natural language command, so the conversion is not exact.'] +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; While the tasks in the natural language command match to actions in the JSON stings (rotation and moving forward) and many of the parameters align (degree of rotation, moving forward, distance), the natural language command also includes instructions that don't exist in the JSON (angular_velocity and linear_speed are specified in the JSON, but not in the natural language command). The scoring is thus dragged down to a 4."] +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; Although the command was successfully converted to JSON structure based on the provided ontology, the "angular_velocity" and "linear_speed" were not mentioned in the command, thus default values cannot be implied and it were incorrectly set to 0.'] +Turn left and move forward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command is asking for two actions - to turn left (which would likely require a "rotate" action and not a "move" action), and to move forward for 3 seconds. However, the JSON structure only contains a "move" action with a distance specified, not a time duration. Furthermore, "linear_speed" is set at 0.5 which doesn\'t necessarily correlate with the time duration specified in the command. The orientation or direction of movement (turn left) is not reflected in the JSON structure at all.'] +Proceed straight for 3 seconds after taking a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];["0; The natural language command does not exactly conform to the JSON structure. In the command, there is information about turning left which does not match with any actions or parameters in the provided JSON structures. Also, a distance value of 3 is mentioned in terms of time (seconds), which does not align with the command's structure as distance should be in meters.", ''] +Take a left turn and continue advancing for 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['0; The JSON structure is unrelated to the natural command as it mentions a left turn and move forward for a specific time but these details are not represented in the JSON. The JSON shows rotation with a non-zero angular velocity and a 90 degree angle when it should be a left turn, and it does not account for the forward movement for a certain time duration.'] +Make a left turn and proceed forward for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command does mention a left turn which is partially mapped in the JSON command with "action": "rotate". The "is_clockwise": false could potentially imply left turn, but there is no conformity with angular_velocity and the angle value. The second part of the command relating to forward motion is also slightly captured in the second JSON command with action "move" and "is_forward": true. However, there is no conformity in other parameters like speed and distance as the natural command mentions time duration, not speed or distance.'] +After turning left, move straight ahead for 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['1; The JSON string does match an action of moving straight ahead for a distance (though unit is indicated in "seconds" rather than a standard unit of length which is not logical), but there is no representation of the initial action stated in the natural language command which is to turn left first. Hence, the JSON structure only partially matches the command.'] +Move backward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['0; The command \'Move backward for 1 meter.\' does not conform to the JSON structure as no "is_forward" parameter is mentioned in the structure and also the "linear_speed" value does not match the command.'] +Reverse direction and travel 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; The direction of movement (reverse) and distance (1 meter) are correctly interpreted from the command and represented in the JSON string. However, the "linear_speed" parameter is assumed rather than given explicitly in the command, and the "is_forward" parameter should be set to false to match the command, but it is not in the given JSON.'] +Go back for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; The distance, linear speed, traction and unit parameters match however there is a discrepancy in the linear_speed value. Natural language command states "Go back" which indicates no speed, but in the JSON structure the linear_speed has a value of 1.0.'] +Retreat for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false}}'];['2; Partially conform. The natural language command specifically asks for a retreat, therefore "is_forward" should be False; however, the JSON structure specifies "is_forward" as True. Linear speed and distance in the JSON structure match the command\'s implied request for movement, but there is no direct correspondence for the specific \'retreat\' (backward) direction in the natural language command.'] +Take one step backward covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];["3; The JSON command is partially conforming with the natural language command. It correctly encodes the 'move' action and the distance covered ('distance' is 1 and 'unit' is 'meter'). However, the 'linear_speed' is assumed and not directly specified in the original command, and 'is_forward' is correctly translated as 'False', since the command is to 'step backward'."] +Rotate counterclockwise by 120 degrees and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}} {"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'];['3; Both the actions in the natural language command are present in the structure but the parameters values like "linear_speed", "is_forward", "angular_velocity","is_clockwise" are not specified in the natural language command hence taken default values. The natural language command partially adheres to the sample ontology.'] +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 120, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];["0; The given JSON structures do not match the mentioned command. Although the actions needed for the command are present in the ontology (rotation and movement), the values given in the JSON structures are not as per the command. The angular_velocity, linear_speed and is_clockwise do not have the correct values according to the command 'Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.'."] +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 120, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command is expressing a rotation and a movement, which are properly mapped in the provided JSON structures. The rotation is being done in the counterclockwise direction, which is reflected by \'is_clockwise\' set to false, and rotation angle is correctly set to 120. The forward movement is represented with \'is_forward\' set to true, and correct distance of 5 meters, unit and linear_speed is also specified correctly in the JSON. Default_value is assumed for "angular_velocity" and "linear_speed" as those are not specified in the command.'] +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 120, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The JSON structure matches the command partially. "Angular_velocity" doesn\'t match with the command as velocity isn\'t indicated in the command. Also, the \'linear_speed\' in the \'move\' action doesn\'t match the command, as no speed is specified for the forward move. However, the rest of the keys such as angle, direction of rotation (is_clockwise), distance of move, direction of move (is_forward) and units conform to the natural language command.'] +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The commands in the natural language are clearly reflected in the JSON structure and they exist within the ontology\'s parameters. However, values of "angular_velocity" and "linear_speed" in JSON structure are arbitrary and not specified in natural language command.'] +Move forward at full speed for 20 seconds.;['{"action": "move", "params": {"linear_speed": "full_speed", "distance": 20, "is_forward": true}}'];['1; The command requests to move forward at full speed for a duration of 20 seconds. However, the structure has been incorrectly converted to JSON. The "duration" field is inappropriately interpreted as "distance", and "full_speed" is not a valid value for the "linear_speed" field which requires a numeric value in the provided JSON structure. Moreover, the "unit" field is missing in this JSON. Overall, the command partially matches with the information placed in JSON.'] +Proceed ahead at maximum velocity for a duration of 20 seconds.;['{"action": "move", "params": {"linear_speed": "maximum", "distance": "undetermined", "is_forward": true, "unit": "meter", "duration": 20, "unit_duration": "second"}}'];['1; The JSON structure has most of the necessary keys to match with the natural language command (such as "action": "move", "is_forward": true, and "unit": "meter"), but there are keys in the JSON that do not exist in the sample keys given, such as "linear_speed": "maximum", "distance": "undetermined", "duration": 20, and "unit_duration": "second". Hence, the conformity is low.'] +Travel straight ahead at top speed for a duration of 20 seconds.;['{"action": "move", "params": {"linear_speed": "top speed", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'];['2; Although the command displays a logical understanding of the move action, it doesn\'t conform to the JSON structure provided. The command\'s speed reference "top speed" does not translate into a numeric value, and distance is determined by duration (seconds), not the metric system (meters). The parameter "unit" should refer to the unit of distance, not time.'] +Advance forward with utmost speed for a period of 20 seconds.;['{"action": "move", "params": {"linear_speed": "utmost", "distance": 20, "is_forward": true, "unit": "seconds"}}'];["1; The JSON structure is incorrect. While the 'action' field sort of corresponds to the command (moving forward), there isn't actually any key in the JSON for 'utmost speed' - the closest is a fixed 'linear_speed', and the 'unit' field in JSON is expressed as 'meter' instead of 'seconds'. The key 'distance' in the JSON structure is also being assigned time instead of distance. Furthermore, the command doesn't give enough information to determine the actual distance to move."] +Go straight ahead at full throttle for a duration of 20 seconds.;['{"action": "move", "params": {"linear_speed": "full_throttle", "distance": 0, "is_forward": true, "duration": 20, "unit": "seconds"}}'];['2; The action "move" is correctly aligned with the JSON structure and keys such as "is_forward" and "unit" are correctly used. However, "full_throttle" and "duration" are not parameters that are part of the sample JSON ontology. "linear_speed" does not match with "full_throttle" and there is also no key for "duration" in the JSON. Additionally, "distance" is not identified with a specific value in the command.'] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 60, "is_clockwise": true}}'];['4; The natural language command generally conforms to the JSON structure. However, the "angular_velocity" parameter isn\'t specified in the natural language command and assumes a default value in the JSON, which isn\'t an option given in the sample ontology. This causes a slight mismatch.'] +Turn right by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['3; Partially conform. The command \'Turn right by 60 degrees\' partially aligns with the JSON structure provided, as it matches the "rotate" action and the "angle" parameter. However, natural language command didn\'t provide value for "angular_velocity" and so it is not certain to consider the "angular_velocity" as 0. Furthermore, "is_clockwise" is correctly recognized as \'true\' for the \'right\' direction.'] +Perform a clockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['3; Partially conform. The "angular_velocity" should not be zero as it is not specified in the command. However, other parameters such as "action", "angle" and "is_clockwise" are correctly matched.'] +Rotate in a clockwise direction, making a 60-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; Partially conform. The command matches the "rotate" action and "angle" parameter is correctly implemented as 60 and "is_clockwise" is set as true. The "angular_velocity" value is given as 0 which might not be accurate as a non-zero value may be required to actually perform the action. Also, "unit" is not provided in the example.'] +Rotate to the right, making a 60-degree angle.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true}}'];["2; Although the command instructs a rotation and provides an angle, it doesn't specify the angular velocity, so it's partially incorrect."] +Move backward at a velocity of 0.75 meters per second for 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "seconds"}}'];['3; The action and params match with the sample ontology but not exactly. The "distance" value should be defined in meters based on the natural language command, not in seconds. As the unit is mentioned \'seconds\', which is not compatible with the command provided. In addition, the \'is_forward\' value should be false for moving backward but this has been correctly implemented in the JSON structure.'] +Reverse at 0.75 meters per second for a duration of 8 seconds.;['{"action": "move", "params": {"linear_speed": -0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The command mostly conforms to the JSON structure, but the "duration" parameter in the command is not represented in the JSON; all other elements match correctly including action and parameters like linear_speed and is_forward being set to false for reverse.'] +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meters", "duration": 8, "unit_duration": "seconds"}}'];['2; The natural language command partially matches with the JSON structure, but there are keys in JSON like "duration" and "unit_duration" which are not part of the sample keys. Also, the JSON representation is missing the key for "is_forward" which is present in the sample keys.'] +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 8, "is_forward": false, "unit": "second"}}'];['2; The command partially conforms to the JSON structure. The action is correctly identified as "move", and the parameter for linear speed also aligns with the command. However, the distance parameter in the command is actually a duration (8 seconds), not a distance, and thus doesn\'t correspond to the JSON structure where the distance is in meters. Additionally, the JSON representation refers to "is_forward" which could have been matched with the "backwards" term in the command, but it isn\'t included in the JSON conversion.'] +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'];["1; The JSON structure include the 'move' action and the 'linear_speed' parameter. But it does not match with the natural language command well. Reverse movement is indicated whereas 'is_forward' is not mentioned in the JSON. Also, The JSON structure has 'distance' but it was calculated as number of seconds times speed, but in command time period was mentioned. The unit for distance in Command is not mentioned."] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['3; The fact that the robot has to turn right is represented correctly in the JSON since a rotation with "is_clockwise": true corresponds to turning right. However, the "angular_velocity" given in the JSON is 0.5 but no specific speed for the turn was mentioned in the command. The movement forward for 4 meters is also represented correctly in the JSON. However, the speed of this movement is specified to be 0.5 in the JSON while no such specification is made in the command. Therefore, this information is extra and does not conform with the natural language command.'] +Take a right turn and proceed straight ahead for a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meter"}}'];['3; Partial conformity. The natural language command asks for a right turn, which matches with the "rotate" action and "is_clockwise": true in the JSON. However, the exact angular_velocity and angle in the JSON information does not match the natural language command. The command to proceed straight matches with the "move" action in the JSON. However, the linear_speed is not mentioned in the natural language command, and therefore not fully conform to the JSON structure. The distance and unit conform to the natural language command.'] +Make a right turn and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'];['4; Partial match. The natural language command mentions a right turn which corresponds to the "rotate" action in JSON, but the mentioned angle of turn (90) is not correctly translated in the JSON (40 instead). Also, moving forward for 4 meters correctly corresponds to the "move" action in JSON, but the linear speed mentioned in the JSON structure isn\'t specified in the natural language command.'] +Rotate to the right and advance ahead for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];['2; Partial match. The natural language command is partially matched with the JSON structure. The intention to move ahead for a certain distance is represented correctly in the JSON. However, rotation command is not reflected in the JSON structure provided. Also, "linear_speed" value does not match with the example, thus score is less than 50%.'] +Go to the right and keep moving straight for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'];['2; The movement command is correctly formatted in JSON, matches the ontology, and the distance is correctly applied as 4 meters. However, the command "Go to the right" was not represented in the JSON at all, nor is there a corresponding rotation or direction change in the sample ontology. The \'linear speed\' is also preset to 0.5, which is not mentioned in the natural language command.'] +Move forward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches the structure and keys of the "move" action in the JSON sample, but the linear_speed is not specified in the natural command while it\'s in the JSON structure. So, it\'s not an exact match.'] +Proceed straight ahead for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true}}'];['4; The natural language command partially conforms to the JSON information. The "action" is captured as "move" and the "distance" as 3. However, the linear speed isn\'t specified in the natural language command, but it can be inferred from context, and the direction "is_forward" is correctly set as "true". The score is not a perfect 5 because the linear speed is not explicitly mentioned in the command.'] +Advance ahead 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true}}'];['4; The natural language command generally conforms to the JSON structure provided. However, the linear_speed value has been arbitrarily set to 1.0 in the JSON, whereas this is not specified in the natural language command. Additionally, the "unit" field is absent in the JSON command.'] +Go forward a total of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; The natural language command and the JSON structure match well. The action "move" is used along with the specified parameters (distance and direction). Moreover, the usage of "linear speed" and "unit" also conform to the sample keys.'] +Travel straight for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The command mostly matches with the JSON structure next to it but exact speed is not specified in the command, which is in JSON structure.'] +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true, "unit": "second"}}'];['3; Partial conformity. The natural command asks for a rotation and a move which are correctly represented as actions in the JSON object. However, the rotation JSON object lacks a unit for the angle and the move action doesn\'t account for the specified unit of "seconds" in the natural command, instead it is incorrectly marked as a "distance" with a unit of "second". Also, the values for "angular_velocity" and "linear_speed" are mistakenly set to 0, instead of being unspecified in the natural language command.'] +Turn left 90 degrees and proceed forward for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["2; The rotation command is correctly defined with a correct angle of 90 degrees, however, it's assumed to be counterclockwise due to the 'left' direction, whereas the command didn't specify the 'is_clockwise' value. Also, the command of moving forward is missing entirely which should be represented in 'move' action with 'linear_speed' and 'distance' parameters not the rotation or duration. The action 'rotate' is transforming to a correct JSON structure but the match is partial."] +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The angular velocity isn\'t provided in the natural language command, and the movement instruction is given in time (\'2-second\') instead of distance. The rotation parameters do match, although the direction is provided in a way ("counterclockwise") not contemplated in the JSON structure (which uses "is_clockwise": false). Consequently, only some parts of the JSON structures match the natural language command.'] +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["2; The JSON structures have partially matched the natural language command. However, there are a couple of mismatches. First, in the move action, the unit is 'seconds' which does not conform to the command mentioning moving forward for 2 seconds, as moving for a certain amount of time doesn't imply distance. Second, in the rotate action, the angular velocity needs a defined value instead of a 'default_value'."] +Make a left turn of 90 degrees and proceed forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_VALUE, "angle": 90, "is_clockwise": DEFAULT_VALUE}} ', '{"action": "move", "params": {"linear_speed": DEFAULT_VALUE, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The given JSON structures do not completely match with the provided commands. While the \'rotate\' and \'move\' actions exist in the sample keys, the specific parameters such as time (seconds) and angular_velocity are not given in the command. Also, the \'is_clockwise\' parameter is left as a default value, whereas the command specifically mentions "left turn", which implies counterclockwise movement.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['4; The command matches with the JSON structure in terms of action and the parameters. However, the speed value in the command is not provided and the default value seems to be assumed as 1 in the JSON, which is not mentioned in the command.'] +Proceed ahead a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];["3; The natural language command partially conforms to the JSON structure. The action 'move' and the parameter 'distance' value matches. However, the command does not mention anything about 'linear_speed' and 'is_forward' which are keys present in the JSON structure."] +Advance for a total of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['3; The command matches the JSON structure partially. The command correctly asks to move which corresponds to "action": "move" in JSON structure. But, it doesn\'t mention the linear_speed and the is_forward parameters in the command. The unit in the command isn\'t directly mentioned but since it is "meters" it\'s generally assumed in such contexts.'] +Travel straight ahead covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches with the JSON structure in terms of the "action" which is "move" and "distance" parameter. However, the "linear_speed" in the JSON structure is static at 0.5, it does not conform with the natural language command. Also, the natural language command does not specify the "is_forward" parameter. Hence deducting one point.'] +Go forward a length of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['3; Although the natural language command is partially mapped to the JSON structure, the linear_speed in the JSON structure does not refer to the speed in the natural language command, hence it is not a perfect match.'] +Turn left and continue for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}', '{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; Partially conform. The turning action and the moving forward action indicated in the command are represented in the JSON structure provided. However, not all parameter values (such as angular_velocity for the turning and linear_speed for moving) are accurately filled in as the natural language command does not provide this information. Additionally, the logic of the direction \'left\' does not specifically indicate \'clockwise\' or \'counter-clockwise\', and as such \'is_clockwise\' is not accurately represented. Also, the difference in time indication "for 10 seconds" is not converted into equivalent distance in the JSON structure.'] +Make a left turn and keep going for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structures partially match with the natural language command. The command contains information about making a left turn (rotation) and continuing to move for 10 seconds. However, it\'s not clear from the command the specific directions for angular velocity or distance travelled which are given in the JSON representations. Also, the unit of the distance in the second JSON structure is defined as "seconds", which is not applicable. Hence, the score is low for conformity.'] +Go left and continue for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "seconds"}}'];["1; The natural language command doesn't match exactly with the JSON. The command 'go left', may indicate a need for rotation but there is no direct 'direction' parameter in the JSON. Also, the amount of time for the movement is specified in the command 'continue for 10 seconds' but there's no time parameter in the provided JSON schemas. Some of the parameters like is_forward and unit in the JSON are not specified in the command."] +Take a left turn and continue for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter", "duration": 10, "unit_of_time": "seconds"}}'];['2; The natural command seems to correspond in some way to the rotate and move functionalities of the JSON data since it mentions a turn and duration time. However, the JSON data given in the response does not match the sample ontology which doesn\'t include "duration" or "unit_of_time" as keys under the "move" action. Additionally, the specific values for angular_velocity, angle or linear_speed cannot be confirmed from the natural language command. Also, the direction (left or right) of the rotation isn\'t transcribed in the JSON format. Therefore, the conformity is low.'] +Proceed by turning left and maintaining that direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['0; The JSON structures provided do not match the command. The command talks about "turning left" or a rotate action but all the rotate actions in the JSON are set with 0 angle which signifies no rotation. Also, the move commands in the JSON are defined with 0 distance, which means no movement, whereas the command is about moving for 10 seconds.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The action and the parameters are matching with the JSON structure. However, the value of "angular_velocity" is given as 0 in the JSON while no such information is provided in the natural language command.'] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The JSON structure generally matches the natural language command in terms of action and parameters, but the "angular_velocity" is 0 while the command implies some speed for rotation.'] +Rotate in the opposite direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4.5; Almost exact match except for the "angular_velocity" value which is not specified in the natural language command.', ''] +Perform a counterclockwise rotation of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 90, "is_clockwise": false}}'];['4; The command matches the sample keys. However, the "angular_velocity" key value is labeled as "default" which is not defined nor given as a value in the natural language command. So, it doesn\'t entirely comply with the command.'] +Move in a counterclockwise direction, turning by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'];["4; The natural language command matches the JSON structure, but the 'angular_velocity' value is not provided in the command, so it is assumed as 1."] +Back up 2 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -2, "is_forward": false, "unit": "meter"}}'];['2; The natural language command matches partially with the JSON information. The action "move" and parameters like "distance" and "unit" matches the JSON. But "linear_speed" and "is_forward" keys are not mentioned in the command, and the \'stop\' command does not exist in the JSON structure.'] +Move back a distance of 2 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}}'];["3; The JSON structure captures the action of moving and the distance correctly. However, it misses the 'move back' direction given in the natural language command (taken as 'is_forward': false). Yet, the command to 'come to a halt' is not depicted accurately in the JSON. The 'linear_speed' is set to 0 which is not specified in the initial command. It is inferred."] +Reverse by 2 meters and come to a stop.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['1; The natural language command refers to movement, but the JSON structure doesn\'t conform with the keys available. There is no key in the JSON structure for "come to a stop" action. Also in the \'move\' action, negative speed isn\'t covered. Hence, its a partial match.'] +Retreat 2 meters and bring yourself to a standstill.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];["2; The JSON information roughly matches the natural language command in that it involves movement, but does not fully conform to the sample keys provided. The natural language command specifies a retreat (backward movement), which is not represented in the JSON information. Additionally, the command 'bring yourself to a standstill' is not represented within the JSON structure."] +Step backward 2 meters and cease movement.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['1; The JSON structure vaguely matches the natural language command as both suggest movement. However, the JSON structure does not correspond directly with the command to \'step backward 2 meters and cease movement\'. There are also inconsistencies in the given parameters. For instance, the "linear_speed" is given a value whereas in the command there is no defined speed. Additionally, the cessation of movement in the command is not depicted in the JSON structure.'] +Move forward at a speed of 0.5 meters per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'];['3; Partially conform. The natural language command matches with the action and parameter keys of "linear_speed" and "is_forward" however, the parameter of "distance" in the JSON does not have a clear equivalent command in the natural language statement. Instead, the command specifies a duration (6 seconds), which is not present in the provided JSON structure.'] +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}}'];['2; The JSON partially matches the command. The command is referring to a forward movement which matches the "action" of "move" indicated in JSON and it also mentions linear_speed as 0.5 which is consistent. However, the command deals with time (\'6 seconds\') which is not a component of the JSON, thus the \'distance\' parameter is incorrectly converted using time and velocity (distance = velocity*time). The \'is_forward\' key in JSON conforms with \'Proceed ahead\' in the command, but the unit in the command is different from the unit in JSON. It would be \'meter\' in this case.'] +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command is partially matched to the JSON information. The action "move" and the "linear_speed" parameter are correctly identified. However, "distance" is incorrectly presented as time value in seconds, which does not align with the provided ontology. The parameter "is_forward" is assumed but not explicitly stated in the command. The "unit" has been misinterpreted as time (seconds) in the command rather than being identified as distance (meters).'] +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['4; The JSON structure mostly matches the natural language command. The action to "move" with a certain "linear_speed" and "is_forward" parameter is correctly reflected in the JSON. But in the natural language command, the unit of distance is in seconds, while the unit of distance specified in the JSON is not given, it\'s assumed to be in meters due to the value of 0.5. Additionally, the specific distance of 3 is not mentioned in the original command.'] +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'];['2; While the natural language command does refer to movement and specifies a linear speed of 0.5 and implies forward movement, there are differences. Specifically, the JSON contains a "distance" parameter which isn\'t specified in the command. Also, the command refers to a "duration" of 6 seconds which doesn\'t have a direct equivalent in the JSON structure.'] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];["4; The commands in the natural language seem to be correctly translated in the JSON objects. The action 'rotate' is correctly translated with correct parameters. The action 'move' is also accurately translated. However, the value of 'angular_velocity' in the first JSON object should ideally be 0.35 according to the sample ontology, not 0.5 as provided in the JSON object."] +Make a right turn and proceed ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; Though the commands and JSON actions are similar, there are some discrepancies. The natural command specifies a right turn, correctly reflected in the JSON as "is_clockwise": true, but the angle of turning is not clarified in the command. Meanwhile, the command asks to move ahead for a specific distance, which partially matches the JSON structure. However, the command doesn\'t mention linear speed, while the JSON structure does.'] +Take a right turn and continue moving straight for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];["1; Although the provided JSON structures could generally match the given command, there are several discrepancies in implementation. The specified angular velocity in the rotate action JSON is not mentioned in the given command. Additionally, the command's prompt to turn right wasn't exactly converted, it was considered as a 90 degree turn which could be a left turn depending on initial orientation. Lastly, no explicit speed was indicated in the move forward command."] +Head to the right and advance forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['3; The command matches the "move" action in the JSON structure but there is no information provided for direction (heading to the right), hence it is not an exact match.'] +Rotate right and proceed ahead for a length of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'];["2; Partial conformity. The JSON structure contains the action for rotation and proceeding forward which match the natural language command. However, the parameters such as angular_velocity for rotation and linear_speed for moving, which are essential for the performance of these actions, are given as 0 in the JSON structure which doesn't match with the natural language command. Also, the direction of rotation is not clearly mentioned in the command but considered as false in the JSON."] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; Mostly conform. The natural language command matches the JSON structure for the "rotate" action. However, the "angular_velocity" in the JSON structure is undefined while it is expected to have a value, such as 0.35 from the sample ontology, but the value is not provided in the natural language command.'] +Turn in a clockwise direction until you have rotated 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; Mostly conform. The command aligns with the "rotate" action in the ontology with all parameters specified correctly. However, "angular_velocity" value provided in the JSON structure is not matching with the one suggested in the command. Although the command does not provide a specific "angular_velocity" value, the JSON structure deviated from the guidance, which may suggest a default or implied velocity in the natural language command.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 180, "is_clockwise": true}}'];['4; The natural language command has been accurately transformed into the JSON structure, except that the "angular_velocity" should be specified in the command. This parameter doesn\'t have a default value based on the sample ontology provided.'] +Rotate 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 180, "is_clockwise": true}}'];['4; The command matches the JSON structure very well except for the "angular_velocity" value which is not provided in the command and had to be presumed as a default value. The keys and values provided in the command match up with those from the Json structure. Therefore, there\'s a high level of conformity but it\'s not perfect due to the assumption made.'] +Turn to the right until you are facing the opposite direction.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["4; While the command translates to the rotation described in the JSON object, there is no direct mapping for the specific angular_velocity and it's not clear whether the turning is clockwise. The angular_velocity and direction are inferred."] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The command requires the bot to move backwards while the JSON structure moves it forward. Despite correct keys usage, the values are not in full conformity. The natural language command specifies time ("seconds") to perform the action, while the JSON structure mentions distance and units in "meters", not time. Also, the bot is expected to move backward in natural language command while JSON structure doesn\'t specify the direction of movement.'] +Go in reverse for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command is partially conforming to the JSON information. The key "linear_speed" isn\'t given a negative value to indicate reverse, and the "distance" key is misused to represent time. However, the action "move" and parameter "is_forward" are correctly used.'] +Reverse your movement for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['2; The JSON structure is partly conforming to the command. The command indicates reversing the movement for a specified duration (3 seconds), while the JSON expresses a "move" action with a distance and unit key which matches the command. However, the command does not specify the speed of the movement, and there is no "linear_speed" value specified in the command. So the "linear_speed" key in the JSON has been assumed, not instructed. Therefore, the conformation between command and JSON is partial.'] +Backtrack for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": false, "unit": "meter"}}'];["1; The natural language command instructs the bot to move backwards for a certain period (in seconds) rather than a certain distance, which doesn't perfectly align with the given JSON structure where movement is defined in terms of distance, not time."] +Take a 3-second step backwards.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "second"}}'];["1; Although the action 'move' is correct, the commanded time duration (3 seconds) was interpreted as distance incorrectly, and the is_forward key is given as false hence correctly translating 'backwards'. The unit 'second' is not present in the JSON structure, it measures time not distance. All making it not conform to the given JSON."] +Turn left and continue for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'];['3; Partially conform. The rotation action in the JSON structure correctly represents the "Turn left" command, but the angular_velocity and angle values do not match the command. Also, the move action correctly represents the "continue for 7 meters" command, but the speed value does not match the command. Furthermore, the unit in the command and JSON should be "meter", not "meters".'] +Take a left turn and proceed straight ahead for a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; Most of the information is correct. However, the natural language command did not specify the direction as left (counterclockwise) or right (clockwise) for the JSON rotation action. Also, there is no information in the command to determine the angular velocity in the JSON structure. The "default_value" is also not a part of the sample ontology.'] +Make a left turn and keep going for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": "undetermined", "distance": 7, "is_forward": true, "unit": "meter"}}'];["4; The JSON conversion conforms to the given sample JSON format and ontology. But, the values for 'angular_velocity' and 'angle' are marked as 'undetermined' in the JSON, while no specific values for those keys are mentioned in the natural language command, resulting in a slight discrepancy."] +Go left and carry on for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 7, "is_forward": false, "unit": "meters"}}'];['1; Although the natural language command involves moving a certain distance, which is represented in the JSON structure, it inaccurately defines the direction of the action (left rather than forward or backward) and does not specify the linear speed, thereby partially conforming to the sample keys.'] +Head to the left and continue for a length of 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": false, "unit": "meters"}}'];['2; The command "Head to the left" has been misunderstood as moving, but it should represent rotation to the left which hasn\'t been reflected in the JSON. Also, speed is given as 1 instead of not specified in the natural language command. The direction of movement (is_forward) is incorrectly set as false, when it should be true as per the command "continue". The unit is also incorrectly mentioned as \'meters\' instead of \'meter\'.'] +Move forward at a speed of 1 meter per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];["2; Partially conform. The natural language command matches with the 'move' action and the 'linear_speed' in the JSON structure. However, the 'distance' in the command is misinterpreted as time '4 seconds' rather than distance. Also, the 'unit' key in the JSON structure is not represented in the command."] +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "second"}}'];['0; The natural language command does not match the example JSON structure at all. The command emphasis on moving based on time duration which is not a parameter considered within the provided JSON sample. The parameters defined in the JSON sample for move action are distance, linear_speed, is_forward and unit.'] +Advance for 4 seconds, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['2; The natural language command is partially conformant with the JSON structure as it includes the "action" and "linear_speed" keys, but it lacks the "unit" key and mismatches the "distance" key (which is misinterpreted as time in the command). The command doesn\'t have the correct intention to translate to "distance". Additionally, the "is_forward" key is not stated, but assumed true as the command mentions \'advance\'.'] +Travel forward for 4 seconds, moving at a rate of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command instructs movement with specific linear speed and distance. The provided JSON dictates movement and includes the relevant keys, linear_speed and distance, however, the "unit" is incorrectly specified as "seconds" in the JSON as oppose to "meters" in the command. Thus, there\'s partial conformity.'] +For a period of 4 seconds, move ahead at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];["4; While the action and most parameters align well with the JSON, the time period of '4 seconds' is not explicitly represented in the JSON structure. Instead, a 'distance' value is used which appears to be inferred from the speed and time period in the command. However, the inference of 'distance' from 'speed' and 'time' isn't directly stated in the command."] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['3; The JSON structure matches the natural language command in terms of action (rotate) and angle (45 degrees), but it does not provide an exact match for "counterclockwise" given as "is_clockwise": false. However, the "angular_velocity" parameter in JSON structure is given as 0 which doesn\'t match any information in the natural language command.'] +Change the orientation by 45 degrees in a counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The JSON structure matches the natural language command for \'rotate\', \'angle\' and \'is_clockwise\'. However, the "angular_velocity" doesn\'t match and should have a value other than \'0\' that fits the implied speed. There\'s no explicit mention of angular_velocity in the original command.'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['2; Although the rotation action matches with the natural command, the "angular_velocity" value doesn\'t match since it\'s specified as 0 in the JSON structure while the natural language command doesn\'t provide any information about it. The direction of the rotation (left) implies counter-clockwise rotation which is correctly represented in "is_clockwise": false. However, the angle matches perfectly.'] +Rotate anticlockwise by an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; Mostly conform. The natural language command corresponds closely to the JSON structure but the "angular_velocity" in the JSON has a value of 0 which wasn\'t mentioned in the natural language command.'] +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['3; Partially conform. The command matches the "rotate" action and suggests the robot to rotate anticlockwise by 45 degrees, which aligns well with the "angle" and "is_clockwise" parameters. However, the "angular_velocity" parameter in the JSON doesn\'t match the command as there is no provided angular velocity in the command. Therefore, the JSON could not reflect the entire command properly.'] +Go straight for 8 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 8, "is_forward": true, "unit": "meter"}}'];["4; The natural language command somewhat matches with the JSON Structure. The 'move' action, 'distance' and 'unit' (meter) parameters match, but the 'linear_speed' value in JSON does not match with the given command. Also, the command does not give any information on the 'is_forward' parameter."] +Proceed in a straight line for a distance of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; While the command matches the action move and uses the keys such as distance, is_forward, and unit correctly, it doesn\'t specify the "linear_speed" parameter in the command, hence the score is 4 not 5.'] +Continue in a straight direction for a span of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; The natural language command fully corresponds to the JSON in terms of meaning, but not in terms of values. The JSON structure does not specify the linear speed and has a variable "distance" instead of an exact value stipulated in the command.'] +Maintain a straight path for a duration of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure follows the ontology of the "move" action. The natural language command is correctly converted to JSON and the parameters match, except for "linear_speed" which was not specified in the command. However, the values of "distance" and "is_forward" which are "8" and "True" respectively, match perfectly with the command.'] +Stay on course for a distance of 8 meters ahead.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches well with the JSON information in terms of moving forward for a certain distance. However, "Stay on course" does not fully align with the specific JSON keys offered, nor does it specify a clear "linear_speed", which causes the score to lessen by one point.'] +Turn right and move forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "second"}}'];['2; The natural language command doesn\'t match exactly the JSON information. In the "rotate" JSON, the action parameters "angular_velocity" and "angle" are given a value of 0.0, no information provided in the text command to fill these fields, however, the direction is assigned correctly as "true" for "is_clockwise". The first "move" JSON doesn\'t match the command as per the values of "linear_speed", and "distance". However, the direction "is_forward" is assigned correctly as true which matches the forward movement in the command, the "unit" value also wrong. But in the second "move" JSON structure, "linear_speed" is given the correct value of 1.0, and "distance" is also correctly assigned the value of 2.0, and it has correctly assigned the unit as "second". Therefore, not an exact match but some parts have been correctly converted to JSON.'] +Proceed straight for 2 seconds after making a right turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['1; The JSON structures do not perfectly match with the natural language command. While it captures some aspects of the command with the "action": "move", "params": {"linear_speed": 1} structure, it fails to account for the direction of the move (a right turn mentioned in the command). Thus, the conformity is not exact.'] +Take a right turn and continue moving ahead for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} {"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'];['2; The natural language command partially matches the JSON structure. The robot is given instructions to rotate and move which corresponds to the actions in the JSON structure. However, "duration" as a parameter for moving is not defined in the sample ontology, therefore the command cannot be accurately represented. In addition, the command\'s lack of specific details for rotation such as the "angle" and "angular_velocity", and for moving, such as "linear_speed" and "distance", makes it fall short of complete conformity.'] +Make a right turn and advance forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "second"}}'];['2; The JSON structure does not match the natural language command in the necessary details. While the action types "move" and "rotate" are interpreted correctly, their parameters are not. There is no mention of angular velocity and the angle in the command for the "rotate" action. Similarly, the "move" action does not specify linear speed and distance, but rather a time duration, which does not match the ontology.'] +After turning right, keep moving forward for a period of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": default_angle, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structures partially conform to the natural language command. Although the JSON structures use the correct actions ("rotate" and "move"), second JSON has \'distance\' as a parameter instead of \'duration\' which is clearly mentioned in the command. In addition, while the command specifies "turning right", the JSON does not specify the angle or direction of the rotation. Default values are assumed which was not instructed.'] +Move backward for 4 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false}}'];['2; The natural language command partially matches the JSON structure. The distance value, 4 meters, is correctly captured and the backward movement is converted to "is_forward": false in the JSON structure. However, the velocity isn\'t provided in the command, and the stop action isn\'t represented in the JSON. Additionally, JSON structure needs improvement like presence of comma after "is_forward": false missing in the provided structure.'] +Reverse for a distance of 4 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}}'];['1; The natural language command partially conforms to the sample JSON structure. The "move" action and the "distance" and "unit" parameters match the command. However, the "linear_speed" parameter is incorrectly set to 0 in the JSON, and the "is_forward" attribute should be False for reversing. Also, a part of the command "come to a halt" is not properly represented in the JSON.'] +Go back for 4 meters and then come to a stop.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'];["3; The first JSON structure converted correctly captures the elements of the command in its keys, however, linear_speed parameter isn't mentioned in the natural language command; hence, it may be assumed or should be omitted in the JSON structure. The second JSON structure, indicating the robot to stop, is not exactly mentioned in the command but can be implied. Since both parts are partially correct, a score of 3 is given in this situation."] +Take 4 meters in reverse and cease movement.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];["1; The natural language command suggests a movement in reverse, potentially with a stop action afterwards. However, the given JSON structure does not fully match the command. The 'stop' action is not represented, and the linear speed has been inserted presumptuously. Additionally, based on available information, the linear speed should remain positive even if the movement is in reverse, with the 'is_forward' key indicating direction."] +Travel in the opposite direction for a distance of 4 meters and then pause.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}', '{"action": "pause"}'];['2; The JSON structure does contain "move" action command and the keys - distance and unit match. Providing "linear speed" and "is_forward" in params also makes sense for executing the movement. However, there is no direction specification in the JSON command structure, the absolute value of linear speed doesn\'t indicate direction and there is no "pause" action command in the provided ontology.'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true}}'];['4; The command \'Rotate clockwise by 270 degrees\' partially conforms to the JSON structure. Although the command and JSON share the action "rotate", and parameters such as "angle" and "is_clockwise", the command does not specify "angular_velocity", which is specified in the JSON.'] +Turn to the right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 270, "is_clockwise": false}}'];['4; The command is partially conforming. The JSON describes a rotate action to the right (clockwise) by an angle of 270 degrees which is in accordance with the command. However, it marks "is_clockwise" as false which should be true for a right rotation. Also, the "angular_velocity" value is marked as "default" instead of an exact value.'] +Move in a clockwise direction, rotating 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['4; Partially conform. The command matches the JSON structure, but the "angular_velocity" value is missing in the natural language command and incorrectly listed as 0 in the JSON. This would assume the action of rotation would have no velocity which isn\'t in line with the natural command. However, the other parameters "angle" and "is_clockwise" match accurately.'] +Spin in a clockwise manner, completing a 270 degree rotation.;['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; The field names, structure and data types of the JSON perfectly match with the natural language command. The "rotate" action is accurately described with the rotation direction (clockwise), rotation degree (270) and unit (degrees).'] +Rotate by 270 degrees in a clockwise fashion.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 270, "is_clockwise": true}}'];['5; Both the action and its parameters conform exactly to the sample ontology provided. The command is mapped correctly to the JSON structure.'] +Turn left and continue for 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The command involves the action "move". However, in the JSON, the "linear_speed" is not aligned with the command because the speed isn\'t mentioned in the command. The "distance" does conform with the command. The factors "is_forward" and "unit" also correspond with the command but there is no instruction in the command asking to "turn left" which can be represented by the action "rotate". So, the command doesn\'t entirely match the JSON structure.'] +Make a left turn and keep going for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['2; Partial conformity. The JSON structures for both actions ("rotate" and "move") are used correctly. However, "angular_velocity" in the first JSON does not match the command, as no specific speed for the rotation is mentioned. Additionally, the "angle" value is assumed to be 90 for a left turn, which is not explicitly stated in the command.'] +Proceed straight for 3 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['2; The natural language command only partially matches the JSON information. Although there is a "move" action mentioned with correct parameters, the "rotate" action, which is implied in the "make a left turn" command, is not present. The command does not entirely conform to the given keys of the example ontology.'] +After turning left, travel straight for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The JSON matches the "moving straight for 3 meters" part of the prompt command in the structure and keys. However, there is no equivalent JSON for "after turning left" in the given sample keys. This is significant functionality not covered in the JSON, which results in lower conformity.'] +Take a left and continue on for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['1; The JSON accurately represents the "move" action described in the natural language command, including the correct distance. However, the "is_forward" parameter is False, which is not mentioned in the text. Also, the direction of movement (left) cannot be inferred from the JSON. Finally, the linear_speed parameter is not mentioned in the text.'] +Move forward at a speed of 0.3 meters per second for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter", "duration": 5, "time_unit": "second"}}'];['2; The natural language command partially matches the JSON structure, as it requests the "move" action. However, "moving forward" in the given context would match up with the key "is_forward". As for the speed, it aligns with the key "linear_speed." However, the JSON provided does not normally handle duration in seconds. Therefore, multiplying the duration by the speed to provide a \'distance\' key, as seen in the interpreted JSON response, can be seen as a workaround, but it is not strictly conforming according to the given ontology. Additionally, the keys \'duration\' and \'time_unit\' are not within the sample ontology and thus should not be converted to JSON.'] +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The JSON structure contains the correct action ("move") and the right keys for parameters such as "linear_speed" and "is_forward". However, the command specifies a duration and velocity, but the JSON structure contains a distance parameter which doesn\'t match with the command. Also, the value for the unit is "seconds" which isn\'t correct for distance and is not in the sample ontology.'] +Advance at a rate of 0.3 meters per second for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command is only partially conform to the given JSON structure. The "action" key matches as "move" for both. But in the "params" section, the command speaks of rate and period which are translated into "linear_speed" and "distance" in JSON, this is not exactly match. Further, the "is_forward" and "unit" keys in JSON are not addressed at all in the command. Major keys do not match and hence the score is low.'] +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true}}'];['2; The command\'s related to moving forward at a specific linear speed which matches the JSON structure. However, instead of specifying the distance to travel, the time period is asked. Which is not included in the "move" action parameters.'] +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "second"}}'];["2; The natural language command does not align properly with the JSON information. Although it correctly specifies action as 'move', the parameters like 'distance' and 'is_forward' do not conform to the parameters specified in the command ('linear_speed' could be interpreted from 'velocity'). The command asks to go straight for 5 seconds, for which there is no accurate translation available in the JSON information provided."] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; Mostly conform. The natural language command mostly matches the JSON structure, but as the `angular_velocity` is not provided in the original sentence, it has been incorrectly assigned a value of 0.'] +Turn 60 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": false}}'];["2; The command and JSON partially conform. The command to 'Turn 60 degrees counterclockwise' does match the action of rotating but the given JSON does not match entirely. The 'angle' in the JSON is 40 degrees instead of 60 degrees. Also, the 'angular_velocity' value in JSON is not provided in the command and 'is_clockwise' value in JSON is false which conforms with the command of turning counterclockwise."] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];["3; The natural language command is about a rotation action which is present in the JSON structure provided with the expected parameters like angular_velocity, angle, is_clockwise and unit. However the 'angular_velocity' in the JSON structure does not match with the natural language command. Therefore, it's not an exact match and the score reflects this."] +Rotate to the left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['3; The natural language command partially conforms to the JSON structure. The "rotate" action matches perfectly and the "unit" of "degrees" is correct. However, the "angular_velocity" in the JSON is incorrectly set to 0 instead of being unspecified, and it does not specify "is_clockwise" as false for rotating to the left.'] +Make a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];['2; Although the purpose of rotation is matched, the value of "angular_velocity" isn\'t matched because it\'s set to 0 in JSON while not mentioned in the command, and the "is_clockwise" is false in JSON which matches the \'counterclockwise\' in the command. However, the desired rotation degrees isn\'t 60 in the command and the JSON lacks "unit" key.'] +Go straight for 6 seconds.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['1; In JSON data, the command to move is accurately represented. However, the parameters used ("linear_speed", "distance", "is_forward", "unit") do not match perfectly with the natural language command. In the command, it is said to "go straight for 6 seconds" and in JSON it is represented as moving at a default speed for a distance of 6, which doesn\'t specify whether it\'s meters or seconds, the is_forward key is true which is correct but the time unit is not found in the text command.'] +Proceed in a straight line for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['1; The natural language command is only slightly consistent with the JSON structure. The natural language command requires the robot to move for a specific duration (6 seconds), which is not depicted in the JSON structure. Also, the JSON structure is detailing both the speed and distance for the movement, which is not specified in the natural language command. The command matches with the "action": "move" in JSON but the parameters significantly vary.'] +Keep moving forward in a straight path for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}}'];['2; The natural language command specifies a time ("6 seconds") during which the action should be performed but the JSON command does not take time as an argument, it takes distance and speed instead. Also, there is no mention in the JSON code about the direction (straight path) mentioned in the command. However, it does match the \'move\' and \'is_forward\' actions.'] +Maintain a straight course for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}}'];['1; The natural language command does match the general structure and parameters of the "action": "move" JSON structure, however, the parameters are not encoded correctly. Duration of activity (6 seconds) is mentioned instead of distance, linear speed (which should be non-zero for movement) is indicated as 0, and distance is also indicated as 0 which neither matches with the command nor with sample ontology.'] +Continue in a straight direction for a period of 6 seconds.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": default_linear_speed * 6, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command correlates with the movement but not with the exact parameters and methods found within the JSON structure. It mentions a time duration, not a distance or linear speed directly. Therefore, it does not conform entirely with the JSON structure or the sample keys.'] +Turn right and move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];["2; The natural command indeed instructs to move forward for a certain distance which is reflected in the JSON structure. However, there are differences - the specific linear speed indicated in the JSON is not mentioned in the command. Apart from this, the command also includes a rotation ('turn right') which is not represented in the JSON at all. Due to these, it can't be said to be entirely conforming to the JSON."] +Take a right turn and proceed straight ahead for a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'];['4; The natural language command matches the JSON structure quite well. But there are two areas where there are assumptions or judgments had to be made for the conversion to JSON. ', "The command 'take a right turn' is accurately converted to the 'rotate' action with 'is_clockwise' set to true. Although the 'angle' is accurately set as 90 for a right angle turn, the 'angular_velocity' could not be specifically determined from the command and is set to 0 in the JSON. ", "The command 'proceed straight ahead for a distance of 7 meters' is accurately converted to the 'move' action. However, the 'linear_speed' is not specified in the command and is also set to 0 in the JSON, implying no movement."] +Make a right-hand turn and continue moving forward for a length of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'];['3; The commands are partially conforming. Angular_velocity and linear_speed values are missing from the natural language command and is considered as 0 in the JSON command, this could mean stopping instead of moving. Also, the command "make a right-hand turn" should have translated to "is_clockwise": true but it is not explicitly stated in the natural language command.'] +Head to the right side and advance for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; Although the natural language command is describing an action of movement which aligns with the "move" action JSON structure provided, there is no parameter that directs the movement to the "right side" in the example JSON ontology. Therefore, complete conformity cannot be achieved.'] +Rotate to the right and travel straight for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];["3; The rotation command in JSON is partially correct. The angular_velocity in JSON does not match with the natural language command where the speed of rotation is not specified, also the mentioned angle in JSON is 90 degrees but it is not specified in the command. On the other hand, in the second JSON for moving action, distance matches but the linear_speed is not specified in the command while it's value mentioned in JSON. So, it is partially conforming."] +Move 2 meters forward.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'];['4; The natural language command partially matches with the JSON structure. The "move" action and "is_forward" param are appropriately interpreted. However, the JSON structure does not include a provided "linear_speed", which is presumed to be 0.5 and there\'s no such "unit" param in the JSON corresponding to given command.', ''] +Proceed straight ahead by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'];["2; The natural language command to 'Proceed straight ahead by a distance of 2 meters' can be interpreted to accurately correspond with the action: move, and the parameters: distance and is_forward in the JSON structure. However, the speed parameter isn't mentioned explicitly in the natural language command and is by default considered 0.0 here which might not always be the case. Hence, the correspondence isn't perfect."] +Advance 2 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure correctly identifies the action as "move" and correctly assigns the parameters of distance and direction ("is_forward": true). However, the "linear_speed" does not match with natural language command. The speed is not mentioned in command.'] +Take a step forward for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];["1; The action 'move' matches the command but the other parameters such as 'linear_speed' and 'is_forward' match. However, the 'linear_speed' in the JSON structure is 0.5 but in the command, it's not specified, it's mentioned as 1 in justification which is not correct. Also, 'is_forward' in the JSON structure is True which corresponds to 'forward' in the command."] +Move straight ahead, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meters"}}'];['4; The natural language command "Move straight ahead, covering a distance of 2 meters" mostly aligns with the JSON structure provided. The "move" action, "distance" and the "unit" parameters are correctly identified as "2 meters". However, there is no specification of the "linear_speed" value in the natural language command and "is_forward" parameter value is assumed to be true but it is not explicitly mentioned in the command. Therefore, the conformity score is 4.'] +Turn left and move forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; The command partially matches the JSON structure in terms of the action of moving forward. However, the time term "for 5 seconds" does not conform to the JSON structure which uses a distance measure. The rotation or turning action mentioned in the command is not reflected in the JSON.'] +Move forward for 5 seconds after turning left.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command instructs first to turn left and then move forward, while the json structure only includes moving forward and not turning. The unit in the json is also "seconds" which is not typical for measuring distance.'] +After making a left turn, proceed forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The generated JSON does not fully match the command. The command states "After making a left turn", which is not represented in the JSON structure. Also, instead of time (\'seconds\'), the JSON should comprise \'distance\' and \'is_forward\' parameters and the action should be "go_to_goal", following the provided ontology.'] +Take a left turn and continue moving forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "second"}}'];['2; The JSON structure represents the action of moving forward which matches with the second part of the command "continue moving forward". However, the first part of the command commanding to take a left turn does not have a corresponding action in the JSON structure. Furthermore, the JSON structure has linear speed and distance set as 0 which does not conform to the command of moving forward for 5 seconds.'] +Start moving forward for 5 seconds after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 5, "is_forward": true}}'];['3; While both actions mentioned in the natural language command (rotate and move) exist in the sample ontology, the parameters used do not all match. The given JSON does not contain any time parameter for moving, instead uses "distance". Also, the direction of rotation (left) is not defined by the "is_clockwise" parameter in the JSON structure. Therefore, the command is partially conforming.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure almost completely matches the command given. The action "rotate" correctly corresponds with the command to rotate. However, the "angular_velocity" value in the JSON is 1, whereas no specific angular velocity was specified in the command. Similarly, the "is_clockwise" key in the JSON is set to false, which does correctly relate to the command to rotate counterclockwise. But, there\'s no information in the natural command about angular velocity so we can\'t match it exactly.'] +Rotate 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'];['4; The natural language command corresponds to the action "rotate" in the JSON structure, and the "angle" parameter matches correctly. However, the "angular_velocity" is not specified in the command, but it is in the JSON, so that doesn\'t match perfectly. Also, the "is_clockwise" is inferred from the command as being false, which is correct. Therefore there\'s only one missing correspondence.'] +Perform a counterclockwise rotation of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The command conforms to the schema but the angular_velocity value in the JSON structure is not specified in the command, hence the default value of 0 is inaccurate.'] +Rotate by 90 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; While the action parameter is correctly used as "rotate", and the angle parameter matches the natural language command of 90 degrees, the JSON structure includes angular_velocity and is_clockwise parameters that do not have equivalent information specified in the command. Therefore, it\'s impossible to determine their accuracy.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['1; The natural language command somewhat matches the JSON but there are discrepancies. In the JSON structure, the action is "rotate" rather than "turn left", and the "is_clockwise" key is set to an undefined variable "is_clockwise", whereas in the NL command, the direction is specified as left. Furthermore, there is no specification for the angular velocity in the command, but it has an assigned value in JSON.'] +Move 3 meters backward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meters"}}'];["2; The command partially matches the JSON structure. The action 'move' and parameters 'distance' and 'unit' are present in both the command and JSON structure. However, there isn't evidence of a specified 'linear_speed' in the command. Also, the command indicates moving backwards but the JSON structure does not specifically reflect this with a 'is_forward' key set to false."] +Go back 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'];["3; The natural language command matches with the JSON structure in terms of the 'move' action and 'meter' unit, but the parameters 'linear_speed' and 'is_forward' don't match. In the JSON, the 'linear_speed' is set as 0.5, but the natural language command does not specify the speed. Also, the command specifies to 'Go back', but the 'is_forward' key is set to True in the JSON, whereas it should be False as per the command."] +Retreat 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['2; The JSON action type ("move") corresponds to the command\'s implied action of backwards movement. However, the command\'s requirement to "retreat" does not match the "is_forward" parameter being set to true in the JSON structure. The command\'s specified distance ("3 meters") matches the "distance" key placed with correct "unit" in the JSON structure. The "linear_speed" value is preset and does not have a corresponding element in the command.'] +Step 3 meters in reverse.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['0; The natural language command does not match the JSON information. The JSON structure does not include a parameter for reverse movement, instead relying on "is_forward" to designate direction. Additionally, the command includes a speed which can\'t be inferred from the given command.'] +Travel in the opposite direction for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];["1; The natural language command matches the 'move' action in the ontology and the 'distance' param, but the 'is_forward' param does not match because the JSON structure has 'True' for this key, while the command requires moving in the opposite direction, that implies 'is_forward' should be 'false'. The 'linear_speed' from the JSON structure is not mentioned in the command."] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The JSON structure partially matches the command. The rotation (turning) is correctly represented, but there is no specific angular velocity mentioned in the command, while it's specified as 0 in the JSON. The movement part matches exactly with the command. The linear speed in JSON is not mentioned in the command, hence the disparity."] +Take a right turn and proceed straight ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 90, "is_clockwise": true}, "action": "move", "params": {"linear_speed": "default", "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The JSON structure corresponds completely with the natural language command. The "rotate" action with a 90 degree right turn and the "move" action specifying a distance of 1 meter forward align to the command. The default angular_velocity and linear_speed also logically fit, as those parameters were not provided in the original command.'] +Make a right turn and advance ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The command "Make a right turn and advance ahead for a distance of 1 meter" partially conforms to the JSON structures, but the specific values in the JSON do not match exactly. The "rotate" action has an "angle" of 90 degrees instead of unspecified degree in the command and "angular_velocity" of 0.5 instead of unspecified velocity in the command. Similarly, the "move" action doesn\'t specify linear_speed in the command but does in the JSON.'] +Head to the right and continue moving forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; The command is partially conforming. The JSON structure contains parameters for moving forward a certain distance, which matches the command. However, the command also mentions heading to the right, but this is not reflected in the JSON structure. The "rotate" action might be needed to fully represent this command. Additionally, the linear speed is specified in the JSON but not in the natural language command.'] +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": true}, "action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; The natural language command represents two actions: "rotate" and "move". For the "rotate" action, it provides the direction as right or clockwise but does not specify angular_velocity and angle which are required in JSON. For the "move" action, it provides the distance and the direction as forward but does not specify linear_speed which is required in JSON. Thus this command only partially conforms to the JSON structure.'] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['5; Exactly conform. The command "Go to the living room and stop" is perfectly reflected in the provided JSON structure. The action "go_to_goal" correlates with the command of going to a specific location, and the params specify that the location is of type "str" and of value "Living Room".'] +Please proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living room"}}'];['1; The natural language command instructs the AI to move to a specific location ("Living room"), however the JSON structure specifies a different location ("Kitchen"). The action "go_to_goal" matches but the parameters do not match exactly with the natural language command.'] +Make your way to the living room and cease moving.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['1; The natural language command is partially conveyed in the JSON structure, the robot is instructed to go to a specific location, however the JSON structure mentions a different location ("Kitchen") and the part of the command asking the robot to stop is not represented in the JSON. Also, the location should be "Living Room" as per the natural language command not "Kitchen". Therefore, it only partially matches with the JSON structure.'] +Head to the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "living room"}}'];['1; The natural language command partially matches the JSON structure. The action "go_to_goal" and parameter "location" are correctly identified, but the provided location ("living room") in the command does not match with the one in the JSON structure ("Kitchen"). Also, the command to "stand still" is not represented in the JSON structure.'] +Move towards the living room and come to a stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];["2; The natural language command partially matches the JSON structure. The command 'Move towards the living room' corresponds to the action 'go_to_goal' and the location 'Living Room', but 'come to a stop' has no corresponding action in the example JSON structure."] +Move 4 meters forward at a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The command matches the "move" action JSON structure but the speed is not matching as the command mentions a speed of 2 meters per second while the JSON structure mentions a linear_speed of 0.5.'] +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The linear speed and distance parameters match but the specific value of "is_forward" is not provided in the command, so it\'s assumed to be true as in the JSON structure. Also, the action "move" should ideally be matched to a "go_to_goal" or "navigate_to" kind of action as per the sample ontology. However, there is no such action in the samples provided. Still, the context makes it clear enough what is intended.', ''] +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command is correctly converted into the JSON structure: the action "move" is correctly referenced, and the parameters for "linear_speed", "distance", "is_forward", and "unit" are all correctly assigned. The values provided in the natural language command match those in the JSON.'] +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['3; Partially conform. The natural language command correctly corresponds to the move action and mentions all the necessary parameters. However, the speed mentioned in the command (2 m/s) does not match the speed in the JSON structure (0.5 m/s).'] +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meters"}}'];['2; The natural language command matches the "action", "linear_speed", "distance", and "is_forward" keys in the JSON structure. However, the given speed in the natural language command is 2, while in the JSON it is 0.5. The given distance is also different. In the natural language command it is 4, whereas in the JSON structure there is no specific value specified. Furthermore, the "unit" in the JSON structure is specified as "meter", whereas in the natural language command it\'s specified as "meters".'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true}}'];['4; The natural language command matches the JSON structure partially. The "action": "rotate" and "params": "angle" keys are available, however, the "angular_velocity" value isn\'t specified in the natural language command and it is hence assumed to be some default value.'] +Turn 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; Although the natural language command and JSON structure match in terms of the action being a rotation and the direction being clockwise, the angular_velocity value in the JSON object is 0 while the natural language command doesn\'t specify a speed, and the "unit" key is missing from the JSON structure even though it\'s present in the sample ontology, hence it\'s not exactly conforming.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The JSON structure corresponds to the command of performing a rotation. However, the "angular_velocity" key is marked with a zero value, which doesn\'t make sense for a rotation action. It should have been assigned a specific non-zero value. The remaining parameters correctly match textual command: the "angle" key is set to 180 degree, "is_clockwise" is true and "unit" is set to degrees.'] +Rotate by 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The command is an acceptable variation of the sample JSON structure and matches accordingly: the action is "rotate", "is_clockwise" is set to true, and "angle" is set to 180. The "angular_velocity" value in the JSON response is 0, which wasn\'t explicitly stated in the command but it\'s not contradictory.'] +Turn in a clockwise fashion, rotating 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": true}}'];['5; The natural language command accurately matches the JSON structure. It specifies a "rotate" action with an angle of 180 degrees and a clockwise direction, which exactly corresponds with the keys and values in the JSON information. The value of "angular_velocity" is not specified in the command, but it can be assumed to remain at a default or previously specified value.'] +Turn left and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['2; The JSON structure partially matches the command. The action "move" is correctly represented, with the distance parameter correctly set to 3 and unit to \'meters\'. However, there is no command for turning left in the JSON structure. Instead, a \'rotate\' action is used, but without a specified angular velocity value, and the direction of rotation (is_clockwise) is set to false, which might not necessarily mean turning left. Furthermore, the angle for rotation is given as 90 degrees in the JSON which was not specified in the original command. Overall, apart from the action names, there are differences in parameters and values.'] +Make a left turn and proceed straight ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The natural language command somewhat matches the corresponding JSON structures. It wrongly specifies the "angular_velocity" as 0.5 instead of 0.35 from the JSON anatomy. Furthermore, the "angle" is set to 90 instead of 40. The moving command matches correctly, but the "linear_speed" is specified as 1 instead of 0.5. However, the direction, unit and distance match.'] +Take a left and continue moving forward, covering a span of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The natural language command only matches partially with the JSON structure. Considering the command, there is no translation for the "Take a left" direction. The "continue moving forward" part can be mapped to "is_forward":True in JSON. The command to move a span of \'3 meters\' matches "distance":3 and "unit":"meter". However, there isn\'t a given value for linear speed in the command, while the JSON contains "linear_speed":0.5. Hence, a score of 2 is given.'] +Rotate to the left and advance for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'];["2; Partially conform. The natural language command describes an action that includes rotation and movement. However, the provided JSON structure only contains the 'move' action. The 'rotate' action is missing, leading to partial conformity. Also, the direction of rotation (left) is not reflected in the JSON commands."] +Shift towards the left and travel straight for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['0; The natural language command does not conform to the JSON structure provided in any significant way. The command specifies movement in a direction (left) that doesn\'t have corresponding keys in the JSON constructs ("move" or "rotate"), and the "shift" action isn\'t recognized in the given ontology. The instruction to "travel straight" could be interpreted as the "move" action, but the command doesn\'t stipulate the linear_speed which the JSON requires. Finally, while the distance to travel (3 meters) is specified in the command, it isn\'t correctly represented in the JSON response provided.'] +Move 2 meters backward at a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; The natural language command correctly maps to the JSON structure, with \'move\' being correctly identified as the \'action\', and \'linear_speed\', \'distance\', \'is_forward\', and \'unit\' correctly identified under \'params\'. However, the direction of the movement was misunderstood as the natural language command mentioned moving "backward" while the JSON has "is_forward" set to true.'] +Back up 2 meters with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -2, "is_forward": false, "unit": "meter"}}'];['3.5; The command and JSON structure partially matches as the action "move" and parameters like "linear_speed" , "distance" , "unit" are correctly used. However, "is_forward" parameter used in JSON doesn\'t match with the command which is to back up. Additionally, in the JSON the distance is denoted as negative which is not explicitly mentioned in the command. Also "meter per second" in the command corresponds to "linear_speed" and not "unit". Hence it is not a direct match but only partially matching.'] +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure correctly mirrors the natural language command, but the "is_forward" key should be set to False, as the command specifies going in reverse, not forward.'] +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];["3; Partially conforms. The natural language command correctly corresponds to the 'move' action with correct parameters, although the 'linear_speed' in JSON should not have a negative value, but it is specified as a retreat which may imply backward movement that is not available in the sample ontology. The 'is_forward' should also be false since it is a retreat."] +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; The command perfectly matches and ignites with the JSON example provided, with the correct actions (move) and parameters (linear_speed, distance, is_forward, and unit). The direction is correctly identified as backwards which is represented as "is_forward": false in the JSON.'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['2; The command asks to go to the "bedroom" and stop. However, there is no JSON command or key for the "stop" action, so the JSON is only partially matching the natural language command. Also, it refers to the wrong location ("bedroom" instead of "kitchen").'] +Please proceed to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['5; The given command perfectly matches the JSON structure, where "action" is "go_to_goal" and "location" is "Bedroom". The specific instruction (i.e., \'proceed to the bedroom\') matches with the JSON structure and information provided.'] +Make your way to the bedroom and cease your movement.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "bedroom"}}}'];['1; The natural language command does match the "go_to_goal" action in the JSON structure, but there is no reference to "cease movement" in the JSON structure.'] +Head to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['4; The command is conforming to the example JSON structure partially. Although the action "go_to_goal" and parameter "location" with the value of "Bedroom" is correctly represented but the action of "pause" is not represented in the provided JSON structure.'] +Go to the bedroom and stand still.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];["3; The command is partially conforming. The action 'go_to_goal' and its parameter 'location' with value 'bedroom' reflects the natural language command correctly. However, the command also mentions 'stand still' which has not been reflected. Therefore, the JSON structure does not fully convey the intent of natural language command."] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["3; The given JSON structure correctly corresponds to the rotate action, but the angular_velocity parameter in the JSON does not match the natural language command which doesn't specify the speed of rotation. Also, the rotation direction is counterclockwise in the command while it is clockwise in the JSON structure. However, the rest specifications match with each other."] +Turn 45 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4.5; The natural language command mostly corresponds to the JSON structure. The command does indicate the degree of rotation and the direction which is represented as "angle" and "is_clockwise" respectively in the JSON structure. However, there is a mismatch as the natural language command does not specify the angular velocity, while the JSON structure includes "angular_velocity" as a parameter.'] +Rotate anticlockwise at an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['2; The command partially conforms to the JSON structure. The \'is_clockwise\' value should be true for a clockwise rotation and false for an anticlockwise rotation. However, the "angular_velocity" is directed as "0" in the JSON structure which contradicts the command to rotate, because there wouldn\'t be any rotation at 0 angular velocity.'] +Rotate left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['3; There is partial conformity between the natural language command and the JSON, as the command refers to a rotation (which matches the "action" key in JSON). Variables such as angular_velocity, angle, and is_clockwise are represented in the JSON structure, but inconsistency is observed in the matching of the values for these keys. The natural language command specifies "rotate left by 45 degrees" which doesn\'t specify the angular_velocity, and the given JSON structure states 0 for angular_velocity, which doesn\'t make sense for a rotation. Furthermore, rotating left implies a counter-clockwise movement, but the "is_clockwise" key in the JSON is neither true nor false. So, it is expected that the "is_clockwise" value would be false for "rotate left".'] +Perform a 45-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['3; The natural language command partially matches the JSON structure. The command correctly identifies the action (rotate) and provides the correct angle, but it does not specify the angular_velocity, which is required for this action in the JSON structure, hence the deduction of points. Additionally, it specifies a counterclockwise rotation, which is not "is_clockwise" as required by the JSON structure.'] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'];['3; The overall idea of the command matches the JSON structure but there are a couple of mismatches. Firstly, the "angular_velocity" value should have some value other than 0 for a rotation action. Secondly, the "linear_speed" is not specified in the command but it has been represented in the JSON with a value of 0.5. Lastly, the "unit" is not provided in the JSON structure.'] +Proceed forward for a distance of 4 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];["4; The natural language command mostly conforms to the provided JSON structures. The 'move' action and its parameters like 'linear_speed', 'distance', 'is_forward', and 'unit' match perfectly. The 'rotate' action also mostly matches with parameters like 'angular_velocity' and 'is_clockwise'. However, the 'angle' provided in the JSON structure is 40 but in the command, it's implied as 90 (right turn). Also, the 'angular_velocity' in the structure is 0.35 but it's not specified in the command."] +Take a right and continue moving ahead for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 1.0, "angle": 90, "is_clockwise": true}} {"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "meters"}}'];['3; Partially conform. The JSON structure provided in the bracket does relate to the natural language command given. However, the values for "angular_velocity", "is_clockwise", and "linear_speed" do not perfectly match the natural language command given as there are no such specific instructions in the command.'] +After making a right turn, advance straight for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The natural language command correctly corresponds to the JSON structure of a "move" command. Distance and directionality are both adequately accounted for. However, the instruction for making a right turn is not captured in the generated JSON structure. The angular turn or rotation is a distinct action and is not included in the "move" action in the sample ontology.'] +Make a right-hand turn and proceed forward for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['2; The command partially matches the JSON structure for the action "move", missing some key value pairs like "unit" and incorrect value for "linear_speed". The command also refers to a rotation that is not represented in the provided JSON string. Therefore, it\'s not a complete match.'] +Move 1 meter forward at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; While the JSON correctly reflects the action of moving, the speed specified in the natural language command is not accurately reflected in the JSON. According to the command, the speed should be 1 meter per second, but the JSON indicates a speed of 0.5. Therefore, the conformity is not perfect.'] +Proceed ahead by 1 meter with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command corresponds well to the JSON structure, however the velocity is not included in the JSON sample keys.'] +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The natural language command very closely relates to the syntax and semantics of the JSON command, however, the provided JSON doesn't show any parameters for speed, so it's impossible to fully confirm the matching."] +Go one meter ahead, moving at a rate of one meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["5; The natural language command matches perfectly with the JSON information. The action described is the action key in the JSON, 'move'. The parameters of 'distance', 'linear_speed', 'is_forward' and 'unit' as mentioned in the command are also found and align properly in the JSON structure."] +Travel forward for 1 meter while maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];['5; The natural language command accurately corresponds to the JSON information as moving forward at a certain speed is specified in both cases. The JSON structure is also a direct match with the sample ontology. However, the commanding speed in JSON is 0.5 while in the natural language, it is 1 meter per second. This should not affect the conformity score as the values can vary in real-world scenarios.'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command corresponds primarily to the "rotate" action in the JSON structure. However, the "angular_velocity" value does not match, as it is not provided in the command.'] +Turn 270 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command exactly matches the JSON structure for the action of "rotate" with accurate "angle" and "is_clockwise" parameters. Although "angular_velocity" is not specified in the command, it is a necessary attribute for rotation and a default_value is otherwise assumed. Thus the conformity is high.'] +Rotate by 270 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["4; The JSON structure matches the NL command regarding the action and parameters such as angle and rotation direction (clockwise). However, the angular_velocity value in the JSON structure is set to 0, whereas the NL command doesn't specify the velocity. Thus, it's a near exact match but has a minor discrepancy in one parameter."] +Execute a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true}}'];['3; The action, rotate, conforms correctly with the given JSON. However, the parameter "angular_velocity" given in the command does not match with the JSON provided. The "angle" and "is_clockwise" parameters match correctly.'] +Shift the orientation by 270 degrees in a clockwise fashion.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["5; The natural language command correctly corresponds to the JSON structure with the 'rotate' action and parameters for 'angle', 'is_clockwise', and 'unit'. The default angular_velocity is assumed to exist in the system."] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['2; The natural language command partially conforms with JSON information. "Move forward" matches with the "move" action, but "Turn left" does not correspond to any action. In "params", "is_forward" key with the value "true" correctly matches "move forward", but there are no "linear_speed" or "distance" parameters mentioned in the command. Also, there is no notation of time for which actual moving is supposed to happen. The command does not specify information about the speed or distance to move.'] +Proceed forward for 2 seconds, then make a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}} ', '{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["2; The JSON structures provided specify the actions 'move' and 'rotate', which partially match the natural language command, but they do not fully comply with the sample ontology. The 'move' action does not specify the indication of 'forward' movement or the unit as 'seconds'. On the other hand, 'rotate' action partially matches the command of making a 'left turn', though it does not specify if it should be clockwise or counter-clockwise. In general, the relation between 'seconds' in command and 'distance' in parameters isn't clear and the angular_velocity doesn't have any comparative in initial command."] +Take a left turn and continue moving straight ahead for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": -90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The command includes actions like "rotate" and "move" which is represented in the sample keys. However, the parameters in the JSON like "angular_velocity", "is_clockwise" and "distance" do not match with the specifics given in the command. The command mentions "left turn" and "2 seconds" without specifying if it is a rotation or direction and "2 seconds" is not equivalent to any sample ontology for "distance".'] +Make a left turn and drive forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true}}'];['1; The JSON commands partially conform to the natural language command. The moving forward action is correctly outlined, but the rotation (left turn) does not correctly follow the sample ontology. The "angular_velocity" key should have a value greater than 0 for a left turn to occur and the use of "unit" field is missing as well. Also, there is no clarity in terms of the unit in which the distance is being measured as per the natural language command. The \'distance\' in the JSON code is set as \'2\', however, in the natural language command it is \'2 seconds\', which is not a unit of distance.'] +After turning left, continue moving straight for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The generated JSON structure assumes that distance is measured in time (seconds). In the ontology, distance is not defined by time but likely by a length unit (e.g., meters), considering the provided linear_speed is likely in m/s. Therefore, translating \'2 seconds\' into \'distance: 2\' is not fully accurate. Furthermore, the "rotate" action from the first part of the command ("After turning left") is missing from the JSON. The command has therefore only been partially converted into the JSON structure.'] +Move 3 meters backward at a speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The command has been perfectly translated into the JSON structure according to the provided ontology. The action "move" and all parameters such as "linear_speed", "distance", "is_forward", and "unit" are accurately depicted with correct values. Also, the direction being "backward" have been correctly translated as "is_forward": false.'] +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; The command requests to move ("action": "move") a specific distance ("distance": 3), at a certain speed ("linear_speed": 1.5), backwards ("is_forward": false), and the unit of measurement is in meters ("unit": "meter"). All these parameters are accurately captured in the JSON structure.'] +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meters"}}'];['4; The natural command is correctly translated into a JSON format, but "is_forward" is set to false which indicates reversing but the natural language command doesn\'t explicitly state to reverse. Also, the actual JSON code provided doesn\'t include the "is_forward" parameter which might affect the overall score.'] +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The natural language command is represented in the JSON structure with one exception. The JSON structure suggests a "linear_speed" of 1.5 which conforms to the command, a "distance" of 3 conforming to the command, and a "unit" of "meter" which also conforms. However, the command specifies to “retreat", which generally means moving backwards or in the opposite direction, which conflicts with the "is_forward": true parameter in the JSON structure. This should likely be "is_forward": false to fully match the command.', ''] +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The JSON conforms to the natural language command quite well- it correctly interprets the action "move", and the parameters for "linear_speed", "distance", and "unit". However, the is_forward parameter is set to false implying backward motion which isn\'t explicitly stated in the command but understood contextually, hence not a complete match. Also, the command-to-JSON translation is presented within square brackets and quotes which is not standard, lowering the conformity score further.'] +Go to the dining room and stop.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'];['1; The natural language command partially matches the JSON structure. The "go_to_goal" action and the location parameter are correctly interpreted in the JSON. However, the command to "stop" is not included or represented in the JSON structure.'] +Proceed to the dining room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'];['2; The natural language command correctly refers to a movement action that corresponds to "go_to_goal" action in the ontology. However, the specified location "Dining Room" is not same as in the JSON structure "Kitchen". Also, the natural language command\'s "come to a halt" doesn\'t match with any action in the sample ontology or JSON structures.'] +Head over to the dining room and pause.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'];["2; The natural language command partially matches with the JSON. The 'go_to_goal' action and 'location' param are correct but the location value does not match. The command mentions 'dining room' while the JSON has 'kitchen' as the location. However, there is no 'pause' action represented in the JSON."] +Make your way to the dining room and bring yourself to a stop.;['{"action": "go_to_goal", "params": {"location": "dining room"}}'];['1; The natural language command asks to go to the \'dining room\', however, the JSON information specifies the move to \'Kitchen\'. Additionally, it mentions "bring yourself to a stop", but there is no instruction or action in the JSON structure that corresponds to a stopping action. A low score of 1 is given due to the mismatch in location and the missing \'stop\' action.'] +Move towards the dining room and cease your motion.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}}}'];['2; The natural language command partially conforms to the JSON structure. The action of moving towards a location is indicated, but it does not provide any information on the movement parameters like distance, speed, or direction. The command to stop moving also does not have a counterpart in the JSON structures provided.'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];['3; The JSON structure includes command for a rotation action which matches with the natural language instruction. However, the value of "angular_velocity" in JSON is set to 0, which does not match with the NL command explicitly. Also, the "is_clockwise" value is appropriately set to false to indicate a counterclockwise rotation as specified in the NL command. Hence, there is partial conformity with the sample keys and natural language command.'] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['3; The JSON structure provided does correspond to a rotation action as mentioned in the natural language command. However, the \'angular_velocity\' value is not mentioned in the command. Also, "is_clockwise" would be False, if "left" is considered counter-clockwise.'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['2; Although the action "rotate" is commanded, the JSON values don\'t match with the command. For example, the angular velocity is marked as 10 in JSON whereas no specific velocity is mentioned in the command. Similarly, the command asks for rotation in opposite direction whereas in JSON "is_clockwise" value is false but it\'s not comprehensible whether the opposite direction means clockwise or anticlockwise without a context.'] +Execute a 60-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The command matches with the JSON information closely, the action is "rotate" which is correct and parameters such as "angle" and "is_clockwise" correctly respond to "60-degree" and "counterclockwise". However, "angular_velocity" value as 10 does not come from the command, therefore it does not exactly conform.'] +Rotate anticlockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The command partially matches with the JSON structure. While the \'action\' does correspond to "rotate", and \'angle\' corresponds to 60 with the correct \'unit\' as "degrees", there is an unspecified \'angular_velocity\' in the command which is present in JSON. Also, the \'is_clockwise\' value corresponds to false as the command is to rotate anti-clockwise but it could have been more explicitly mentioned.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['4; Mostly conform. The command correctly refers to the action to move and the direction to move forward, as well as the distance. However, the linear_speed does not have a value specified in the command and appears to have an arbitrary value in the JSON.'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['5; The natural language command accurately matches the JSON structure in terms of action type ("move") and parameters including "distance", "is_forward", and "unit". However, the "linear_speed" is not specified in the command but is included in the JSON structure. This does not negate the overall matching as no contrary information is given in the command.'] +Advance straight ahead for 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true}}'];['4; The command matches well with the JSON in terms of moving forward, but it does not provide a specific linear speed which is included in the JSON structure. Since linear_speed is not given in the command, it is inferred as 1.0 in the output. However, this inference might not be always correct, so a point deducted.'] +Travel forward for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure matches the command fairly well, as it correctly identifies the action as "move" and captures the intention of moving forward a specified distance. However, the "linear_speed" parameter doesn\'t match anything mentioned in the command and seems randomly chosen, which slightly detracts from the match score.'] +Go in the forward direction for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; Mostly conform. The distance and direction provided in the natural language command match with the "distance" and "is_forward" parameters in the JSON structure. However, the "linear_speed" in the JSON is set to 0.5, while the command does not specify a speed. The "unit" in the JSON structure is "meter", while the command uses "meters". It\'s close but as it was not exactly conform the score is slightly reduced.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; Mostly conform. The natural language command asks to rotate counterclockwise by 90 degrees which clearly matches with the action "rotate" and the parameter "angle": 90 in the JSON structure. However, the "angular_velocity" is not stated in the command and marked as 0 in the JSON which lacks clarity. The "is_clockwise" key correctly interprets the \'counterclockwise\' direction from the command as false.'] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command conforms with the JSON structure but it lacks the "angular_velocity" value. In the natural language command, there is no information given regarding how fast the rotation should be. The term "default_angular_velocity" is used but it is not specified in the command. The "rotate" action, "angle" parameter, "is_clockwise" parameter (with a value of FALSE, indicating counterclockwise rotation), and "unit" parameter completely match with the structure.'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'];['3; The natural language command corresponds to the "rotate" action in the JSON structure, and the "angle" is also correct. However, the "angular_velocity" in the JSON structure does not have a determined value mentioned in the natural language command. The direction of rotation is correctly interpreted as anticlockwise which should be \'false\' in "is_clockwise".'] +Rotate to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'];["4; The command to rotate is correct and so is the rotation direction and angle. However, the angular_velocity value is not matching. In the natural language command, no specific angular velocity is mentioned but in the JSON structure it's 1, whereas in the sample key it's 0.35."] +Change the orientation to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}'];['1; The natural language command refers to a rotation action which matches the "rotate" key in the sample ontology. However, the angle of rotation and direction (\'left\' which should map to "is_clockwise": false) is correct, but the angular velocity value is not matching (0.5 in the command and 0.35 in JSON structure).'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": false}}'];['2; The natural language command asks for a backward movement, which is mentioned in the JSON as "is_forward": false which is correct. However, the "distance" specified in the JSON structure should rather be "time" as per the command. Also, the linear_speed value isn\'t mentioned in the command, but set in JSON, which might not be accurate.'] +Reverse for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "duration": 3, "unit": "seconds"}}'];['1; The JSON structure does correctly represent a rotate action, however, the keys "duration" and "angular_velocity" do not exist in the sample keys. The parameter "is_clockwise" is missing a value. The natural language command also does not specify a particular angle which is required in the JSON format.'] +Go in reverse for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "time": 3, "is_forward": false, "unit": "seconds"}}'];["1; The JSON structure partially matches the command. However, there is no 'time' parameter in the 'move' action within the provided JSON keys. Additionally, the JSON structure uses '-1' for 'linear_speed' to suggest reverse movement, but this negation is also not included in the given keys. Therefore, the command does not perfectly conform to the keys in the sample ontology."] +Travel backwards for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["1; The command and JSON both describe movement but the parameters ('linear_speed', 'distance', 'is_forward', 'unit') in the JSON don't match with the command, as it mentions moving backwards for a total of 3 seconds. The command does not specify a 'linear_speed' or 'is_forward' value. The JSON structure also expects a 'distance' parameter in meters, not seconds. Therefore the match is not exact."] +Move in the opposite direction for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['2; While the natural language command can be reasonably translated to the \'move\' action in JSON, the parameters are not well translated. The natural language command implies a time duration ("for 3 seconds") while the JSON uses distance as a parameter, and there\'s no direct correlation between time and distance without a speed. The "opposite direction" in the command is attempted to be translated as a negative linear speed in the JSON, but in the sample ontology, movement direction is determined with the \'is_forward\' key instead. Further, the linear speed value is inconsistent (-1 in JSON vs an unspecified speed in the command).'] +Turn left and move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];['2; The natural language command gives the instruction to rotate (turn left) and move a certain distance, but the JSON information given does not include the rotation command. Also, the linear_speed in the move command is not specified in the natural language command.'] +Proceed forward for 2 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meters"}}'];['2; The JSON schema only represents the move action in the command, but not the turn action implied by "after making a left turn".'] +Make a left turn and advance for 2 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meters"}}'];['3; Partially conform. The commands in the JSON structures approximately match the natural language command, with moving forward and rotating (turning left). However, the values specified in the JSON structures don\'t match those mentioned in the command (angle is 90 instead of unspecified, angular_velocity is 0.5 instead of unspecified, and distance is 2 which matches). The "is_clockwise" parameter is correctly set to false for a left turn.'] +Take a left and continue forward for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The command asks for a rotation (taking a left) and a movement forward but the JSON only includes information about the movement. Elements like turning left, which would typically involve a rotate action, is not included in the JSON data.'] +Move ahead for 2 meters after making a leftward turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3; The natural language command partially matches with the JSON information. The command "Move ahead for 2 meters" matches with the "move" action in the JSON, however, direction of movement is not specified in the JSON. The command "after making a leftward turn" could be interpreted as the "rotate" action, but there\'s no specific JSON structure provided to show this. Also, \'is_forward\' and \'linear_speed\' have predefined values which do not conform to the context in the natural language command.'] +Make a U-turn and move in the opposite direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "second"}}'];['2; There are several discrepancies between the commands and the JSON outputs. For the command "Make a U-turn and move in the opposite direction for 10 seconds." the rotation action is in conformity as the direction is not specified in the prompt. However, it\'s not correct to populate "is_clockwise" with \'false\'. Also, the linear speed and distance for the \'move\' action are given as zero, which does not correspond to the command to "move in the opposite direction for 10 seconds". Additionally, the command does not specify a unit, while the JSON structure includes the unit "second".'] +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": false, "unit": "degrees"}}'];['3; While the given JSON represents a part of the natural language command, specifically performing a U-turn (rotating 180 degrees), it does not encompass the second part of moving in the opposite direction for a duration of 10 seconds. There is no translation of the duration into a distance parameter for the robot to move. Also, the "angular_velocity" set to 0.5 in JSON does not match with the natural language command not providing this specific information.'] +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['2; Partial conformity. The command indicates the robot to rotate (possibly a U-turn), which can be aligned with the rotation action in the JSON. However, the values do not match directly with the example. More importantly the "travel in the opposite direction for a time span of 10 seconds" instruction does not conform to any JSON structure in the examples provided.'] +Turn around and travel in the opposite direction for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["0; The given JSON structure doesn't match with the natural language command. The command mentions action in terms of duration (10 seconds), which is not represented in the JSON structure. Also, angular velocity in the JSON is 0 which contradicts the command 'Turn around' as a 0 angular velocity would mean no rotation."] +Perform a U-turn and move in the opposite direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180.0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": false, "duration": 10}}'];['4; While the JSON instruction does generally correspond to the natural language command with the correct "rotate" and "move" actions, there are no corresponding value numbers for the "angular_velocity", "distance", and "linear_speed" keys in the JSON structure as defined in the command. In addition, a "duration" key was used in the JSON that does not exist in the sample keys.'] +Rotate clockwise by 180 degrees and stop.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true}}'];['4; The natural language command matches overall information included in JSON structure with the "rotate" action, "angle" value of 180, and clockwise rotation. However, a default value is not provided in the natural language command for "angular_velocity", thus a default_value is inserted but this may not be accurate. Therefore, not exactly conform.'] +Perform a 180-degree clockwise rotation and then come to a halt.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'];['4; The natural language command mostly conforms to the JSON structure, correctly calling for a rotation action with given parameters. However, the natural language command does not specify an "angular_velocity" value, and so the actual angular velocity used (10) does not match the command. The command to "come to a halt" could also be interpreted as a "move" action with a linear speed of 0, hence the "move" action formatting is acceptable but not specifically asked for in the command.'] +Execute a clockwise rotation of 180 degrees and then cease movement.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['2; The JSON structure matches the "rotate" action in the sample keys but does not adequately represent the "cease movement" command in the natural language instruction. Also, the "angular_velocity" parameter in JSON is 0, which doesn\'t correlate with the natural language command as no speed is mentioned for rotation. A zero angular velocity could mean no rotation at all.'] +Turn right by 180 degrees and then stop.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": false, "unit": "degrees"}}'];['4; The command is mostly conformant. In the JSON, the "rotate" action and "angle" param correctly match the command to "Turn right by 180 degrees". But the "angular_velocity" parameter does not match to any part of the command, and "is_clockwise" should be true for a right turn. Also, there\'s no JSON equivalent for the "stop" command.'] +Rotate in a clockwise direction by 180 degrees and then come to a stop.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The command is mostly conforming to the JSON structure in the "rotate" block, but the "angular_velocity" should not be 0 according to the natural language command because the rotation action is implied.'] +Move diagonally to the right for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['1; The natural language command contains a movement instruction which aligns with the "move" action in the JSON structure. However, the command asks for a diagonal movement which is not adequately represented in the JSON. Additionally, there is no mention of speed in the command, but it is included in the JSON conversion. The "is_forward" value correctly matches with the forward motion in the command. The direction "right" and type of movement "diagonal" mentioned in command is not present in the JSON structure.'] +Go right at an angle for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meters"}}'];['1; Although the command suggests a movement action similar to the JSON sample keys, it does not match exactly because the command includes a direction (right) and an unspecified angle, which there\'s no correspondent key in the sample structure. Moreover, the "is_forward" key is true that disagrees with the natural language command.'] +Travel in a diagonal direction to the right covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1.414, "distance": 4, "is_forward": true, "unit": "meter"}}'];['1; The JSON structure does have the "move" action and some relevant parameters, such as "distance" and "unit". However, the natural language command asks to move in a diagonal direction to the right, which can\'t be represented in the provided JSON structure. Also, the "linear_speed" parameter is not mentioned in the natural language command, so its value in the JSON structure doesn\'t have a definite equivalent in the command. Therefore, the match is minimal.'] +Proceed at a diagonal towards the right, moving 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'];['2; The natural language command implies movement at a diagonal, but there\'s no parameter to represent this detail in the JSON structure. Also, it doesn\'t provide a value for "linear_speed" which is present in the "move" action of the JSON structure.'] +Move to the right diagonally, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['0; The JSON structure does not represent the given command correctly. The action in the command does not match the action in the JSON. Also, moving diagonally is not represented in the JSON structure.'] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true}}'];['4; The JSON structures accurately represent the action of turning right and moving forward, but it\'s missing "unit": "meter" for the move action. Also, the angular_velocity and linear_speed are set as 0.0 where it should have some specified value.'] +Make a right turn and proceed one meter forward.;['{"action": "rotate", "params": {"angular_velocity": , "angle": , "is_clockwise": true}, "action": "move", "params": {"linear_speed": , "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command partially matches the JSON structure example. However, rotation magnitude and linear speed for forward movement are not explicitly stated in the command, which would be expected in the JSON structure.'] +Take a right and continue moving ahead for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['2; The natural language command partially conforms to the provided JSON structure. It correctly invokes the action “move” with parameters such as “distance” and "is_forward". However, the command "Take a right" which would typically involve the "rotate" action with an "angle" parameter (usually 90 degrees for a right turn, though not specified in the command), is not represented in the converted JSON. Moreover, "linear_speed" is not mentioned in the natural text command but is included in the JSON structure. These discrepancies lower the conformity score.'] +Rotate to the right and advance straight ahead for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; The command matches with the "move" action in the JSON structure with correct parameters such as linear_speed, distance and is_forward. However, the "rotate" part of the command is not translated to JSON, and also the JSON provided does not have linear_speed mentioned as 0.5 as in the sample ontology. Hence, it\'s partially conform.'] +Facing towards the right, progress forward for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];["2; The linear_speed in the JSON structure doesn't match with the command, because the command didn't specify the speed."] +Move in a zigzag pattern for 8 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true}}'];["0; The natural language command requests a zigzag movement which doesn't exist in the sample keys. Additionally, the generated JSON structure misinterprets the duration of 8 seconds as distance, which isn't conform to the command."] +Perform a zigzag movement continuously for a duration of 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];["0; The natural language command asks for a zigzag movement which doesn't exist in the sample keys. The direction of the movement (zigzag) and time duration (8 seconds) are also not represented in the JSON. Furthermore, the JSON structure that has been provided does not match with the command - it represents a straight linear motion rather than a zigzag motion."] +Traverse in a serpentine motion for 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters", "traversal_mode": "serpentine", "traversal_time": 8}}'];['0; The JSON structure does not match the natural language command. The natural language command is asking for a serpentine motion for 8 seconds, but the JSON structure does not include a command for serpentine motion. Additionally, there are additional parameters in the JSON, like "traversal_mode" and "traversal_time", that are not in the sample keys.'] +Alternate your path in a zigzagging pattern for the next 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}}'];['0; The natural language command talks about moving in a zigzagging pattern for a specific duration, while the JSON structure is about moving forward at specified linear speed and distance, which does not conform to the natural language command. There is no matching between the command and the JSON information.'] +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "meter"}}'];["1; The natural language command partially matches with the JSON command structure. The 'move' action is correct, and 'is_forward' parameter is also implied to be true from the command. However, the 'linear_speed' and 'distance' are not mentioned in the command and are thus 'undetermined' in the JSON structure. In addition, the command speaks about a 'zigzag' pattern and a total of 8 seconds, which is not represented in the JSON structure at all. Using 'time' as a parameter is not present in the given ontology."] +Rotate counterclockwise by 45 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; The commands given in natural language perfectly correspond to the sample ontology keys present in JSON format. The angular_velocity and linear_speed values would be assumed as a default value which are not provided in natural language command but perfectly matches the other elements. Hence, the conformity score is 5.'] +Turn left by 45 degrees and advance for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];["2; The JSON structure includes both the rotation and movement commands, but it does not match with the sample ontology because no values were provided for 'angular_velocity' and 'linear_speed'. Also, the rotation direction was given as false (which suggests anti-clockwise) while the command mentioned turning left. The representation of multiple actions also lacks the correct format. It should have been two separate dictionaries for the rotate and move actions, not combined into a single one."] +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];["3; The angular_velocity and the linear_speed in the provided JSON isn't specified in the command, which results in '0' as default value. Also, the rotation direction in the command is 'anti-clockwise' which can be inferred as false for the key 'is_clockwise'. Lastly, the distance to be moved ahead is provided correctly."] +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The JSON structures provided correspond to the actions in the command, which are rotating and moving. However, the "angular_velocity" and "linear_speed" keys in the JSON objects are set to 0, which doesn\'t match the implied speed from the command. Also the distance unit isn\'t written correctly, it should be "meter" not "meters".'] +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 45, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; While the actions and parameters in the JSON structure are in conformity with the sample keys provided in the ontology and align with the command given, there are some discrepancies in the values. Specifically, the angular_velocity in the "rotate" action should be 0.35 according to the ontology, not 0.5 as in the JSON. Similarly, the linear_speed in the "move" action should be 0.5, not 1. The value of "is_clockwise" in the "rotate" action is also undefined in the JSON structure, which doesn\'t match the command (Shift to the left by 45 degrees indicates a counterclockwise rotation).'] +Move backward and stop at the nearest obstacle.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'];['1; The command is vaguely similar to the provided JSON example but lacks specific parameters such as the unit of speed. Also, the concept of "stopping at the nearest obstacle" cannot be translated into a valid JSON command based on the provided sample keys.'] +Reverse and come to a halt once you reach the closest object in your path.;['{"action": "stop"}'];['0; The natural language command instructs the system to reverse until it reaches the nearest object, which does not align with any of the JSON structures provided. There is no "stop" action in the JSON ontology provided and hence no matching JSON structure.'] +Back up and cease movement upon reaching the nearest obstruction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -1, "is_forward": false, "unit": "meter"}}'];['1; The provided JSON does not match the natural language command fully. The command indicates a stopping behavior upon encountering an obstruction, which is not represented in the JSON. The JSON only denotes moving at a certain speed and distance in reverse.'] +Retreat and come to a stop when you encounter the closest barrier.;['{"action": "go_to_goal", "params": {"location": "Kitchen"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false}}'];['0; The natural language command does not correspond to the provided JSON objects. The command is asking to retreat and stop when a barrier is encountered, but none of the JSON objects have matching actions or parameters to represent this command.'] +Go in reverse and stop once you reach the nearest obstacle.;['{"action": "move", "params": {"linear_speed": -1, "distance": "nearest_obstacle", "is_forward": false}}'];["1; The JSON structure captures the 'move' action and has parameters that can define a reverse movement (like 'is_forward': false). However, the 'linear_speed': -1 does not exist in the sample keys provided. Also, the 'nearest_obstacle' concept is not available as a potential 'distance' value in the sample keys. Same keys can be used to construct a JSON that could potentially express the same command but adherence to exact keys in the sample is low."] +Turn left and move in a curved path for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['0; The natural language command asks for the robot to turn left and move in a curved path for 6 meters. This does not match with any of the JSON structures provided. The JSON for move only contains keys for linear_speed, distance, and is_forward. It does not have any provision for turning or moving in a curved path. Similarly, the JSON for rotate only takes in parameters for angular_velocity, angle, and is_clockwise, which also does not align with the command given.'] +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": false}, "action": "move", "params": {"linear_speed": "undetermined", "distance": 6, "is_forward": true, "unit": "meter"}}'];["2; The natural language command partially matches the provided JSON structures. The 'rotate' action in JSON can correspond to 'take a left turn' in the command, but 'travel in a curved trajectory' in the command is not represented in JSON. Furthermore, the 'distance' in the 'move' action JSON can correspond with 'covering a distance of 6 meters' in the command. However, specific values for 'angular_velocity', 'angle', and 'linear_speed' are not provided in the command."] +Make a leftward turn and proceed along a curving route spanning 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['1; The command refers to a movement action but does not match with the provided JSON structure. The direction of the leftward turn, the curvature of the route, and the speed of the movement are not specified in the JSON. Only the distance parameter matches.'] +Go left and follow a curved path for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 6, "is_forward": false, "path_type": "curved", "unit": "meters"}}'];['1; The command to move is partially correct, but there are parameters like "path_type" in the JSON which do not exist in the sample JSON structure, and "is_forward" value is mismatched. Also, the direction \'left\' isn\'t specified anywhere in the JSON.'] +Regulate your movement to the left and travel in a curved trajectory for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];["1; The natural language command and the JSON information do not match well. The command mentions moving to the left and traveling in a curved trajectory, which can imply rotation, but the given JSON structure relates to straightforward movement with no attention to directionality. Also, the 'is_forward' key in the JSON is defined as 'False', which contradicts the forward implied movement in the command. The distance parameter matches but linear speed is not mentioned in the command."] +Move forward at a speed of 1 meter per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The natural language command partially conforms to the JSON structure. The action of moving and the "linear_speed" parameter are matched correctly. But the parameters "distance" and "is_forward" are not correctly inferred. Instead of indicating a distance of 10 meters, the command suggests a time duration of 10 seconds which is not a part of the JSON structure provided. Also, the "is_forward" parameter is correctly inferred from the command "Move forward".'] +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; While the command is correctly targeting a "move" action, the given JSON structure does not match with the command completely. The \'duration\' mentioned in the command is translated into \'distance\' in the JSON which is not correct. Also, the unit of distance in the command should be \'meter\' not \'seconds\' as per the given JSON.'] +Advance at a rate of 1 meter per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "second"}}'];["3; Although the natural language command somewhat matches the provided JSON with respect to the action and parameters, it does not completely align. While the command asks for a linear speed of 1, the time (10 seconds) is not equivalent to 'distance' as provided in the JSON structure, thus leading to a lack of direct conformity."] +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];["2; The command's intention somewhat matches with the JSON structure. The command indicates a 'move' action which is present in the JSON, and also refers to 'linear_speed' which is a key in the JSON. However, the command provides the time ('10 seconds') not the distance, which does not match the 'distance' parameter in the JSON. Additionally, the command does not mention the 'is_forward' direction required in the JSON."] +Travel forward for 10 seconds, covering a distance of 1 meter per second.;['{"action": "move","params": {"linear_speed": 1,"distance": 10,"is_forward": true, "unit": "second"}}'];['0; The command does not match the JSON structure. The command refers to time ("10 seconds"), while the JSON structure deals in distance and speed. Additionally, the JSON parameter of `unit` here should be distance unit, not time unit.'] +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meters"}}'];["4; The commands and parameters match well with the JSON structure, but angular_velocity and linear_speed keys values are given as 0 in the JSON which doesn't align with the natural language command that implies a non-zero speed. In JSON structure, speed should be specified, the natural language command doesn't provide specific speeds."] +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "meters"}}', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}'];['4; The JSON structures match the command but the values for linear speed and angular velocity are not directly stated and have been assumed in the JSON.'] +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meters"}}'];["3; The JSON structures conform with the sample ontology in terms of keys, and partially matches the natural language command. However, the 'angular_velocity' for rotation and 'linear_speed' for movement are given as 0, which is contrast to the natural language command which implies that there is some speed involved. The direction of the rotation (clockwise) and the direction of the movement (forward) are correctly reflected in the JSON structures, and the distance and angle match the command as well. The unit for the movement action has a minor discrepancy ('meter' vs 'meters'), but this does not highly impact the understanding."] +After rotating 30 degrees clockwise, continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'];["4; The JSON structures match with the command given but some of the keys have values which are not specified in the command. For example: The angular_velocity in the rotation action as 10 and linear_speed in the move action as 0.5 are specified in the JSON while they weren't mentioned in the given command."] +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 30, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];["2; Partial Conformity. The commands in the natural language have been formed into JSON keys correctly but the parameters and values given do not match with the ones given originally. For example, in the 'rotate' action, angular_velocity is given as -1 whereas the original command had the value as 0.35. Also, is_clockwise is mentioned as 'false' which wasn't even given in the original command. Similarly for the 'move' action, linear_speed is given as 1 but the originl command had it as 0.5."] +Move in a circular path with a radius of 2 meters for 7 seconds.;['{"action": "move", "params": {"linear_speed": 2*pi*2/7, "distance": 2*pi*2, "is_forward": True, "unit": "meter"}}'];["1; The JSON structure describes a 'move' action with specific parameters 'linear_speed', 'distance', 'is_forward' and 'unit'. The parameters are more specific and actually describe a circular movement when considering the formulas used. The natural language command speaks of moving in a circular path for a certain time which isn't directly reflected in the JSON. The 'time' parameter isn't represented in the JSON structure at all."] +Circle around with a radius of 2 meters for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.2857142857142857, "distance": 12.571428571428571, "is_forward": true, "unit": "meter"}}'];['1; The JSON structure indicates a move action with specific attributes such as linear_speed, distance, is_forward and the unit. However, the units and the parameters do not match with the units and parameters needed for the command to "Circle around with a radius of 2 meters for a duration of 7 seconds.". This command would require parameters such as radius and duration rather than linear_speed and distance.'] +Perform circular movement with a radius of 2 meters for 7 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.286, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];["2; The JSON structure is incorrect as it doesn't account for the radius inputted in the command, also the actual properties like the time duration for the rotation and whether this rotation is clockwise or not are not mentioned. The angular_velocity value does not match the natural language command neither the angle value of 90 degrees."] +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": false, "radius": 2, "time": 7, "unit": "seconds"}}'];['0; The JSON structure does not match with the natural language command. In addition, the commands in the natural language command "radius" and "time" are not included in the sample keys of the JSON structure. Also, values for angular_velocity, angle, is_clockwise are incorrect as they do not match with the natural language command.'] +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 2/7, "distance": 2, "is_forward": true, "unit": "meter"}}'];['0; The natural language command does not match any of the JSON information provided. The command talks about traversing a circular path while sample JSONs have actions for "go_to_goal", "move", and "rotate". The parameters in the command like duration also have no corresponding keys in the given sample ontology. Therefore, JSON conversion of the command does not exist in the samples provided.'] +Turn right and move forward for 5 seconds, then revert back.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}}'];['1; The provided JSON structures do include actions for moving and rotating, however, the parameters given in the natural language command ("Turn right and move forward for 5 seconds, then revert back") such as time duration (5 seconds) and reversion (revert back), are not present in the JSON structures. Therefore, the conformity is low.'] +Make a right turn and proceed forward for 5 seconds, then return back.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['2; The natural language command doesn\'t fully match with the JSON structures. The command tells to turn right, proceed forward for a certain time (not distance) and return back. Although the provided JSON structures have the matching keys of rotation and movement commands, the specific distance of forward movement and returning back aren\'t specified and hence the structure isn\'t fully conforming. Moreover, the units for the move action are in "meters", while the nl command\'s move description is in "seconds".'] +Take a right turn and advance ahead for 5 seconds, then go back in reverse.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];["2; The JSON structures do match the instructions in the command but they are not completely accurate. The command mentions a 'right turn' but the JSON for rotation does not specify if the rotation is clockwise or anticlockwise. Also, the command mentions '5 seconds' which does not necessarily imply distance as mentioned in the JSON structure. It could be time for which an action has to be performed. The command also mentions 'go back in reverse' which would imply the 'is_forward' key to be false, but it is true in the JSON."] +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "second"}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": false, "unit": "second"}}'];['2; The natural language command is partially converted into the JSON structure and the ontological rules have not been met. Firstly, parameters such as angular velocity and rotation angle are not extracted from the command for the "rotate" action. Secondly, in the "move" action, the linear speed value is not included in the command and distance is interpreted as time (5 seconds), rather than actual distance. Lastly, the movement direction reversal is not properly reflected since it is considered as a forward movement. So, the JSON doesn\'t entirely match the original natural language command.'] +Change direction to the right and go forward for 5 seconds, then reverse back.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['0; The JSON structures provided do not match the natural language command. The command suggests a rotation (changing direction to the right) which is not reflected in the JSON. The JSON structures only describe a forward and backward movement, not a change of direction. Furthermore, the durations of the movements (5 seconds forward, then reverse back) are expressed as a distance in the JSON, which is incorrect. The "unit" should be "seconds", not "meters".'] +Move along the perimeter of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "minute"}}'];['1; While the command does involve an action ("move") and parameters that can be represented within the given ontology, the specific request to "move along the perimeter of the room for 1 minute" introduces elements that cannot be accurately represented. The command specifies a route (along the perimeter of the room) not managed by the ontology and a duration (for 1 minute) rather than a distance. Additionally, the JSON mismatch with having "minute" as a unit while the original ontology uses "meter" and "degrees" as units for "move" and "rotate" actions respectively.'] +Walk around the edges of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "second"}}'];['2; The natural language command corresponds partially with the JSON structure. The \'move\' action is being referred to indirectly, but the parameters "linear_speed", "distance" and "is_forward" are not mentioned in command. The parameter "unit" is provided, but the value isn\'t matched with the correct key, because duration is not covered in the given JSON templates.'] +Circulate along the boundary of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": "unknown", "is_forward": true, "unit": "meter"}}'];['1; The command \'circulate along the boundary of the room for 1 minute\' seems to be a composite of \'move\' and \'rotate\' actions. However, there is no mention of a time parameter in the JSON example, further the parameter "distance" value is mentioned as "unknown", which doesn\'t align with the given natural language command. It lacks specificity in terms of defining parameters for adequate conversion to JSON.'] +Patrol the perimeter of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "meter"}}'];["0; The natural language command asks to patrol the perimeter of the room which isn't represented or specified anywhere in the JSON structures. Hence, there is no conformity between the command and the JSON information."] +Traverse the outer edges of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "meters"}}'];['1; The natural language command suggests movement and possibly continuous rotation (as it pertains to traversing outer edges). However, it does not specify the direction of movement or rotation nor the distance to cover or the speed and it also mentions a duration (1 minute) not accounted for in the JSON structure. The JSON structure has some relevant information (it involves movement as well), but it does not exactly follow the natural language command (it sets a distance rather than a duration, does not account for rotation) and includes parameters not mentioned in the command (is_forward, unit).'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4.5; The commands specified are in line with the keys of the sample ontology, however, the specified "angular_velocity" and "linear_speed" values in the JSON do not match the unspecified speed in the natural language command, hence, not a perfect match.'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['3; While the angular rotation action, clockwise direction and unit match in the natural language command and JSON structure, there are missing parameters such as angular velocity. For the movement action, although the direction, distance and unit match, the linear speed given does not correspond. Furthermore the two commands in the JSON structure are not linked as they are in the natural language command.'] +Rotate anticlockwise by 60 degrees and advance 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['3; Partially conform. The JSON correctly reflects the action to rotate and move forward. However, the values for "angular_velocity" and "linear_speed" are given as 0, which does not match with the natural language command that does not specify these speeds. The direction of rotation is also not mentioned in the natural language command. The unit for the move action is correctly stated as "meters", but the natural language command states "3 meters", whereas the JSON says only "3".'] +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The JSON structures are overall conform to the natural language command, however, "Face left" is not converted and the "angular_velocity" parameter doesn\'t match with the command as its value is not specified in the command.'] +Make a 60-degree left turn and move forward 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'];["4; The natural language command mostly matches the provided JSON structures. The action 'rotate' and its parameters conform exactly. But for the 'move' action, the natural language command did not specify the 'linear_speed' parameter which has been wrongly translated as 0.0 in the given JSON. However, the rest of the parameters match correctly."] +Move forward at a variable speed for 10 seconds.;['{"action": "move", "params": {"linear_speed": "variable", "distance": 0, "is_forward": true, "unit": "seconds"}}'];['2; The command partially conforms to the sample JSON keys. Although the "action" and "is_forward" parameters obviously match, the time duration (10 seconds) given in the command doesn\'t align with the distance parameter in the JSON information. Additionally, the speed parameter in the command is mentioned as "variable" which doesn\'t align with the numeric value requirement in structure (0.5).'] +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 10, "unit": "seconds"}}'];['1; The command is partially conform as it requests a forward movement which aligns with the "move" action in the JSON structure. However, the command values for duration of movement and adjusting the speed as necessary, are not found in the JSON structure.'] +Advance for a period of 10 seconds, with variable speed.;['{"action": "move", "params": {"linear_speed": "variable", "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; The command and the JSON structure match in the part that they are about moving. However, the unit in the command is "seconds" which doesn\'t exist in the sample ontology. Additionally, the duration of moving indicated by "a period of 10 seconds" in the command also is not captured in the JSON structure, as well as the "variable" speed which is not a numeric value as required by "linear_speed".'] +Travel forward, varying the speed, for a total of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; The command is partially conform to the JSON in the sense that it mentions a movement (similar to the "action":"move"), however, no distance value is specified in the command and instead, it is given as a duration (10 seconds), which does not conform with the given keys (as there is no key for "time" or "seconds" in the current schema). The "varying the speed" part of the command also can\'t be converted since the JSON structure only accommodates for a single linear speed value. Thus, the conformity is relatively low.'] +Move ahead for 10 seconds, adjusting the speed accordingly.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];["2; The JSON command corresponds to a movement action as done by the natural language command, but it lacks the true correspondence and conformity with the sample ontology, since there is no key available for 'unit' as 'seconds' and 'distance' as in 'seconds'. Moreover, there is no provision in JSON for adjusting the speed 'accordingly', as the nature of this adjustment is not specified in structural keys."] +Move backward and stop 1 meter away from the designated target.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];["2; The natural language command partially matches with the JSON. The 'move' action and 'distance' parameter are aligned, however the 'linear_speed' parameter and 'is_forward' parameter in the JSON do not match with the command. The 'linear_speed' has a value of 0.5 in the JSON structure, not -1. Also, the JSON structure indicates moving forward, which contradicts with the movement direction indicated in the command (backward). The command also does not mention stopping, which might involve another action not represented in the JSON structure."] +Reverse direction and come to a halt at a distance of 1 meter from the specified target.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; Partially conform, as the correct action "move" with some proper params "distance", "is_forward", and "unit" are present. However, "linear_speed" is given a value of 0 which doesn\'t allow for motion, hence contradicting the natural language command of reversing direction. Also, the parameter related to target is not mentioned in json structure.'] +Go in the opposite direction and pause when you are 1 meter away from the assigned target.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['2; The natural language command calls for going in the opposite direction and pausing when 1 meter away from the target, however, there is no corresponding JSON command for pausing or for moving in the opposite direction. The JSON command provided has "is_forward" set to false which suggests backward movement, but this isn\'t explicitly clear in the context of the sample ontology. The command for distance matches with the provided JSON command, but without a command for pausing or specifying the assigned target, the correspondence is not fully accurate.'] +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}}'];['2; Although a similar action "move" is found in the JSON structure, the natural language command appears to suggest a movement away from a target (\'retreat\') rather than simply moving in a non-forward direction. Additionally, there\'s no mention of "stopping" or "maintaining a distance" in the JSON structure.'] +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['1; The command mentions a "reverse motion" which can internally map to "is_forward": false in the ontology, and "once you are 1 meter away" can map to "distance": 1 with "unit": "meter", which are present in the JSON structure. However, the overall command isn\'t about the action "move" but seems to be about a more complex scenario that also involves a target and stopping, which are not covered by the given JSON. Hence, the match isn\'t strong.'] +Move forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The natural language command generally matches the given JSON structure, but the provided linear speed in the JSON does not match the command. The command doesn't specify a speed, so we cannot identify if the 0.5 speed was correctly translated."] +Proceed ahead by 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];['2; The natural language command matches with the "move" action in the JSON structure. However, the linear speed value does not match with the provided natural language command. In the command, there is no mention of the speed. Therefore, it\'s not accurate.'] +Advance for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['2; Only "distance" parameter in natural command matches with JSON structure, but "linear_speed", "is_forward" and "unit" parameters do not match. Natural command doesn\'t specify the speed of the movement, if it\'s moving forward and its unit.'] +Travel in a forward direction for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['4; The natural language command is mostly matching with the JSON structure. The command \'Travel in a forward direction for 1 meter\' maps to the "move" action, and the "is_forward" parameter is correctly set to "true". The "distance" is also correctly set to 1. However, the "linear_speed" parameter in the JSON is not specified in the natural language command, hence a score of 4.'] +Go straight for a span of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; The natural language command broadly matches to the "move" action in the JSON. However, there is no exact match as the command and JSON do not include or specify the \'linear_speed\' which is essential for the action according to JSON. Additionally, the command specifies a speed of 1, but it does not specify if this is in relation to \'linear_speed\' or another parameter.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command generally matches the JSON structure but the "angular_velocity" value in the JSON should not be 0, the value should be adjusted based on the application operation.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; Almost conform. The natural language command corresponds with the rotate action in the sample ontology, and the angle is correctly interpreted as 90 degrees. However, the "is_clockwise" parameter is incorrectly set to false (turning left would be counterclockwise), and "angular_velocity" value is not provided in the natural language command hence setting it to 0 may not necessarily be correct.'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; Partially conform. The natural language command matches the JSON structure. However, the "angular_velocity" value is defined to be 0 in the JSON, though it wasn\'t mentioned in the command. Also, the \'is_clockwise\' key is correctly mapped to "false" for an anticlockwise rotation command.'] +Rotate to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command does match the JSON structure quite well, specifying the action of rotation and the angle. However, it does not provide a value for the "angular_velocity" param and it doesn\'t state explicitly if the rotation should be clockwise or counterclockwise. In the provided JSON, it\'s assumed to be counterclockwise which is not directly mentioned in the command. Furthermore, \'to the left\' is not an attribute in the commands, hence reducing the score.'] +Spin counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": ???, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; Command is present in the JSON keys. The direction specified in the command (counterclockwise) matches with "is_clockwise": false in JSON. The angle (90 degrees) also matches accordingly. However, the angular_velocity is not specified in the command, hence the ??? in the JSON structure.'] +Move backward for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['1; The command is partially matched. The action "move" matches in both the command and JSON but we don\'t have exact keys in the JSON structure for values provided like "move backward for 2 seconds". The linear_speed key does not match the "backwards" direction in the command and also times in seconds is not referenced correctly as per given JSON structure.'] +Go backward for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command asks for a backward movement (negative direction) based on the provided "duration". However, in the JSON structure the "distance" is used rather than duration or time. Also, the "unit" in JSON is set to "seconds" which is not applicable in this context. The "linear_speed" is represented as "-1" which might not invariably correspond to the actual speed that covers the distance in the given duration.'] +Reverse direction and continue for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false, "unit": "meter", "duration": 2, "is_continuous": true}}'];['2; The JSON command does show a move action with "is_forward" set to false, implying a reverse direction which matches with the natural language command. However, the parameters "duration" and "is_continuous" in the JSON structure are not present in the sample ontology. Additionally, the natural language command instructs to continue for 2 seconds, but this time parameter is incorrectly referred in the JSON structure as distance which is not matching with the natural language command.'] +Retreat for a period of 2 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "seconds"}}'];["1; The command indicates to move in reverse, as indicated by 'retreat', however, the duration is wrongly equated to distance and the 'seconds' unit is not appropriate for the distance parameter in the JSON structure. The command does not clearly conform to the JSON."] +Take a step back and hold for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": -1, "is_forward": false, "unit": "meter"}}'];['1; The natural language command corresponds to the JSON containing action "move" but the distance, direction and time specified in the command do not align with the parameters in the JSON structure.'] +Turn left and move forward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'];['2; Partially conform. The JSON structure implies a forward movement with a specified distance. However, the natural language also contains a "Turn left" command, which doesn\'t match with the provided JSON. The "turn left" action could potentially be shown with a "rotate" action in the JSON, but no such structure is provided among the converted ones. Additionally, the "linear_speed" parameter doesn\'t match the natural language command as no speed is mentioned in the command.'] +Take a left turn and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['1; The commands somewhat match but not adequately. The "rotate" action in the JSON is going correctly with "Take a left turn" command, but the angle of rotation and angular velocity are not mentioned in the natural language commands. In the "move" action, the "distance" value correlates to "proceed ahead for a distance of 3 meters," but the "linear_speed" value doesn\'t have a natural language equivalent in the command.'] +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The natural language command asks for a leftward turn which corresponds to the "rotate" action and straight movement which corresponds to the "move" action in the example ontology, but there is no JSON data given for the rotation. Also only a part of the move action is provided in the JSON structure, the exact "linear_speed" and "is_forward": true is not specified in the command.'] +Rotate to the left and proceed forward, covering a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true}}'];["1; The JSON structure does indicate a movement forward, as requested by the command, but the command also includes a rotation that doesn't appear in the JSON structure. Additionally, the JSON structure's linear speed doesn't match the command's implied speed (no speed indicated)."] +Go left and move straight ahead for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; While the command to move straight ahead for 3 meters is well-represented by the JSON structure, the instruction to "go left", which likely implies a rotation, isn\'t reflected in the given JSON. Nonetheless, the existing information matches well.'] +Move at a speed of 2 meters per second for 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];['2; While the user\'s command "move at a speed of 2 meters per second for 5 seconds" is similar to the sample ontology and the values are correctly placed under the "linear_speed" and "distance" keys, the interpreted distance value is incorrect. The command says to move for 5 seconds at 2 meters per second, which should result in a distance of 10 meters, not 5. Therefore, the user\'s command and the JSON structure do not fully conform.'] +Travel with a velocity of 2 meters per second for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure accurately represents an action of moving with a specified speed (linear_speed: 2) and it sets is_forward to true, which can be inferred from the command. However, the natural language command indicates a duration, not a distance. There is not a "duration" attribute in the JSON or ontology examples, so it is an incorrect interpretation to represent the "5 seconds" as "distance: 10". The "unit" key in the JSON also does not match the ontology, as it should represent a unit of distance, not time.'] +Maintain a pace of 2 meters per second for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure contains the correct "action" ("move") and also somewhat matches with the parameters - "linear_speed" and "is_forward". However, the values of these parameters don\'t match the natural language command. Also, and the "distance" parameter does not match as it is calculated with the time in the natural language command, which is not present in the JSON.'] +Perform movement with a speed of 2 meters per second over a span of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The linear_speed parameter is correctly identified, but the distance parameter should be 10 not 5 (as distance = speed x time, so 2 m/s x 5 s = 10 m). Also, the "is_forward" value is assumed to be true which is not stated explicitly in the instruction.'] +Cover a distance at 2 meters per second for a time period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];["3; Partially conform. The command describes a movement action and thus corresponds to the action 'move'. The 'linear_speed' is given as 2 which matches the instruction '2 meters per second'. The JSON also includes 'distance' as a parameter, and while the given distance of 10 isn't mentioned in the command, the 5-second timeframe given could be used to calculate this distance using the speed. The 'is_forward' attribute could be inferred to be true, though not stated in the command. However, the command does not state whether the movement should be forward or backwards. The 'unit' being 'meters' is not contradicted by the command. It's partially conforming because it needs some inference to match completely."] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command matches mostly with the provided JSON structure. However, the "angular_velocity" value in the JSON is given as 0 and does not correspond to the original command. The command implies an action, hence the angular_velocity cannot be 0.'] +Rotate by 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The JSON structure mostly conforms to the natural language command, but there\'s no value provided for "angular_velocity" whereas in the command \'rotate by 180 degrees\' it can implicitly be assumed that the rotation should have some speed.'] +Perform a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The JSON structure and natural language command do align as they both refer to a clockwise rotation. The angle of rotation is also provided as 180 degrees which matches between the two formats. However, the value of "angular_velocity" is not specified in the command and is assumed to be 0 in the JSON structure. This discrepancy is why the score is not a full 5.'] +Turn 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; Mostly conform. The natural language command corresponds well with the JSON structure, it calls for a rotation which matches the "rotate" action and specifies a direction and degree which matches the "angle" and "is_clockwise" parameters. However, the angular_velocity is not specified in the command while in the JSON structure it is present. Therefore, this is not an exact conformity.'] +Rotate in a clockwise fashion, making a 180-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command \'Rotate in a clockwise fashion, making a 180-degree turn.\' almost perfectly matches the JSON information, except for the "angular_velocity" parameter, which is unspecified in the command yet contains a default value of 0.0 in the provided JSON structure.'] +Move forward for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['4; The command asks the system to "move forward for 4 meters" which partially matches the JSON structure. However, the "linear_speed" parameter\'s value isn\'t mentioned in the command but appears in the JSON.'] +Proceed straight ahead, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; The command perfectly matches the JSON structure and its keys, which also adheres strictly to the sample ontology. Specifically, "Proceed straight ahead, covering a distance of 4 meters" dictates a motion action where "distance" is "4" and "unit" is "meter". This is exactly the information reflected in the provided JSON. Hence, the command is formatted correctly in JSON.'] +Advance forward, spanning 4 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true}}'];["3.8; The natural language command matches with the moving action, the distance and the direction in the JSON. But the linear_speed value does not match. It's 1.0 in the JSON while it's not specified in the natural language command."] +Take 4 steps in the forward direction.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "steps"}}'];['2; \'move\' action command matches perfectly with JSON structure. However, there is a mismatch in "linear_speed" param value (command has no speed defined but JSON defines 1.0) and the "unit" param (direction of 4 steps can\'t be directly converted to meters). Therefore, it\'s partially conforming.'] +Travel a distance of 4 meters, moving in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 4, "is_forward": true}}'];['4; The natural language command correctly identifies the action (move) and its parameters: distance and is_forward. The linear_speed is not provided in the natural language command but the JSON structure includes a value for it, which results in a deduction of 1 point. The "unit" parameter is skipped in conversion but it is not provided in the natural language command as well.'] +Turn right and move backward for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false}} ', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}}'];['2; The JSON commands partially align with the natural command since the \'move\' and \'rotate\' actions are both represented. However, there\'s no specific indication of \'turn right\' in the JSON structure, but the rotation command is there with a clockwise direction that could imply a right turn given enough context. The \'move\' part of the command is not accurate because the presented JSON structure has \'linear_speed\' set to 1, while there\'s no such specification in the natural language command and the JSON structure does not match the "backward" part of the command as \'is_forward\' is set to \'false\' which means the direction of movement is forward. The \'distance\' parameter in the JSON command and the natural command match.'] +Rotate to the right and travel in reverse for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false}}'];['1; The natural language command partially conforms to the JSON structure and matches the move action structure, but it doesn\'t mention the \'rotate\' action structure needed for the "rotate to the right" part of the command.'] +Make a right turn and proceed backwards for a length of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['2; The JSON structure partially matches the natural command. According to the command, it\'s expected that the robot should rotate right but the "angular_velocity" in the corresponding JSON for rotation is set to 0 which is incorrect. For the movement action, the "linear_speed" is set to -1 and "is_forward" is set to false which implies moving backward which is correct. However, the speed cannot be negative. Hence, the score is not a complete match.'] +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 1, "is_forward": false, "unit": "meter"}}'];['1; The natural language command given, "Shift to the right and travel in the opposite direction, covering a distance of 1 meter", has limited matching with the JSON structure but it is not completely aligned with the sample ontology keys. The movement and the distance are mentioned, indicated by "action": "move" and "distance": 1, but the direction "Shift to the right" is not covered because there\'s no key for shifting in the ontology. Also, the command "travel in the opposite direction" is represented in the JSON structure with "is_forward": false, but it\'s ambiguous if it means moving backward or rightwards. The forward and backward movements are not clearly distinguished here.'] +Face right and move backwards, covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['1; The natural language command partialy matches the JSON structure. The "move" action and "is_forward" key is correctly used, however the command to face right doesn\'t align with the sample JSON keys. The linear speed is also missing from the command.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['3; The natural language command corresponds with the "rotate" action type in the JSON structure. The "angle" param is correct with a value of 45. But the clockwise direction should be false - that is correctly mentioned in the command since it says \'counterclockwise\'. However, the "angular_velocity" param is set to 0 in JSON which wasn\'t mentioned in the command text, it should not be assumed as 0 by default.'] +Rotate anti-clockwise by a 45-degree angle.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command matches with the "rotate" action of the JSON information but it misses specifying the "angular_velocity" parameter, hence has a high conformity but not perfect.'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['1; The JSON structure follows the correct format (i.e., action, params), however, the "is_clockwise" field should be true for turning left. Additionally, the "angular_velocity" is not specified in the command but is given a value of 0 in the JSON structure.'] +Rotate in a counterclockwise direction by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}}'];['4; The natural language command and JSON mostly conform. It correctly includes "action" and "params" keys, and marks "is_clockwise" as false in accordance with the \'counterclockwise\' instruction. However, it does not specify an "angular_velocity" in the natural language command as in the JSON, leaving it as \'default_value\'. Example of a perfect match would include specifying a speed: \'Rotate in a counterclockwise direction by 45 degrees at 0.35 speed.\''] +Rotate to the left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];["3; Partially conform. The action 'rotate' and parameter 'angle' matches with the JSON structure although 'is_clockwise' is correctly identified as false for a left rotation, the 'angular_velocity' value is given as 0 which does not conform to the given command. Also, the unit 'degrees' is missing in the provided JSON output."] +Move forward for 10 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'];['2; Most of the keys in the natural language command match with the keys in the JSON structure, such as "action": "move" and "is_forward": True. However, the duration of movement ("10 seconds") in the command is not represented correctly in the JSON structure. In the JSON structure, this is represented as units (which is different from the command - where it should be time), the distance is undetermined while it should calculate from the time and speed, and the linear_speed is undetermined while it could be any constant in this context.'] +Proceed straight ahead for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 10, "is_forward": true}}'];['1; There is only partial match between the command and the JSON since \'duration\' is not accounted for in the sample ontology keys. The available parameters for "move" action are "linear_speed", "distance", "is_forward", and "unit", but not "duration". Moreover, the actual distance is undefined in this command.'] +Advance continuously for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['1; The command instructs to advance for a certain period of time. However, there is no field in the JSON to specify time duration. The command does not match the JSON structure as it should include parameters related to movement such as speed, direction, and distance.'] +Travel forwards for a span of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command is somewhat conforming to the JSON structure as it involves a movement action. However, since time duration isn\'t explicitly given in the sample ontology, the conformance isn\'t fully certain. The "linear_speed" value is also incorrectly marked as 0 in the JSON, and there\'s no way to infer speed from the given commands.'] +Progress ahead for a time interval of 10 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "undetermined", "time_interval": 10}}'];['2; The command mentions a "time interval of 10 seconds" which is not present in the JSON schema of the keys. So it doesn’t fully conform to the provided JSON structure or the sample ontology.'] +Turn left and move at a speed of 1 meter per second for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'];['1; The command demands a rotation("Turn left") and a linear movement but the JSON structure only represents the "move" action. Information on "is_forward" assumes that the movement is forward which is not specified in the command. However, distance and linear speed information seems to be appropriate. There is no information about "rotate" action in the JSON response.'] +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}'];['2; The natural language command partially matches the JSON structure. The "move" action is implied in the "Proceed forward" part, but no distance or linear_speed is directly provided; instead, a time duration and speed are given without a corresponding parameter in the annotation. The "rotate" action does match suggesting a turn, but the angular_velocity in the annotation doesn\'t necessarily match the \'making a left turn\' in the command. The natural language command does not specify the angle and velocity to be used for the turn, so it is impossible to be sure it matches with 90 degrees and 0.5 angular velocity in the annotation. Also, in the annotation \'is_clokwise\' is set to false which would indicate a left turn, that matches with the command. However, the overall conformity with all the parameters and actions is low.'] +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['0; The natural language command does not conform with the provided JSON structures. The command indicates a left turn which could have been mapped to the rotate action but there are no details like angular velocity, angle or direction (clockwise or not). The second part of the command could have been related to the move action but the duration element is not supported in the JSON structure where only distance and linear speed can be specified. The direction of movement (forwards) is not specified in the command.'] +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structures provided partially match the command. However, for the "rotate" action, the angular velocity is wrongly given as 0, instead of 0.35 as it should be and "angle":90 instead of "angle":40. The direction of the rotation is stated to be a left-hand turn, for the "is_clockwise" param, false is correctly provided. For the "move" action, the "distance" is incorrectly given in seconds instead of meters as specified in the command.'] +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structures partially match the command. However, there are a few inconsistencies. For the "rotate" action, "angular_velocity" is set to 1 in the JSON but this isn\'t mentioned in the natural language command. Similarly, the angle is mentioned as 180 degrees in the JSON but the command does not state how much to rotate. In the "move" action, the distance is indicated by time (\'2 seconds\') in the command but it\'s represented as a distance value (rather than a duration) in the JSON structure.'] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['2; The natural language command "Move backward for 3 meters" aligns with the "move" action in the JSON structure. However, the value for "is_forward" does not match, as the command specifies a backward movement but the JSON structure has it set as "True". Additionally, "linear_speed" is not specified in the command but it has a value of 1 in the JSON. The "distance" value matches.'] +Go back 3 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; The natural language command perfectly corresponds with the JSON structure. The command "Go back 3 meters" matches the action "move" and parameters such as "distance": 3, "is_forward": false, and "unit": "meter" whereas the "linear_speed" can be set to default as it\'s not mentioned in natural language command.'] +Reverse your direction and travel 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];["1; The JSON structure matches the command in terms of action, but the sample JSON structure does not provide enough information to determine if reversing the direction is possible because we don't know if the robot can go backward."] +Retreat for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'];["2; The natural language command partially conforms with the JSON structure. The command implies a 'move' action with a backward direction (which could be interpreted from 'retreat'). However, the 'linear_speed' is unspecified in the command and is assumed to be 1.0 in the JSON structure while the 'is_forward' key is set to false indicating a backward movement. But there's no such key in the sample ontology for specifying direction of movement. Furthermore, 'distance' and 'unit' match correctly."] +Take 3 steps backwards.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false}}'];['1; The natural language command partially matches with the JSON structure. "Take 3 steps backwards" refers to moving a certain distance in a certain direction, which is represented in the JSON structure. But the "linear_speed" and "unit" values do not match up with the natural language command. There\'s also no reference in the command to \'steps\' as a unit or the specific speed of 0.5.'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 270, "is_clockwise": true}}'];['3; The JSON structure matches the intent of the natural language command, i.e., the robot should rotate. However, values of the "angular_velocity" and "is_clockwise" attributes do not match exactly with the given command. The command explicitly says to rotate clockwise, which should be "is_clockwise": true in the JSON, but it\'s still given as an undefined variable. Moreover, the "angular_velocity" value is assumed as 0.5 which is not mentioned in the command which would affect the speed of rotation. These discrepancies result in lower conformity score.'] +Rotate 270 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['5; The natural language command matches perfectly with the JSON structure. The action is "rotate" and the parameters such as "angle" and "is_clockwise" are correctly specified. Although "angular_velocity" is given a value of 0 in the JSON structure which is not mentioned in the natural language command, it doesn\'t contradict the command.'] +Perform a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['5; The natural language command perfectly matches with the JSON information and its conformity with the keys in the sample ontology. The action "rotate" and parameters such as "angular_velocity", "angle", and "is_clockwise" are all represented appropriately.'] +Turn right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 270, "is_clockwise": true}}'];['4; The JSON information correctly reflects the natural language command of rotating 270 degrees to the right. However, it is not a perfect match since "angular_velocity" is set to 0.0 which does not conform to the natural language command as it does not specify the "angular_velocity".'] +Rotate by 270 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];["5; The natural language command fits perfectly with the JSON structure. The 'rotate' action is specified with all necessary parameters, including 'angular_velocity', 'angle', 'is_clockwise'. While the 'angular_velocity' is not specified in the command, it is defaulted to zero which means the rate at which the rotation happens does not matter in this instance."] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['5; The natural language command matches exactly with the provided JSON information. The action `move`, `distance` and `is_forward` parameters are well defined in the command and so is the ontology.'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];['4; Although the natural language command matches the JSON structure and the "move" action is correctly recognized with the correct distance and "is_forward" parameters being true, the sample ontology indicates a need for a "linear_speed" value, which is not provided in the command and set to 0.0 in the JSON.'] +Advance 5 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['4; The natural language command partially matches with the JSON structure. The key \'linear_speed\' is not specified in the natural language command. However, the "action": "move", "params": { "distance": 5, "is_forward": true } matches. The arbitrary assignment of linear_speed = 1 does not conform to the given command.'] +Take 5 meter steps forward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['1; The given natural language command partially matches with the JSON information, the translation misses the "linear_speed" key value. The value of "linear_speed" is specified as 1 in JSON while it\'s not mentioned in natural language command. The remaining elements match correctly with the remaining structure of the JSON.'] +Go ahead and travel a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];['3; The natural language command matches the "move" action in the JSON structure, including the "distance" parameter. However, there are parameters in the JSON (is_forward, linear_speed) that are not specified in the command and the "linear_speed" value in the JSON does not match the command.'] +Turn right and move at a speed of 1.5 meters per second for 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];['2; The command keywords match the ontology keys, but the data values do not adhere to the structure. The rotate action doesn\'t take a "seconds" parameter and the speed and duration are incorrectly calculated for the move action as it doesn\'t account for time.'] +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];["4; The natural language command corresponds to the action and parameters of 'rotate' and 'move'. However, the angular velocity is not reflected in the command and the distance in 'move' is calculated based on the duration and speed, which might not be exactly compliant with the ontology, as there's no 'duration' parameter in 'move'."] +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];['1; The "rotate" action JSON command is incorrect with angular_velocity and angle being zero when no specification is provided in the natural language command. The "move" action is somewhat in line with the natural language command given but the distance is calculated by multiplying speed and time (assumed four seconds) inducing an inferrence that is not included in the command. Also, the unit should be "meter" not "meters".'] +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];["2; The natural language command partially matches the JSON information. The command includes a move action with linear speed (1.5 meters per second) and a time period (4 seconds), which can be inferred as distance covered ('distance' key is missing), but the direction of the rotation ('rightward turn') and angular_velocity is not stated. The command request to 'take a rightward turn' is translated into a 'rotate' action in JSON but is missing 'angular_velocity' and 'angle' keys. The value for 'is_clockwise' in the JSON should be true for a rightward turn based on normal conventions but in the provided JSON, it's marked as false which doesn't match with the command."] +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": false, "unit": "meters"}}'];['2; The natural language command is partially aligned with the JSON structure. The JSON object represents the movement of an entity in linear motion, which aligns with the phase "maintain a speed of 1.5 meters per second for a time span of 4 seconds" in the command. However, the command to "go right" isn\'t represented in the JSON, neither are the calculated distance and the "is_forward" direction.'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];["3; The natural language command partially matches the provided JSON structure. The 'action' and 'params' keys match and 'angle' parameter in command matches with JSON, however 'is_clockwise' is correct but angular_velocity value is not provided in command. Also the value of 'angle' in JSON and command are different."] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];["1; The JSON information does not conform to the key given in the command. In the command, 'Turn left by 60 degrees', there is no mention of angular velocity which is present in the JSON information. In addition, the 'is_clockwise' key in JSON is false whereas it is not specified in the command."] +Move in an anti-clockwise direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];["1; The JSON structure somewhat aligns with the natural language command. However, the angular_velocity is set to 0 in the JSON data, which might not align with the natural language command to 'move'. Plus, the natural language command did not specify the angular speed."] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['3; The command partially matches the JSON structure. The "action" field and the "unit" in params align correctly. However, there is no similarity between the given "angular_velocity" value in the JSON structure and the command. Moreover, the command does not specify the exact "angular_velocity".'] +Perform a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 60, "is_clockwise": false}}'];['4; The natural language command mostly matches with the JSON structure. While not specifically mentioned, presumably a counterclockwise rotation would involve the attribute "is_clockwise" being set to false. However, the "angular_velocity" in the JSON structure doesn\'t have a specific directive in the natural language command, and would need to be determined or set to a default value.'] +Move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['5; The commands "move", "linear_speed", "distance", "is_forward" and "unit" are already present in the sample keys and the values conform to the proper use of these keys.'] +Proceed straight ahead for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches exactly with the JSON structure provided with the correct "move" action, distance value, and unit, though the "linear_speed" value could not be inferred from the natural language command.'] +Advance onward by 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];['3; The command "Advance onward by 2 meters" matches the action "move" in the JSON structure. The parameter "distance" also matches. However, the JSON information contains an additional attribute "linear_speed", which is not specified in the command. The "is_forward" attribute matches implicitly as the command instructs to advance \'onward\'. Therefore, the command partially conforms to the JSON information.'] +Travel straight ahead, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; Almost conform. The given JSON structure matches the natural language command as the action "move" is carried out in a forward direction with a specified distance. However, there\'s no specification on \'linear_speed\', yet the JSON carries a value of 0.5. This means it might not fully adhere to the given command. Hence, the JSON structure has room for minor improvements.'] +Take 2 meters forward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];["2; The command refers to a movement action, which is represented in the JSON structure. The parameter of distance (2 meters) is correctly identified. However, the command does not specify linear_speed and assumes is_forward as true, which are not completely accurate according to the natural language command. The score is not a 0 because there is partial conformity, but it's not a 5 because not all parameters specified in the JSON are mentioned or implied in the command."] +Turn left and move at a speed of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meters"}}'];["1; The command structure does not match exactly to the JSON structure. There is no 'rotate' or 'turn' action in the JSON, even though the command requires a left turn. Additionally, the concept of timing (moving for 10 seconds) is not present in the sample JSON. The 'distance' parameter is set as a static value of 5, which doesn't take the time of movement into account."] +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['2; The JSON structures include actions "rotate" and "move" which are similar to the natural language command of "Make a left turn" and "travel". However, the "rotate" params do not match the command as there\'s no mention of angle in the command, only a direction, and the "angular_velocity" it is not specified. The "move" params don\'t completely match as well since the distance is calculated (0.5 m/s * 10 s), but the direction ("is_forward") is assumed, not explicitly stated in the command.'] +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The JSON commands do not fully conform to the natural language command. While the "move" action aligns with "proceed forward at a rate of 0.5 meters per second", the parameters for "distance" and "time duration" are missing, although "time duration" does not exist in the keys provided. Additionally, the "rotate" action in JSON doesn\'t specify the direction as "left" as per the natural language command, also the "angular_velocity" has a different value in the JSON command compared to the natural language command.'] +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meter"}}'];["2; Partially conforming. The natural language command includes a turning action that is not reflected in JSON. Additionally, the calculated distance doesn't match the given time and speed in the natural language command."] +Face left and advance at a pace of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The action "move" is present in the JSON structure, and "linear_speed" parameter is matched correctly. However, the duration of movement and direction (face left) mentioned in the command are not represented in the JSON. The distance in the JSON does not match with the command as well. The command suggests a duration (10 seconds), not distance (5 meters).'] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['2; The natural language command somewhat aligns with the JSON structure. However, although the action and parameters align (distance, "unit", "is_forward"), the "linear_speed" value and the "is_forward" value have been incorrectly defined in the JSON - the JSON states a positive linear speed and forward movement, which doesn\'t match with the command to move backward.'] +Go back 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The command matches the JSON structure mostly. But, the "is_forward" parameter is set to "False" in JSON structure, there is no mention of the robot\'s direction in the given natural language command.'] +Reverse direction and move 6 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The JSON corresponds to the natural language command, but the speed of movement (linear_speed) is not specified in the command. Therefore, the JSON string is introducing new information that wasn\'t in the original command. The rest values provided in JSON align correctly with the command and JSON action key "move" matches well with the command "move."'] +Retreat for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The natural language command matches with the JSON structure but the "linear_speed" is not specified in the natural language command and set as 1.0 in the JSON structure which is not an exact match.'] +Travel in the opposite direction and cover a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": default, "distance": 6, "is_forward": false}}'];['4; The command corresponds very well with the "move" action in the JSON ontology. All keys are mentioned: "action", "linear_speed", "distance", "is_forward". However, the specific value for "linear_speed" is missing from the command. This has been added as default in the JSON rendering which moderately aligns with the given command.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The command matches with the action move and its parameters but the speed rate is not provided in the natural command language. It is instead assumed in the JSON structure, it should not be assumed and should reflect only what is given in the natural language command.'] +Proceed straight ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; Partially conform. The natural language command corresponds to the \'move\' action in terms of direction (\'straight ahead\' meaning \'is_forward\' is true) and distance (5 meters), as well as indicating the unit ("meter"). However, there is no mention of \'linear_speed\' in the natural language command.'] +Advance by 5 meters in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['3; The natural language command is understood but it doesn\'t match completely with the provided JSON structure. The command involves moving forward by a certain distance which is correctly represented in the JSON. However, the command does not specify the "linear_speed", which is required in the JSON structure.'] +Go ahead for a span of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['3; The JSON structure matches the key value of the sample ontology except for "linear_speed" key which is not specified in the natural language command. The "is_forward" key also conforms, given the "Go ahead" command implies forward movement.'] +Cover a distance of 5 meters by moving forward.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The natural language command conforms to the JSON structure very well, but it doesn\'t specify the linear speed ("linear_speed": 0.5) which is given in the JSON structure. So, one point is deducted.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["4; Almost conform. The JSON command correctly captures the 'rotate' action and the 'angle' parameter from the natural language command. But, it fails to provide value of 'angular_velocity' as it is given as 0 which is not specified in the natural language command. It correctly captures 'is_clockwise' as false based on 'counterclockwise' direction in the natural language command."] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The command is closely matched to the JSON structure except for the "angular_velocity": 0, which is not specified in the natural language command. Everything else including the action "rotate" and the parameters such as "angle" : 90, "is_clockwise": false are correctly inferred from the command "Turn 90 degrees counterclockwise".'] +Rotate in a counterclockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; Partially conform. The command supports the action "rotate" and the parameters "angle" and "is_clockwise". However, the value of "is_clockwise" should be false for counterclockwise rotation but the "angular_velocity" is not defined, the command specifies 0 but it should have a value other than 0 to imply rotating movement.'] +Rotate anti-clockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command mostly conforms to the JSON example, however, the "angular_velocity" in the JSON structure provided is not 0 as given but 0.35 in the sample from ontology.'] +Make a 90-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4.5; The command and JSON information share same information. However, "angular_velocity" value as 0 in JSON is not reflected in the natural language command.'] +Stop.;['{}'];['0; The command "Stop" cannot be converted to the JSON structure because it does not exist in the sample keys. Therefore, no conformity can be given.'] +Cease.;['{}'];['0; The natural language command does not match any of the given JSON structures, hence the low conformity score.'] +Halt.;['{}'];["0; The given command 'Halt.' doesn't match with any action or parameters from the provided JSON structures. There is no 'halt' action or similar parameter in the structures provided."] +Pause.;['{"action": "pause"}'];["0; The command 'Pause' does not exist in the sample keys provided in the JSON structures. Therefore, it cannot be converted to JSON."] +Terminate.;["I apologize for any confusion, but I can't proceed without a valid prompt. If you have any questions or need assistance, please let me know."];['0; The prompt does not contain a natural language command to compare to the JSON structure.'] +Reverse for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 0, "is_clockwise": false, "unit": "seconds"}}'];['2; The JSON structure represents a rotation action, not a linear backward movement which would be the direct interpretation of "reverse for 2 seconds". However, a negative angular velocity might be interpreted as a reverse rotation. The direction (backward) and the unit of time are correctly represented in the JSON. The angle is set to zero, which might imply no rotation, contradicting the natural language command.'] +Reverse for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false, "duration": 2, "unit": "seconds"}}'];['0; There is no evidence of reverse movement in the JSON structure, also the keys "duration" and "is_clockwise" don\'t exist in the sample ontology.'] +Go back for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command semi conforms to the JSON structure. However, in json the direction of movement is specified by the "is_forward" key, which has a \'false\' value for backward movement, not by the negative "linear_speed". Besides, the "distance" key should not be given a time value (2 seconds), but rather a distance measurement, hence the mismatch.'] +Move in reverse for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['2; The command is partially conforming with the JSON structure, as it references elements of the "move" action. However, there is no reference to \'moving in reverse\' as a possible translation in the given JSON structure. I can\'t interpret the distance as time (seconds) as the parameter was supposed to be in "meter".'] +Go in the opposite direction for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['2; The instruction is about moving for a specific time, but the provided JSON structure is about moving a certain distance in a specified direction. There is also no "linear_speed" of "-1" indicated in the given JSON structure.'] +Turn left and move forward for 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'];['2; The natural language command requests a specific directional movement, which in this case is turning left before moving forward for 10 meters. Although the "move" action is present in the provided JSON structure, there is no key for direction or turning, which may prevent the command from being adequately represented. Also, "linear_speed" with value 1 is not mentioned in the command. Therefore, the match is only partial.'] +Proceed forward for a distance of 10 meters after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true}}'];["4; The structure and commands in JSON match well with the natural language command but the values are not copied exactly. For example, the angular velocity in JSON differs from the implied speed of turn in the command. The score isn't 5 because the parameters aren't aligned perfectly."] +Make a left-hand turn and continue straight ahead for a distance of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; The json commands represent the actions correctly but the parameters values do not completely match with the natural language command. For the rotation action, no angular_velocity is specified in the command and the angle should arguably be 90 degrees for a left-hand turn not 10. For the move action, no linear_speed is specified in the command. Other parameters conform well.'] +After turning left, continue moving straight ahead for a total of 10 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The JSON partially matches with the natural language command. However, the action of "turning left" is not represented in the JSON structure.'] +Execute a left turn and then travel forward for a distance of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'];['3; While both the rotate and move actions are represented and relatively adhered to, the specific parameters like angular_velocity, angle, and linear_speed do not match those given in the natural language command. The natural language command doesn\'t specify the angular_velocity and travel speed (linear_speed). Therefore, the values given in the JSON can be considered as the default values. But the command said a "left turn", it should be interpreted as a 90-degree rotation counterclockwise, not a clockwise rotation as indicated in JSON. Also, "meters" should be written as "meter" in JSON to be consistent with the sample ontology.'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command specifies that the action to be performed is "move back" for a certain time duration. However, the JSON structure provided includes "move" as the action to be performed with the parameters "linear_speed", "distance", "is_forward", and "unit". While the action and the parameter "is_forward": false (indicating backward motion) somewhat match the command, there is no time duration parameter (like "3 seconds") in the provided JSON structure. Additionally, the speed is incorrectly set as -1 instead of 0.5. Furthermore, the "distance" parameter in the JSON structure is incorrectly defined as 3 (as this should refer to a distance in meters, not a time duration). The "unit" parameter should be "meters", but it\'s given as "seconds" wrongly. So, the natural language command and the JSON structure only partially conform.'] +Go back for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 3, "is_forward": false, "unit": "seconds"}}'];['1; The JSON structure provided only somewhat matches with the natural language command. The command "Go back for a duration of 3 seconds" partially aligns with the "move" action in the JSON structure. However, in the "params", a duration is specified in the command but is not present in the JSON structure. Instead, a "distance" key is provided. Additionally, the "is_forward" key in the JSON is set to True whereas the command specifies to go back, which would normally imply setting "is_forward" to False.'] +Reverse movement for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The JSON structure in the dataset doesn\'t have a "distance" key value associated with "seconds" unit. The "is_forward" value is correctly interpreted as False for reverse movement, but the "linear_speed" is randomly set to -1, which is not mentioned in the command. The natural language command and JSON partially matches, justifying a score of 1.'] +Retreat for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": false, "unit": "meter"}}'];['2; Although the command "Retreat for 3 seconds" suggests a movement action which could be represented by the provided JSON structure, it does not conform properly. The command does not specify a linear speed or a distance, but instead gives a time duration (\'3 seconds\') not mentioned in the JSON example. The parameter "is_forward": false is likely correct as \'retreat\' implies a backward movement. There is a mismatch in terms of the command specifics and the available keys in the JSON.'] +Take a step back for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command instructs the action to "Take a step back for a duration of 3 seconds" which does involve movement, to match the "move" action, however the JSON structure does not match up entirely. Distance is given as a time duration not a physical distance and the direction of the movement (forward/backward) is not accounted for in the JSON structure. Additionally, the conversion of speed into a negative value is not established in the sample ontology.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["5; The natural language command 'Rotate clockwise by 180 degrees.' perfectly matches the given JSON structure. The action and parameters line up correctly - the action is 'rotate', the angle is 180 degrees, and 'is_clockwise' is set to true. Although the 'angular_velocity' is not specified in the command, it doesn't lead to any contradiction or conflict with the JSON structure."] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command mostly conforms to the JSON structure, the "action" is "rotate" which matches, and "angle" is given as 180 which also matches. However, the natural language command doesn\'t specify "angular_velocity" which is present in the JSON structure. Moreover, the "is_clockwise" parameter is true in both.'] +Rotate in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4.5; The JSON structure matches the values provided in the command correctly, such as the action of rotation, the angle of rotation, and the direction. However, the "angular_velocity" is misrepresented as 0 instead of 0.35 as in the sample.'] +Turn right and rotate 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["3; While the action 'rotate' and parameters 'angle' and 'unit' match with the JSON, there's no specified 'angular_velocity' in the natural language command, and it assumes 'is_clockwise' is true for 'turn right', which isn't explicitly stated."] +Execute a rotation of 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["4; The natural language command matches the JSON structure in action and parameters (angle and direction of rotation), but JSON doesn't match in angular velocity. The angular velocity is suggested as zero in JSON whereas it is not specified in the command."] +Turn right and move forward for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": true, "unit": "meters"}}'];["3; The JSON structure does not completely match the command. Angular velocity and linear speed are not mentioned in the command and should not spontaneously be '0'. And for the rotation, 'is_clockwise' is not specified in the command, we cannot assume the rotation is clockwise. The units are correctly represented in 'meters' and 'degrees' in command and JSON respectively. The direction for the 'move' action and 'distance' fit correctly."] +Proceed forward for a distance of 8 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'];["4; The natural language command matches up well with the JSON structures for rotating and moving, but there are a few minor discrepancies. The command doesn't specify an angular velocity for the right turn, meaning the 0.5 value in the JSON doesn't reflect the command fully. Likewise, the command does not specify a linear speed for the movement, meaning the 1 value in the JSON isn't strictly accurate."] +Take a right turn and continue moving straight ahead for a duration of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": , "distance": 8, "is_forward": true, "unit": "meter"}}'];['3.5; The natural language command talks about rotating and moving straight. In terms of rotating, the JSON structure for rotation command is correct and it mentions a right turn which means clockwise rotation which the JSON structure correctly specifies (though it does not specify angular_velocity). However for the moving straight part, while the JSON correctly defines moving forward, it incorrectly mentions "duration" instead of "distance". Also, there is no way to determine the linear_speed from the natural language command.'] +After making a right-hand turn, advance 8 meters in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['2; The natural language command partially matches the JSON structure. It refers to the action "move" which is found in the JSON sample, and it correctly specifies a forward movement and a distance, conforming to the keys inside "params". However, the command also mentions a right-hand turn, but there is no corresponding JSON structure provided to match that part of the command. The command does not align fully with the JSON format provided.'] +Rotate to the right, then travel straight ahead for a distance of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; Mostly conform but lacks the values of "angular_velocity" in the rotate action and "linear_speed" in the move action in the provided JSON structures.'] +Move forward for 1 meter and stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; The JSON structure has the correct action, the distance is correct and the corresponding part about moving forward in the command matches with "is_forward": true in JSON. However, the "linear_speed" in JSON is 0.0 which does not match with the command that implies a movement by saying "Move forward". Thus it doesn\'t perfectly match.'] +Proceed straight ahead for a distance of 1 meter and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['2; The natural language command partially matches with the JSON. The motion is specified and aligns with the "move" action, the distance is accurately represented, and the direction of motion (forward) aligns with the "is_forward": true parameter. However, in the JSON structure, the linear speed specified is 0 which is inconsistent with the command of proceeding straight ahead. Furthermore, the command to halt is not represented in any JSON parameters.'] +Advance one meter ahead and then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The natural language command partially matches with the JSON structure. The command 'Advance one meter ahead' is correctly converted into JSON, but 'then come to a stop' is not represented in the JSON structure. The command for stopping should need another JSON structure that isn't present in the given ontology. Therefore, the match is only partial."] +Travel in the forward direction for a length of 1 meter and then cease movement.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true}}'];['4; The natural language and JSON structure mostly match, the action of moving forward is represented correctly with the right parameters. However, the "linear_speed" value is set to 0 in the JSON structure but is not explicitly mentioned in the command.'] +Move ahead for a distance of 1 meter, and then bring the movement to a stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; The JSON structure matches the natural language command of moving ahead for a certain distance in terms of action and parameters. However, the command to bring the movement to a stop is not reflected in the JSON structure. Also, the provided "linear_speed" value does not correspond to "move ahead" command. It\'s given as 0.0 which would mean no movement.'] +Rotate counterclockwise by 135 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['3; Partially conform. The action "rotate" and some of the parameters specified (angle, unit) are in the JSON command. However, the "angular_velocity" key in the JSON command does not match any in the natural language command, and the value for "is_clockwise" is incorrect as the command specifies a counterclockwise rotation.'] +Rotate 135 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false}}'];['4; The command matches the action type "rotate" and correct parameters (angle) in the JSON and the instruction for rotation matches. However, the "angular_velocity" value in the JSON is given as 0 and "is_clockwise" given as false but these parameters were not explicitly defined in the command. The command doesn\'t specify the angular_velocity and assumes counterclockwise direction as default. A perfect match in this case would include a specified angular velocity and the direction as counterclockwise.'] +Turn 135 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false}}'];['4; The command matches the action "rotate" and correct parameters (angle and direction of rotation) are given. However, the value for angular_velocity is missing from the command, so the JSON structure is not fully conform to the command. Moreover, the value for "is_clockwise" in JSON is correctly set to false as the command mentioned "counterclockwise", but it is not exactly worded in the NL command.'] +Rotate anticlockwise by 135 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command mostly corresponds to the JSON structure. The "rotate" action, "angle" of 135, "unit" as "degrees" and "is_clockwise" as false all match. However, the "angular_velocity" is given a value of 0 in the JSON, which is not provided in the natural language command. And generally, the "angular_velocity" most likely should not be 0 for a rotation action.'] +Perform a 135 degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['3; Although the command accurately translates to a rotation action and provides the correct details such as the rotation degree and direction, the "angular_velocity" parameter in the JSON does not match with the command given. There\'s no mentioned speed of rotation in natural command.'] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meters"}}'];['1; The "move" action is present in the JSON structure and some elements of the parameters match such as "distance" and "unit". However, the command specifies "move backward..." while the JSON structure indicates "is_forward" is true not false. Also, the "linear_speed" isn\'t mentioned in the command.'] +Go in reverse for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['1; The command somewhat matches the JSON structure as it refers to the "move" action and mentions "distance". However, the "is_forward" parameter should be false instead of true and the "linear_speed" is not specified as 0.5 in the commands. It\'s not clear if the robot is supposed to move at a speed of 0.5 and there\'s also a wrong assumption where linear speed is set to be -0.5 which isn\'t in the command.'] +Take 6 steps back.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false}}'];['2; Partially conform. The command "Take 6 steps back" partially maps to the JSON with action "move". However, there isn\'t a clear correspondence with the parameters; "linear_speed" value isn\'t provided in command and the unit of "distance" is also different. Moreover, there is need to convert steps into meters as the unit mentioned in JSON is "meter".'] +Retreat 6 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);["0; The natural language command is asking for retreat which doesn't exist in the sample keys. The sample ontology only includes the actions: 'go_to_goal', 'move', and 'rotate'. Thus, the command cannot be converted to JSON using the given ontology."] +Travel 6 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];["4; The natural language command to move in the opposite direction is aligned with the JSON command to move. The unit of measure and distance are correct but there is no mentioned desired speed in the command, so it's hard to determine if the 'linear_speed' parameter in the JSON aligns perfectly with the natural language command."] +Turn left and move forward for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];["1; The command specifies the robot to turn and move forward for a certain amount of time, however the given JSON structure indicates linear speed, distance, and the direction of the movement (whether it's forward or not), but it does not take time or any form of angular turn into consideration."] +Take a left turn and proceed straight ahead for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter", "duration": 4, "duration_unit": "seconds"}}'];['1; The command has partial matching elements with the JSON structure but there is no \'duration\' key in the sample ontology provided and the \'rotate\' action isn\'t represented in JSON. Furthermore, \'linear_speed\' and \'distance\' values are given as 0.0, which doesn\'t align with "proceed straight ahead" in the natural language command.'] +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['2; There is a matching action "move" in the JSON structure. However, the given natural language command has extra information related to turning left which is not included in the given JSON structure. Also, the "linear_speed" key\'s value is set to 0.0 in JSON which doesn\'t abide with "continue moving forward" command. The command is still partially matching because it includes moving for 4 seconds which is correctly reflected in the JSON structure.'] +Pivot to the left and advance forward for a period of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 4, "unit": "seconds"}}'];['1; The natural language command mentions rotation action and forward movement which conform with "rotate" and "move" actions in the JSON structure. However, the rotation parameters are not properly represented ("angle": 0 and "angular_velocity": 0) which does not match with the command of pivoting to the left. Additionally, the movement parameters are also incorrect as per the natural language command. The command mentions a period of 4 seconds without specifying distance or speed, but this information is missing in the JSON structure. Furthermore, the "duration" key does not exist in the sample ontology.'] +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.;['{"action": "move", "params": {"linear_speed": default_value, "distance": default_value, "is_forward": true, "duration": 4, "unit": "seconds"}}'];["1; The natural language command roughly corresponds to the 'move' JSON structure but the rotation part is lacking in the JSON command. Plus, duration is not a key in the original sample ontology."] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['3; Partially conform. The action "rotate" correctly matches the JSON instruction, and the "angle" parameter value is also correct. However, the values for "angular_velocity" and "is_clockwise" do not match the natural language command: the "angular_velocity" provided is 0, although the command doesn\'t give any clear speed, and the "is_clockwise" parameter correctly follows the natural language command.'] +Turn 60 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; The JSON structure accurately represents the command in terms of action and parameters, but the "angular_velocity": 0 is not specified in the command and hence does not fully match.'] +Rotate the object by 60 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];["5; The command translates accurately to the provided JSON. The keys 'action', 'rotate', 'params', 'angular_velocity', 'angle' and 'is_clockwise' are all used correctly. The 'angle' is correctly set as 60 and 'is_clockwise' is correctly set as true. 'Angular_velocity' info is not provided in the natural command so its value can be ignored or set to any value."] +Move in a clockwise direction, making a 60 degree turn.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['4; The command is mostly conforming to the JSON structure; however, the "angular_velocity" has been set to 1 in the JSON, but there is no information about this in the natural language command. Therefore, it\'s not a perfect match.'] +Rotate 60 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['5; The natural language command accurately corresponds to the JSON information by instructing a rotation movement (which matches with the action "rotate"), with a specified angle of 60 degrees (which matches the angle parameter) and in a clockwise direction (matching the is_clockwise parameter). However, it does not specify the angular_velocity, which defaults to 0 in the provided JSON structure, but this does not affect the core command\'s intent which is fulfilled entirely by the JSON structure.'] +Move forward for 7 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches exactly with the JSON information structure provided. All the elements of the command, "move forward for 7 meters", can be directly mapped to the keys in the JSON structure of the "move" action. Hence, the conformity is perfect.'] +Proceed straight for a distance of 7 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches the JSON structure, however, "come to a halt" isn\'t represented in the converted JSON. Furthermore, "linear_speed" is given as 0, which contradicts the command to "proceed straight". The correct JSON would involve having a positive "linear_speed".'] +Advance ahead covering a distance of 7 meters and then cease movement.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meters"}}'];['4; The natural language command and the JSON structure match in some keys and values related to action ("move") and parameters ("distance", "is_forward", "unit"). However, the parameter "linear_speed" is not specified in the command while it is defined in the JSON structure. Thus, it doesn\'t perfectly conform to the sample ontology.'] +Go forward 7 meters and then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meters"}}'];['3; The natural language command asks for movement, which is covered in the JSON structure. However, there are no specific instructions for stopping in the command. Additionally, the linear speed mentioned in JSON does not match with the language command as there is no speed mentioned in command. Therefore, conformity is partial.'] +Move straight ahead, covering a distance of 7 meters, and then halt.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['3; The natural language command only partially matches the JSON information. The direction of movement (straight ahead) translates to "is_forward": true, and the distance matches as well. However, there is no indicated linear speed in the command, and the action to "halt" is not represented in the JSON.'] +Reverse for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false}}'];['2; The JSON structure provided does not exactly match the natural language command. The command specifies time duration (5 seconds) for the reversal action, but in the JSON, it is translated into distance. The "unit" is also missing in the provided JSON structure. The natural language command does not specify "linear_speed" which is present in the JSON. The natural language command can\'t be perfectly mapped to the given sample ontology.'] +Reverse for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2.5, "is_forward": false, "unit": "meters", "duration": 5, "unit_duration": "seconds"}}'];['1; Although the JSON command has similar keys to render an equivalent action to the "Reverse for a duration of 5 seconds." natural language command, values for duration and unit of duration provided in the natural language command does not exist in the actual JSON command, thus it doesn\'t conform completely.'] +Perform a 5-second reverse.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "second"}}'];['3; The command refers to a moving action which is represented in the JSON but the direction ("reverse") has been converted as is_forward:false which is correct. However, the JSON structure uses a "distance" parameter whereas instructions dictate a time parameter ("5 seconds") which is not included in the schema. Hence, it is partially conforming.'] +Execute a reverse motion for 5 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['1; The JSON structure does reflect a motion action with specific parameters. However, the parameters don\'t quite align with the natural language command. The command mentions a "reverse motion for 5 seconds" not distance nor the specific speed (-1) mentioned in the JSON. Also, the JSON structure uses incorrect unit ("seconds" instead of "meter").'] +Go backwards for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 5, "is_forward": false, "unit": "seconds"}}'];["1; The command requires the robot to move backwards, however, the corresponding JSON structure includes the speed, distance, movement direction and unit which does not correspond properly to the natural language command. The command thus doesn't match the JSON structure as it mentions a duration (seconds), not distance or speed."] +Turn right and move forward for 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true, "unit": "meters"}}'];["4; The JSON structures mostly conform to the natural language command. The rotation command is correctly represented with 'is_clockwise': true denoting a right turn. However, the 'angular_velocity' should not be '0', it should ideally be a positive value. For the move action, it correctly represents moving forward for 9 meters. However, 'linear_speed': 0.5 is not specified in the natural language command, so its value assumes a default value which might not be accurate. The keys used in JSON structures exist in the ontology given."] +Move forward for 9 meters after turning right.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true}}'];['3; Partly conform. The commands have been translated into JSON properly; however, the "angular_velocity" is set as 0.5 which was not specified in the natural language command. Further, the "unit" key is missing in both JSON commands.'] +After turning right, proceed ahead for a distance of 9 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true, "unit": "meter"}}'];['4; The action "move" and its parameters "linear_speed", "distance", "is_forward", "unit" match the natural language command. However, the part about turning right is not represented in the JSON structure.'] +Take a right turn, then continue moving straight for a distance of 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'];["2; The natural language command describes two actions, a turn and a movement. The JSON structures received also describe a rotation and linear movement. However, the parameters given in the JSON structures, such as the angular velocity of the turn and the linear speed of the movement, do not match with the natural language command which didn't specify these parameters. Furthermore, the direction of the turn (right) isn't properly converted into the JSON structure: it should turn clockwise, not anti-clockwise as mentioned in the JSON structure."] +Make a right turn and travel forward for 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'];['4; The natural language command is fairly aligned with the JSON structure but specific values such as "angular_velocity" and the "angle" for rotation and "linear_speed" for moving forward are not mentioned in the command but assumed in the JSON. Therefore, it doesn\'t perfectly match.'] +Move forward for 2 seconds and stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["1; The natural language command partially aligns with the JSON structure, as it's an action of 'move' and involves moving forward which correlates with 'is_forward': True. However, the duration 'for 2 seconds' is not represented in the JSON structure, as it uses distance and linear_speed for movement rather than time. The 'stop' command is also not represented in the JSON structure."] +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "duration": 2, "unit": "seconds"}}'];['2; The natural language command corresponds to the "move" action, but the parameters provided do not conform entirely to the sample keys in the JSON payload. Specifically, "duration" is not a parameter in the sample "move" action JSON structure.'] +Go ahead for 2 seconds and then halt.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];["1; The command involves motion but the JSON structure does not perfectly match the command. There is no specification for duration in the JSON command, only properties such as linear speed and distance. Additionally, the command mentions 'halt' but this isn't included in the JSON actions."] +Advance for a period of 2 seconds and then cease movement.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'];["2; The natural language command requires the action 'move' to be performed for a specific duration (2 seconds), which is correctly identified in the JSON structure. However, the 'duration' key does not exist in the sample ontology. Additionally, the default values for 'linear_speed' and 'distance' as 0 in the JSON do not seem to align with the notion of advance in the command."] +Travel forward for 2 seconds before stopping.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];["1; The JSON structure indicates a 'move' action with parameters for linear speed, distance, direction, and unit which semi matched to the command of 'Travel forward'. However, the command specifies time (seconds) instead of distance or speed which isn't reflected in the JSON structure. There's also no key in the ontology for 'stopping'."] +Rotate counterclockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['2; The angular_velocity in the JSON command is 0 which does not match the natural language command as no velocity is specified. The direction (counterclockwise which corresponds to "is_clockwise": false) and the angle (30) match, though.'] +Turn 30 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['4; The JSON structure accurately represents that the command is a rotate action with an angle of 30 degrees done counterclockwise. However, it doesn\'t define the "angular_velocity", it\'s represented with a value of 0 that doesn\'t match the natural language command, which doesn\'t specify a velocity.'] +Rotate in the anticlockwise direction by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];["4; The natural language command matches quite well with the provided JSON structure in terms of action and parameters - rotation, angle, the direction of rotation and unit. However, the 'angular_velocity' value in the JSON structure mismatches the command since no speed was specified by the user."] +Rotate to the left by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['2; Although the command to rotate and the angle value match with the JSON command structure, the given JSON has "angular_velocity" value set to 0 instead of 0.35, and the direction of rotation ("is_clockwise") isn\'t explicitly defined in the natural language command, it could be inferred from "rotate to the left" as false but it got included in the JSON command structure.'] +Rotate in a counterclockwise direction, making a 30-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['2; Although the JSON contains the correct action ("rotate") and the correct angle (30), "angular_velocity" is indicated as 0 which is not specified in the command and "is_clockwise" is false while the command says "counterclockwise". The direction is correct but the boolean value notation may differ. Also, the type of unit is missing in the JSON structure.'] +Reverse for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure correctly represents the action of moving (although it uses "move" instead of "go_to_goal"), the distance to move, that the movement is not forward (represented by false in "is_forward"), and the unit in meters. The linear speed does not match as it wasn\'t specified in the command.'] +Move back for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The natural language command mostly conforms to the JSON structure. The action "move" and params like "distance" and "unit" match perfectly. However, the linear_speed is not specified in the command but is included in the JSON, and the command specifies a backward movement, that is represented in JSON as "is_forward": false, but there is no matching part in the natural language command. That\'s why the score is 4 not 5.', ''] +Go in reverse for a span of 4 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['2; The natural language command generally aligns with the "move" action in the JSON structure. However, it is assumed that moving in reverse requires negative linear speed which does not directly conform to the ontology. The "is_forward" key is correctly assigned to "false".'] +Retreat 4 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['2; The natural language command partially matches the JSON structure. The action of moving and specifying the distance and the unit is correct. However, linear_speed doesn\'t match with any provided parameters in the command and the value of "is_forward" should be False but it is True in the JSON structure, which doesn\'t represent retreating or moving in the opposite direction.'] +Travel backwards, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure correctly defines the action as "move" and includes the necessary parameters. The distance set as 4 conforms to the natural language command. However, the speed is not mentioned in the command, yet it is included in the JSON with a set value of 0.5. The direction of the movement is inferred correctly as "is_forward": false, which is not explicitly mentioned in the command.'] +Turn left and move forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true}}'];["2; The user command partially matches with the provided JSON structures as it gives the order to move forward which is represented in JSON structure. But, the natural language command 'turn left' does not translate to the 'rotate' action in JSON structure. Also, the duration 'for 6 seconds' for which the move action is to be performed cannot be mapped in the available JSON structure which uses distance as a parameter for moving instead of duration."] +Proceed forward for 6 seconds after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "seconds"}}'];["1; The keys in the JSON structures are in line with the ontology but the values (angular_velocity, distance, unit) given are not exactly matching with the given natural language command. Also, the command gives an action sequence (rotate, then move) which isn't well represented in the JSONs."] +Make a left turn and advance for 6 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['1; The JSON code describes the action and parameters correctly, however, the "angular_velocity" is set to 0 and should not be, the "unit" for the "move" action is written as "seconds" which isn\'t correct as it doesn\'t match the sample keys where the unit for distance is assumed to be "meter".'] +Move ahead for 6 seconds after turning to the left.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['1; The JSON commands have some elements in common with the natural language command, but the values are off. The "move" command is correct in the sense that it indicates moving forward, but distance is measured in seconds not meters as defined by the ontology. In the "rotate" command, is_clockwise is not defined and the actual angle and angular_velocity in the JSON does not match any specification in the original command.', ''] +After veering left, continue straight for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['1; The command talks about veering left and moving straight for a certain amount of time. The ontology to move is in the correct format, but doesn\'t align directly with the command, especially the veering left part. Also, the "distance" in the JSON structure doesn\'t conform to the \'6 seconds\' specification in the command.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['5; The natural language command is correctly captured in the JSON structure. The action "move" is correctly recognized and the parameters, \'distance\' and \'is_forward\' are correctly assigned respective values according to the command. The "linear_speed" is a constant value and does not disrupt conformity.'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The command closely matches the JSON structure with the action being "move" and parameters such as "distance" and "unit" accurately represented. However, the "linear_speed" doesn\'t have a corresponding instruction in the command and thus its value of 0.5 in the JSON does not match to the command. This is why a score of 4 is given instead of 5.'] +Advance straight on and cover a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches perfectly with the JSON structure in terms of action, parameters (distance, is_forward, and unit) and also their corresponding values. The default_linear_speed might have its value as 0.5 in the base code as a universally used speed.'] +Head forward and travel 5 meters in that direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['4; The natural language command mostly matches the JSON structure. The command implies moving forward, which matches the "action": "move", and "is_forward": true. However, it does not specify the speed which should be 0.5 as in the JSON. The distance of 5 meters also matches with the structure, but it\'s not specified whether it\'s meters in JSON. The JSON command and the natural language command are a close match, but there are slight discrepancies.'] +Move straight ahead and go a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The natural language command matches closely to the JSON command. There are accurate keys such as "action", "params", "distance", "is_forward" and "unit". However, the speed mentioned in the natural language command doesn\'t match the JSON command ("linear_speed": 1.0), hence the slight reduction in the score.'] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The action move and the parameter is_forward are correct. The parameters linear_speed and distance are not expressed properly, the unit of distance is given as seconds which is not matching the command. The rotation part of the command is missing in the JSON.'] +Move ahead for 2 seconds after turning left.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["2; The commands of moving and rotation are correctly used but the parameters in JSON have fields like `angular_velocity` and `angle` for rotation and `linear_speed`, `distance` for move action which do not correctly align with the natural language command parameters. As per the ontology given, `distance` is not in `seconds` but it should be in `meters`., 'is_clockwise' is not mentioned correctly and angular_velocity, linear_speed are not mentioned. Therefore, the given JSON is not fully conforming to the command."] +After turning to the left, proceed forward for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['1; The command requires both a rotation and a move action and the provided JSON only corresponds to the move action. Furthermore, the parameters for the move action in the JSON do not fully align with the natural language command (distance is given, rather than duration). The rotation action is missing altogether.'] +Take a left turn and then proceed straight for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['3; The commands in the JSON information partially align with the natural language command. The rotate action correctly interprets the "Take a left turn" command and the move action correctly interprets the "proceed straight" command, but "for 2 seconds" is incorrectly interpreted as a distance in the move action\'s parameters when it should be a duration or time unit.'] +Make a left turn and continue moving forward for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'];['2; The JSON structures partially because the "rotate" action in the JSON structure correctly captures the command to make a left turn (by rotating counter-clockwise, specified as "is_clockwise": false). However, the "angle": 90 may not always infer a left turn, it depends on the initial orientation of the object. The second action, "move", is incorrect because it specifies a "duration" of 2 seconds, which is not a key in the provided ontology (no "duration" key under "move" action). The correct key based on the sample ontology should be a "distance" or "linear_speed". Therefore, the natural language command does not fully conform to the ontology.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; The angular_velocity is not defined in the natural language command and should not have a zero value in the JSON information. The parameter "is_clockwise" correctly converted to false indicating counterclockwise rotation. The missing "unit" in the JSON structure could be inferred from the command but is also a mismatch.'] +Turn in the opposite direction by an angle of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; The JSON structure matches the command in that it is a rotation action, and the angle value specified matches too. However, the "is_clockwise" parameter is set as false, which contradicts with the command "turn in the opposite direction", assuming clockwise is the standard direction. Also, angular_velocity value in JSON does not conform to the command provided, as no specific speed implied in the command.'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The command somewhat conforms to the JSON structure. The "angular_velocity" in JSON isn\'t specified in the initial command, hence it\'s set to 0. Angle has been correctly matched with 90 in the JSON, and "is_clockwise" is rightly set to false as the initial command says \'anticlockwise\'. The action "rotate" matches perfectly as well. However, the angular velocity is assumed as 0 in the JSON which doesn\'t completely follow the command.'] +Spin to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false}}'];['4; The natural language command almost completely matches the JSON structure. The only thing missing is the value for "angular_velocity", which the natural language command does not specify.'] +Twist counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The JSON command correctly reflects the natural language command, but it does not indicate the "angular_velocity" in the JSON command. Although the given natural language command "Twist counterclockwise by 90 degrees" does not specify any "angular_velocity", it would be appropriate to set it in the JSON command for better specification of the rotation.'] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['2; The natural language command alludes to an action similar to the "move" action in the JSON sample. However, it is not conformant because the "linear_speed" is not specified in the command, and "is_forward" is not supposed to be negative because it\'s a boolean field. The "distance" matches correctly.'] +Go in reverse for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];["1; The natural language command does not fully conform to the JSON structure. The action 'move' and parameter 'distance' match, but the natural language command specifies going in reverse, which is not represented correctly in the JSON structure. Additionally, the 'linear_speed' parameter is defined as -0.5 in the JSON, which doesn't match the original command which did not specify speed."] +Travel three meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4.5; The natural language command matches well with the JSON structure in the 'move' action. However, the linear_speed is not mentioned in the natural language command and assumes a default value in the JSON, so it's not a perfect match."] +Retreat for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false}}'];['3; The command matches somewhat with the JSON structure as it asks for a movement action, however, it doesn\'t match completely as the direction of the movement is wrong. The command asks to retreat but the "is_forward" key in the JSON is set to true. Also, the "linear_speed" value is hard-coded, whereas it\'s not mentioned in the command.'] +Reverse your movement and cover a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];["3; The natural language command is partially conform with the JSON structure. While the action of moving and the parameter of distance are correctly proposed, the 'linear_speed' parameter is given an arbitrary value that is not asked for in the command. 'is_forward' parameter has been correctly converted to 'false' indicating a reverse movement. The 'unit' parameter is correctly interpreted as 'meter'. Overall, the extraction is okay but the command does not ask for 'linear_speed', hence the slightly lower score."] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; The action "rotate" and its params match up with the command "Turn right" but the angular_velocity value in the JSON (0.5) does not match the implied speed of the command. The action "move" and its params generally match up with the command "move forward for 1 meter" but the linear_speed value does not match the implied speed of the command.'] +Proceed forward for 1 meter after turning to the right.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; While the JSON indirectly matches the command however, the values do not match, e.g., the angular_velocity, angle in rotate action, and linear_speed in move action. The direction of rotation is correctly captured as is_clockwise is true. The distance in move action is correctly captured as 1 meter.'] +Take a right turn and continue moving straight ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['2; The natural language command somewhat matches with the "rotate" and "move" actions in the JSON. However, the conforming JSON does not match the details of the natural language command. Specifically, the "angular_velocity" and "angle" parameters in the JSON don\'t correspond to the implied speed and angle in the natural language command ("Take a right turn"). Also, the natural language command\'s instruction to "continue moving straight ahead for a distance of 1 meter" is completely missing in the JSON structure.'] +After making a right turn, proceed ahead for 1 meter.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 1, "is_forward": true}}'];["2; While the 'move' action and the 'distance' and 'is_forward' parameters align with the JSON structure, the command includes a direction ('right turn') which is not represented in the JSON. The 'linear_speed' is also not defined in the command, which does not match the JSON structure."] +Rotate to the right and then advance for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}, "action": "move", "params": {"linear_velocity": 0.0, "distance": 1, "is_forward": true, "unit": "meters"}}'];['2; The actions and parameters described in the natural language command are represented in the JSON structure but values for the "angular_velocity", "angle", and "linear_velocity" are not specified in the natural language command. As a result, default or null values (0.0) are used which may not represent the intended action properly. The "unit" is also incorrect in the JSON, it should be "meter" not "meters".'] +Move forward at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];["4; The natural language command is mostly in accordance to the JSON information. The command 'Move forward' matches with 'action: move' and 'is_forward: true'. The velocity mentioned, '0.5 meters per second', is matching with 'linear_speed: 0.5'. However, the JSON structure also includes 'distance' as a parameter and the command does not specify a distance. Hence, the score is not full as there is a slight mismatch."] +Proceed ahead with a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true}}'];['2; The natural language command only partially matches the JSON structure. The action "move" and the linear_speed parameter matches. However, the natural language command does not specify the "distance" or specify that the movement is forward, which are required fields in the JSON information according to the ontology. Hence only a partial match is found.'] +Advance with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['2; The natural language command does match with the action "move" and the parameter "linear_speed" in the JSON information. However, it doesn\'t specify parameters "distance", "is_forward", and "unit", which are necessary for complete matching.'] +Go forward at a rate of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": , "is_forward": true, "unit": "meters"}}'];['4; The command correctly identifies the action as "move" and "linear speed" as 0.5 as specified in the natural language command. The "is_forward" key correctly to be true for going forward. However, "unit" has been incorrectly interpretted as "meters" instead of actual "meter". Also "distance" key is missing from the command but is inferred from the JSON structure, hence it\'s not a perfect match.'] +Travel in a forward direction at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true}}'];['3; Partially conform. The natural language command matches with the "action" as "move" and "params" has "linear_speed" as 0.5 which are in the JSON structure. However, the "distance" parameter is missing in the natural language command and instead the speed unit "meter per second" is given, which does not exist in the JSON structure. Therefore, the conformity is only partial.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The command is almost perfectly conform to the JSON structure. However, the value of "angular_velocity" is not specified in the command. Hence, it has been filled with "default_value" in the JSON structure which is assumed to be understood by the system.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The command matches the JSON structure well but the "angular_velocity" value is set to 0 in the JSON which could imply no movement. The natural language command doesn\'t specify "angular_velocity" so the JSON does not perfectly correspond.'] +Turn by 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; Everything in the command is represented correctly in the JSON structure. The action of "rotation", angle of "180", and rotation direction "clockwise" are all accurately transformed. The angular velocity is left unstated in the command, so its value of 0 in the JSON is somewhat arbitrary, but this does not conflict with anything in the original command.'] +Rotate in a clockwise manner, completing a 180-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command matches the JSON structure fairly well, specifically the "rotate" action. However, the "angular_velocity" value in the JSON is given as 0, while it is not mentioned in the command. This may suggest a small discrepancy between the command and the JSON structure.'] +Execute a clockwise rotation, rotating by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['3; Although the action type "rotate" and parameter "is_clockwise" are correct and the angle corresponds to 180 degrees as commanded, the angular_velocity value is marked as 0, which is not specified in the command. Hence the command is partially conforming to the JSON information.'] +Move forward for 10 meters at a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];["0; The mentioned parameters in the natural language command are not matching with the parameters in the JSON structure. There is no key named 'linear_speed' or 'distance' or 'is_forward' or 'unit' in the JSON structure."] +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];["4; The JSON structure mostly matches the natural language command. Fields like 'action' and 'params' are correctly used. However, the speed is mentioned as 0.5 in the JSON structure whereas the command says 2 meters/sec. Similarly, the distance in JSON is variable 'distance' whereas the command mentions 10 meters. Also, 'unit' is mentioned as 'meter' in JSON structure while 'meters' is used in the natural language command."] +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The command perfectly matches the "move" action in the JSON structure with appropriate parameters in the correct format.'] +Go ahead for 10 meters, moving at a pace of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];['4; The natural language command perfectly matches the JSON information and its keys, but the "unit" field is not exact: the command uses "meters" while the JSON has "meter" .'] +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The natural language command and the JSON structure have a perfect match. The action "move" is accurately reflected, and all the necessary parameters ("linear_speed", "distance", "is_forward", and "unit") are correctly identified and represented in the JSON.'] +Turn left and move forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command indicates a movement but the direction is not covered in the JSON ontology. The command also asks for time-based movement, but the JSON structure has no key for specifying such a duration. Therefore, it can only partially match the command.'] +Make a left turn and proceed straight ahead for a duration of 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "duration": 5, "unit": "seconds"}}'];['1; The JSON structure provided does not precisely match the natural language command given. While "rotate" and "move" commands are represented in the JSON structure, the parameters such as duration and certain values like angular velocity and direction of rotation in "rotate" action and linear speed in "move" action are not given any values or are missing in the JSON representation of the command, making the alignment quite off. Thus, the conformity is low.'] +Take a left and advance in a forward direction for a span of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2.5, "is_forward": true, "unit": "seconds"}}'];["2; The natural language command is partially conforming to the JSON information and the sample keys of the ontology. The command refers to moving forward which matches with the 'move' action in JSON. However, the JSON ontology provided does not have any parameters related to time ('seconds'). Also, 'Taking a left' command does not match with the 'rotate' action specified in JSON as the direction or angle for rotation is not specified. Therefore, this incomplete matching leads to a score of 2."] +Rotate to the left and proceed ahead for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["1; The rotation action mentioned in the natural language command is not represented in the JSON structure. The move action parameters partially match as the distance is considered but there is no 'duration' key in the sample ontology. The natural language command shows duration in seconds while the provided JSON only allows distance in meters. Also the 'linear_speed' key in the JSON has a fixed value rather than being defined by the command. The is_forward key is matching accurately. The 'rotate' action mentioned in the command doesn't have a respective JSON structure in the provided sample. So, the command does not conform to the sample ontology entirely."] +Veer left and move forward for an interval of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command partially matches with the JSON structure. The "move" action can be perceived in the command and the movement is stated as \'forward,\' which corresponds to "is_forward": true. However, the command specifies moving for an interval of 5 seconds which is not reflected correctly in JSON structure as a distance value. There is also no mention of "veer left" in the JSON, as there isn\'t a corresponding action or parameter for this in the provided sample keys. In addition, there is no given ontology to convert "seconds" into a distance measure in the sample JSON structure.'] +Move backward at a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": "default", "is_forward": false, "unit": "meter"}}'];['1; The JSON structure corresponds to a move action, as well as the natural language command. However, the "is_forward" parameter should be False to represent "move backward". Additionally, the JSON does not include a distance parameter, while the command does specify a specific velocity.'] +Go in reverse at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": false, "unit": "meter"}}'];['3; Although the action and the speed are correctly transcribed, the JSON structure should also include a "distance" parameter according to the given ontology. The "is_forward" parameter is correctly marked as false for reversing. The distance value in the JSON structure is 0 which implies that the robot won\'t move at all, while natural language command does not provide any specific distance to move in reverse.'] +Travel backwards with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": "undetermined", "is_forward": false, "unit": "meter"}}'];['4; The natural language command mostly conforms to the JSON structure. The command specifies movement and a linear_speed of 1, which matches the sample ontology. The "is_forward" parameter is correctly interpreted as false for moving backwards, but the command doesn\'t specify a distance, so it\'s assigned as "undetermined." The command doesn\'t specify a unit, but "meter" is assumed, which matches the sample ontology. However, "undetermined" is not part of the ontology. Hence, the deduction in the score.'] +Move in the opposite direction at a rate of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": false, "unit": "meter"}}'];['4; The natural language command is almost fully represented in the JSON. The parameters "linear_speed" and "is_forward" are correctly interpreted. However, the command doesn\'t specify a distance to move, so "distance": 0 may not be an accurate representation. Also, the command "Move in the opposite direction" is not clearly defined since the exact direction is not given.'] +Go backward at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];["0; The natural language command asks for the action of moving backward at a particular speed. However, there is no 'distance' specified in the command for the 'distance' parameter in the JSON structure."] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false}}'];['2; The command partially matches with the JSON structure. The action "rotate" and the parameter "angle" match. However, the value of "angle" in the command is 45 while in JSON it is 40. Also, the command specifies the rotation direction as counterclockwise, but in the JSON it is not stated whether it\'s clockwise or not. Additionally, the angular velocity is different: in the command it\'s not specified, while in the JSON it\'s 0.35.'] +Rotate 45 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['2; The natural language command matches the JSON structure partially. The "is_clockwise" value is correctly interpreted as false for a counterclockwise rotation, and the "angle" is correctly given as 45. However, the "angular_velocity" is stated as 0 in JSON structure which is not clear in the natural language command and doesn\'t align with the ontology given, where the "angular_velocity" is given a value of 0.35.'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];["2; The natural language command is partially conform with the JSON structure. The action of rotating is correctly obtained, but the value of angular_velocity is not specified by the command and it is incorrectly assigned as 0 in the JSON. The command doesn't specify the rotating direction, but is stated as false (left) in the JSON. However, this may vary as it's not explicitly mentioned. The angle of rotation is correctly taken as 45 degrees."] +Rotate in an anticlockwise direction by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 45, "is_clockwise": false}}'];["4; The command majorly conforms to the JSON structure. However, 'angular_velocity' isn't specified but it is given a default value in the JSON which wasn't stated in the command itself."] +Rotate to the left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; Although the natural language command matches the JSON structure in terms of rotation, there is no specific reference to the direction \'left\' or counter-clockwise rotation in the JSON structure. Hence, the command slightly does not conform to the JSON\'s keys as it assumes \'left\' equates to a false "is_clockwise" condition. In addition, angular_velocity key in JSON has a value of 0 unlike the command where no specific speed for rotation is given.'] +Move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true}}'];['4; The natural language command somewhat matches the JSON structure. The action of moving and the parameter of moving forward is correct, however, the specific linear speed is not mentioned in the command and the distance in the command is not matched in the JSON structure. In the JSON, the distance is not specified.'] +Proceed ahead for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['3; The natural language command matches the action type of moving and parameters such as distance and is_forward, but the JSON structure contains additional parameters like "linear_speed" which haven\'t been referred to in the command. Furthermore, the command does not specify the value for linear_speed, which is given as 0.5 in the JSON structure. Hence, the match is not exact.'] +Advance 7 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true}}'];['4; The command mostly conforms to the JSON structure with "move" action and "is_forward", "distance" params. However, it doesn\'t specify the "linear_speed" parameter that exists in the JSON structure.'] +Travel straight ahead for a length of 7 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}}'];["3; The command is translated correctly into JSON but it is not entirely conforming to the original command as the natural language command doesn't specify the speed at which to move, but a speed value is assigned in the JSON."] +Go straight for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'];['4; The command is correctly converted into the JSON structure for moving straight. However, the "linear_speed" in the JSON structure is given as 1, whereas the original command does not specify the speed.'] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];["4; The JSON information partially matches the natural language command. The angular velocity and linear speed values don't match and are subjective. The distance, unit, is_forward, and action values are correctly interpreted from the command."] +Take a right turn and proceed ahead for a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];["2; The JSON commands are mismatched with the sample elements. For example, we don't know value of 'angular_velocity' as we don't have this information in the text command and also 'spinning direction' is always to the right which doesn't match 'is_clockwise' attribute in the JSON structure. Furthermore, 'distance' has different value in the natural language command and JSON structure."] +Make a right turn and advance straight ahead covering a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 4, "is_forward": true, "unit": "meters"}}'];["4; The commands and the JSON structure match with the exception that the 'angular_velocity' and the 'angle' values are not specified in the natural language command but have been placed as 'default_value' in the JSON structure. The natural language command does not provide enough information to determine the values of 'angular_velocity' and 'angle'."] +Rotate towards the right and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['2; The JSON structures partially match with the natural language command. The rotation and movement actions are present but the parameters such as angle of rotation, angular_velocity, linear_speed and distance are not correctly defined in the JSON structures as they are in the command. The command does not specify angular_velocity for rotation and linear_speed for movement, and the distance for movement is incorrectly set to 0 instead of 4. Also, the is_clockwise parameter for rotation is set to false whereas the command specifies a right rotation which should be true.'] +Go right and travel straight ahead, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['3; Partial conformity. The JSON message includes a command to move a specified distance, which matches the natural language command to \'travel straight ahead, covering a distance of 4 meters.\' However, the direction that the command specifies, \'go right\', is not included in the JSON message. Furthermore, the "linear_speed" parameter is set to 1 in the JSON message, while the natural language command doesn\'t specify a speed. Thus, there is partial, but not full, conformity between the command and the JSON structure.'] +Move forward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "seconds"}}'];["1; The command entails moving forward but lacks specification about the speed and distance. Instead, it specifies the time duration, which doesn't exist in the ontology. The provided JSON structure does match the command, except for the necessary conversions in accordance to the ontology, so it gets a low score."] +Go straight ahead for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];['2; The JSON describes an action to move forwards at 0.5 meters per second for only a distance of 1.5 meter, compared to the natural language command which specifies to move straight for a duration of 3 seconds but does not specify distance moved. The "duration" parameter described in the natural language command does not exist in the provided JSON sample ontology. Additionally, the silght discrepancy in the interpretation of action command also affects the matching score.'] +Proceed in a forward direction for a span of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true}}'];['1; The natural language command talks about moving forward for a span of 3 seconds but the actual JSON structure corresponds to moving a certain distance in meter and not in seconds. Also, linear_speed is set as 0 in JSON which contradicts with the command of proceeding in a forward direction. There is a partial match between the command and the JSON structure but it does not perfectly conform.'] +Advance ahead for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The given natural language command does correspond to the "move" action in the JSON structure. However, the provided JSON representation doesn\'t perfectly match the sample ontology. In the ontology, the distance is measured in meters, not in seconds. Furthermore, the linear speed provided in the JSON representation doesn\'t exist in the sample command.'] +Travel forward for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'];["1; The natural language command gives a duration of the movement, but the JSON has distance and linear_speed as parameters instead of duration. The natural language command and JSON structure don't fully align."] +Turn left and move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];["2; The natural language command partially conforms with the given JSON structure. The command states a move action which matches the move action in the JSON structure. However, the direction of turning left and the exact speed of movement are not specified in the generated JSON, only the distance and direction of movement are matched. The `linear_speed` value is default and not derived from the NL command. Thus, it's not a full match."] +Proceed straight for a distance of 2 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['0; The natural language command doesn\'t match the provided JSON instance. According to the natural language command, there should first be an action of "rotate" for making a left turn which isn\'t specified in JSON. The JSON only performs "move" action conforming to only the second part of the command and misses out essential information like rotation before moving forward.'] +For a span of 2 meters, continue moving forward after taking a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];["2; The JSON command provided only covers the 'move forward' part of the natural language command. However, it doesn't contain information for 'taking a left turn'. This mismatches with the 'rotate' action from the ontology which should be used for turning. Besides, the 'linear_speed' value in the JSON command doesn't match the context as the speed isn't mentioned in the natural language command."] +Make a left turn and advance ahead for 2 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The natural language command corresponds well to the JSON structures overall, including turning and moving actions. However, the specifics such as "angular_velocity" for turning action and "linear_speed" for moving action are not provided in the command and is assumed in the JSON structures. Also, the command direction is "left" which doesn\'t conform to the JSON structure which is "is_clockwise: false". In this context \'left\' should be converted to \'is_clockwise: true\'. Due to these inconsistencies, it\'s not an exact match.'] +After turning left, go straight for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The natural language command involves both rotation and movement, but the JSON structure only represents the movement part. Therefore, the match is partial. The command to turn is not reflected in the JSON structure.'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['4; Mostly conform. The JSON structure correctly identifies the action as "rotate" and specifies the rotation details. However, "angular_velocity" value is set as 0, which may not be accurate as rapid rotation might involve a higher number. Since the specific velocity isn\'t mentioned in the command, it\'s hard to say whether it conflicts or not, hence the 4 score.'] +Turn to the right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['4; Mostly conform. The natural language command is translated accurately overall into the JSON format. However, there is an inconsistency as the "angular_velocity" parameter is not specified in the natural language command but appears as 1 in the JSON structure.'] +Rotate in a clockwise direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['4; The JSON structure aligns well with the natural language command. However, the "angular_velocity" has been set to 0, which doesn\'t conform to the command as it doesn\'t specify the speed of rotation.'] +Perform a 270-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 270, "is_clockwise": true}}'];['4; The JSON structure accurately represents the natural language command, however the "angular_velocity" value is not specified in the command hence it can\'t be 0.0 hence a point must be deducted.'] +Rotate by 270 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; The command matches perfectly with the JSON structure. It uses the \'rotate\' action and all the parameters specified in the JSON schema: "angle" is 270, "is_clockwise" is correctly interpreted as true, and the "unit" is correctly recognised as degrees. Preview of your JSON command: {"action": "rotate", "params": {"angular_velocity": 0.35, "angle": 270, "is_clockwise": true, "unit": "degrees"}}.', 'Note: angular_velocity is set as the default value 0.35, because the command does not specify a speed.'] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['1; In the natural language command, the action specified is to "move backward" whereas in the JSON, the action is just specified as "move". The JSON however has an attribute "is_forward" which is set to "True", whilst the command specifies movement should be backward. Updating this attribute to "False" would have made it more accurate. Additionally, the given command does not specify a speed so the field "linear_speed": 1 is not entirely accurate to the command. Finally, the command does specify the distance to be 6 meters and the JSON correctly reflects this in "distance": 6 unit in meter.'] +Reverse direction and travel a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": false}}'];['3; The natural language command is partially conforming. While it gives information that maps to moving and distance as noted in the JSON structure, it lacks details for linear_speed and unit which are also expected in the JSON syntax. The command also seems to suggest a backward motion which is represented in the JSON syntax as "is_forward": false. However, as this indication is contextual, and not explicitly given in the command, this may explain the lower conformity score.'] +Go back 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The natural language command matches well with the given JSON structure. The command "Go back 6 meters" indicates a movement action and the JSON structure defined corresponds to the "move" action. Though direction in the natural language command (back) is represented as "is_forward": false which is not completely addressed in the command, the distance and unit are well represented as "distance": 6 and "unit": "meter". The "linear_speed" parameter, however, is not mentioned in the natural language command but it is included in the JSON structure.'] +Retreat for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['3; Partially conform. The JSON structure correctly represents the action of moving and the distance. However, there isn\'t information provided in the natural language command to infer the "linear_speed" value, and the "is_forward" key is set as false, which isn\'t clearly specified in the command.'] +Move in the opposite direction for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['3; Partially conform because the natural language command matches with the JSON structure, but the "is_forward" key is set to True in the JSON while the command specifies moving in the opposite direction, which should be False. The "linear_speed" key is also missing from the command.'] +Turn right and move forward for 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command asks for turning right and moving forward for 5 seconds. The "rotate" action JSON is quite accurate. However, it is misleading in the "move" command as it lists distance as 5, when it should be time as per the natural language command. There is also the issue of units being assigned as "seconds", which is in no way related to the distance. The sample ontology doesn\'t have keys to support time duration.'] +Take a right turn and proceed ahead for a duration of 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['1; The natural language command asks for a "right turn and proceed ahead" while the JSON commands only include a "rotate" action. The "proceed ahead" part of the command is not reflected in the JSON commands thus conformity is low.'] +Make a right turn and continue moving straight for 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command tells the system to "make a right turn and continue moving straight for 5 seconds." and they are converted into two JSON commands. However, both JSON files contain incorrect parameters. In the first JSON command, "rotate", the "angular_velocity" is set to 0 which contradicts the command to make a right turn." Similarly, in the second JSON command, "move", the "unit" is "seconds", which is not present in the sample ontology.'] +Go right and advance for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command instructs the motion but doesn\'t specify the direction (right) in the JSON. The "linear_speed" in the JSON doesn\'t match the command as well. The "action" and "params" keys are correctly used. The "unit" key in the JSON isn\'t specified in the command but is assumed to be "seconds".'] +Shift to the right and travel in a forward direction for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The JSON structure partially matches the natural language command. While the "move" and "is_forward" true does match a \'travel in a forward direction\', the JSON is presenting distance in units of seconds instead of a real-world distance. There\'s also no information matching to "shift to the right". Therefore, the alignment isn\'t accurate.'] +Move forward at a velocity of 0.3 meters per second for 10 meters.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The command is mostly conform with the JSON information. All the parameters such as "action", "linear_speed", "distance", "is_forward", and "unit" matches correctly. However, the linear_speed in the command is 0.3 but in the JSON, it is given as 0.5.'] +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The natural language command precisely corresponds with the sample ontology and the JSON schema. Despite the fact that the exact values are not the same, the schema structure and parameter enumeration are absolutely consistent.'] +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The command exactly matches the JSON structure which contains correct action type "move" and corresponding parameters indicating the distance, speed, direction, and unit.'] +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; While the command matches well with the JSON structure, the specific distance value from the command (10 meters) is not reflected in the JSON structure where it says "distance": distance (variable is not replaced with the value from NL command). However, the rest of the action ("move") and parameters (linear_speed, is_forward, unit) match perfectly.'] +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; Although the natural language command matches the JSON structure for a "move" action, the specified linear_speed of 0.3 in the command does not match the example JSON which has a linear_speed of 0.5.'] +Rotate counterclockwise by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'];['3; The action of rotating and the unit of measurement (degrees) are a match. The angle rotation is correctly mentioned. However, the angular_velocity is not correctly defined as the command does not specify this, and the JSON structure does not mention rotation direction ("is_clockwise": false indicating counterclockwise), while the command does, hence the score is not maximum.'] +Rotate 120 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": false}}'];['4; The natural language command matches with the rotate action in the JSON structure, including the "angular_velocity" and "angle" parameters. The direction "counterclockwise" can be interpreted as "is_clockwise": false. One point is deducted because the "angular_velocity" in the given JSON does not match the command. There has been an assumption of an angular_velocity of \'1\' while the command doesn\'t specify velocity.'] +Perform a counterclockwise rotation of 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 120, "is_clockwise": false}}'];['3; The command partially matches with the JSON information in terms of keys and values. The "angle" in the command matches with "angle" in JSON but the command fails to provide a value for "angular_velocity". Also, JSON expects a boolean value for "is_clockwise" which matches with the command\'s "counterclockwise" denoting it as \'false\'. However, the command doesn\'t specify any unit but the JSON structure contains "unit" as a key, thus it\'s not a complete match.'] +Turn left by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false}}'];["2; The JSON structure correctly represents a 'rotate' action and includes an 'angle' parameter as specified in the natural language command, but the 'angular_velocity' field value is not provided by the natural language command, and 'is_clockwise' is set to false which may not imply a left rotation in all contexts. Additionally, the 'unit' has been omitted."] +Rotate in the opposite direction by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false}}'];['4; The natural language command "Rotate in the opposite direction by 120 degrees." is similar to the JSON instruction `{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false}}`, but the "angular_velocity" parameter doesn\'t match. In the JSON it is set to zero, when there is no information about "angular_velocity" in the natural language command. So, it could be any value, not specifically zero. The other parameters ("angle" and "is_clockwise") match with the natural language command.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The command matches the action and the keys in the JSON structure correctly, but the "angular_velocity" in the JSON is incorrectly set to 0 instead of a reasonable positive value.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["2; The natural language command partially conforms to the JSON structure. The action of 'rotate' and property of 'angle' match, however the 'is_clockwise' value doesn't match the 'Turn left' command (it should be False considering left turn), and 'angular_velocity' is not mentioned in the command but it is listed in the JSON."] +Rotate anti-clockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command partially matches with the JSON structure. The key "is_clockwise" is correctly set to false to indicate anti-clockwise rotation and the "angle" key correctly corresponds to 90 degrees. However, the "angular_velocity" is given as 0 in the JSON structure which doesn\'t correspond to any value given in the natural language command, and there is missing "unit" key-value pair which should be "degrees".'] +Rotate in the opposite direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false}}'];['4; The values in the command and the JSON structure match about the rotation, angle and the direction. But there is no matching parameter for an angular_velocity of 10 in the command which is set to 0.35 in the provided JSON structure.'] +Rotate counter to the clockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The command instruction and JSON structure are fairly aligned. Action "rotate" and unit "degrees" are correctly matched. However, the angular_velocity in the JSON is 0 while it wasn\'t specified in the command. Also, "is_clockwise": false is imprecisely deduced as "counter clockwise" direction is not necessarily equivalent to moving anti-clockwise.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];["4; Almost entirely conform. The command is correctly converted to JSON, with action, distance, is_forward and unit keys matching closely with the command. However, the 'linear_speed' parameter wasn't specified in the command but was included in the JSON structure."] +Proceed straight ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['4; The JSON representation correctly interprets the natural language command of moving in a forward direction with a specified distance. However, the linear speed parameter is given a random value of 1, which does not directly conform to the natural language command as no speed has been specified.'] +Advance ahead by 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];["4; The natural language command matches the JSON structure information in a general sense as it involves moving a certain distance which corresponds to the 'move' action of the JSON structure. However, parameters such as 'linear_speed' and 'is_forward' are not specified in the natural language command, and are implicitly assumed to be True and some non-zero value for the JSON command to make sense. In the JSON structure, 'distance' is correctly matched to '5 meters' in the command. The conformity is not perfect, thus a score of 4."] +Travel in a forward direction, covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];['0; The natural language command expresses a movement action at a particular distance in a forward direction, which matches the \'move\' action in the JSON schema. However, the linear_speed is not determined in the natural language command, hence the converted JSON contains a value of 0.0 for linear_speed, which isn\'t mentioned or implied in the command. This is a discrepancy. Also, there is no "unit" parameter in the generated JSON, which is present in the given JSON structure.'] +Move straight ahead and travel a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0, "distance": 5, "is_forward": true}}'];['4; The natural command mentions "Moving straight ahead", which corresponds to the action "move" in JSON. The idea of \'traveling a distance\' is also captured in the JSON structure. However, "linear_speed" of the robot in JSON is not mentioned in the natural command, hence it is not a perfect match.', ''] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];["2; Partial match. The JSON command matches the natural language command's instruction to 'move forward'. However, there is no parameter in JSON for time (seconds), only for 'distance'. Also, the command 'turn left' does not have a corresponding JSON structure in the provided sample."] +Proceed forward for 2 seconds after turning left.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true, "unit": "second"}}'];['2; The JSON structures partially match the command. For the "rotate" action, the "angular_velocity" value and "is_clockwise" value are missing in the command. For the "move" action, distance is given in terms of time (seconds) in the command while the JSON structure treats distance as a spatial measurement, not a duration. Therefore, the natural language command and JSON structures do not fully conform to each other.'] +After making a left turn, continue straight ahead for 2 seconds.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The command partially matches with the JSON structure. The \'move\' action is mentioned, but there is no key in the JSON for \'turn\', but it is suggested in the natural language command. Also the "unit": \'seconds\' in the JSON does not align with the ontology sample where distance should be in \'meters\'. Furthermore, the JSON doesn\'t specify a linear speed.'] +Take a left turn and then advance forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The commands partially match. The \'rotate\' command has the correct action value, but the incorrect params - as the direction of rotation is specified as \'left\' (not clockwise), however, the duration or exact angle of the rotation is not given. For \'move\', the action value is again correct. For the \'move\' command, the distance is incorrectly classified as \'2\' when the command specifies \'2 seconds\' - it should have been classified under \'time\'. Also, \'seconds\' isn\'t a recognized unit in the sample ontology. Commands for "turn" and "advance" are not provided in the ontology.'] +Rotate to the left and travel straight for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["2; The command has defined parameters for 'rotation' and 'moving straight', but values of both move and rotation parameters like 'distance', 'angular_velocity', 'angle' and 'is_clockwise' don't match with the values given in the JSON structures. Additionally, 'unit' for move action is incorrectly defined as 'seconds' instead of 'meter'. Also, direction of rotation is not clearly defined in the JSON structure."] +Stop and wait.;['{"action": "stop"}'];["0; The command 'Stop and wait' doesn't match any of the JSON structures 'go_to_goal', 'move', or 'rotate'. It also doesn't appear in the sample ontology."] +Cease and remain still.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}'];['0; The natural language command "Cease and remain still" does not match with any of the JSON structures provided. The closest action "go_to_goal" does not denote a state of being still, and the following parameters do not contain any relevant keys of stopping or remaining in a stationary position.'] +Halt and stay put.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}'];['0; The natural language command "Halt and stay put" doesn\'t match with any of the JSON structures provided. The command instructs to stop moving which isn\'t represented in the given sample keys. Hence the conformity score is 0.'] +Pause and remain stationary.;['{"action": "pause"}'];['0; The natural language command asks the robot to pause and remain stationary, however there is no corresponding action in the given JSON structures. The provided JSON actions are "go_to_goal", "move" and "rotate", none of which match with the command. Therefore, the conformity score is 0.'] +Desist and await further instruction.;['{}'];['0; The command does not match with any of the JSON structures provided. It might relate to a "stop" or "wait" action, neither of which are present in the sample ontology. Therefore, it cannot be converted into JSON using these keys.'] +Move backward for 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'];['1; The natural language command indicates a movement action and specifies a distance. However, there is no mention of the "linear_speed" in the command. The command also instructs a backward movement which isn\'t aligned with the JSON structure saying "is_forward: true". Furthermore, the JSON structure indicates a linear_speed of 1, which is not specified in the natural language command. Therefore, although both the command and JSON correspond to a move action, the parameters provided do not fully match.'] +Go back a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 10, "is_forward": false, "unit": "meter"}}'];['4; The natural language command is partially conform with the JSON structure as it includes the action "move" and the parameter "distance." However, it does not specify the "linear_speed" and it interprets "go back" correctly as "is_forward": false, which is not present in the JSON sample.'] +Retreat for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": false, "unit": "meter"}}'];["1; The JSON structure is correct, but the 'is_forward' key isn't allowed as it doesn't exist in the sample keys."] +Reverse your direction and travel 10 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 10, "is_forward": false}}'];["2; There is some alignment in the command to the JSON keys such as 'action' and 'distance' however the 'linear_speed' and 'is_forward' in the JSON structure do not match the command. The '-0.5' and 'false' values are assumed in the command and not explicitly stated."] +Take 10 steps backward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false}}'];['2; The natural language command matches the "action": "move" in the "move" JSON structure, but the parameters in the JSON structure do not match the command details. The natural language command states "take 10 steps backward," which is not clearly reflecting in "linear_speed": 1 and "is_forward": false. Additionally, the parameter "steps" from the command is not represented in the JSON structure. Hence, there is partial matching.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command "Rotate clockwise by 180 degrees;" matches perfectly with the provided JSON structure. The actions and parameters align accurately, including the direction (clockwise) and the unit of measurement (degrees). Therefore, the conformity score is 5.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The overall structure and concept of JSON matches with the natural language command that involves rotation. However, the "angular_velocity" value in the JSON does not match any information given in the natural language command.'] +Rotate in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['3; The JSON structure partially matches the command. The action "rotate" is correctly identified. However, the "angular_velocity" is designated as 0, but it was not specified in the natural language command. Also, the "is_clockwise" parameter is correctly identified. The angle of rotation is also properly converted into the JSON order, but it should be set to true not just mentioned.'] +Turn by 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["4; The angle matches the command perfectly, and the action 'rotate' is correct. But there's no specification in the command for 'angular_velocity', so the JSON having 0 is a mismatch."] +Execute a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; Mostly conform. The natural language command calls for a clockwise rotation, but the angular velocity is not specified, so the default value of 0 is used in the JSON. Only the "angle" and "is_clockwise" fields match exactly.'] +Turn right and move forward for 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": 90, "is_clockwise": true}} ', '', '{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The commands in the natural language command can be interpreted to be mapped to actions in the JSON structures, such as turning (rotating) and moving forward. However, the input command lacks detail that doesn\'t clearly match it to the JSON structure, "move forward for 3 seconds" can not directly be interpreted as a distance without a given speed. The rotation action in the JSON structure also requires an angular velocity, which is not provided in the natural language command. Finally, the \'unit\' in the "move" action has been given as \'seconds\' which does not conform with the sample key \'meters\'.'] +Make a right turn and proceed forward for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "undetermined", "duration": 3, "unit_duration": "seconds"}}'];["3; The command is partially matched to the JSON structures. The 'rotate' action and its parameters are well represented. However, the 'move' action parameters have additional fields 'duration' and 'unit_duration' which do not exist in the sample ontology. Also, values for 'angular_velocity', 'angle', 'linear_speed', and 'distance' are missing or undetermined."] +Take a right and continue moving straight ahead for a total of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];["0; The natural language command does not correlate well with the provided JSON structure. The command mentions rotating to the right and moving forward for a set time duration, while the JSON structure describes rotation at a variable angle, moving forward with specified linear speed and distance in meters. Additionally, the JSON has 'is_clockwise' and 'unit' as keys, which are not translated/mapped in the command."] +Rotate to the right and advance for a period of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true, "unit": "degrees"}}'];['2; The rotation part of the natural command can be reasonably linked with the "rotate" action from the JSON structure, although the specification of the angular_velocity and angle is missing in the command. The "advance for a period of 3 seconds" part doesn\'t match with any existing action since it is not clear what action needs to be done for those 3 seconds. The ontology does not account for time-based movement.'] +Face towards the right and travel forward for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 3, "unit": "seconds"}}'];['2; The JSON structure slightly matches with the command but not exactly. The command says to move forward, which matches with the "move" action in the JSON structure and the "is_forward" parameter is set to true. However, it mentions "duration" which is not part of the ontology. Also, it doesn\'t specify the linear speed and distance, which are necessary according to the ontology. Furthermore, the direction \'right\' from command is not represented in the JSON structure.'] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['5; The natural language command matches exactly with the JSON information. The action "go_to_goal" and the parameter "location" with the value "Living Room" are clear in the command, and thus conforms with the keys of the sample ontology.'] +Proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['1; The natural language command indicates an action of movement towards a specific location - the living room. However, the specific location is misaligned in JSON. The JSON structure has the value "kitchen" under location where the command specifies "living room". Thus, the command and the JSON partially conform.'] +Move to the living room and cease all movement.;['{"action": "go_to_goal", "params": {"location": "Living room"}}'];['1; The command is partially matching with the JSON structure of "go_to_goal" action of moving to a specific location. However, the second part of the command "cease all movement" does not have a corresponding JSON action in the provided sample keys.'] +Make your way to the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['2; The JSON command accurately includes the action to "go_to_goal" to the "Living room", however, the additional move command with zero speed and distance is not implied in the natural language command. So, it partially matches with the natural language command.'] +Head to the living room and remain stationary.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['1; Although the action "go_to_goal" and params "location" with value "Living Room" is correctly presented in the JSON, the command also includes "remain stationary" which is not represented anywhere in the JSON structure. Thus, the command only partially matches the JSON.'] +Move 2 meters to the left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['1; The natural language command asks to move to the left for 2 meters whereas the JSON expresses moving for a specified distance of 2 meters but doesn\'t specify the direction which means it might not necessarily represent a leftward movement. Furthermore, the "is_forward" key in the JSON structure is set to true which conflicts with the leftward direction in the command.'] +Shift your position by 2 meters towards the left.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];["2; The natural command provided asks for a movement to the left, which is an angular movement rather than linear. This needs a rotation action rather than a move action. Also, 'is_forward' parameter is irrelevant in the context of moving towards the left or right. Thus, the provided JSON does not fully align with the natural language command."] +Change your location by 2 meters in a leftward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['2; The JSON structure describes a "move" action with a specified linear speed and distance, and it indicates that the direction of the move is forward (as indicated by "is_forward": true). However, the natural language command is instructing a leftward change in location, which should correspond to a rotation action not a linear forward or backward movement. This command is partially matched to the JSON structure. The "move" action and parameters like "linear_speed", "distance", and "unit" are matched. But there is no data key available for direction to be leftward or rightward and "is_forward" boolean key does not relate to leftward direction. So, a perfect match is not possible with the given sample ontology keys.'] +Relocate yourself 2 meters to the left.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['1; The natural language command requests a leftward move, which is not directly supported in the provided JSON structures, as they do not indicate direction other than forward or backwards. The move action is used with the "distance" parameter correctly, but "unit" and "linear_speed" parameters are not mentioned in the command. Furthermore, "is_forward" parameter is incorrectly deemed as false, as there is no reverse motion being asked. Direction of the movement (left, right, up, down) cannot be determined from the provided JSON structures.'] +Move to the left by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['2; The JSON structure does match the "move" action mentioned in the command but is missing the direction of movement (left) and has additional parameters (like linear_speed and is_forward) that were not specified in the command. Also, the command implied moving left, which is a type of rotation rather than linear motion, but the JSON refers to a straight movement.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['3; The command matches the rotate action and the angle params in the JSON perfectly, however, the angular_velocity value in the JSON is 0 which doesn\'t match the command and there is no option for the \'counterclockwise\' direction mentioned in the command, though it can be deduced from "is_clockwise": false.'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['3; The action and unit in the JSON matches with the command. However, the actual rotation direction (left or right) is not specified in the JSON. The angle is correct but angular velocity is not mentioned in the command but specified in the JSON.'] +Execute a counterclockwise rotation of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['5; The natural language command corresponds perfectly to one of the JSON structures provided in the ontology, with "rotate" as the action, appropriate parameters, and the correct value of the "is_clockwise" key being false (inferring a counterclockwise direction). However, "angular_velocity" is not specified in the command and is 0 in JSON, which doesn\'t affect the overall conformity but could technically be considered an omission in the command.'] +Rotate anticlockwise by an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; Mostly conform. The action and parameters match the command, however, the "angular_velocity" value doesn\'t match with the provided JSON structure. In the JSON structure, "angular_velocity" is 0.35, but in this case, it was stated as 0.'] +Perform a 45-degree rotation in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}}'];['4.5; The natural language command matches well with the given JSON in terms of rotation action. The angle of the rotation is correctly given as 45 degrees and the direction is counterclockwise, which matches with "is_clockwise": false. However, "angular_velocity" is missing in the command, so the score is not perfect.'] +Move forward at a speed of 0.5 meters per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['3; The natural language command and the JSON structure correspond in the action ("move") and in the linear speed ("0.5"). The JSON structure includes an indication of moving forward ("is_forward": true) which is also implied in the command\'s instruction to "move forward". However, the command specifies movement duration in terms of time ("for 4 seconds"), while the JSON structure specifies it in terms of distance ("distance": 2). The command does not address or correspond to the JSON\'s inclusion of a "unit". The JSON doesn\'t contain the key to convert time to distance.'] +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The action given in the natural language command "proceed ahead" matches with the action "move" in the JSON structure. The parameter "linear_speed" and its value (0.5) also matches with the command. However, the natural language command mentions "duration of 4 seconds" which has been interpreted in JSON as "distance: 2" instead of "time": 4. Also \'unit\' in the command is mentioned as \'seconds\' which does not match with the \'unit\' mentioned in the JSON structure i.e., meters. Therefore, the natural language command partially matches with the JSON structure.'] +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The action and the linear speed are perfectly matching with the JSON structure. However, the command mentions "Travel in a straight line for 4 seconds" which is not clarified within the JSON where it specifies a distance not a duration. Additionally, the unit is incorrect in the JSON ("seconds" instead of "meters").'] +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The command is partly conform to the JSON in term of action & parameters \'linear_speed\', \'is_forward\' and \'unit\'. However, the command uses "period of 4 seconds" which isn\'t accommodated in the JSON keys. We can\'t derive \'distance\' from the time as it\'s not one of the key while converting natural language to JSON.'] +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure correctly represents the action "move" and the parameter "linear_speed" as indicated by the natural language command. However, the command mentions a duration of 4 seconds, which the JSON does not represent. Additionally, the JSON does not accurately interpret the command\'s concept of distance (it assumes 2 meters in the JSON, which is incorrect without further context). Hence, the match is partially conform, leading to a score of 2.'] +Turn left and move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 7, "is_forward": true, "unit": "meter"}}'];["2; The command 'turn left' cannot be transformed into JSON because it is not recurring in the sample JSON structure. The 'move forward for 7 meters' command matches the 'move' action JSON structure. The linear_speed has a different value as it does not mentioned in command."] +Make a left turn and proceed straight ahead covering a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'];['1; The JSON structures provided do not perfectly match the natural language command. The "rotate" action in the JSON structure does not have a specified "angular_velocity" and the "move" action does not have a specified "linear_speed". However, the values for "angle", "is_clockwise", "distance", and "is_forward" do match the direction and distance indicated in the natural language command.'] +Take a left turn and continue moving ahead, advancing 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['1; The JSON representation only captures the movement part of the command and ignores the direction "left turn". Furthermore, there was no specification for the `linear_speed` in the command but it was assumed to be 1 in the JSON.'] +Head to the left and travel straight for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; Although the natural language command indicates a movement, which is also represented by the "move" action in the JSON, the parameters do not match. The natural language command specifies direction ("head to the left") but this is not captured in the JSON. Additionally, there is an arbitrary linear_speed in the JSON not specified in the command. Therefore, the match is not exact.'] +Rotate in the left direction and proceed forward, covering a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure for "move" corresponds with the command but the value for linear_speed is missing. The command to rotate does not match because values for angular_velocity and angle are missing in the JSON structure. The direction of the rotation (left) is also not clear in the JSON.'] +Stop and reverse direction.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'];['1; The natural language command partially matches with the JSON structure next to it. The command requests a reversal of direction which is captured in the "is_forward" value being "false". However, the "linear_speed" being negative is incorrect because speed cannot be negative and "distance": 0 doesn\'t make sense for a movement command. Furthermore, no "unit" key is present in the JSON structure as in the given capacities.'] +Come to a halt and begin moving in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];['1; The JSON represents an action of movement with specific parameters, but it is not perfectly matching with the given command. The command "Come to a halt" indicates stopping and is not represented in JSON. Furthermore, moving in the opposite direction (implied by the command) is represented by \'"is_forward": false\' in the JSON, but there is no specification of linear_speed and distance. Finally, the integers in the JSON are not mentioned in the command.'] +Cease forward motion and start moving backwards.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 0, "is_forward": false}}'];['2; The JSON command corresponds to the action of moving and not moving forward which corresponds to a part of the natural language instruction ("start moving backwards"), but there is no corresponding JSON command to "Cease forward motion." There is also a missing parameter in the JSON command compared to the sample ontology, the "unit" parameter is missing.'] +Bring yourself to a stop and change your direction to the opposite way.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["3; Partially conform. The commands 'move' and 'rotate' with their specific parameters are correctly interpreted in the JSON structure. However, the values for 'linear_speed', 'distance' and 'angular_velocity' should not be zero as the natural language command talks about a stop and change in direction, not being idle. The 'angle' in the 'rotate' command JSON is rightly set to '180' as it indicates a direction reversal. 'is_forward' for movement and 'is_clockwise' for rotation has been inconclusively set to 'true' as it is not specified in the command."] +Halt your movement and proceed in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}}'];['2; The command partially matches with the JSON structure. The stop should set linear_speed and distance to 0 in the \'move\' action, but the JSON doesn\'t reflect the redirection ("proceed in the opposite direction"). Besides, "is_forward": false is likely not the correct parameter for turning around or going in the opposite direction as it\'s not given in the sample.'] +Move 3 meters to the right.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];["2; The JSON structure correctly indicates movement and distance but there is no indication of direction (to the right) or linear speed as mentioned in the natural language command. Also, is_forward is marked as false which doesn't match with the command."] +Shift 3 meters towards the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The natural language command partially adheres to the JSON information. The command is asking to move linearly for 3 meters, which is represented in the JSON parameters as "distance" and "unit". However, there is no representation for the direction of movement (\'towards the right\') in the given JSON structure. Moreover, the linear speed is arbitrarily specified as 0.5, not derived from the command.'] +Go 3 meters horizontally in the right direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The command mostly aligns with the JSON information provided. The linear speed parameter is not specified in the natural language command while the JSON structure includes that item. However, other details like distance, movement direction, and distance unit are correctly mapped.'] +Change your position by moving 3 meters to the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];["2; Partial match. The command asks for a certain moving action but specifies movement to the 'right', which doesn't conform to the provided JSON structure. JSON structure only provides for moving forward a certain distance, not directional right. The distance is correctly matched in the JSON."] +Traverse a distance of 3 meters towards the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['1; The action in the natural language command can be mapped to the \'move\' action in the sample JSON. However, the direction of movement specified (\'towards the right\') doesn\'t match or conform with any parameters in the JSON structure. The "is_forward" key doesn\'t represent direction as \'right\' or \'left\'.'] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['2; The command partially matches with the JSON structure: the action "rotate" and parameter "is_clockwise" are correct, but the angle value does not match (60 in the command, 40 in JSON). The "angular_velocity" in JSON isn\'t provided in the command and hence assumed to be zero, which doesn\'t exist in the command.'] +Perform a clockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 60, "is_clockwise": true}}'];['4; The command for the rotation is correctly captured in the JSON structure with the angle and direction (clockwise) properly represented. However, the "angular_velocity" is not provided in the command and does not match with the JSON (listed as "undetermined"). Hence, it\'s mostly but not exactly accurate.'] +Rotate 60 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];["3; The natural language command matches partially with the JSON information. The 'rotate' action does match, the 'angle' parameter matches the value '60', and 'clockwise' matches with 'is_clockwise'. However, the 'angular_velocity' has no equivalent in the command and is set to 0 in the JSON which could change the interpretation of the command."] +Turn to the right by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['3; While the action (rotate) and the angle match, the JSON structure does not include a correct value for "angular_velocity" and there\'s a missing key \'unit\'. Also, the clockwise direction is correctly inferred from the command, however, it should be manually confirmed as "is_clockwise": true.'] +Rotate to the right by an angle of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; While the JSON structure does correctly represent a rotation action as specified in the natural language command, it does not specify the "angular_velocity" value, which according to the ontology is needed. The value of "is_clockwise" was correctly identified as true from the phrase "to the right".'] +Turn right and move forward for 1 second.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": DEFAULT_ANGLE, "is_clockwise": true}, "sub_actions": [{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 1, "is_forward": true}}]}'];['1; Some level of match as both the commands "rotate" and "move" are seen in the JSON structure and natural language command, but the natural language command doesn\'t specify angle for rotation or linear speed and distance for move action. The JSON structure also mentions unasked parameters such as "angular_velocity" and "unit", and the natural command doesn\'t mention a time duration for the movement.'] +Take a right turn and proceed straight ahead for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}}'];['2; The natural language command describes a right turn which corresponds to "rotate" action and moving straight ahead which corresponds to "move" action in the JSON information. However, the provided JSON structures do not match the sample ontology perfectly. Time is used for distance in the second JSON structure which is not appropriate according to the sample keys. Also, the exact values for the parameters action, angular_velocity, angle, linear_speed, and distance do not match. The "is_clockwise" command doesn\'t exist in the sample keys. The JSON structure and the natural language command only partly conform.'] +Make a right turn and advance for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "second"}}'];['3; The command requests a right turn and advance for a second which includes a rotation and movement action. The rotation part is partially accurate in the JSON structure, but the angular velocity is not specified in the command implying an angle of 90 degrees for a right turn (which is not specified in the command but is a common understanding) but it is set as 0 in the JSON. Additionally, the command does not specify the moving speed while the JSON sets it as 0.5. Lastly, while the command clearly states for time unit (second), the JSON structure uses "meter" as the unit term instead of seconds. Hence, the given JSON is partial conform to the command.'] +Rotate to the right and move forward for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter", "duration": 1, "unit": "second"}}'];["2; The JSON structures contain actions 'rotate' and 'move' which are present in the natural language command. However, the commands don't contain complete and accurate information about both 'rotate' and 'move' parameters as stated in the natural language command. The value of 'angular_velocity' for rotate and 'linear_speed' and 'distance' for move are 0 in JSON commands, but they are not specified in the natural language command. Also, the use of 'duration' and its corresponding 'unit' in 'move' action command doesn't exist in the sample keys."] +Go right and continue moving forward for 1 second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];['2; The command and the JSON partially match as it involves movement as action. However, distance representation in the JSON doesn\'t match with the time duration mentioned in the command and no specification for direction ("go right") exists in the JSON structure. The speed mentioned in the command also lacks corresponding information in the JSON structure.'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['1; The JSON structure accurately represents the "go_to_goal" action, but there is no reference to the \'stop\' command mentioned in the natural language instruction.'] +Head to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['1; The command asks to go to a location (the bedroom), however, the given JSON structure is for a different location - the kitchen.'] +Make your way to the bedroom and cease all movement.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];["1; The natural language command partially matches with the JSON information. The command to go to a certain location (Bedroom in this case) does exist in the JSON as 'go_to_goal'. But the information about ceasing all movement is not present in the JSON structure given. Hence, the command to 'cease all movement' cannot be converted to JSON."] +Proceed to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['3; The natural language command partially matches the JSON structure. The action "go_to_goal" and the location parameter with the value "Bedroom" are correctly represented in the JSON. However, the action "pause" is not represented in the given JSON structures.'] +Go to the bedroom and stand still.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['2; The natural language command partially matches with the JSON information. The action "go_to_goal" and parameter "location" with value "Bedroom" are mentioned. However, the command has an explicit instruction to "stand still", which is not represented in the given JSON.'] +Move backward for 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": false, "unit": "meter"}}'];["2; The natural language command could be partially matched with the JSON structure provided, in terms of it being a 'move' command. However, the parameters 'linear_speed', 'distance', 'is_forward', and 'unit' in the JSON structure do not directly correspond to the natural language command given. In the command, there is no mention of the 'linear_speed value' and the direction of movement ('is_forward') is opposite ('backward') to the one mentioned in the JSON ('is_forward': true)."] +Go 8 meters in reverse.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 8, "is_forward": false, "unit": "meters"}}'];['2; The natural language command does align with the type of information in the JSON structure but the negative linear speed is not represented in the example given. Additionally, the is_forward key in the JSON has a value of True which does not match the command to go in reverse.'] +Travel 8 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'];['2; The command has some match with the JSON as there is a movement directed, however, the reverse direction isn\'t represented in the "is_forward" parameter, also the "linear_speed": 1 isn\'t stated in the command.'] +Retreat for a distance of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": false, "unit": "meter"}}'];['2; The natural language command specifies the action to "retreat a distance of 8 meters", which corresponds to the "move" action in the ontology. However, the JSON structure provided has different parameters: the linear speed is provided, and the is_forward flag is set to True, which should be false for a retreat action. The distance value matches the command. The \'unit\' key in the JSON structure doesn\'t exist in the command.'] +Reverse 8 meters.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 8, "is_forward": false, "unit": "meters"}}'];['4; It mostly conforms as it triggers the move action and the distance key with the correct value, however, the unit of "meter" is used in the natural language command instead of "meters" as used in the JSON. The keys \'is_forward\' and \'linear_speed\' are not specified in the command, which results in assumed values.'] +Rotate counterclockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4; Mostly conform. The natural language command correctly corresponds to the JSON structure, with the correct action ("rotate") and parameters. However, the "angular_velocity" key from the JSON does not match with the natural language command, as it does not specify any velocity. Therefore, the "angular_velocity" value should not be 0.'] +Turn left by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['2; The JSON structure has a "rotate" action that aligns with the command, but the "angular_velocity" in the JSON does not match the given command since no velocity has been specified in the command. Also, the direction of rotation doesn\'t match because turning left is counterclockwise, not clockwise as is mentioned in the JSON.'] +Rotate anti-clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'];['4; The JSON structure corresponds with the command "Rotate anti-clockwise by 270 degrees". However, the "angular_velocity" is given as 0 in the JSON which contradicts the natural language command as there should be some speed to rotate.'] +Rotate in the opposite direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];["3; The natural language command is only partially conforming to the JSON structure. The action 'rotate' and parameter 'angle' with the value of '270' and 'unit' as 'degrees' match but 'angular_velocity' is set to '10' in the JSON which was not specified in the command. Also, the 'is_clockwise' parameter is set to 'false' which corresponds to the command saying 'opposite direction' but for complete conformity, the command should specify 'anticlockwise'."] +Perform a 270-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": false}}'];["5; The natural language command perfectly matches the JSON structure, with the 'rotate' action, correct parameters such as 'angle' and 'is_clockwise'. The 'angular_velocity' is not mentioned in the command and therefore defaulted, which is acceptable within actual function implementations."] +Turn left and move forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}'];['1; The command mentioned is "Turn left and move forward for 6 seconds" but the JSON structure does not match with the command as there is no information or action about direction ("Turn left") in the JSON. Furthermore, the mentioned time duration ("for 6 seconds") is not represented in the keys of the JSON structure, the JSON structure shows details about distance and speed instead of time.'] +Go forward for 6 seconds after turning left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true}}'];["1; The JSON structure provided reflects the action of moving forward, but it doesn't accurately represent the specific command given. The command says to go forward for 6 seconds, but the JSON refers to a distance and not a duration. Further, the command includes a turn left instruction that is not represented in the JSON at all. Therefore, the matching and conformity is low."] +Take a left turn and proceed straight for 6 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['4; The JSON commands are a correct representation of the movements indicated by the natural language command, however, there is a mismatch because the unit of distance in the second JSON structure is "seconds" while in the example it is measured in "meters" and not time. Moreover, the parameter "default_angular_velocity" and "default_linear_speed" aren\'t present in the sample ontology.'] +After turning left, continue moving forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": true}}'];["1; Although the command 'continue moving forward for 6 seconds' maps to the action 'move' under the JSON structure, the parameters used are not fully conforming. 'Linear_speed' parameter is provided as '0.0' although it wasn't included in the command and the 'distance' parameter is used to represent time (6 seconds). Additionally, the action of 'rotating' or 'turning left' as stated in the command is entirely missing in the JSON structure."] +Make a left turn and move ahead for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true}}'];['1; The provided JSON does contain a "move" action. However, the details don\'t match well with the command. The natural language command specifies a directional change (left), which isn\'t part of the move action in the provided JSON. The distance in the command is given in terms of time (6 seconds), not actual distance. Also, the JSON structure provided as a match doesn\'t contain a reference to angular speed or rotation direction, which would have been more suitable for executing a turn. As such, the correspondence is very low.'] +Turn left and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": default, "distance": 5, "is_forward": true}}'];['2; The command partially matches with the JSON structure as it indicates movement but does not specify speed, and it cannot interpret the \'turn left\' command. The \'move\' action in the JSON structure has keys for linear speed, distance, is_forward, and unit, but the provided natural command only provides information related to distance and forward movement. It does not provide any specific linear speed. Moreover, "turn left" command is not accounted in the given JSON templates.'] +Take a left turn and proceed ahead covering a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['1; There is a lack of conformity between the command and the JSON structure next to it. The command is for a left turn and to move forward for a 5 meter distance, but the given JSON structure\'s parameters values in the "rotate" and "move" action do not match with the command. The angular_velocity is 0.35 and not 0.5, the angle is 40 and not 90 degrees, the is_clockwise field is marked as is_clockwise not false, for "move" the linear speed is 0.5 and not 1. Moreover, the action "go_to_goal" referred in command does not exist in the JSON structures.'] +Make a left turn and continue moving straight, covering a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The natural language command partially matches with the JSON structure. The command indicates a left turn but the JSON structure has an "is_clockwise": false condition which implies a right turn, not a left. Also, the angular_velocity is not mentioned in the command, but it\'s present in the JSON structure. In the move action the distance is correctly indicated as 5 meters, however the linear_speed value present in the JSON is not mention in the command.'] +Go left and advance forward, traveling a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['4; The natural language command partially conforms to the provided JSON structure. The \'move\' action matches with the command of "advance forward". The direction \'left\' doesn\'t conform with the JSON structure. The \'distance\' is mentioned explicitly which matches with the "distance" key in the JSON. The direction of movement (\'is_forward\') is also mentioned and matches. But there is no mention of \'linear_speed\' in the command.'] +Execute a left turn and proceed straight, ensuring a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];["3; The command requires a rotation action that isn't provided in the provided JSON. The move part of the command matches the JSON structure. The rotation action is overlooked."] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; The action "rotate" and the parameter "angle" matches the command. However, "angular_velocity" is not specified in the command and "is_clockwise" is wrong in JSON- it should be false as per the command.'] +Turn 90 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["5; The command can be fully expressed with the provided ontology keys. - The action is 'rotate', the 'angle' is 90, 'is_clockwise' is false (since it's counterclockwise). There is no indicated angular_velocity, so it could be argued that it isn't perfectly conforming, but as the ontology does not mandate that all parameters must be provided, it is still highly conforming."] +Rotate anti-clockwise at a 90-degree angle.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; Partially conform. The angle values match between the command and JSON structure, but there is a mismatch in the "is_clockwise" field as anti-clockwise rotation corresponds to "is_clockwise": false. Also, an angular velocity is not specified in the command whereas a default value of 0 is used in the JSON structure which is potentially incorrect without additional context about the robot\'s capabilities.'] +Spin to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command \'Spin to the left by 90 degrees\' corresponds closely with the JSON structure, where the action is "rotate" and the parameters are given for angle. However, the \'angular_velocity\' value is not specified in the command and it is 10 in JSON while it should be 0.35 as per sample ontology, thus the score isn\'t a perfect 5.'] +Rotate in the counterclockwise direction, making a 90-degree turn.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'];['3; The command indicates a rotation action which matches with an available action in JSON. The angle is also correctly specified as 90 degrees. However, the term "counterclockwise" is interpreted wrongly as "is_clockwise": false, also "angular_velocity" is not provided in the command so "default_value" is ambiguous.'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['0; The natural language command refers to moving backward for a duration (seconds), which does not exist in the sample keys. The JSON structure provided also does not match this requirement.'] +Go in reverse for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "second"}}'];['0; The JSON structure does not match the command. The command refers to moving in reverse for a duration, while the JSON structure only describes forward movement with specific distance and the unit is incorrect. The command would not convert correctly to any of the given actions in the provided ontology.'] +Take a step back and continue for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['3; The natural language command is partially matched with the JSON information. However, the "linear_speed" value does not match since the speed was not mentioned in the command and it assumes a value of -1 which is not confirmed in the original command. Similarly, the "unit" is set to "seconds" even though it was not formally expressed in the command. The command also didn\'t specify distance, rather it requested a time duration.'] +Reverse your movement and maintain it for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "duration": 3, "unit": "seconds"}}'];['1; The natural language command does not match well with the provided JSON structure. The JSON structure should include a "duration" field in the "params" subobject, but it does not include this in the provided sample ontology. Also, the "linear_speed" is missing from the natural language command and the distance value is incorrectly set to 0 in the JSON structure.'] +Retreat for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["1; The command talks about moving for a certain amount of time, but instead of time, the JSON structure uses distance to measure how far the action should go. Additionally, the JSON structure is about moving forward, but the command doesn't specify the direction, even if 'retreat' could suggest going backwards. There is limited matching between the command and the JSON structure."] +Turn right and move forward for 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meters"}}'];['3; Partially conform. The JSON structure is correct, however, the initial "angular_velocity" is set as 0 which does not correspond to the action of \'turning right\'. In normal context rotating or turning involves some speed, here it should be non-zero. Also the angle value, 90 degrees for a right turn, has not been mentioned in the command, so may not exactly match the intended command. The \'move\' command seems to match perfectly though.'] +Proceed forward for 10 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'];['3; The natural language command partially matches with the JSON structure. The "rotate" action is correctly represented with an angular velocity, angle, and clockwise rotation, although the values don\'t fully match. The "move" action is also represented, and "is_forward" is true as mentioned in the command. However, the distance specification doesn\'t match the command\'s 10 meters, and the linear speed is not mentioned in the command.'] +Take a right and continue moving ahead for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];["1; The natural language command asks for a right turn and moving forward, however, the provided JSON structure only addresses the moving forward action. The rotation action or right turn is not reflected in the JSON. The keys and values for the 'move' action are correct, but the overall command is not fully represented."] +Make a right turn and travel straight ahead for a total of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; Partially conform. The actions specified in the commands are correctly identified - there is a rotation and a linear movement - and in the correct order. However, the parameter values like "angular_velocity" and "linear_speed" are not indicated in the natural language command and are shown with a \'0\' in the JSON data instead of actual values. The rotation orientation \'right\' is correctly translated to "is_clockwise": true. The distance for the movement action is correct.'] +After turning right, advance forward and cover a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'];["2; The JSON matches the 'move' function with 'is_forward' as true but the distance is not matching with the natural language command. The angular direction is not provided in the JSON as mentioned 'turning right' in the command. There is no 'rotate' action represented in the provided JSON structure."] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command largely conforms to the JSON structure, but the "angular_velocity" key is missing a value in the JSON sample provided.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 180, "is_clockwise": true}}'];['5; All keys exist in the sample and JSON information matches the natural language command entirely.'] +Turn in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; Exactly conform. The natural language command matches exactly with the JSON information provided, including the specified angle and direction (clockwise) for the action of rotation. Though the "angular_velocity" value is not stated in the command, it is assumed to be available when the command is processed.'] +Execute a rotation of 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The command exactly matches the JSON structure. The action "rotate" is correctly identified, all the parameters ("angular_velocity", "angle", "is_clockwise") are accounted for, and the values provided in the command match what is expected in the JSON structure (angular_velocity is 0 and is omitted in the JSON, angle is 180, and clockwise rotation is specified). The JSON format and the command conform perfectly.'] +Rotate by 180 degrees, following the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["4; The command is mostly conforming as it specifies the appropriate action and angle for rotation and the direction as well. However, there is no specification for 'angular_velocity' value in the command, which is why it might not be completely accurate."] +Move forward at a speed of 0.5 meters per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; Although the type and structure of the JSON command matches the verbal command, the verbal command describes a movement for 4 seconds, However, there is no duration specified in the JSON command. Instead, the JSON command describes a movement for a specific distance (2 meters).'] +Go ahead for 4 seconds at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['3; Although the command mentions the "move" action with "linear_speed" of 0.5, which aligns with the JSON structure, the "distance" parameter does not seem appropriately interpreted. The command states to "Go ahead for 4 seconds...", not for a distance of 4 meters. "is_forward" and "unit" align with the JSON. However, the context is not fully and accurately represented.'] +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 4, "unit": "seconds"}}'];['1; The natural language command matches to move action with 0.5 linear speed but introduces a new key "duration" which does not exist in the JSON structure. The command "Progress at a speed of 0.5 meters per second for a duration of 4 seconds" does not include a \'distance\' parameter as in the JSON structure, instead it uses a \'duration\' parameter not found in the JSON structure.'] +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command refers to an action of travelling forward for a duration of 4 seconds with a given speed, yet the corresponding JSON features keys related to "distance", not "time". This causes a discrepancy in the representation of natural language command in JSON structure.'] +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The linear speed is correctly mentioned in the command and in the JSON. However, the distance covered in the command has been calculated and is based on time. Time is not represented in the JSON structure. Therefore, the command does not match the JSON structure perfectly.'] +Turn left and move backward for 2 meters.;['{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": false}}'];['2; The command is partially conform with the JSON structure. The "move" action exists and the parameter for "distance" aligns properly. However, there are missing parameters such as "linear_speed" and the parameter "is_forward" that implies moving backward which is not explicitly stated in the JSON structure. The command "Turn left" is not included in the sample keys.'] +Take a left turn and proceed backwards for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 2, "is_forward": false}}'];['1; The command refers to taking a turn and moving backwards, which should cause changes in "rotate" and "move" actions respectively. However, the provided JSON only represents the "move" action and it lacks direction information for turning. It also does not use keys such as "unit" or "is_clockwise" from the sample ontology.'] +Make a left turn and travel in reverse for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];["2; The JSON structure partially matches the natural language command. The command pertains to movement which is similar to the 'move' action in the JSON. The 'distance' parameter matches the command of traveling for a distance of 2 meters. However, the JSON does not specify the direction of the movement ('left turn') and there is no parameter in JSON for 'reverse' movement as is mentioned in the command. Also, the linear speed is specified in JSON but not in the command."] +Rotate left and proceed in reverse for a total distance of 2 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "meter"}}'];["1; The natural language command instructs a rotation and a move in reverse, however the provided JSON only contains information for the move action. Additionally, the sample ontology doesn't have a key for specifying the direction of movement (either forward or backward), so the 'is_forward' key in the provided JSON and the 'rotate' command cannot be confirmed as matching the ontology."] +Shift to the left and move backwards covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meters"}}'];['1; The natural language command talks about moving backwards a certain distance but does not conform to the sample keys provided. It also does not mention the duration or the speed of movement and does not confirm to the JSON structure. Also, "shift to the left" command does not exist in the sample keys, hence it cannot be converted to JSON.'] +Move forward for 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3.5, "is_forward": true, "unit": "seconds"}}'];['3; Partially conform. The action \'move\' and parameter \'is_forward\' are correctly given in the command and the JSON. However, the command requests to move forward for a duration (7 seconds), but the JSON signifies moving a distance, not time. Also, unit in JSON object is "meter" which does not match with expressed time duration command in seconds.'] +Proceed ahead for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "duration": 7.0, "is_forward": true, "unit": "seconds"}}'];["0; The natural language command mentions moving ahead for a duration while the JSON structure contains parameters for moving with linear speed, moving a certain distance, the direction of movement and the unit of measurement. The command's content is not adequately represented in the JSON structure and the structure does not conform with the keys of the sample ontology."] +Advance for a period of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3.5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command asks for a time duration ("7 seconds"). However, the provided JSON structure in the ontology refers to spatial values (linear speed, distance), not time duration, so they don\'t conform well. Also, the "unit" field in the JSON has been changed to "seconds" from "meter", which is not present in the provided sample ontology.'] +Keep moving forward for 7 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];["2; The command is partially conforming as the action represented in the command of 'moving forward for 7 seconds' represented in the JSON object can be inferred. However, the parameters in the JSON object do not match exactly with those specified in the command as the unit 'seconds' doesn't exist in the sample keys and distance is meant to be represented in 'meter' and not in terms of 'time'. Additionally, specific linear speed is not mentioned in the command as it is in the JSON."] +Continue ahead for a total of 7 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];["3; The JSON structure contains the right action 'move', but not all parameters are correctly translated. 'Linear_speed' is set at 1 which not mentioned in the command, 'Distance' is set as '7' which matches because time can be seen as distance when speed is not specified but is not ideal, and 'second' unit was correctly recognized from '7 seconds'. The 'is_forward' parameter is not mentioned in the command but it was correctly assumed as 'true'. The command doesn't specify the linear_speed, so the value in JSON should not be assumed as 1."] +Rotate counterclockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['4; The command is mostly matched with the JSON structure; however, the "angular_velocity" is missing in the command for the correct value. The bot is not given specific information about this value.'] +Turn left by an angle of 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['2; The natural language command somewhat conforms to the JSON structure on the rotation action, but the "angular_velocity" key is wrongly set to 0 when there was no specific speed given in the natural language command.'] +Rotate anticlockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": Default, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['3; While the command does match the keys of the rotation action in the JSON sample structure, it does not specify a value for the "angular_velocity" field, so it is not an exact match. The "is_clockwise" field is correctly set to false (anticlockwise). The "angle" field value is correct according to the command.'] +Rotate in the opposite direction by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command corresponds to the "rotate" action of the JSON structure ontology, along with all necessary parameters. However, the provided angular_velocity value in JSON does not match with the natural command. Thus it\'s mostly, but not entirely conform.'] +Make a 30 degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['4; The command matches the JSON structure but the "angular_velocity" mentioned in the JSON structure should not be 0 according to the natural language command.'] +Move backward at a speed of 1 meter per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['3; The command is partially conform to the JSON structure. The linear speed and unit are correctly interpreted but it calls for a time parameter which does not exist in the JSON structure. And "move backward" indicates a direction, it should be represented by \'is_forward\': false, but the \'is_forward\' key is true in the JSON.'] +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false}}'];['3; The is_forward field in the JSON should be false as the command states to reverse the movement. However, the "distance" field is not correctly represented as it represents the duration and not the actual distance traveled.'] +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'];['5; The natural language command correctly maps to the JSON structure given. The action to move backward and the parameters to do so such as linear speed, distance, and unit are all correctly matched. The only difference is the use of "opposite direction" instead of is_forward: False, but the meanings are effectively the same.'] +Travel backwards for 6 seconds at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "second"}}'];['4; The command and JSON information largely conform to each other and the sample ontology, but \'distance\' in "params" of the JSON structure would be better labeled as \'duration\' or \'time\' given the natural language command specifies the movement duration (6 seconds) not the distance.'] +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 6, "is_forward": false, "unit": "meter", "duration": 6, "unit_duration": "seconds"}}'];['2; The command somewhat matches with the JSON structure but not fully. The "linear_speed" value is correctly referenced by the rate of 1 meter per second but it should be positive. The "distance" value is missing is wrongly indicated by duration. The concept of inverting motion is interpreted as "is_forward" set to false, which is correct. However, not present in the sample ontology are "duration" and "unit_duration".'] +Turn right and move forward for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}, "unit": "degree"}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['3; The natural language command was partially converted into JSON structures. The "rotate" action is correctly represented, but the "angular_velocity" is not provided in the natural language command, so it\'s set to 0. The "move" action is also correctly represented, but linear_speed has a given value (0.5) not specified in the command. The command does not specify if the move is fast or slow. Also, the direction of the rotation is not "right" as specified in the command but "false" for clockwise turning, which is the equivalent of turning left.'] +Proceed for 8 meters after taking a right turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meters"}}'];['2; The natural language command partially matches the JSON structure. While the command to move a certain distance aligns with the JSON, the command to make a turn is absent from the provided JSON data.'] +Take a right and continue straight ahead for a distance of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['3; The JSON commands partially conform to the natural language command. The "rotate" command matches with "Take a right" action, assuming a right turn implies a clockwise rotation angle of 90 degrees (but it\'s not indicated). Also, the "move" command corresponds to "continue straight ahead for a distance of 8 meters", with distance as 8. However, the angular_velocity and linear_speed values in JSON do not have corresponding instructions in the natural language command, so their specific values are arbitrary. There\'s also no "unit" key in the sample ontology for rotation action.'] +Make a right turn and then proceed ahead for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 8, "is_forward": true, "unit": "meters"}}'];["4; The commands in the natural language mostly aligned with the represented JSON. The 'right turn' command corresponds to the 'rotate' action with 'is_clockwise' as true. However, the 'angular_velocity' and 'angle' are not explicitly mentioned in the command. Moving ahead for 8 meters corresponds to 'move' action with 'distance' as 8 and 'is_forward' as true. 'Unit' is also correct as 'meters'. The speed of movement is not provided in the natural language command. Therefore, the score is not a perfect 5."] +After turning right, cover a distance of 8 meters by moving forward.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 8, "is_forward": true, "unit": "meters"}}'];["5; Every part of the command is covered in the structures provided, though 'angular_velocity' has a different value, it is still acceptable according to the ontology provided."] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['3; The natural language command and the JSON structure hold the same action of rotation in a clockwise direction. However, there is a mismatch in the value of "angular_velocity" in the JSON structure as it is 0 instead of 0.35 which is not mentioned in the natural language command. Also, the unit is missing in the provided JSON structure. This is not indicated in the natural language command but is a part of the sample JSON structure.'] +Turn 270 degrees to the right.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['3; The natural language command partially conforms to the JSON structure. The "rotate" action and "angle" parameter match, however there is no value given for "angular_velocity" in the natural language command which is required in the JSON structure. The direction "to the right" is correctly interpreted as "is_clockwise": true. The score is not a 5 because the "angular_velocity" parameter is not addressed in the natural language command.'] +Turn three-quarters of a full rotation to the right.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 270, "is_clockwise": true}}'];['4; The natural language command corresponds to the JSON structure of the "rotate" action quite closely. The "angular_velocity" is missing in the natural language command, so we assume some default value here. The "angle": 270 and "is_clockwise": true are interpreted correctly from the natural language command. The score is not a perfect 5 because of the assumption made for "angular_velocity".'] +Perform a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["4; While the natural language command matches with the JSON structure of the 'rotate' action, there is an inconsistency with 'angular_velocity' in JSON, which is 0.35 but not specified in the command."] +Rotate in the clockwise direction, making a 270-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["5; Exactly conform. The natural language command exactly matches the JSON information, all the keys are present and correct - the 'rotate' action, the 'angular_velocity', 'angle', 'is_clockwise' keys under 'params', and the 'unit'."] +Move forward and then immediately stop.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['1; The natural language command requests to move forward, however it then asks to immediately stop, which does not truly align with the JSON structure which is set for a forward linear speed of 0 and distance of 0. The command given would seemingly imply some level of distance or speed (even if very small) before the stop. This is significant enough to denote some lack of conformity with the JSON structure.'] +Proceed forward and promptly come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];["2; Partially conform. The command corresponds to the actions in the JSON structure, but there's no specific information in the command to fill the parameters like `linear_speed` and `distance`. The `is_forward` parameter is correctly defined as true according to the command."] +Advance and instantaneously cease movement.;['{"action": "stop", "params": {}}'];['0; The command "advance and instantaneously cease movement" does not correspond to any action in the given JSON structures. The sample ontology does not include a "stop" action.'] +Go forward and abruptly pause.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['1; The JSON structure partially performs the command of moving forward but lacks the command of abruptly pausing. The action "move" and its parameters "linear_speed", "distance", "is_forward" are correctly matched. However, there is no equivalent JSON structure for abruptly pausing. The second JSON structure is left empty and the third tries to halt the moving action by setting "linear_speed" and "distance" to 0, but these might not fulfill the requirement of abruptly pausing given in the natural language command.'] +Move ahead and promptly end motion.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true}}'];['3; The command is partially conform with the JSON structure. "Move ahead" aligns with the basic intention of action "move" and "is_forward: True". However, "promptly end motion" suggests immediately stopping which isn\'t precisely denoted in the JSON structure. The JSON shows linear_speed as 0.0 and distance as 0, which may imply no movement at all instead of a prompt end to a movement.'] +Turn left and move backward for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['2; The natural language command correctly correlates with the "move" action in the JSON structure, including the distance and the direction (backward which is "is_forward": false). However, it does not specify the speed ("linear_speed") and also includes \'turn left\' which does not exist in the sample keys. This rotation action isn\'t reflected in the given JSON structure.'] +Make a left turn and proceed backwards for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];["1; The JSON structure corresponds to a 'move' action but the direction of the turn isn't captured and the 'distance' key has wrong value. The natural language commands asks for a left turn which isn't represented in the JSON at all."] +Go in the opposite direction and turn to the left, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['1; The natural language command indicates movement and rotation yet the provided JSON only accounts for a part of it, the linear movement. Other parts of the command like the direction and rotation are not clearly defined in the JSON. Furthermore, the sample keys do not have a value for negative speed to suggest opposite direction.'] +Rotate to your left and travel in the reverse direction, moving 4 meters behind.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} {"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}}'];['2; The commands given partially conform to the JSON structures. The rotation command does not provide values for "angular_velocity" or "angle", and the movement command does not specify a "linear_speed". These incomplete commands prevent a perfect conformity score.'] +Head left and travel in reverse for a total of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];["1; The JSON structure partially matches the natural language command as it details the action of movement and specifies a distance to be covered. However, there is no 'is_forward' command mentioned, and it doesn't reflect the direction command of 'left'. The 'linear_speed' also doesn't match as no speed is specified in the natural language command."] +Move forward for 10 seconds at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The command seems to match with the "move" action in the sample keys. However, the parameter "distance" is calculated incorrectly - it should be directly taken from the command, it should not be a multiplication of speed and time. Additionally, the unit should be "meter" as it was described in the example, not "seconds".'] +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];['3; Even though the natural language command mostly matches the JSON structure, it does not perfectly conform because it defines the action in terms of time (10 seconds) rather than distance, which is how it is defined in the JSON keys.'] +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3.0, "is_forward": true}}'];['2; The natural language command instructs the movement with a speed rate for a certain period, but the generated JSON only partially represents the task: it includes the linear speed, but the distance isn\'t correctly represented as it should be a calculation of the time period and the speed for accuracy- also, the time period command was left out in the JSON structure. Moreover, "unit" which exists in the ontology is not used in the JSON.'] +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; There is conformity between the command and the JSON structure in the consideration of the action "move" including the linear speed of 0.3 and the direction being forward. However, the given distance in the command as "for 10 seconds" does not match with the JSON structure, which requires an actual distance value. The sample keys do not include time-based movements, although if the distance can be calculated from the provided time and speed, as in the justification, then the value can be given a higher score for conformity.'] +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; Only partially conforming. The command mentions moving forward at a certain speed for a period of time, but the JSON structure provided instead specifies a linear_speed and a distance, with no parameter mentioned for the duration of the movement.'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['2; The command is similar to the JSON in the rotation action, but there are deviations. The command mentions a counterclockwise rotation, but there\'s no key in the JSON for direction. Moreover, "angular_velocity" value given in JSON doesn\'t match the natural language command.'] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 60, "is_clockwise": false}}'];["3; The command generally matches the JSON structure as it is a 'rotate' action and has specified an angle. However, the direction 'left' isn't exactly translatable to 'is_clockwise' parameter in JSON structure and 'angular_velocity' is set to a hypothetical 'default' value not mentioned in the command."] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['3; The command is almost entirely reflected in the JSON, the action "rotate" and "angle": 60, "unit": "degrees" match. However, the speed (angular_velocity) is not specified in the command but it is in the JSON and "is_clockwise": false cannot be definitively determined from \'Rotate in the opposite direction\' without knowing the current direction.'] +Make a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['2; The JSON structure partially matches the natural language command. The "rotate" action and "angle" parameter match, and the "is_clockwise" key is correctly assigned to false for a counterclockwise rotation. However, the "angular_velocity" does not match since the command doesn\'t provide any value for that, and the specified value of 10 in JSON is arbitrary.'] +Rotate leftwards by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false}}'];['2; The natural language command matches with the action "rotate", but there are lot of mismatches in the \'params\'. In the provided JSON, necessary keys such as \'angular_velocity\' is not mentioned in the natural language command. Therefore, the match is not perfect.'] +Move backward and then immediately stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": false}}'];['1; The natural language command is different from the provided JSON structure. Although it refers to the action "move", other parameters such as "linear_speed" and "distance" are not indicated correctly according to the natural language command. Moreover, the command says "then immediately stop", however, this is not represented in the JSON structure. Therefore, the degree of conformity is low.'] +Reverse and come to a sudden halt.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false}}'];['0; The command "Reverse and come to a sudden halt" is not clearly defined in any of the JSON structures. Furthermore, the extracted JSON code from the command does not follow the information given in the sample ontology. The value for \'linear_speed\' in \'move\' action cannot be 0, also there is no provision to specify whether the motion is a halt or not.'] +Go in reverse and abruptly cease.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'];['1; The command provides the information about the movement in reverse and stopping, which is somewhat relevant to the "move" action JSON structure. However, there is no clear mention of \'linear_speed\' or \'distance\', and the term \'abruptly cease\' isn\'t fully reflected in the JSON structure. Also, the JSON data provided isn\'t valid (missing commas between items in "params").'] +Back up and instantly come to a standstill.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];['1; The natural language command asks for the robot to back up and instantly stop. This is partially matched by the `"move"` action in JSON data with `"is_forward": false`. But there\'s neither perfect conformity with all parameters nor instruction provided for the robot to \'instantly come to a standstill\'.'] +Move backwards and promptly come to a stop.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];["1; The JSON structure seems to represent an action of moving backwards but it doesn't reflect the part of the command about stopping promptly as there's no matching key in the sample ontology for stopping. Additionally, the 'unit' key from the example JSON structure is missing in the provided JSON."] +Turn right and move forward for 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];["4; The command 'Turn right' correctly translates to a rotation action with an angle usually assumed to be 90 degrees in a clockwise direction. The command 'Move forward for 6 meters' reasonably corresponds to a move action with a distance of 6 units. However, the angular velocity is set to 0 in the rotate command, which doesn't make sense as no rotation would occur at an angular velocity of 0. The linear speed in the move command should also have been tied to the command but it is not. It is set to a static value and it's not stated in the command, hence the slightly reduced score."] +Make a right turn and proceed straight ahead for a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['2; The natural language command matches partially with the JSON structure. The "rotate" action can be inferred from "make a right turn", however the specific angle and direction for the rotation is not mentioned in the command but is specified in the JSON. Also, the "move" action implied by "proceed straight ahead for a distance of 6 meters" is missing in the given JSON.'] +Go to your right and continue moving forward for a total of 6 meters.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Right"}}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];['2; The JSON structure partially matches the natural language command. The "go_to_goal" action in the JSON does not conform to the sample ontology. However, the move action with parameters of distance and direction does conform.'] +Take a right turn and advance ahead, covering a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": true, "unit": "meter"}}'];['4; The commands partially conform. The "rotate" JSON structure correctly matches the instruction of taking a right turn. However, there is no explicit mention of the "angular_velocity" needed for the turn in the command, also the "angle" value of 90 is assumed and not specifically given in the command. Similarly, for "move", the command correctly mentions the "distance" of 6 meters and "is_forward": true is correctly inferred from "advance ahead".The "unit": "meter" is correctly given. But the value of "linear_speed" is not specified in the command.'] +Head towards the right and maintain a straight path for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure matches with the "move" action key as per the natural language command. But linear_speed is not mentioned in the command. However, the distance, is_forward, and unit are in conformity with the command. The direction (\'right\') isn\'t represented by \'is_forward\'. Hence, it\'s mostly conform, hence the score of 4.'] +Rotate clockwise by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 120, "is_clockwise": true}}'];["2; Partially conform. The natural language command does match with the 'rotate' action in the JSON structure. However, the 'angular_velocity' parameter is set with a default value in JSON, whereas no velocity rate is mentioned in the command. Moreover, 'unit' key is absent from the provided JSON information for the command."] +Turn 120 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'];['4; The natural language command corresponds partially with the JSON structure. The rotation action and clockwise direction mentioned in the command are correctly described in the JSON structure, but the angular velocity is provided as 0 which is not specified in the command.'] +Move in a clockwise rotation by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": true}}'];["3; The natural language command partially matches the JSON structure. The rotation action and direction (clockwise) are correctly represented. However, the degree of rotation specified in the command (120 degrees) is not the same as in the JSON structure (40 degrees) and the angular_velocity in the JSON doesn't match what's asked in the command."] +Adjust the rotation by 120 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'];["4; Mostly conform. The 'angular_velocity' value is not set as per the natural language command, rest of the command has been converted correctly."] +Execute a 120-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'];['4; Mostly conform. The natural language command matches with the JSON format\'s "rotate" action and "angle", "is_clockwise" parameters. However, "angular_velocity" in the JSON is 0, but it doesn\'t match with the command because the velocity is not given in the command.'] +Move forward and then backward for 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meters"}}'];['1; The JSON structure has some related keys to the natural language command, such as "action": "move", "distance", "is_forward", and "unit", however, the values "linear_speed" and "is_forward" do not match the command. Additionally, the \'backwards\' movement in the natural language command is not represented in the JSON.'] +Proceed ahead and then return in reverse for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true, "unit": "meters"}}'];['3; Partial match. Even though the natural language command and JSON command both indicate a movement and a distance, the natural language command indicates a forward and backwards movement, but the JSON command only shows a forward movement. Additionally, the natural language command does not specify a speed, whereas the JSON command does, and the unit of distance is different (meters vs meter). Also, the linear_speed in JSON structure has a value of 0.0 which is not equivalent to a movement action as indicated in the natural language command.'] +Advance forward and then retract for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The command partially matches with the JSON structure for moving but the command includes an action (retraction) which is not represented in the JSON structure. Therefore, the match is not exact.'] +Go straight ahead and then move backward covering a span of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The command has been correctly converted to JSON according to the sample ontology, however, it only covers the first part of the command "Go straight ahead". The second part "move backward" is missing in the JSON structure.'] +Propel forward and then reverse, covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];["4; The JSON structure accurately reflects the natural language command in terms of the action and the parameters. However, the natural language command mentions a reverse movement which isn't accounted for in the JSON command."] +Move forward for 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true}}'];['4; The natural language command matches with the action "move" and parameters including "is_forward" and the implicit distance which is 10. However, the "linear_speed" does not match with any information in the natural language command. There\'s no indication about the speed in the command.'] +Proceed straight for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "meters"}}'];['3; The natural language command almost perfectly matches the JSON structure except for the "linear_speed" key which is not specified in the command.'] +Advance ahead by 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The command matches with the "move" action available in the sample keys and the distance and is_forward parameters are correctly specified, but there\'s no matching for "linear_speed" value in the natural command. Also, the command is not inside a JSON structure.'] +Go straight ahead covering a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The command somewhat matches the JSON instruction except for the \'linear_speed\' parameter. The natural language command states to "go straight ahead" for a specific distance, but doesn\'t specify a speed, hence why the \'linear_speed\' parameter doesn\'t fully conform. Also, the \'is_forward\' parameter corresponds to "go straight ahead".'] +Travel in a forward direction for 10 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);['3; The command "Travel in a forward direction for 10 meters" partially conforms to the JSON structure in the \'Move\' action, as it implies moving forward which corresponds to "is_forward": True. However, the command does not specify the linear speed, and the distance in the command (10 meters) is not accurately reflected in the JSON structure {"distance": distance}.'] +Turn left and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}}'];['2; The command partialy matches the JSON structure. The action of moving forward is presented in the JSON as "action": "move", "params": {"is_forward": True} however, the distance and the "turn left" part of the command are not represented correctly in the JSON structure. The "linear_speed" parameter is set to 0.0 which doesn\'t match the command.'] +Make a left turn and proceed ahead for a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];["2; The 'rotate' action JSON contains the correct 'action' command, but incorrect values for 'angular_velocity', 'angle', and 'is_clockwise'. The 'move' action JSON has accurate 'action' command with correct 'distance' and 'is_forward' values, but it also has an incorrect 'linear_speed' value and a minor typo in the 'unit' value (it should be 'meter' instead of 'meters')."] +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The command incorporates movement which is well represented in the JSON structure as moving straight for a specific distance. However, the command to rotate towards the left is not captured in the given JSON representation. Hence, partial conformity.'] +Take a leftward turn and advance for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "meters"}}'];['0; The command does not conform to any of the JSON structures provided. The command mentions a "left turn," which may suggest a rotation action, but the commands "rotate" and "move" are given independently in the JSON structures, and there isn\'t an "is_left" parameter given under "rotate." Also, the command doesn\'t specify if the left turn should be in a clockwise or counterclockwise direction, which is a parameter in the "rotate" action in the JSON. The distance is mentioned in the command as "5 meters" which matches the "move" action\'s "distance" parameter, however, the "is_forward" boolean value mentioned in the JSON structures doesn\'t match with the command.'] +Face left and go straight for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['2; The command matching is partial. The natural language command instructs the bot to face left which indicates a rotation movement before moving straight. Although the JSON structure represents the movement action correctly ("action": "move"), it misses the rotation part. Therefore, the JSON does not fully capture the instructions in the command. Also, the "linear_speed" in JSON is 1 whereas the command does not specify any speed.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The command mostly matches with the JSON structure, but the "angular_velocity" is set as 0 in JSON structure while the natural language command does not specify it. It should including some values for the velocity as none is mentioned in command.'] +Rotate in an anticlockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'];['4; The command accurately maps to "rotate" action in JSON with accurate parameters like angle and direction (is_clockwise). However, the "angular_velocity" has "default_value" not specific value in the command. Also, the "unit" field not provided in JSON.'] +Perform a 90-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["3; The command calls for a rotation which matches the JSON action. However, the angular_velocity is given as 0 in the JSON where the natural language command does not provide any information about it. The direction of the rotation and the degree is correctly represented. The presence of angular_velocity and it's incorrect value negatively affects the conformity score."] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false}}'];["4; Partially conform. The natural command corresponds to the action 'rotate', however, the angular_velocity is not specified in the command but is defined in the JSON. The angle and the direction of rotation are correctly matched."] +Anti-rotate by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['1; The JSON structure largely corresponds to the command, however the value for "angular_velocity" in the JSON does not match with the command. There is no information provided in the command to justify setting "angular_velocity" to 0.'] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'];['1; The natural language command indicates moving backwards but the JSON structure shows "is_forward": true, which means moving forward, not backward. Despite that, they both agree on the "move" action and "distance" parameter.'] +Go in reverse for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['1; The JSON structure does not completely match the command. While the command indicates action of moving in reverse, the JSON structure is not clear if negative "linear_speed" implies moving in reverse and the key for indicating reverse motion ("is_forward") is set as False which could be a match. However, in the provided ontology, moving in reverse is not indicated. Furthermore, the speed of reverse movement is not specified in the command, but is attributed a value in the JSON.'] +Retreat by 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['2; While the JSON structure represents a movement-type action with distance and direction parameters, it does not match the natural language command in terms of direction. The command specifies a retreat (implying backward movement), but the "is_forward" parameter in the JSON is set to True (implying forward movement).'] +Step back 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; Although the command is understandable and pragmatic, it might follow the provided sample JSON structure more accurately. The "linear_speed" parameter was supposed and did not exist in the sentence, thus their values may not correspond. The command\'s direction is backwards, which does correspond with "is_forward": false in the JSON. However, the command perfectly matches the "distance" and "unit" parameters.'] +Reverse direction and travel 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'];['4; The natural language command matches with the "move" action in the JSON structure. However, it doesn\'t specify the "linear_speed" and "unit" keys which should be mentioned as per the sample ontology. It also correctly states the "distance" as 3 and "is_forward" as false for the direction reversal.'] +Turn right and move forward at 0.5 m/s for 20 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meters"}}'];['2; The command only partially matches the JSON structure. In order to comply with the JSON structure, the rotation should have a specific angular velocity and the distance should not be time dependent. Additionally, the unit of angular_velocity is not specified in the JSON structure.'] +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "seconds"}}'];['2; The "rotate" action command matches with the command given in the natural language but the value for "angular_velocity" is assumed as it\'s not mentioned in the command. For the "move" action, while the "linear_speed" is matching, "distance" has been incorrectly specified in units of "seconds" - the distance should be specified in units of "meters", not "seconds".'] +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "seconds"}}'];["2; The 'rotate' action has an incorrect 'angular_velocity' value of 0.5 (instead of 0.35). Additionally, the 'move' action requires 'distance' in meters, but it is provided in 'seconds'. Finally, the unknown JSON structure is also a concern."] +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; Only the second part of the command is converted correctly to JSON. The rotation direction is not specified in the natural language command while it is in the JSON structure. Also the distance is calculated based on time and speed which is not given in this ontology.'] +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "seconds"}}'];["1; Although the command provides instructions for moving forward with a specific speed, it does not match perfectly with the given JSON structure. The command calculation of distance appears to be different (indicating a time period instead of a distance value). Also, the command includes a 'turning right' action which does not exist in the provided JSON templates."] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['4; The natural language command somewhat matches with the JSON information. The "action" is correctly identified as "go_to_goal" and the "location" is given. However, the command to "stop" does not have a corresponding JSON structure.'] +Please proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];["1; The command indicates a movement to a specific location ('Living Room'), however it does not match the JSON information or sample keys perfectly. The given JSON structure specifies an action of 'go_to_goal' with a 'location' parameter of 'Kitchen', not 'Living Room'. Therefore, while they both involve movement to a location, they're not the same motion."] +Make your way to the living room and cease movement.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['1; The command gives the instruction to go to a specified location which matches the action "go_to_goal" in the sample ontology but the value "Living Room" in the natural language command doesn\'t match the value "Kitchen" in the JSON structure. There is also no instruction in the command to make any action cease which doesn\'t conform with the given JSON structure.'] +Head over to the living room and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['5; The natural language command is perfectly translated into the JSON structure. The action "go_to_goal" correctly corresponds to the action of \'Heading over\' and the location parameter "Living Room" aligns with the \'living room\' mentioned in the command. However, the command about pausing is not reflected in the JSON structure because it\'s not part of the sample keys.'] +Walk into the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];["0; The natural language command mentions the action of moving to the 'Living Room', however, the JSON structures provided don't have any action related to move or go to a specific location."] +Move forward for 2 seconds at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure is almost correct, but there seems to be a mismatch in the \'unit\' value as it\'s specified as "seconds" instead of "meter", and the distance parameter in move command should be in meters as per given ontology. Also, the natural language command specifies time ("2 seconds") not distance, but the JSON structure interprets this as distance which is not right.'] +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'];['2; The natural language command to proceed straight ahead could be interpreted as a "move" action, and the velocity of 1 meter per second could be interpreted as "linear_speed". However, the JSON structure used the key "distance" instead of duration. Also, there is no key \'is_forward\' in the JSON but inferred from the command. The conformity is partially incorrect due to the differences in the keys.'] +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command and the JSON partially match. However, the natural language command talks about time ("2 seconds"), whereas the JSON structure is coded with the assumption of \'distance\' as a parameter instead of time. A perfect correspondence would need the unit in the command to match the unit in the JSON. The command otherwise correctly identifies linear_speed and the direction (is_forward) as true.'] +Move ahead at a rate of 1 meter per second for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command matches with the JSON action "move" and the parameters "linear_speed" and "distance". However, the command mentions the unit as "seconds" while the sample ontology has the unit as "meter". Also, the command assumes the direction as forward which is not mentioned explicitly.'] +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure matches the "move" command action, however the parameter names in the natural language command ("speed" and "seconds") are not presented in an exact match to the sample ontology keys ("linear_speed", "is_forward", "distance", "unit"). The "distance" value is calculated as \'speed * time\' which isn\'t the correct input in the JSON structure. The "unit" is interpreted as "seconds" which isn\'t one of the options in the sample ontology.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The command aligns with the JSON structure for the rotate action. However, the "angular_velocity" value has been placed as 0 which isn\'t in the command and a specific value for it has not been mentioned. This affects the complete conformity.'] +Perform a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180, "is_clockwise": true}}'];['4; Almost conform. The command correctly identifies the action as "rotate" and correctly formats the parameters for "angle" and "is_clockwise". However, it unnecessarily includes "angular_velocity" as a parameter with a value of 0.0. It should either define a value more than zero or the "angular_velocity" parameter shouldn\'t be included if it isn\'t specified in the command.'] +Rotate 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; While all the JSON keys match with the provided natural language command and the action "rotate" is correctly identified with the correct value for "angle" and "is_clockwise", the set value for "angular_velocity" isn\'t given in the command, so it\'s assumed as 0 which might not necessarily be the case.'] +Turn in a clockwise direction and rotate by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command exactly matches the JSON structure where the action is to rotate with parameters of angle 180 and in clockwise direction. The angular_velocity value is not specified in the command, but there is no contradiction in the rest of the information.'] +Execute a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 180, "is_clockwise": true}}'];['4; The natural language command indicates a "rotate" action, as correctly specified in the JSON structure, with the angle correctly specified as 180 degrees. However, the JSON structure also includes "angular_velocity" and "is_clockwise" parameters, whose values are not provided in the natural language command. As a result, it does not perfectly conform the provided JSON structure.'] +Move forward for 4 meters and then turn left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'];["2; The command partially matches the JSON structure. The movement action and distance parameter are correctly depicted in the JSON, however, the natural language command does not specify the 'linear_speed' parameter for the move action, and the 'rotate' action mentioned in the command ('turn left') is not reflected in the JSON at all."] +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["2; Although the natural language command talks about moving forward, the corresponding distance is not explicitly mentioned in the command (it says 4, instead of 'distance'). Moreover, the turn direction is mentioned, but the angle value and rotation speed in the JSON structure do not match with the command. The fact that it is a left turn implies a counter-clockwise rotation, which is incorrectly marked as false in the JSON structure."] +Go straight for a distance of 4 meters followed by a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['2; The commands in the JSON structure are conforming to the ontology keys. However, the values do not match the description given in the natural language command. In the first JSON structure, the distance is correctly interpreted as 4 meters, but no speed is mentioned in the command, so the "linear_speed" key should not have a specific value assigned. In the second JSON structure, the direction of the turn is correctly interpreted as a left turn, which should not be clockwise. But again, no angle or angular velocity is specified in the command, so these keys should not have specific values assigned.'] +Advance in the forward direction, covering 4 meters, and then make a leftward turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["3; The natural language command is partially in accordance with the JSON structure. The 'move' action, 'distance', 'is_forward' and 'unit' parameters coincide. However, 'linear_speed' parameter is not mentioned in the command. For the 'rotate' action, neither 'angular_velocity', nor 'is_clockwise' or 'angle' parameters are specified in the command, only the 'leftward turn' is mentioned which cannot be directly translated to the JSON parameters. Also, the 'unit' for rotation is not specified in the command."] +Move ahead for 4 meters and then change direction by turning left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'];["2; Only the move action is represented adequately with the distance specified. The rotation to change direction is not properly represented in the JSON structure. It requires parameters such as 'angle' and 'is_clockwise' to be specified."] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['3; The commands are mostly matching the JSON information. However, "angular_velocity" for the "rotate" action and "linear_speed" for "move" action are not provided in the natural language command, hence they have been incorrectly set to 0 in the JSON. The "is_clockwise" parameter in the "rotate" action is correctly interpreted as false from \'counterclockwise\' in the command.'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The commands given match partially with the JSON structures with action \'move\' and \'rotate\'. The rotation command doesn\'t specify "angular_velocity" and the move command doesn\'t specify "linear_speed". Also, the rotation direction is not correctly interpreted in the JSON (left rotation should be counterclockwise).'] +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The JSON structures provided are not entirely conform with the natural language command. According to the command, the "angle" parameter during rotation is specified as 60 degrees while in the JSON it\'s indicated as 40 degrees. The "angular_velocity" parameter exceeds what is given in the command. Similarly, the \'linear_speed\' under the \'move\' action is not mentioned in the natural language._penalty'] +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['3; While the actions rotate and move, as well as most of their parameters match in the natural language command and the JSON structures, there are some discrepancies: The specific value for angular_velocity does not appear in the command, also the command specifies rotation direction as anti-clockwise which is negated in JSON by setting is_clockwise as false. However, it is implied in the command to be clockwise. Same with "is_forward" parameter for move action, it is set as true but isn\'t clearly mentioned in the command. It\'s implied that the robot would keep moving in the same direction (forward) after rotation.'] +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform.'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['2; The action command "go_to_goal" matches with the natural language command but the value of "location" in the JSON structure should be "Bedroom" instead of "Kitchen". The stop command doesn\'t exist in the sample keys.'] +Proceed to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['1; The natural language command is only partially represented in the JSON structure. The action to "go_to_goal" is correctly represented with the correct "location" parameter ("bedroom"). However, the second part of the command, "come to a halt", is not represented at all in the JSON. Therefore, the score is 1.'] +Make your way to the bedroom and cease your movement.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];["0; The action indicated in the natural language command is to go to the bedroom, while the JSON structure doesn't have any corresponding action to do so. Since the command doesn't match with any action in the JSON, the conformity score is 0."] +Head towards the bedroom and come to a standstill.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['0; The JSON structure provided does not match the natural language command. The command mentions moving towards the "Bedroom", but the sample ontology provided doesn\'t include a move action or a parameter for a target location. Hence, there is no possible matching between them.'] +Move to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];["1; The natural language command partly matches with the JSON structure. However, the command 'pause' is not represented anywhere in the JSON."] +Move backward for 7 meters at a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['1; The natural language command refers to moving with a specific distance and speed but in the backward direction. However, in the JSON structure given, only forward motion is represented hence the limited conformity.'] +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];["4; The natural language command and the JSON structure match almost perfectly. The only difference is that the natural language command specifies traveling in reverse while the JSON structure doesn't explicitly state the direction. For is_forward, it's false as per command but in JSON, it isn't clearly mentioned."] +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['5; The natural language command is properly conveyed in the JSON structure. The action "move" corresponds correctly, and the parameters "linear_speed", "distance", "is_forward", and "unit" are appropriately filled in accordance to the command.'] +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['3; The natural language command mostly conforms to the JSON structure. The action "move" matches, but there\'s no field or direction for reversing the direction. Yet, it got the "linear_speed" and "distance" correct. However, the value for "is_forward" does not match as the natural language command specifies to "reverse" the direction which means moving backward (hence, it should be false). Also, "unit" was correctly identified as "meter".'] +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meters"}}'];['3; The natural language command matches with the move action and its corresponding parameters in the JSON structure. However, the "is_forward" parameter in the JSON command is \'True\' which is incorrect given the command is to move in reverse. Hence, the \'is_forward\' should be \'False\'. Also, the unit specification "meters per second" is not addressed in the JSON structure.'] +Turn left and move forward for 5 meters at a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];["2; The natural language command matches partially with the JSON structures given. The 'move' action in the JSON structure does match with 'move forward' in the command. However, the linear speed and distance keys are also correctly matched, but the 'Turn left' command does not conform to any keys present in the sample ontology, hence the score is not perfect."] +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The natural language command does adhere to the commands in the sample keys in terms of movement and rotation. However, there are multiple key errors. The "rotate" command\'s angle is not specified in the natural language command and cannot be assumed to be 90 degrees. Also, "angular_velocity" and "is_clockwise" are mentioned in the JSON structure but not in the natural command. Similarly, in the "move" command, the "is_forward" is set to true but it\'s not explicitly stated in the natural command.'] +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];["2; The JSON structures partially match the command. In the first JSON, the action 'rotate' and parameters (angle and unit) match with 'make a left turn' but there is no 'angular_velocity' and 'is_clockwise' mentioned in the command. In the second JSON, the action 'move' and parameters (linear_speed, distance, is_forward, and unit) correctly align with 'advance forward for 5 meters with a velocity of 2 meters per second.' However, the values for 'angular_velocity' and 'is_clockwise' are not specified in the original command which leads to conformity issues."] +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];['2; The JSON structures partially represent the command: the rotation action and moving action are correct, but the angular_velocity in the rotate action is incorrect (0 but an actual value isn\'t provided in the command), the distance in the move action is correct, the linear_speed in the move action is correct. But the angle of rotation and is_clockwise parameters in the rotate action do not match with the natural language command since "left" turn does not automatically mean 90 degree and doesn\'t specify clockwise or counter-clockwise. Also, the units are incorrectly represented as "degrees" and "meters" in the JSONs while in the sample ontology they are "degree" and "meter".'] +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 2, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];["3; The JSON structure partially matches the natural language command. The action of rotation (changing direction to the left) is represented correctly, but the angular velocity in JSON structure doesn't match with the natural language command (it's not mentioned in the command). Moving a distance of 5 meters is also correctly represented, but the speed in the JSON structure (2 meters per second) isn't mentioned in the command. The second JSON structure doesn't exist in the command so it's an addition."] +Back up for 1 meter and then execute a 90-degree turn to the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['2; The natural language command partially conforms to the JSON structure. The moving action is represented correctly in the given JSON as such: \'"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}\'. But, the rotation action does not correctly conform in this statement: \'"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}\'. In the natural language command, the bot is asked to make a right turn (which would be clockwise), not a left turn (counter-clockwise).'] +Reverse for 1 meter and then make a right turn of 90 degrees.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command properly dictates two actions which are reflected in the JSON: "move" and "rotate". However, the JSON isn\'t entirely accurate - "is_forward" should be False (as the bot is reversing), and "is_clockwise" should be True (as bot needs to turn right). Hence, despite some inaccuracies, the match is substantially correct.'] +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.;['{"action":"move", "params":{"linear_speed":-1, "distance":1, "is_forward":false, "unit":"meter"}}', '{"action":"rotate", "params":{"angular_velocity":1, "angle":90, "is_clockwise":false, "unit":"degrees"}}'];['4; There is a slight mismatch between the natural language command given and the JSON structure provided for the command. The command "Move backwards by 1 meter" is correctly represented in the JSON structure, with the exception of the “linear_speed” field which should not have a negative value, but instead the "is_forward" key should be false. Additionally, the command "perform a right turn at a 90-degree angle" is correctly represented, but "angular_velocity" is set to 1 in the JSON while it is not specified in the command. Therefore a small level of assumption was made there.'] +Retreat by 1 meter and then make a right turn of 90 degrees.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['3; While the instructions in the natural language command can be interpreted from the JSON commands, there are some mismatches as well. For instance, the command specifies "Retreat by 1 meter" which corresponds to a \'move\' action with reversed direction (is_forward: false), distance: 1, and unit: meter. However, the linear_speed is not specified in the command but is given as 1 in the JSON. Similarly, the command to "make a right turn of 90 degrees" matches \'rotate\' action in the JSON with angle: 90 and unit: degrees. But, it does not specify the angular_velocity as in the JSON structure and the is_clockwise is given as \'false\' which should be \'true\' for a right turn. The JSON structures might reasonably represent what the command implies but they are not an exact match with the command.'] +Take a step back for 1 meter and then execute a 90-degree right turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['2; The JSON structures are somewhat aligned with the command given, but certain details are missing or misspecified. In the first JSON structure, the "linear_speed" key is given a value of 1 while no speed is specified in the command. Also "is_forward" key is set to false, which does not align with the \'step back\' in the command. Additionally, in the rotation JSON, the "angular_velocity" key is specified as 1, but the natural language command does not provide any information about angular velocity.'] +Navigate to the specified GPS coordinates and play a pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "coordinates", "value": {"latitude": "latitude_value", "longitude": "longitude_value"}}}}'];['0; The natural language command doesn\'t match any of the given JSON structures, as it requires two actions ("navigation" and "playing a message") which don\'t exist in the given samples. Also, GPS coordinates are not represented in the sample ontology.'] +Please go to the given GPS coordinates and play the pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "GPS coordinates", "value": "given"}, "play_message": true}}'];['1; The action "go_to_goal" matches but the params and their structure aren\'t conforming to the samples given. The type "GPS coordinates" and "play_message" key don\'t exist in the provided sample keys.'] +Can you navigate to the provided GPS coordinates and start playing the recorded message?;['{"action": "go_to_goal", "params": {"location": {"type": "GPS_coordinates"}}}'];["0; The natural language command is asking for navigation to a GPS location and playing a recorded message, none of which are actions in the provided JSON examples. Additionally, the 'go_to_goal' action in the JSON structure has a location type of 'str', whereas the command mentions 'GPS_coordinates' which is not included in the JSON structure."] +Follow the given GPS coordinates and play the message that has been prerecorded.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS_coordinates"}}}'];['0; The natural language command mentions a task about GPS coordinates and playing a prerecorded message, both of which are not covered in the provided JSON structures. Hence, there is no conformity with the keys of the sample ontology.'] +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS coordinates"}}}'];['0; The natural language command is asking to head to a certain GPS location and play a pre-recorded message. However, there is no information about going to a specific GPS location or playing any type of message in the provided JSON structures.'] +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 10, "is_forward": true, "pattern": "zigzag", "unit": "meter"}}'];['1; The given JSON structure partially matches the command. Although the "move" action and parameters like "linear_speed", "distance", "is_forward", and "unit" are correctly used, the "pattern" key and its value "zigzag" do not exist in the ontology and hence it\'s incorrect. Also, the command includes clarification about alternating between forward and backward motion which isn\'t represented in the JSON.'] +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 10, "is_forward": true, "unit": "meters"}}'];['2; The natural language command is partially conform to the JSON information. The "move" action and "distance" parameter match, but the command\'s mention of a zigzag pattern doesn\'t match any information in the JSON structure, nor is the parameter "is_forward" correctly represented as alternating between forward and backward.'] +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];['0; The natural language command asks for a zigzag pattern of movement alternating between forward and backward movements, however such specific pattern information is not represented in the provided JSON structure, which only covers straightforward linear movement. Therefore, no conformity exists.'] +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure represents the action of moving with a specified distance, linear speed, and a direction (forward). However, there is no indication of a backward action or a "zigzag" pattern as mentioned in the natural language command. Therefore, the translation isn\'t completely accurate.'] +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['1; Only partial match. The JSON structure includes a "move" action with specified distance and unit, but linear speed, forward motion direction and the zigzag pattern (which does not exist in the given examples) requested in the command do not match the JSON structure.'] +Spin around in a circle three times and then stop abruptly.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'];['1; The action of spinning is understood and documented in the JSON but the amount of times isn\'t included in the JSON. Going around in a circle three times would be a different angle than what\'s given in the JSON file. The "stop abruptly" part is not documented at all in the JSON.'] +Rotate in a full circle three times before coming to an abrupt halt.;['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 360, "is_clockwise": true, "unit": "degrees"}}'];["1; The command partially matches with the JSON structure. The action 'rotate' is mentioned in the command and 'is_clockwise' parameter is correctly assumed to be true. However, the command of rotation is three times in a full circle but the 'angle' in JSON structure is 360 which indicates just one rotation. Also, the command's 'abrupt halt' is not represented in the JSON structure. The 'angular_velocity' is given a value of 5 in JSON where it is not specified in the command. Hence the conformity score is low."] +Perform three complete rotations in a circular motion and then abruptly come to a stop.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];["1; The natural language command has been translated into two JSON objects. One for the rotation and one for movement. However, the values of the angular_velocity and angle in the rotation command object do not match the content of the natural language command. The same goes for the movement action object - there's no mention of stopping in the given JSON structure. Also, the 'unit' key from sample ontology is omitted in both JSON structures."] +Turn around in a complete circle three times and then suddenly cease movement.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true}}'];["0; The natural language command doesn't match with the provided JSON structure. The command is asking for multiple circular rotations but there isn't sufficient information in the JSON structure to extract or match this information."] +Spin in a circle three times and then bring yourself to an immediate halt.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['4; The natural language command and its corresponding JSON information conform with the keys of the sample ontology to a great extent as the "rotate" and "move" actions are correctly used. The parameters for the "rotate" action like "angular_velocity", "angle" and "is_clockwise" are also correctly used. However, the "move" action to bring the subject to a halt could have been better represented if there were a stop or halt action in the sample keys. The speed and distance being set to 0 for the move action might not be the best representation for a halt command.'] +Move forward at a constant speed of 1 meter per second for 30 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "seconds"}}'];["2; The natural language command does not completely match the JSON schema as the duration isn't specified in the ontology. However, other parameters like the linear speed, direction, and distance are approximately matched. The values provided in the command are not completely matching with the parameters values in the JSON structure, hence the low score."] +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "second"}}'];['4; The command is correctly identified as "move" and most parameters are properly set: "linear_speed" is 1 and "is_forward" is true. However, while given a distance of 30 seconds (which implies a duration), in the JSON structure it is not assigned to a \'duration\' key, but wrongly assigned to a \'distance\' key. The unit "second" is not present in the ontology either. Instead, linear_speed is given in meter/second, and distance should have been in meters.'] +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "second"}}'];['3; The command partially matches with the JSON structure as it mentions the action of moving (represented as "action": "move" in JSON) and provides some params related to the action. The command mentions moving ahead (is_forward can be inferred as true), a constant speed of 1 meter per second (can be considered as linear_speed), and a travel time of 30 seconds (but this doesn\'t directly map to any key in the JSON as it expects a distance not time). However, the unit of time (seconds) given for the movement duration is not in the expected unit for the distance key, which is \'meter\' in the sample JSON, hence I gave it a score of 3.'] +Advance for 30 seconds with a consistent velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "seconds"}}'];['1; While the natural language command does correspond to a \'move\' action, "distance" is incorrectly used to denote time, which does not align with the ontology keys in the provided JSON sample. Also, the unit should most likely be meters, not seconds.'] +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'];['3; The command is partially conforming to the JSON structure. The "distance" key is incorrectly calculated from provided time, instead of space. The real distance would be time multiplied by speed, in this case 30s * 1m/s = 30m. Also, context should clearly state that "travel straight ahead" means moving forward. But overall, the keys used exist in the ontology and values are correctly assigned, so it\'s partially conform.'] +Turn right and follow a curved path for 2 meters, then stop and beep.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];["1; The natural language command requests the robot to follow a curved path, stop, and beep but the JSON structure only partially conforms to the command by providing information about a rotation action but does not cover the other aspects of the command. The command regarding moving a certain distance and beeping is missing meaning the JSON information doesn't fully match the command."] +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.;['{"action": "rotate", "params": {"angular_velocity": 0.8, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}', '', '{"action": "beep", "params": {}}'];["1; The provided JSON structures partially match the natural language command. The rotation and moving actions are appropriately represented in JSON. However, the specifics of the rotation action (e.g. angular velocity) do not match the command of making a right turn. Furthermore, the action of emitting a beep sound is not part of the sample keys and therefore should not be converted to JSON. Moreover, the command also mentioned 'curved path' which is not accounted in JSON."] +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meters"}} ', '{"action": "pause", "params": {"duration": 1}} ', '{"action": "produce_sound", "params": {"sound_type": "beep"}}'];['1; Only some of the natural command\'s information matches the provided JSONs. The movement and rotation actions match, but the pause and produce_sound actions don\'t appear in the JSON samples. Additionally, the angular_velocity in the JSON doesn\'t match the "right turn" command, and no sound type is specified in the command.'] +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} ', '{"action": "stop_movement"} ', '{"action": "beep"}'];["0; The natural language command involves actions such as 'rotate', 'move', 'stop_movement', and 'beep', which are not completely consistent with the keys in the sample ontology given. Also the JSON structure provided doesn't match with any mentioned in the command as well. Actions like 'stop_movement' and 'beep' are not present in the given ontology. Besides, parameters such as 'angular_velocity' in the rotation action and 'linear_speed' in movement action are missing in the command."] +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['1; The JSON structure is related to the rotation action of the command but it does not match exactly as there is no specification of direction in the natural language command and no mention of a beeping noise in the JSON. Also, the angular_velocity value and angle value do not match any implied values in the natural language command. The "move" action and "distance" parameter within the natural command are not represented in the JSON structure at all.'] +Move forward for 5 meters and then reverse for 2 meters, repeating twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['2; The natural language command gives specific instructions about moving forward for 5 meters and then reversing for 2 meters, repeating the sequence twice. However, the provided JSON does not correctly translate this command - it leaves the speed as 0.5 (which is not mentioned in the command), and does not account for repeating the actions twice.'] +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure represents the command of moving forwards and backwards with precise measurements. However, the 'repeat' command from the natural language instruction is not represented in the JSON structure."] +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];["4; The overall command and its JSON representation partially conform. The repeated pattern of forward and reverse motion is correctly represented in the JSON structure with appropriate keys and values for action, distance, and the direction of motion. However, the command specifies a specific pattern to be repeated twice, which is not represented in the JSON structure. The JSON structure simply lists the forward and backward motion three times whereas the command asks for this pattern to be repeated twice. Furthermore, the linear_speed value in JSON data is set to '1' which is not specified in the given command."] +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['2; The JSON structures correctly captures the movements explained in the command, but the "linear_speed" key not mentioned in the command, so there\'s a mismatch. Additionally, the command\'s repetition instruction ("repeating this cycle twice") is not represented in the JSON structures at all.'] +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meters"}}'];['3; The JSON structures provided are a partial match for the given command. The command specifies a forward motion and then a backward motion which is represented correctly in the JSON structures. However, the command also specifies stopping in between each motion and repeating the process twice, but there is no "stop" action or "repeat" parameter in the provided JSON structures. Hence, the command is not fully represented in the JSON structures.'] +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0.5, "is_forward": true, "unit": "second"}}'];['1; The natural command seems to be a complex mixture of "move" and duration of movement which is not covered in the JSON provided. The distance in the JSON is not mentioned as a random duration and neither are directions specified in the current ontology or JSON structure. Thus, it\'s a low match.'] +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 0, "is_forward": true, "duration": 3, "unit": "seconds"}}'];['1; The given natural language command does include moving forward, which corresponds to "is_forward": True in the JSON structure. However, the rest of the command does not match well with the JSON. The command suggests moving for a random duration of time, but the provided JSON structure does not include a parameter for time duration. Therefore, the matching is incomplete and the command partially conforms to the provided ontology keys.'] +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": random_distance, "is_forward": true, "unit": "second"}}'];['1; The natural language command corresponds near correctly to the JSON structure, but some aspects of the command, such as "randomly pick a direction" and "random period ranging from 1 to 5 seconds", do not conform to the fields outlined in the JSON structure (linear_speed, distance, is_forward, unit). Also, duration of movement in seconds is confused with distance in the provided JSON.'] +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['1; The natural language command is somewhat represented in the JSON structure but not entirely. The command specifies randomness in direction and time which is not reflected in the JSON. Also, the command does not mention the unit of distance which is required in the JSON format.'] +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": true, "duration": 4, "unit": "seconds"}}'];['2; The command expresses moving in a direction and for a duration but the JSON provided includes undefined parameters like linear_speed and distance and it also includes an additional parameter "duration" which does not exist in the sample keys of the JSON structure. The movement direction and duration are somewhat mentioned but the values are not accurately represented. Hence partial match.'] +Perform a 180-degree turn, then launch a small drone from your back.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['1; Only the rotation part of the command matches the sample keys. The action of launching a drone is not represented in the JSON structure, thus it cannot be converted. Therefore, partial conformity is achieved.'] +Execute a 180-degree rotation and subsequently release a compact drone from your rear.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true}}'];['1; The rotation action in the natural language command matches with the "rotate" action in JSON but the parameters for angular_velocity and is_clockwise in the JSON structure are not mentioned in the command. Additionally, releasing a compact drone is not part of the sample keys.'] +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true}}'];["1; The JSON structure correctly represents the rotation action mentioned in the natural language command. However, the angular_velocity value doesn't match and there's no information in the JSON regarding the deployment of the drone, which is mentioned in the natural language command. The score is 1 because only part of the command is correctly represented in the JSON structure."] +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false}}'];["1; The natural language command mentions the rotation action which partially matches with the JSON structure. However, it mentions launching an aerial drone which doesn't correspond to any JSON structure provided in the ontology sample. The command doesn't exactly conform to the provided JSON keys."] +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": false}}'];['2; The natural language command partially conforms to the JSON structure. The command for 180-degree spin matches with the "rotate" action in the JSON structure, but there is no information or matching action in the JSON structure for "activate the release mechanism to send a small drone flying from your posterior". Therefore, only part of the command can be converted to JSON.'] diff --git a/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v0.txt b/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v0.txt new file mode 100644 index 0000000..96c638b --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v0.txt @@ -0,0 +1,1000 @@ +Move forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['5; Exactly conform. The command \'Move forward for 1 meter.\' perfectly matches the JSON structure. The action is "move", the direction is forward i.e., "is_forward" is true and the distance is 1 meter which aligns with "distance" key set to 1 in the JSON structure. There is no specific speed mentioned in the command so the "linear_speed" can be any value. Here, it is set as 0.5.'] +Proceed straight ahead covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1.0, "is_forward": true}}'];['5; The natural language command perfectly matches the JSON structure. The action is "move" with specified distance. The direction, which is forward, is implicitly included in the command "Proceed straight ahead".'] +Advance by 1 meter in the forward direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true}}'];['4; The natural language command corresponds well to the provided JSON structure. However, the "linear_speed" value in the JSON is 0, which does not match the command to "advance".'] +Take a step forward spanning 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['5; The command "Take a step forward spanning 1 meter" matches exactly to the JSON information provided. The "move" action tells the agent to take a step, and "is_forward" is True which confirms the forward direction, and the distance key is set to 1, which aligns with "1 meter" stated in the command.'] +Move ahead for a length of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];['4; The natural language command instructs to move ahead for a distance of 1 metre while the JSON command specifies a different "linear_speed" value of 0.5 instead of 1 as in the command. However, the "distance", "is_forward": true, and "action": "move" attributes match perfectly.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; It is fairly conforming. The action to be performed (rotate) and the angle to rotate by (90) are consistent in both the command and JSON structure. However, the command specifies to rotate counter-clockwise but the JSON does not explicitly show this with a "false" value for "is_clockwise". Also, the "angular_velocity" in JSON is shown as 0 and is not mentioned in the command. Lastly, the "unit" for the angle ("degrees") is not mentioned in the command but does appear in the JSON.'] +Rotate in an anti-clockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3.5; The information mostly matches but there are some discrepancy in the "angular_velocity" value which stated as 0 in the JSON while there\'s no information provided in the command. So, it is not exactly conform.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The angular velocity is not specified in the natural language command but is required in the JSON structure. Scale of 1 to 5 was given 4 because the natural command specifies a left turn (counterclockwise which is correctly represented by is_clockwise as false), also correctly specifies the angle as 90 degrees, but it does not provide information for "angular_velocity".'] +Rotate 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command matches with the JSON structure to a great extent. However, the "angular_velocity" value is not provided in the command but it\'s specified by JSON, therefore not exactly conforming.'] +Spin in the opposite direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['2; The natural language command matches the "rotate" action and "degrees" unit in the JSON structure, and the "angle" value is correct. However, the "angular_velocity" does not match, and the "is_clockwise" value is not explicitly stated in the command.'] +Move backward for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command indicates a move action, but the parameters specified in the command do not match those in the JSON structure. The command indicates a time duration ("2 seconds"), whereas the JSON structure is set up to accommodate distance, speed, and direction. The speed is indicated as -1 in the JSON structure, which doesn\'t correspond with moving "backward," and moving backward isn\'t equivalent to "false" under "is_forward."'] +Go backwards for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "duration": 2, "is_forward": false, "unit": "seconds"}}'];["0; The provided JSON does not have a duration parameter under the 'move' action and no negatives for linear speed specification. Thus, it doesn't match with the natural language command to go backwards for a duration."] +Reverse your direction and travel for a span of 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['2; While the action of moving is correctly identified in the JSON structure, the parameters specified in the natural language command do not exactly match with the JSON. The JSON specifies a "linear_speed" parameter while the command does not mention a speed, only stating a span of 2 seconds for the movement. Additionally, the command talks about reversing the direction, while the JSON states \'is_forward\' as \'false\', which might be interpreted as the same, but isn\'t very clear. Also, the unit of distance in the command is not specified, while in the JSON it is set as "seconds".'] +Retreat for a time frame of 2 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "time_frame": 2, "unit": "seconds"}}'];['0; The JSON structure does not match with the natural language command. The JSON represents a "move" action with specific parameters (speed, distance, direction) but the natural language command is about retreating for a specific time which is not addressed in the structure. Furthermore, the key "time_frame" does not exist in the sample ontology, nor does the value for \'is_forward\' match.'] +Take two seconds to move in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'];['2; The natural language command asks for a movement in the opposite direction, which matches the "is_forward": false in JSON. However, the time ("Take two seconds") is not represented correctly within the JSON structure. Also, though the "action":"move" aligns, "linear_speed": 1 does not match with the NL command.'] +Turn left and move forward for 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['3; The JSON structures do relate to the command of turning and moving forward, but they do not completely match the details of the command. In the command, it mentions turning left, but the JSON specifies a clockwise rotation, which would traditionally be seen as turning to the right. Additionally, the distances and speeds mentioned in the JSON do not match with the command, which specifies 5 meters but the JSON does not specify any distance.'] +Move forward for 5 meters, then turn left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false}}'];['3; The commands somewhat match the JSON structure but the angular velocity is incorrect and there is no key for direction (or turning left) in the rotate action and no units of measure are provided for the rotate action.'] +Proceed for 5 meters, then make a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["4; Partially conform. The natural language command corresponds to the given JSON structures but lacks information regarding the 'linear_speed' in the 'move' action and the 'angular_velocity' in the 'rotate' action."] +Take a left turn and continue moving forward for 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['1; The natural language command indicates a left turn and moving forward for 5 meters. The JSON snippet contains instructions for rotation and movement as well. However, a left rotation is not necessarily a counterclockwise one and the angular velocity and angle given in the JSON snippet do not match with the command. Moreover, the linear speed in the command is unspecified while it is specified in the JSON snippet.'] +Make a leftward turn and advance for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['1; The natural language command asks for a leftward turn, which could imply a rotation, however, the provided JSON information only specifies a move at 0.5 speed for 5 meters. The rotation action is missing, hence, the low conformity score.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command refers to an action of rotation in a clockwise direction with an angle of 180 degrees which matches the JSON structure. However, the natural language command does not specify the "angular_velocity" hence the partial match.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The JSON structure matches the natural language command in specifying a clockwise rotation. However, the value for "angular_velocity" in the JSON structure is 0, which implies no movement is taking place.'] +Rotate by 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": true}}'];['4; The JSON structure matches the command in terms of action and parameters, such as angle and rotation direction. However, the angular velocity is not defined in the command so it cannot be judged fully consistent, thus not a perfect match.'] +Execute a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The command partially conforms to the JSON structure. The action matches correctly as "rotate". However, the "angular_velocity" field in the JSON is set to 0, but it is not specified in the command itself. The "angle" and "is_clockwise" fields are in perfect consonance with the given command.'] +Move forward at a velocity of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "m"}}'];['2; The natural language command calls for a forward movement at a given speed but only specifies the duration rather than the distance. In the JSON, however, the parameter used is "distance" and no time parameter is included. Furthermore, the "unit" key is slightly different from the verbal command (meters per second vs meter).'] +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];["1; The natural language command asks to move with a certain speed for a duration, while the JSON structure specifies a linear speed and distance, not the duration. The command also doesn't specify the direction of the motion which is present in the JSON structure. However, the speed value in both the command and JSON structure matches."] +Advance at 0.5 meters per second for a total of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5.0, "is_forward": true}}'];['3; The natural language command and JSON structure are partially conform. The command asks to move forward at a speed of 0.5 m/s for a total of 10 seconds which matches with the JSON structure\'s key "action": "move" and key "linear_speed": 0.5. However, the command specifies a duration (10 seconds) not a distance and the JSON structure has "distance" as a parameter. Also, the "unit" key is missing in the JSON structure provided.'] +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; The command mentions moving forwards at a certain speed for a certain amount of time which aligns with the "move" action. However, the JSON structure specifies distance, not time duration for the movement. It should reflect time if it\'s to fully conform to the instruction.'] +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];["1; The natural language command is intending to instruct a movement with a certain speed, which is in accordance with the JSON data structure. However, the command instructs to move 'ahead for a period of 10 seconds', while the JSON structure specifies a 'distance' parameter, not a time duration. There is also discrepancy where the distance in the JSON structure is 5, where as based on the command, if the intention was to multiply 10 seconds by 0.5 m/s, the expected distance would be 5 meters. Thus, the conformity is minimal."] +Turn right and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true}}'];["3; The JSON commands are relatively consistent with the natural language command; however, there are some discrepancies. The angular velocity and linear speed values are not specified in the JSON structure which would define the actual speed of the movements. It's assumed in the natural language command, but not in the JSON. The rotations' direction (right) is correctly reflected in the JSON command as clockwise. The forward movement and the distance of 3 meters are correctly reflected in the JSON command too."] +Proceed forward for a distance of 3 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['3; Partially conform. The general actions in the natural language command match the JSON structure ("move" and "rotate"). However, the specific parameters given in the JSON structure do not match with those in the natural language command. The natural language command mentions a right turn (which could be interpreted as a clockwise rotation), but no specific angle or velocity is provided, making it impossible to match with "angle": 90 and "angular_velocity": 0 in the JSON. Similarly, the command specifies a distance of 3 meters, but no speed, so we cannot match with "linear_speed": 0 and "distance": 3 in the JSON. Additionally, the "unit" parameter in the JSON is ignored in the language command.'] +After turning right, continue straight for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure partially matches the command; it covers the "continue straight for 3 meters" part. However, there is no equivalent JSON content for the "turning right" action in the command.'] +Make a right turn and advance for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The instructions in the command line correspond with the JSON structure to some extent however the angular velocity value is missing in natural language command and in JSON structure it has 0 value which does not make any sense in the given context. Also, direction of turn is not specified in JSON.'] +Execute a rightward turn and then travel straight ahead for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['3; The natural language command matches with the JSON structure however the provided angular_velocity is 0 which would not allow the robot to turn. Also, the "unit" value in the "move" JSON structure should be "meter", not "meters".'] +Move backward at a velocity of 1 meter per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The required action in the command "Move" aligns with the JSON action "move". The linear speed "1 meter per second" matches with JSON linear_speed "1", but "4 seconds" doesn\'t match perfectly with given JSON distance nor the unit as "meter". "Move backward" indicates "is_forward: false", which is correctly reflected in the JSON.'] +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "second"}}'];['4; The conformity of the natural language command with the JSON structure is high as it declares an action of movement with exact linear speed and distance. However, the natural language command specifies going in reverse while the JSON lacks the parameter to specifymovement is not forward.'] +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];["4; The command mostly matches the JSON information. The action, linear_speed, and distance match with given parameters. However, instead of moving in the reverse direction ('is_forward': false), the period of movement is specified, which is not represented in the JSON structure."] +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "second"}}'];['3; The JSON structure correctly captures the action of "move" and the associated parameters such as "linear_speed", "distance" and the unit of motion. However, the "is_forward" parameter in the JSON is not matching with the command "Travel backward". It should be False instead of True to match the natural language command.'] +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 4, "is_forward": false, "unit": "seconds"}}'];['4; The natural language command matches the overall JSON structure particularly the "action": "move" and parameters like "linear_speed": -1. The direction is also correctly interpreted with "is_forward": false. However, the command refers to duration (4 seconds) while the JSON format uses a distance parameter, this slight mismatch costs 1 point in the conformity score.'] +Rotate counterclockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'];['4; Mostly conforms except for the missing angular_velocity value in the command which is required in the JSON structure.'] +Rotate 270 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4; The angular velocity is not specified in the natural language command but specified in the JSON structure, otherwise, it matches with the action, angle, direction of rotation, and unit.'] +Turn left by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['3.5; While all the keys of the JSON structure match, "angular_velocity" in the JSON structure is 0.35, however, in the command no specific speed is mentioned. So, we cannot confirm the speed at which the action should be performed.'] +Perform a counterclockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'];['4; The action of rotation and the specified angle match correctly in the command and the JSON structure. However, the angular_velocity parameter doesn\'t match as it\'s set to 0 in the JSON whereas it is not mentioned in the command. The is_clockwise parameter is correct as indicated by "counterclockwise" in the command matching with "false" in the JSON. The unit is assumed to be degrees as per standard convention, but is not explicitly mentioned in the command.'] +Rotate in the opposite direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'];['4; The natural language command almost perfectly matches the JSON structure. The action "rotate" is called and the argument "angle" is 270 degrees, matching the natural language command. The direction is also correctly interpreted as counterclockwise, opposite to "is_clockwise". However, "angular_velocity" is set to 0 in the JSON structure, while the natural language command does not provide information about the speed of rotation, hence the slight mismatch.'] +Move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['4; The JSON command structure partially conforms to the natural language command. The action "move" matches with the command "Move", and the parameter "is_forward" with TRUE value matches with "forward". However, the distance value in the JSON should be 2 to perfectly match with the command "for 2 meters". The "linear_speed" given in the JSON is not mentioned in the natural language command.'] +Proceed ahead by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3.5; The command is partially conform with the JSON structure. The "move" action matches, however the "linear_speed" in the JSON is 1.0 which is not specified in the command, and the "distance" specified (2 meters) matches with the command. However, information about the "is_forward" key is lacking in the command.'] +Advance for a span of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The natural language command conveys similar action as in the JSON structure. However, the "linear speed" value in the JSON structure does not match the natural language command which doesn\'t mention anything about speed. The "distance" is the only thing that matches.'] +Travel forward, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'];['4; The natural language command is generally conform with the JSON structure. However, the "linear_speed" value is incorrectly stated as 0.0 in the JSON structure, while there is no actual speed specified in the command. If we allow inferred speed, then the score is 5.'] +Move straight ahead, going 2 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true}}'];['4; The JSON command matches the natural language command. However, the provided "linear_speed" value in the JSON (1.0) does not have a corresponding element in the natural language command.'] +Rotate clockwise by 45 degrees and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The rotation command is mostly conforming, although the angular_velocity is not specified in the natural language command, it is provided in the JSON. The move command is mostly conforming, but the linear_speed is not specified in the natural language command, it is 0 in the JSON. The directions (clockwise and forward) and the units (degrees and meter) match perfectly.'] +Move forward for 1 meter while rotating 45 degrees clockwise.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['2; The natural language command asked for a linear move forward and a rotation while the JSON structure only accounts for a forward move. The requirements for rotation are completely missing from the JSON. Also, the rotation degrees in the command do not match with the JSON structure.'] +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The actions given in the natural language command aligns with the given JSON structure, however, the values, notably the "angular_velocity" in the "rotate" action and "linear_speed" in the "move" action, do not match.'] +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; The rotate action has variable matching issues: angular_velocity in the command is not specified and its value in JSON is 0.35. The angle defined in the command is 45 but in the JSON it is 40. The clockwise value matches the command and JSON. The move action in the command has partial matching with JSON - The distance in command (1 meter) and JSON is equal but the linear_speed and is_forward values are not defined in the command.'] +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The commands are mostly conformed. However, the 'angular_velocity' and 'linear_speed' in the JSON structure are '0', which isn't specified in the natural language command."] +Turn left and move forward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "seconds"}}'];['1; The JSON notation is related to motion but it does not match with the natural language command. The command mentions "turn left" which corresponds to a rotation action, not included in the JSON structure. The JSON describes a movement forward with a certain speed and distance, not matching with "3 seconds" from the command. However, "moving forward" is accurately represented with "is_forward":true.'] +Proceed straight for 3 seconds after taking a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command does mention movement in a certain direction, similar to the JSON structure. However, it is not an exact match as the command also mentions taking a left turn, which would possibly require a rotation action not represented in the JSON. Moreover, distance in the JSON is represented in meters, not seconds as the command suggests.'] +Take a left turn and continue advancing for 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['1; The natural language command asks for a left turn, which corresponds with the action type "rotate" in the JSON structure. However, the parameters in the JSON structure don\'t match the command - the angular_velocity isn\'t mentioned in the command, the angle is not 90 degrees as in a typical left turn, and distance/time is mentioned in the command but not included in the JSON string.'] +Make a left turn and proceed forward for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "seconds"}}'];["2; The natural command specifies a left turn and moving forward for a duration, which matches with the 'rotate' and 'move' actions in the JSON. However, the specific parameters (angular_velocity, angle for rotate action, linear_speed and distance for move action) in the JSON do not match with the natural language command. The JSON structure also lacks the time parameter and assumes distance as a time duration in seconds, which is not in line with the natural language command."] +After turning left, move straight ahead for 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['3; The natural language command and the JSON structure partially match. The "move" action with "is_forward" set as true implies moving straight ahead, but the distance parameter is interpreted differently in time units ("seconds") instead of a spatial extent. Rotation or turning is not represented in the JSON.'] +Move backward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];["4; The natural command partially matches the JSON instruction. The mentioned action ('move') and parameters such as 'distance' (1 meter) are present. However, the direction of movement in the command ('backward') contradicts the 'is_forward' parameter in the JSON (True), and there is no 'linear_speed' indicated in the command."] +Reverse direction and travel 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; The JSON information and the natural language command partially match in the aspect that, both of them are referring to the action of moving. However, the forwards/backwards direction does not explicitly match. The JSON structure specifies a move action with distance set to 1 meter, but is_forward is set to True (indicating moving forward) but the natural language command indicates a reverse direction. The other values for linear_speed and unit are not specified in the command, but these could be default or previously set parameters.'] +Go back for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": false, "unit": "meter"}}'];["3; The natural language command refers to moving (the action) a specific distance backwards (distance and direction), however the action is slightly under-specified and the distance is half of what it should be according to the JSON structure. The JSON structure is essentially correct but doesn't completely align with the natural language command."] +Retreat for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false}}'];['3; The natural language command asks the system to "retreat", which implies moving backwards. This is partly represented in the JSON command by the \'is_forward\' parameter set to false. However, the natural language command does not specify much more information that is included in the JSON command, such as \'linear_speed\'. Also, distance in the natural language command matches with the distance in the JSON command.'] +Take one step backward covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; The command is accurately represented by the JSON structure, but there is no parameter for linear_speed in the command. The rest, "distance", "is_forward", and "unit", are correctly interpreted.'] +Rotate counterclockwise by 120 degrees and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}} {"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'];["3; The parameters for action 'rotate' and 'move' in the JSON match with the natural language command for rotation direction, angle, and moving distance. However, the natural language command specifies rotation to be performed prior to the move, whereas the JSON executes the 'move' action first then the 'rotate' action. The correctness of the 'linear_speed', 'angular_velocity' parameters cannot be evaluated as they are not specified in the natural language command. Meanwhile, the parameter is_forward is automatically assumed for moving forward without being stated in the natural language commands."] +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 120, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];["4; Both the rotation and movement actions are present with correct parameters in JSON structures. The degrees of rotation and distance of movement match. However, the 'angular_velocity' parameter in the rotation action does not match with the natural language command. The natural language command does not specify a velocity for the rotation, so we cannot confirm if the velocity of -1 in the JSON is correct or not. This is why the score isn't a perfect 5."] +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 120, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The commands match with the JSON structure and all keys are present. However, there are discrepancies in the provided values. The angular velocity and linear speed are unspecified in the natural language command and therefore cannot be accurately compared to the JSON structure. These are indicated as default_values in the JSON. The direction of rotation is counterclockwise in the command while it is mentioned as clockwise in the JSON.'] +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 120, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The instructions partially conform. The angle value of rotation and distance of movement are correctly matched in the commands. However, the angular_velocity and linear_speed values in the JSON structures do not match the original command where no speed rate was explicitly mentioned. Additionally, "unit" in the move action should be "meter" not "meters".'] +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The natural language command and the JSON structure are partially aligned. The natural language command calls for a counterclockwise rotation and forward movement. This matches with the "rotate" and "move" actions in the JSON structure, including the parameters associated. However, there are discrepancies in the `angular_velocity` values (10 in JSON vs. no specification in command) and `linear_speed` (1 in JSON vs. no specification in command).'] +Move forward at full speed for 20 seconds.;['{"action": "move", "params": {"linear_speed": "full_speed", "distance": 20, "is_forward": true}}'];['1; The natural language command is asking the system to move forward at full speed for 20 seconds, which partially matches the JSON structure. However, the keys "linear_speed" with a value of "full_speed" doesn\'t match the numerical value given in the JSON structure (0.5), and instead of specifying a distance, the command mentions time (20 seconds). Therefore, there is a partial mismatch between the command and the JSON structure.'] +Proceed ahead at maximum velocity for a duration of 20 seconds.;['{"action": "move", "params": {"linear_speed": "maximum", "distance": "undetermined", "is_forward": true, "unit": "meter", "duration": 20, "unit_duration": "second"}}'];['2; The natural language command is not well represented in the JSON command. The requested action in the command is about going forward at a maximum speed but there\'s no mention of maximum speed in the JSON, only the linear speed is given as 0.5. Also, the command wants the action to be performed for 20 seconds, but there\'s no duration mentioned in the JSON command. "distance" and "duration" are two different measures and cannot be considered the same. The "is_forward" field matches with the word "ahead" in the command.'] +Travel straight ahead at top speed for a duration of 20 seconds.;['{"action": "move", "params": {"linear_speed": "top speed", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'];['2; The natural language command instructs to move straight at top speed for a duration which is mildly similar to the "action" key in the JSON structure. However, the "linear_speed" parameter is arbitrary ("top speed"), "distance" is not mentioned in the command, "is_forward" is assumed to be true, and the "unit" is denoted as time ("seconds") while distance was expected. The JSON structure is not fully matched by the command due to these discrepancies.'] +Advance forward with utmost speed for a period of 20 seconds.;['{"action": "move", "params": {"linear_speed": "utmost", "distance": 20, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command roughly corresponds to the JSON command for moving linearly; however, "utmost" speed is non-specific and cannot be properly converted into a specific speed value (in this case 0.5), and the distance unit of "seconds" in the JSON structure should actually be a measure length, not time. The natural language command\'s \'20 seconds\' doesn\'t match with any key or value in the provided JSON.'] +Go straight ahead at full throttle for a duration of 20 seconds.;['{"action": "move", "params": {"linear_speed": "full_throttle", "distance": 0, "is_forward": true, "duration": 20, "unit": "seconds"}}'];["1; The natural language command instructs to move at full throttle for a certain duration whereas the JSON structure specifies moving with set linear speed and a specified distance. The values and some keys in the JSON are not matching with the natural language command. The concept of 'full throttle' isn't represented in the JSON and neither is the 'duration'."] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 60, "is_clockwise": true}}'];["3; The natural language command partially matches with the JSON information. The 'action' and 'is_clockwise' keys are a match but the value in the 'angle' key in the JSON does not correspond to the angle value, 60 degrees in the natural language command. There is also a missing value for 'angular_velocity' in the natural language command. The 'unit' key is assumed to be degrees due to the natural language command but isn't explicitly stated."] +Turn right by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; The natural language command asks for a rotation to the right (which corresponds to a clockwise rotation) by 60 degrees. This generally matches the JSON structure, where action is "rotate" and the angle is 60 degrees and "is_clockwise" is true. However, it is not conformed perfectly as the angular_velocity in the given JSON is set as 0 which doesn\'t supposed to be, for a rotation there should be some non-zero angular velocity.'] +Perform a clockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['3; The command matches the JSON structure as it\'s an instruction to rotate - it uses the right action and parameters (angle and direction), but the angular velocity is given as zero in the JSON, which doesn\'t align well with the notion of "performing" a rotation suggested by the command. Also, the command does not provide enough information to assess the boolean value of "is_clockwise".'] +Rotate in a clockwise direction, making a 60-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; The JSON structure represents the action of rotating in a clockwise direction for an angle of 60 degrees, matching most of the command. However, the command does not specify the angular velocity which is represented in the JSON structure as 0.'] +Rotate to the right, making a 60-degree angle.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true}}'];["4; The natural language command matches the provided JSON structure well. However, the natural language command requested a 60-degree angle rotation, but the JSON is showing a 40-degree angle. Moreover, the rate of rotation (angular_velocity) provided in the JSON does not match the lack of such detail in the command. Finally, clarification is needed whether 'right' assumes clockwise as 'is_clockwise':true."] +Move backward at a velocity of 0.75 meters per second for 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command does not match perfectly with the JSON structure due to the discrepancy in the values of "distance" and "unit". In the natural language command, a backward movement is mentioned for 8 seconds, but in the JSON structure, the "distance" is set for 6 and the "unit" is mentioned as "seconds" instead of "meters per second".'] +Reverse at 0.75 meters per second for a duration of 8 seconds.;['{"action": "move", "params": {"linear_speed": -0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'];['2; Although the robot is instructed to move, the parameters given in the voice command differ significantly from those in the JSON structure. The linear speed is matched correctly, but instead of distance, duration is provided, and the direction of movement is also not clearly specified. Furthermore, the sign of the linear_speed is negative in the JSON structure which is not reflected in the natural language command.'] +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meters", "duration": 8, "unit_duration": "seconds"}}'];['2; There is partially conformity with the command and JSON information. The "action" and "linear_speed" values match, but "distance", "is_forward", "unit", "duration" and "unit_duration" do not conform exactly to the sample. Especially, "duration" and "unit_duration" do not exist in the sample and the value of "distance" is not equivalent.'] +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 8, "is_forward": false, "unit": "second"}}'];['2; The action and most parameters in the JSON structure match the command, although the command mentions time ("for a period of 8 seconds") not distance, and there is no "is_backward" key, only an "is_forward" key which is specified as true in the JSON command while the natural language command suggests a backward movement.'] +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'];['3; While the action of movement is in matched with the JSON structure, the parameters such as "distance" doesn\'t match well with the time duration in natural language command. Additionally, the speed in the command in meters per second matches with the "linear_speed" parameter in JSON, but its value isn\'t same. Also, the natural language command talks about moving in reverse which isn\'t reflected in the JSON. The \'unit\' parameter is also correctly referred in the command as \'meters\'.'] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['3; Partial match. The command is about moving and turning, which matches the JSON actions "move" and "rotate". However, the specifications in the JSON structures (angular velocity, angle, linear speed, distance) do not exactly match the specifications in the natural language command. No angular velocity is specified in the command for rotation. There\'s also no mention of turning right in the JSON structure. Moreover, the distance mentioned in the command doesn\'t match with the distance given in the JSON structure for moving.'] +Take a right turn and proceed straight ahead for a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The JSON commands represent the action of turning right and moving straight for a certain distance. However, the angular velocity and linear speed values are not indicated in the natural language command, but are present in the JSON structure.', ''] +Make a right turn and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'];['4; The JSON structure is almost a perfect match to the natural language command. However, the angular velocity in the JSON is 0.5, but there the speed is not specified in the original command.'] +Rotate to the right and advance ahead for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];["1; The natural language command suggests both a rotation and a move, however, only the moving action is represented in the JSON structure. The 'rotate' action and its parameters are missing from the JSON. The 'linear_speed' parameter in the JSON also doesn't match the natural language command as no speed for moving forward is specified."] +Go to the right and keep moving straight for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'];["4; The natural language command matches with the move action in the JSON structure. However, it doesn't specify the 'linear_speed', which defaults to 0.5 in the provided JSON structure."] +Move forward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["4; The natural language command gives a clear instruction to move forward for a certain distance, though the speed isn't specified. The JSON on the other hand provides the information about moving action, the direction of the movement (forward), the distance to be covered (undefined, but should represent a specific number in a real scenario) and the unit of the distance (meter). The speed to be used during the motion is also included (0.5), however, the speed isn't mentioned in the command."] +Proceed straight ahead for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true}}'];['4; The natural language command is mostly aligned with the JSON structure. The command of proceeding straight ahead is matching the "move" action, and the distance parameter is correctly identified as 3 meters. However, the speed is unspecified and defaults to 0.0 in the JSON structure, which may not exactly reflect the natural language command.'] +Advance ahead 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true}}'];["4; Though the JSON structure involves a moving action similar to the natural language command, some parameters like linear_speed and is_forward aren't mentioned in the command. However, the distance parameter is correctly translated. Hence, it is quite conforming but not exact."] +Go forward a total of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];["5; Exactly conform. The natural language command 'Go forward a total of 3 meters' matches perfectly with the given JSON structure where action is set as 'move', the distance value is set as 3, the direction is correctly set as true for 'is_forward' indicating moving forward, and unit is 'meters' which matches the command."] +Travel straight for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; The command explicitly states to move straight for a distance of 3 meters which perfectly matches with the JSON structure where the action is "move" with a distance parameter of 3, making the movement forward indicated by "is_forward":"true" and the unit of distance is correctly mentioned as "meter". However, the speed of movement isn\'t mentioned in the command but is set to "0.5" in the JSON structure; it doesn\'t contradict the command and thus doesn\'t affect the conformity score.'] +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true, "unit": "second"}}'];['1; It does not conform to the JSON data structure examples provided since the angular velocity and linear speed values supplied are 0 which does not support the command for rotating and moving. Moreover, the rotation command should be "is_clockwise": false for a counterclockwise command but the value is not specifically provided in the command. The command to move forward does match with "is_forward": true however, the unit of measure does not match as it should be based on distance (e.g., meters) not time (seconds).'] +Turn left 90 degrees and proceed forward for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["1; The natural language command only partially conforms to the JSON structure. It correctly specifies an action of rotation and the direction (left implies counterclockwise rotation), though it does not provide the 'angular_velocity' nor does it specify the unit as degrees. The command also includes an action of moving forward, which isn't captured in the JSON structure at all, let alone the duration of this movement. The JSON lacks keys for time or duration, suggesting these are not appropriate parameters for this ontology."] +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["3; Partially conform. The natural language command specifies a counterclockwise rotation of 90 degrees and a 2-second forward movement. These actions correlate with rotation and movement actions in the JSON command. However, the specifics do not entirely match. The JSON rotation action has a different angle (90 vs 40) and angular velocity (1 vs 0.35) compared to the natural language command. Additionally, distance is mentioned in 'seconds' in JSON which is a time unit and not consistent with the ontology specification which prescribes usage of a distance unit like 'meter'."] +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The natural language command is partially represented in the two JSON structures. The first JSON correctly describes the rotation action, including direction (anti-clockwise = false) and angle. The second JSON describes the movement action, with the correct direction (forward = true). However, the "distance" in the second JSON should indicated a specific distance, not time duration ("for 2 seconds"). Therefore, the JSONs do not fully conform to the natural language command.'] +Make a left turn of 90 degrees and proceed forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_VALUE, "angle": 90, "is_clockwise": DEFAULT_VALUE}} ', '{"action": "move", "params": {"linear_speed": DEFAULT_VALUE, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['3; The natural language command instructs the system to make a turn and move forward. The JSON information includes commands to rotate and move accordingly, but the values are not directly specified in the natural language command (DEFAULT_VALUE used in JSON). Also, the movement in the JSON is measured in distance (meters), while the command asks for a movement in time duration (seconds).'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['5; The natural language command exactly matches with the given JSON structure. The command instructs to move forward for 5 meters which is exactly what the JSON structure describes with "action": "move", "distance": 5 and "is_forward": true. However, the "linear_speed" in JSON doesn\'t match with the command because there is no information about speed in the command. But since it is not contradictory, it doesn\'t affect the conformity score.'] +Proceed ahead a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command precisely instructs to move ahead a certain distance, which aligns perfectly with the provided JSON structure\'s action ("move") and parameters (distance and direction).'] +Advance for a total of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches perfectly with the JSON structure. The action "move" is clearly specified, and the parameters: "distance" is set to 5, "is_forward" is understood to be True by the forward movement and "unit" is meter which matches with the command requesting to advance in meters.'] +Travel straight ahead covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];["5; The natural language command perfectly matches the JSON structure. It specifies a forward movement with a set distance which corresponds to the parameters given in the JSON structure. The command doesn't specify the 'linear_speed', but as it's not contradicted, it should be okay."] +Go forward a length of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['5; The natural language command fully conforms to the provided JSON structure. The action is to move forward, which is properly represented by the action "move" and "is_forward": true in the JSON. The distance of 5 meters is also accurately depicted in the JSON under "distance".'] +Turn left and continue for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}', '{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 10, "is_forward": true, "unit": "meter"}}'];["2; Partial conformity. The given natural language command asks for a left turn and a timed movement, not a specific distance. The JSON information includes an initial turn, but the direction isn't specified. A movement action follows, but the 'distance' parameter in the second JSON does not match the time-based command given. Angular velocity and linear speed are also not specified in the command but are included in the JSON. However, the pattern of commands (rotate then move) partly matches."] +Make a left turn and keep going for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structures partially match the command. The command is a two-part action, involving rotating and moving. The rotate action in the JSON conforms with "Make a left turn" in the command, except angular_velocity is not mentioned. The second JSON structure using the move action corresponds with "keep going", but the "for 10 seconds" part does not conform because the JSON is indicating a distance not a time duration.'] +Go left and continue for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['1; The JSON structure commands a move action with certain parameters (linear speed, distance, direction, and unit), while the natural language command suggests a left turn and then movement for a certain duration. However, the distance in the JSON structure is not matching the time mentioned in the command (10 seconds vs 5 units in JSON). Therefore, the conformity between the two is low.'] +Take a left turn and continue for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter", "duration": 10, "unit_of_time": "seconds"}}'];['2; While the actions described in the command do correlate to a "rotate" and "move" action, there are inconsistencies in the parameters of the JSON information. The command tells to take a left turn, but it does not specify the angular_velocity or determine whether it’s clockwise, necessary parameters for the JSON structure. Besides, it says to continue for a duration, but the JSON has distance as a parameter instead of time duration. Another confusion is that the JSON structure for "move" contains linear_speed and "rotate" contains angular_velocity, but no such information is provided in the command.'] +Proceed by turning left and maintaining that direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['0; The natural language command suggests a left turn and then a forward move for 10 seconds. However, the JSON structure contains a sequence of rotate and move actions with incorrect parameters (0 angular velocity for rotation, 0 distance and speed for moves). It does not match the command in the natural language, as values for action parameters are missing or incorrect.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; The JSON structure matches the action to "rotate" as specified in the natural language command. However, the angular velocity is incorrectly specified as 0 whereas no speed was mentioned in the command and the direction of rotation (is_clockwise: false) is correctly translated from \'counterclockwise\' in the natural language command. The rotation angle is correctly set to 90 from the command.'] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; The action in the command matches with the action in the JSON. The angle value also matches. However, the command specifies a counterclockwise rotation, but the JSON does not specify whether the rotation is clockwise or not. Additionally, the angular_velocity is given as 0 in the JSON which might not be possible for a rotation to happen.'] +Rotate in the opposite direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['2; The command is partially matched. The "action" matches with "rotate" but the "angular_velocity" is not provided in the command but exists in the JSON. More importantly, the direction "opposite" is not clear whether it implies counter-clockwise direction.'] +Perform a counterclockwise rotation of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 90, "is_clockwise": false}}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure. The action "rotate" is correctly identified, the angle of rotation (90 degrees) is specified correctly and the direction of rotation (counterclockwise, which is equivalent to "is_clockwise": false) is also reflected accurately in the JSON.'] +Move in a counterclockwise direction, turning by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'];['4; The action in the command is to rotate which matches the JSON. However, the angular velocity specified in the JSON does not match that in the command. Thus, it is not an exact match.'] +Back up 2 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -2, "is_forward": false, "unit": "meter"}}'];["4; The command 'Back up 2 meters and stop.' mostly matches the JSON structure. The action 'move' corresponds to the command, and most keys are used correctly like 'linear_speed', 'distance', 'is_forward', 'unit'. However, the 'stop' action indicated in the command is not captured in the JSON action. So, it's not a perfect match."] +Move back a distance of 2 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}}'];['2; The action "move" and the distance parameter have been correctly interpreted in the JSON command. However, the command also specified "moving back" which would imply "is_forward" is false, and "coming to a halt" implies "linear_speed" is 0 which doesn\'t match with the JSON structure. Therefore, only partial match is identified.'] +Reverse by 2 meters and come to a stop.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; The JSON action corresponds to the natural language command, but there\'s a mismatch with the "linear_speed" parameter. The JSON has "-0.5" whereas the natural language command does not specify the speed. Also, the "is_forward" parameter is not specifically stated in the natural language command but it is correctly assumed.'] +Retreat 2 meters and bring yourself to a standstill.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure mostly matches the command given, indicating a backward movement of 2 meters. However, the part of the command asking the entity to bring itself to a standstill is not represented in the JSON.'] +Step backward 2 meters and cease movement.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];["2; The JSON structure has correct keys (action, params, linear_speed, distance, is_forward, unit) and right parameters for the action given however the linear speed is positve though it is specified to move backwards in the command. The command also mentions 'cease movement' which is not represented at all in the JSON structure."] +Move forward at a speed of 0.5 meters per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'];['3; Partial conformity. The natural language command specifies linear_speed, "is_forward", and duration not distance in seconds, which is not directly supported by the JSON structure in this ontology. However, the linear_speed and is_forward parameters match the values in the natural language command, implying that the robot should move forward. The time duration instead of distance subtraction from the full conformity.'] +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}}'];["2; The JSON structure correctly identifies the action as 'move' and the linear speed as 0.5. However, the user command specifies duration while the JSON structure mentions distance. Furthermore, the unit in the JSON is also 'second' which doesn't align with the command or ontology structure."] +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "seconds"}}'];["3; The natural language command and the JSON structure partially match. The linear_speed is correctly translated into the JSON. But there is a mismatch in the understanding of 'Advance for 6 seconds' in the command. The intended interpretation should be a 'duration' key rather than 'distance'. And 'unit' as 'seconds' is not conform to the ontology of the unit parameter which should be 'meter'."] +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "seconds"}}'];["2; While the JSON structure suggests movement with a speed of 0.5 meters per second, the time period - 6 seconds - doesn't match the data structure. Furthermore, the implied distance in the natural language command (3 meters) doesn't explicitly appear in the JSON. Parameters for duration are absent in the JSON structure."] +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'];["3; The natural language command is almost correct but it's referring to the distance in terms of time (duration of 6 seconds) which does not exactly match with the JSON structure that expresses the distance directly in meters (3 meters here). In the ontology, there is no timing parameter."] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];["4; Partially conform. The rotation action is well represented in the command and the corresponding JSON structure. However, the linear speed value in the JSON structure for the movement action doesn't match the natural command."] +Make a right turn and proceed ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON information mostly matches the natural language command. The rotation action is spot on with the "angle" of 90 representing a right turn. The "move" action with "distance" set to 1 and "is_forward": true matches with the command to proceed forward for a distance of 1 meter. The "angular_velocity" and "linear_speed" parameters are present but not specifically mentioned in the natural language command, and neither is the "unit". Hence the slight deduction from a perfect score.'] +Take a right turn and continue moving straight for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4.4; The JSON structures mostly match the command, except the 'angular_velocity' value in the 'rotate' action is presented as 0.0 in the JSON but is not mentioned in the command. Hence, there is a slight mismatch."] +Head to the right and advance forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];["4; The natural language command matches partially with the JSON structure, The 'move' action and 'is_forward' attribute matches but the 'distance' parameter is not given in the JSON format. The direction 'right' indicated in the command does not exist in the JSON structure."] +Rotate right and proceed ahead for a length of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'];["1; Only part of the command (moving ahead for a meter) is somewhat reflected in the JSON structure. However, the specifics of the rotation (like angular velocity and angle), the linear speed for moving, and the direction of rotation (right or left - corresponding to clockwise or counterclockwise) aren't specified."] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["4; Main instruction match the 'action' key value but 'angular_velocity' value in JSON doesn't match the natural language command as no speed is mentioned."] +Turn in a clockwise direction until you have rotated 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; While the action and parameters mentioned in the natural language command match closely with the JSON structure, the angular_velocity specified in the JSON structure does not align with the command; no specific speed was mentioned in the command for the rotation, leading to a small mismatch.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 180, "is_clockwise": true}}'];['5; The natural language command accurately translates to the JSON structure, correctly assigning the "rotate" action and appropriate parameters such as the angle (180) and the direction (clockwise).'] +Rotate 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 180, "is_clockwise": true}}'];['5; The natural language command is perfectly matching the JSON command for rotation. It includes the angle and direction, which matches with the JSON structure.'] +Turn to the right until you are facing the opposite direction.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command asks for a rotation to the right (clockwise) by 180 degrees, which matches perfectly with the given JSON command, where the action is "rotate", the angle is 180, is_clockwise is set to true, and the unit is "degrees".'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['4; The natural language command matches mostly to the provided JSON structure. The "action" key corresponds to "move". However, the "distance" parameter is interpreted as time (3 seconds) in the natural language command, not as a spatial distance. Additionally, the "linear_speed" value is missing in the natural language command, while it\'s featured in the JSON command. The interpretation of movement direction as "backward" corresponds to "is_forward": false in JSON.'] +Go in reverse for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["1; While the action of moving is present in both the command and the JSON, the parameters do not match. The command specifies a duration of reversal, not a distance, while the JSON structure has no means of indicating direction reversal. Furthermore, the 'is_forward' parameter in the JSON doesn't match with the 'go in reverse' in the natural language command. Finally, the unit in the command is in 'seconds' and not in 'meters'."] +Reverse your movement for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["2; The command is partially correct according to the JSON structure. The 'action' key value, 'move', is a match. However, under 'params' the 'linear_speed' key can't have a negative, the 'distance' key is supposed to be the total numbers of meters and not the number of seconds the bot has to move backward, and the 'is_forward' key needs to be False for reversal of movement. The 'unit' key in this instance also needs to be in 'meter' rather than 'seconds'."] +Backtrack for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": false, "unit": "meter"}}'];["2; The natural language command suggests a backward movement for a duration rather than a specified distance. The JSON structure represents a backward movement but based on distance rather than time. The 'is_forward': false attribute aligns with 'Backtrack' in the command. The JSON structure doesn't mention 'time' or 'seconds' which is the basis of the command, hence the partial match."] +Take a 3-second step backwards.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "second"}}'];['4; The spoken command states for a step backwards for 3 seconds which aligns with the action: "move" and `is_forward": false` (indicating backward movement), but the `distance` field is not applicable here. Instead, the duration of the motion should be specified and the linear speed value in the JSON does not explicitly mentioned in the natural language command.'] +Turn left and continue for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'];['3; The natural language command correctly corresponds to the \'move\' action in the JSON structure. However, the \'rotate\' action in the JSON structure is not exactly conforming to the natural language command. This is because the natural language command indicates a \'left\' turn where as \'is_clockwise\' parameter in the JSON structure suggests a right turn if it\'s true. Furthermore, the values for \'angular_velocity\' and \'angle\' do not match the instruction implicit in the natural language command (\'turn left\'), and the units ("meters" vs "meter") are slightly mismatched.'] +Take a left turn and proceed straight ahead for a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; Partial conformity. The commands described in the natural language command ("Take a left turn and proceed straight ahead for a distance of 7 meters") are there in the JSON structures but with disconnect. The angle for a left turn isn\'t stated in the JSON, the default_value can\'t be considered valid here and angular_velocity should be mentioned. Also, there is no clarity on units of speed. Although the "move" action and some of its parameters match the second part of the natural language command, these discrepancies lead to only partial conformity.'] +Make a left turn and keep going for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": "undetermined", "distance": 7, "is_forward": true, "unit": "meter"}}'];['3; The natural language command does provide the action of rotation and moving a certain distance, which matches the JSON actions. However, the direction of rotation (left turn) and the distance to move (7 meters) are not specifically quantified in the JSON structures with the correct parameters ("angle" for rotation and "distance" for moving). Furthermore, linear speed or angular velocity are not specified in the natural language command but are present in the JSON.'] +Go left and carry on for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 7, "is_forward": false, "unit": "meters"}}'];['3; The action of moving is correct and the parameters such as distance and the unit meters also match. However, there are missing elements such as "is_forward" not being specifically expressed in the command. Also, \'left\' direction in the command is not incorporated in the JSON, and the \'linear_speed\' value doesn\'t match the one in the command (there\'s no speed mentioned).'] +Head to the left and continue for a length of 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": false, "unit": "meters"}}'];['3.5; The natural language command instructs to head to the left, which isn\'t represented in the JSON. However, the part to \'continue for a length of 7 meters\' matches with the "move" action and correct distance. The "is_forward" field doesn\'t match with the \'head to the left\' instruction. The "unit" is correct. The "linear_speed" field in JSON isn\'t present in the command.'] +Move forward at a speed of 1 meter per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['5; The command matches exactly with the JSON structure. The action is "move" and parameters include "linear_speed", "distance", and "is_forward", all which match with the command given.'] +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "second"}}'];["3; The natural language command specifies action to move forward with certain speed and for a certain duration, which is partially reflected in JSON. However, instead of setting the time (duration) parameter, the JSON structure specifies distance, which do not exactly align. There's no exact match for the duration in the command to reflect it in the JSON structure."] +Advance for 4 seconds, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['4; The language command and the JSON structure match each other, but the JSON structure lacks the clarity to specify the unit of "distance". According to the command, "distance" should be in seconds, but there is no such specification in the JSON structure.'] +Travel forward for 4 seconds, moving at a rate of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['3; Although the natural language command communicates movement, the magnitude (duration) of the movement according to the command does not match the JSON structure. The context implies that the distance should be 4 meters not 4 seconds according to the "moving at a rate of 1 meter per second" clause. Also the "unit" in the JSON is set to "seconds" which is not present in the provided keys of the sample ontology, it should be "meter". Overall, it partially matches the JSON structure but does not fully conform to the sample ontology.'] +For a period of 4 seconds, move ahead at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; The given command exactly matches the JSON format in terms of action (move), linear_speed (1 m/s), distance (4 m/s or for a period of 4 sec) and the direction of movement (forward). The unit for the distance measurement (meter) also matches. Thus the JSON perfectly represents the natural language command curtailed in the given ontology.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['2; The command partially matches with the JSON action and parameters, the rotation action and degree of rotation are correct. However, the direction of rotation (counterclockwise) contradicts with the "is_clockwise" parameter in the JSON (set to False). Furthermore, the "angular_velocity" value provided in the JSON is 0, while it should correspond to a certain speed.'] +Change the orientation by 45 degrees in a counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];["4; The natural language command mostly conforms to the JSON structure in terms of the action and parameters. However, the 'angular_velocity' in the JSON structure is set to 0, which does not match or it doesn't convey from the natural command."] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['3; The direction of rotation (left) is implied correctly as anticlockwise in the JSON, and the rotation angle is also correct in both. However, the value for "angular_velocity" isn\'t provided in the natural language command, and the JSON incorrectly uses 0 for this value.'] +Rotate anticlockwise by an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['2; The natural language command and the JSON structure only partially conform. The rotation action and the units match, and the command specifies an anticlockwise movement which corresponds to is_clockwise": false in Json. However, the angle specified in the command (45 degrees) does not match the angle given in the JSON (40 degrees), and the natural language command does not include any information to correspond with the "angular_velocity" parameter in the JSON.'] +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['3; The natural language command does match with the JSON structure overall, but with discrepancies. The angular_velocity in the JSON structure is 0.35, but the natural language command does not specify any speed rate to rotate, and the rotation angle in the command is 45 where as in the JSON structure it is 40. The rotation direction specified in both natural language command and JSON structure does match.'] +Go straight for 8 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; The natural language command does match with the JSON command for moving a certain distance forward. However, the natural language command does not mention anything about the speed, which makes the "linear_speed" field in the JSON command arbitrary. Hence, the match is not exact.'] +Proceed in a straight line for a distance of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; The natural language command perfectly matches the provided JSON structure. The action type "move" and the parameters such as "distance", "linear_speed", "is_forward", and "unit" accurately correspond to the command of moving forward for a certain distance.'] +Continue in a straight direction for a span of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Maintain a straight path for a duration of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];["4; Not exactly conform. The natural language command matches with the JSON structure in terms of action and distance. However, the command doesn't specify the 'linear_speed' and 'is_forward' which are present in the JSON structure."] +Stay on course for a distance of 8 meters ahead.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command instructs to move a certain distance forward. The given JSON structure also has the action as "move", the "is_forward" parameter is set to True and the "distance" is given, which matches the command. The "linear_speed" doesn\'t directly conform but it\'s not mentioned in the natural language command so it doesn\'t interfere with the score.'] +Turn right and move forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "second"}}'];['2; The provided JSON structures almost match the natural language command, except for a couple of key details. Firstly, the rotation JSON structure lacks the values for angular_velocity and angle, which is crucial. Secondly, the command specifies moving "for 2 seconds", suggesting a timed action, but the JSON structure for movement specifies distance instead, which is inconsistent with the command. Also, the initial rotation is indicated in the natural language command ("turn right") but not reflected in the values provided in the JSON structure.'] +Proceed straight for 2 seconds after making a right turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["1; The command implies a distinct two steps - rotation and linear motion, however, the provided JSON structure only represents a linear motion action. No rotation or turn is considered, therefore it does not wholly conform to the command. Also, going straight for a duration ('seconds') is different than going for a specified 'distance'."] +Take a right turn and continue moving ahead for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} {"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'];['1; The given natural language command prescribes to take a right turn and move forward for a duration of 2 seconds. However, the provided JSON structure does not include the duration of the movement (2 seconds), neither does it provide values for angular velocity, angle or linear speed. The JSON keys do match the overall action but the specific parameters/values prescribed by the initial command are not seen in the JSON structure.'] +Make a right turn and advance forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "second"}}'];["2; While the commands of rotation and move are present in the natural language command, the parameters including angular velocity, angle and linear speed are not mentioned and assumed instead. The unit of distance in the move command is also incorrectly stated as 'second' instead of 'meter' in the JSON structure."] +After turning right, keep moving forward for a period of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": default_angle, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure partially matches the natural language command. The "rotate" action is correctly mentioned in the command but the "move" command in the JSON structure does not fully conform. The natural language command mentions a time period while the JSON structure represents a distance which can\'t be inferred directly.'] +Move backward for 4 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false}}'];['4; The JSON structure mostly matches the natural language command. However, the natural language command has the additional specification to "stop" which isn\'t represented in the JSON structure. Additionally, the linear speed value provided in the JSON does not match the command. The speed isn\'t specified in the command.'] +Reverse for a distance of 4 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The natural language command generally matches the JSON structure. The "move", "distance", and "unit" parameters match perfectly. However, the "is_forward" value is not mentioned in the command and would require interpolation. And the "linear_speed" is set to 0 in JSON while command mentions about halting only after covering some distance.'] +Go back for 4 meters and then come to a stop.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'];['0; None of the JSON structures match with the natural language command. The command refers to going back a certain distance and then stopping, but none of the JSON structures encapsulate this information. The closest JSON pertains to moving at a certain speed and distance, but it does not cover the notion of moving backwards or stopping.'] +Take 4 meters in reverse and cease movement.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['2; The JSON command includes an action of the robot moving and its parameters. Despite the fact, the natural language command is about taking 4 meters in reverse which corresponds to "distance" key and "is_forward": false in the JSON command, linear speed cannot be negative and the stop action ("and cease movement") is not represented in the JSON structure.'] +Travel in the opposite direction for a distance of 4 meters and then pause.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}', '{"action": "pause"}'];['2; The natural language command matches partially with the JSON structure. It corresponds to the action "move" with parameter "distance" and possibly negative "linear_speed" considering the phrase "opposite direction". "is_forward" is false as it says "opposite direction". However, JSON doesn\'t include an action for "pause" which is mentioned in the natural command. Moreover, the natural language command does not provide information on linear speed, which is in the JSON structure.'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true}}'];['5; The natural language command matches perfectly with the JSON structure. The command is asking for a rotation, which corresponds to the "action": "rotate" in the JSON. The direction "clockwise" is captured by "is_clockwise": true. And the degree of rotation "270 degrees" aligns with the "angle": 270 in the JSON response.'] +Turn to the right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 270, "is_clockwise": false}}'];['5; Exactly conform.'] +Move in a clockwise direction, rotating 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['4.5; Mostly conform. The action of rotation and the direction (clockwise) match. The angle matches too. But the "angular_velocity" value provided in the JSON is 0, which is not specified in the natural language command.'] +Spin in a clockwise manner, completing a 270 degree rotation.;['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['3; Although the natural language command matches the JSON structure in terms of the action ("rotate") and parameters such as "angle", "is_clockwise", and "unit", the value of "angular_velocity" is not specified in the command yet it is implemented in the JSON structure.'] +Rotate by 270 degrees in a clockwise fashion.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 270, "is_clockwise": true}}'];["4.5; The natural language command matches with the JSON structure in terms of action (rotate) and parameters (angle = 270 and is clockwise = true). However, angular velocity wasn't specified in the command but is present in the JSON structure, hence the slight deduction."] +Turn left and continue for 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The natural language command indicates a rotation (turning left) and then a movement, but the provided JSON structure only indicates a forward movement. The rotation is missing, so the conformity is only partial. Additionally, the linear speed in the JSON structure does not match with the command since no specific speed was mentioned.'] +Make a left turn and keep going for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The natural language command and JSON-object mostly align. The rotation is included with the correct direction ("left" matches with "is_clockwise": false) and the distance for the move action is correctly specified. However, the JSON-object includes an angular_velocity for the rotation, and a linear_speed for the move command that were not specified in the natural language command. The angle of rotation is also assumed to be 90 degrees in the JSON-object which is not explicitly stated in the natural language command.'] +Proceed straight for 3 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['2; The JSON structure does not contain all the information conveyed in the natural language command. The rotation or turning action mentioned in the command is not reflected in the JSON structure.'] +After turning left, travel straight for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];["3; The natural language command partially aligns with the JSON structure. The 'move' action and the 'distance' parameter (with value 3 meters) in the command can be identified in the JSON. However, 'linear_speed', 'is_forward', and 'unit' do not have explicit counterparts in the command. Additionally, the 'turning left' mentioned in the command is not reflected in the JSON structure provided."] +Take a left and continue on for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['1; The natural language command instructs the action to "take a left" which more likely refers to rotation rather than linear motion but the JSON structure infers a "move" action. While the \'distance\' of 3 meters is present in the JSON, there is no mechanism to denote the direction (left or right) in the JSON structure. The \'is_forward\' parameter in the JSON is \'false\' which does not necessarily interpret as "take a left".'] +Move forward at a speed of 0.3 meters per second for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter", "duration": 5, "time_unit": "second"}}'];["2; The natural language command and the JSON structure do not completely conform because the natural language command uses the term seconds. The JSON structure does not include a time or duration parameter. Additionally, the distance parameter in the JSON structure doesn't match to the natural language command as it is calculated by multiplying speed and time as per the given command."] +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["0; The natural language command instructs the object to move forward at a particular speed for a set duration, but the provided JSON structure does not provide a key for duration. The JSON structure also holds the 'unit' as 'seconds', which is inconsistent with the natural language command that refers to 'meters per second'. The value for 'distance' in the JSON is also inconsistent with the natural language command."] +Advance at a rate of 0.3 meters per second for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["2; The commands are both moving actions. However, the natural language command indicates moving specific speed in a specific duration while the JSON specifies moving a certain speed for a certain distance. The units don't match up either: the natural language command uses time (seconds) as the unit while the JSON uses space (meters)."] +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true}}'];["3; The given natural language command corresponds to an action of moving forward at a certain speed for a certain time, which aligns with the movement-related JSON structure. However, it does not match exactly. The JSON has a 'distance' parameter but the command provides time. The speed parameter is also not matching: in the command it is '0.3' but in JSON it's '0.5'. Also the unit 'second' in the command doesn't have corresponding field in JSON. Therefore, score is not high."] +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "second"}}'];['1; Only the "action" and "is_forward" fields match with the natural language command, while "linear_speed" and "unit" conformity is partial and the "distance" value doesn\'t match at all. Since the command specifies time (seconds) rather than distance (meters), the command and the JSON structure don\'t fully align.'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; Mostly conform. The action of rotation and the units of degrees match with the command. However, the angle in the command is 60 degrees instead of 40 degrees mentioned in the JSON. And although the direction of rotation is specified, the counterclockwise direction in the command contradicts the "is_clockwise" value. The JSON also includes "angular_velocity" which is not specified in the command.'] +Turn 60 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": false}}'];['2; The natural language command instructs to "Turn 60 degrees counterclockwise" which somewhat matches to the JSON action of "rotate" but keywise, the angle in natural language command is 60 as compared to 40 in the JSON. Also, the "is_clockwise" in JSON is variable which doesn\'t directly correspond to \'counterclockwise\' direction in the natural language command. The conformity is not accurate.'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['1; The natural language command is mostly matching with the JSON information given for the "rotate" action. However, there are some differences: the "angular_velocity" in the JSON structure is 0.35, but there is no information provided in the command about it and the "angle" is specified as 60 in the command, while it is 40 in the JSON structure. Therefore, the level of conformity is low.'] +Rotate to the left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; This partially conforms. The action of rotating is accurately represented by the "rotate" action in the JSON. However, the "angular_velocity" in the JSON does not match the command\'s lack of specified speed, and the direction of rotation in the command, which mentions "left," is not accurately represented by the "is_clockwise" Boolean value in the JSON.'] +Make a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];['3; The command specifies a counterclockwise rotation of 60 degrees, which is almost presented correctly in the JSON format. However, the "angular_velocity" is given as 0, which may imply no rotation at all. The rotation direction is rightly given as "is_clockwise": false (representing a counterclockwise rotation). Because of the incorrect "angular_velocity" value, it\'s not an exact match, but close.'] +Go straight for 6 seconds.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['1; JSON command involves moving a certain distance with a specified linear speed however the natural language command is telling to go straight for a specific period of time (seconds), not distance. Both refer to moving forward but parameters are not matching exactly.'] +Proceed in a straight line for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['1; The natural language command asks for moving duration time, but the JSON structure refers to forward movement with specific speed and distance, without mentioning time at all.'] +Keep moving forward in a straight path for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}}'];['1; The natural language command instructs to move forward, however, the duration (6 seconds) is mentioned instead of distance. The JSON structure contains speed, distance, direction (forward), and unit which is not matched with the command. There is a partial matching because the direction (forward) and action (move) can be inferred correctly but duration cannot be translated to distance without information about speed.'] +Maintain a straight course for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}}'];["1; The command asks to maintain a straight course but doesn't specify a direction, speed, or distance. The JSON structure has this information, but there is a mismatch as the values for linear_speed and distance are both 0 in JSON which does not interpret into maintaining a straight course or effectively moving."] +Continue in a straight direction for a period of 6 seconds.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": default_linear_speed * 6, "is_forward": true, "unit": "seconds"}}'];['4; The natural language command is directing for a straight direction movement which correlates to the move action in the JSON structure. Although distance cannot be directly related to the time of 6 seconds, it can be indirectly calculated by multiplying linear speed and time. Hence, the overall command conforms fairly well with the JSON structure but uses time as a measure for distance.'] +Turn right and move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; Partial match. The intent of the command is captured in the JSON code as both involve moving forward for a certain distance. However, there is no specification for the direction to turn (right), and the linear speed, is_forward, and unit keys are different in the JSON structure. Also, \'7\' and \'1\' are the values for "distance" and "linear_speed" instead of \'undefined\' and \'0.5\'.'] +Take a right turn and proceed straight ahead for a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'];['2; The natural language command instructs the object to take a right turn and move straight ahead for a distance of 7 meters. The provided JSON structures do represent a rotation and movement action, similar to as specified in the command. However, there are several discrepancies between them. The angle of rotation, directions, speed, and unit of distance aren\'t specified in the command, but are incorrectly assumed in the JSON. Also, both JSONs lack "unit" key in \'rotate\' action and value in \'move\' action, resulting in partial conformity.'] +Make a right-hand turn and continue moving forward for a length of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'];["3; Although there is a general match in terms of actions performed (moving and rotating), details such as the angular velocity, linear speed, and exact rotation angle are missing in the natural language command. Furthermore, the rotation command in JSON structure is not entirely compliant; it specifies a 90 degrees turn while the natural language command indicates a right-hand turn, but it doesn't clearly state how many degrees that is."] +Head to the right side and advance for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true, "unit": "meter"}}'];["4; The natural language command partially matches with the JSON structure. The action of moving forward is clearly identified and the parameters of distance and is_forward also match. However, there are missing parameters in the JSON such as linear_speed and the command doesn't specify the direction (right side) as per JSON structure. Thus, it doesn't exactly conform to the sample ontology."] +Rotate to the right and travel straight for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; Although both actions specified, "rotate" and "move", match those in the JSON representation, the parameters used do not conform with the natural language command. There\'s no specification of the angular velocity in the command and yet it\'s arbitrarily set to 0.5 in the JSON. Additionally, the command specifies a rotation to the right (which implies it to be clockwise) but there\'s no such parameter in the JSON ("is_clockwise": true). Similarly, for the "move" action, there\'s no mention of "linear_speed" in the command, yet it\'s arbitrarily set to 1 in the JSON. Furthermore, "distance" mentioned in the command does match the corresponding value in the JSON, while "is_forward": true corresponds to the straightforward movement.'] +Move 2 meters forward.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'];['5; The action \'move\' and params \'distance\' and \'is_forward\' exactly match with the Natural language command. But "linear_speed" does not, but it\'s 0 which may symbolize unspecified speed, hence a 5.'] +Proceed straight ahead by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'];['3; Although the natural language command matches with the JSON ontology structure, but it does not specify the speed of movement which is an important parameter in the given JSON structure. Hence, it cannot be considered as a perfect match.'] +Advance 2 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The natural language command correlates with the JSON structure but the "linear_speed" value is not specified in the command, it is arbitrarily set to 0.5 in the JSON structure.'] +Take a step forward for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The natural language command instructs to step forward for a distance of 2 meters which is reflected in the JSON command. However, there\'s no information to match the "linear_speed" value (0.5) in JSON with the natural language command.'] +Move straight ahead, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meters"}}'];['4; The command matches the JSON structure quite well, with action, distance, and direction correctly represented. However, the specified linear speed in the command is missing in the JSON structure. Also, the distance unit in the JSON structure is "meters" while in the command it is "meter".'] +Turn left and move forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["1; Although the command results in a movement, the JSON structure doesn't properly align with the command as it doesn't account for the rotation operation. Additionally, the command specifies movement for a duration (5 seconds) rather than a distance, which doesn't align with the JSON structure provided."] +Move forward for 5 seconds after turning left.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["1; The natural language command requests to move forward for 5 seconds after turning left, but the provided JSON structure only portrays moving forward. The JSON structure does not specify moving forward for a time of 5 seconds, but for a distance. Also, the action of turning left isn't outlined in the JSON at all.", ''] +After making a left turn, proceed forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["2; The natural language command partially matches the JSON structure. The 'move' action and 'is_forward' parameter match, but 'linear_speed' is missing in the command and 'distance' is mentioned in seconds instead of a unit of length in the JSON structure. There is also no mention of a left turn in the JSON structure."] +Take a left turn and continue moving forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "second"}}'];['0; The JSON command doesn\'t match the natural language command. The JSON describes a "move" action with certain parameters, while the natural language command includes a different action- taking a left turn, which could be implemented as a "rotate" action. Furthermore, the indicated time duration (5 seconds) in the natural language command is not reflected in the JSON structure.'] +Start moving forward for 5 seconds after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 5, "is_forward": true}}'];["1; The first JSON structure, representing a rotation, mostly matches the command, apart from angular velocity which should not be zero. The second JSON structure, representing a linear movement, does not conform properly to the command since it uses 'distance' in meters rather than 'time' in seconds as instructed in the command. The concept of moving for a time duration is not captured in the JSON."] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['1; The natural language command asks to rotate counterclockwise by 90 degrees but the JSON information indicates 40 degrees for rotation. The JSON information does not clearly state if the rotation is to be done clockwise or counterclockwise. Although the rotation action matches, the parameters in the JSON structure do not fully correspond with the natural language command.'] +Rotate 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'];["2; The natural language command is a rotation but the angle given is not the same as the one in the JSON structure (90 degrees in command vs. 40 degrees in JSON), and there's no specific angular_velocity mentioned in the command as indicated in JSON structure."] +Perform a counterclockwise rotation of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; The natural language command exactly matches the JSON structure. The JSON structure indicates a "rotate" action with an angle of 90 degrees in the counterclockwise direction, which corresponds to the natural language command.'] +Rotate by 90 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command and the JSON information partially match. The JSON structure accurately represents an action of rotation and a rotation angle of 90 degrees in a counterclockwise direction (represented as false in "is_clockwise"). However, the "angular_velocity" in JSON is mentioned as 0, which is not specified in the natural language command.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["1; Only part of the natural language command is included in the JSON structure. The command 'turn left' represents a rotation action, which partially matches with the JSON structure. However, the 'angular_velocity' in the JSON structure is set to 0, which does not match the command. Moreover, the 'is_clockwise' parameter is missing a boolean value in the JSON structure, which creates ambiguity because turning left generally suggests a counter-clockwise rotation."] +Move 3 meters backward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meters"}}'];['3; The natural language command matches with the "move" action in the JSON structure, but the "linear_speed" value in the JSON is 1, while the command doesn\'t specify it. The "distance" and "unit" in the JSON also match with the command. However, the direction in the JSON is specified as "is_forward": false, which is not explicitly mentioned in the command but could be inferred from the word \'backward\'.'] +Go back 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The natural language command generally matches the JSON structure, but the "linear_speed" value in the JSON structure is 1.0 instead of being unspecified in the natural language command. The "is_forward" parameter is correctly marked as false to indicate moving back.'] +Retreat 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The command "Retreat 3 meters" corresponds to the action "move" and the specific parameters in the JSON structure like "distance" and "unit". However, the "linear_speed" is specified in the JSON, but not in the command, and there is no information in the command to infer that the speed should be 0.5. The "is_forward" parameter in the JSON structure is correctly set as "false" which corresponds to the "retreat" direction in the command.'] +Step 3 meters in reverse.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];["0; The natural language command suggests for the move action to perform in reverse (is_forward: false) with a distance of 3 meters, but the actual JSON structure data indicates moving with a linear_speed of 0.5 (implying forward movement: is_forward: True). There is a discrepancy between specified direction in the command and JSON. Also, linear_speed value doesn't match with any information from the command."] +Travel in the opposite direction for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The command matches the JSON structure well as it includes movement action and measurement of movement in meters which are present in the JSON structure. However, the command does not specify the linear speed, hence the slight reduction in points.'] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The commands mostly conform to the JSON structures. The action of rotating is properly specified with the angular velocity, angle, and direction in the first JSON structure while the action of moving is described with linear speed, distance, direction, and unit in the second JSON structure. However, the angular_velocity in the rotate command in the JSON structure is given as 0, which does not align with the natural language command of "turn right".'] +Take a right turn and proceed straight ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 90, "is_clockwise": true}, "action": "move", "params": {"linear_speed": "default", "distance": 1, "is_forward": true, "unit": "meter"}}'];['4.5; The natural language command is well represented in the JSON structures, however it assumes default angular velocity for rotation and linear speed for moving which are not specified in the command but are in the JSON. The value of 90 degrees is inferred as a right turn.'] +Make a right turn and advance ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];["3; The JSON structures reflect the action of turning right and moving forward for a distance. However, there are some mismatches with the values. In the natural language command, it's not specified how fast to turn, while the JSON paints a different picture, stipulating an angular velocity of 0.5. Also, the turning angle in the command is not clearly specified, but the JSON structure suggests a 90 degree turn."] +Head to the right and continue moving forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The command partially matches the JSON structure. The command indicates moving forward by 1 meter which is accurately represented in the JSON structure (with "distance": 1,"is_forward": true), but the command of "Head to the right" is not reflected in the JSON used. It might require a "rotate" action that is not present. Moreover, the "linear_speed" is specified in JSON but not mentioned in the command.'] +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": true}, "action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['1; The provided JSON does not conform exactly with the natural language command as it does not mention to which direction to rotate and to proceed in a forward motion. Also, the "unit" is mentioned in the sample JSON structure but is not specified in the natural language command. The "angular_velocity" and "distance" mentioned in the relevant JSON structures are also not correctly provided.'] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['5; Exactly conform. The command "Go to the living room and stop" perfectly matches with the JSON structure as the \'action\' is set to \'go_to_goal\' which corresponds to the action in the command, and the \'value\' of \'location\' is set to \'Living Room\' which is exactly the place mentioned in the command. The additional command \'stop\' is understood to be implicit in \'go_to_goal\'.'] +Please proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living room"}}'];["1; The natural language command asks the system to go to the living room while the JSON information describes a go_to_goal action to the kitchen, not the living room. Therefore, the natural language command doesn't match with the JSON information."] +Make your way to the living room and cease moving.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['2; The natural language command instructs to go to the "Living Room" but the JSON structure mentions the location as "Kitchen". Although the action and structure conform, the location does not match with the command. The part "and cease moving" in command is not represented in JSON.'] +Head to the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "living room"}}'];["2; Partial conformity. The action 'go_to_goal' and the concept of moving to a specific location are matching with the natural language command, but the 'params' value in the JSON structure does not match with the given command. The location mentioned in the JSON structure is 'Kitchen' whereas in the command it's 'living room'. Furthermore, the command to 'stand still' is not reflected anywhere in the JSON structure."] +Move towards the living room and come to a stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['4; The natural language command is asking to "move towards the living room", which equates to the action "go_to_goal" and the location "Living Room" in the given JSON structure. However, "and come to a stop" isn\'t represented anywhere in this JSON structure, so it is not a perfect match.'] +Move 4 meters forward at a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The natural language command somewhat matches the JSON information. Linear speed and distance are correctly interpreted and matched. However, in the JSON structure the linear_speed is 0.5 but in the natural command it is asked for 2 meters per second. The action "move" and the direction "forward" are correct as well. Unfortunately, the information about the unit is missing in the natural command.'] +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The natural language command and the JSON structure are almost perfectly matched. The values of "distance" and "linear_speed" in JSON are the same as those in the command. However, the value for "distance" in the JSON is indicated as a variable (distance), not a numerical value as stated in the natural language command. The same goes for "linear_speed".'] +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];["5; Exactly conform. The natural language command perfectly matches with the JSON structure in terms of action and parameters. The values of 'linear_speed', 'distance', 'is_forward', and 'unit' keys are also correctly specified."] +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The natural language command mostly matches the JSON structure. The action and parameters "move", "linear_speed", "distance", "is_forward", and "unit" are correctly interpreted. However, the linear speed provided in the command does not match the value in the JSON structure.'] +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform. The natural language command accurately reflects the move action in the JSON structure, with a linear speed of 2 (not exactly per second but implies), covering a distance of 4. It is also implied that the movement is forward. Unit is also successfully implied as meters.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true}}'];['5; The given natural language command "Rotate clockwise by 180 degrees" matches perfectly with the JSON structure provided. The action "rotate" and parameter "is_clockwise" as True are correctly indicated. The angle parameter is also correctly translated as 180 degrees. The "angular_velocity" parameter isn\'t directly mentioned in the command but its placeholder \'default_value\' indicates a default velocity will be used for the rotation which is an acceptable interpretation. Therefore, the conformity score is 5.'] +Turn 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["5; The natural language command 'Turn 180 degrees in a clockwise direction' perfectly matches with the JSON structure where the action is set to 'rotate' with params setting an angle of 180 degrees and clockwise rotation is set to true.", ''] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command matches perfectly with the provided JSON structure. The action "rotate" along with the parameters "angle": 180, "is_clockwise": true, and "unit": "degrees" are all clearly stated in the command.'] +Rotate by 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The natural language command "Rotate by 180 degrees in the clockwise direction" perfectly matches the JSON structure where "action" is "rotate", "angle" is 180 and "is_clockwise" is true.'] +Turn in a clockwise fashion, rotating 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": true}}'];["4; The natural language command closely matches the JSON structure. The rotation action, the angle value of 180 degrees, and the clockwise direction are all correct. However, the natural language command does not specify the angular velocity, hence it's not exactly conforming to the JSON structure."] +Turn left and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['3; Partial match. The JSON commands are to rotate and move forward which matches with the natural language command. However, there are mismatches such as rotation angle is not specified in natural language command and unit in JSON is expected in singular form as per sample ontology. In addition, no values provided for "angular_velocity" and "linear_speed" in JSON structure against natural language command.'] +Make a left turn and proceed straight ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['3; Partially conform. The direction of the turn (left) and the direction of movement (straight ahead) in the command are reflected in the JSON structures (with "is_clockwise": false indicating a left turn, and "is_forward": true indicating moving straight). The distance of 3 meters is also reflected. However, the angular_velocity and linear_speed values in the JSON do not directly correspond to information given in the command. Additionally, the command does not indicate the angle for the turn, which is set as 90 degrees in the JSON.'] +Take a left and continue moving forward, covering a span of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['3; The natural language command does include a request to "move" covering a "distance" of "3 meters", which matches the "action" and "params" of the JSON structure. But, the command also includes specific direction "take a left" which is not represented in the JSON. Moreover, the JSON includes "linear_speed": 0.5 but it\'s not mentioned in the command, which can\'t implicitly be inferred.'] +Rotate to the left and advance for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'];["1; The natural language command provides a direction for rotation but no FJSON structure is given for it. Also, for the 'move' action, no unit of 'meter' or direction 'forward' is mentioned."] +Shift towards the left and travel straight for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The command corresponds with the move action in the JSON structure, including distance and direction (forward). However, there is no reference to "shifting towards the left" in the JSON structure, causing a minor mismatch. Additionally, the JSON structure explicitly states a "linear_speed" parameter, which is not mentioned in the command.'] +Move 2 meters backward at a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command directly expresses the contents of the JSON structure. The direction of the movement is backward (is_forward: False), the speed is 0.5 meters/second (linear_speed: 0.5), and the distance to be moved is 2 meters (distance: 2), all specified in metric units (unit: "meter").'] +Back up 2 meters with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -2, "is_forward": false, "unit": "meter"}}'];['4; Almost fully conform. The direction of the movement is considered but represented differently: "Back up" is represented as "is_forward": False. However, the JSON structure doesn\'t include the negative distance, which should be there to represent \'back up\'.'] +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; The natural language command exactly matches the JSON structure. The action is moving, the speed indicated is 0.5, the distance to move is 2 meters and the direction is correctly tagged as not forward (is_forward: false), implying reverse. All keys completely conform with the natural language command.'] +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; The natural language command partially matches with the JSON structure. The command instructs to move at a speed of 0.5 m/s but for a certain duration which should cover a distance of 2 meters, which is accurately represented in the JSON structure where "linear_speed": 0.5 and "distance": 2. But the command instructs to retreat which means to move backwards, and there\'s no "is_forward": false in JSON structure . Hence, the score is 4.'] +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command perfectly describes the action and parameters found in the JSON structure. The action is to move, the linear speed is 0.5, the distance to cover is 2 meters, and the movement is not forward, which implies backward movement.'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['5; The natural language command instructs to go to a specific location (bedroom), which perfectly matches with the provided JSON structure where the action is "go_to_goal" and the location parameter is also provided. However, the command also mentioned "stop" which isn\'t represented in the JSON, but it is generally implied in the "go_to_goal" action as the goal is to reach a certain location and then stop. Despite this, the conformity score is 5 as the command still matches with the fundamental components of the JSON structure.'] +Please proceed to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['5; The action "go_to_goal" in the JSON is directly in line with the command to "proceed to the bedroom". The params also align with the command, noting the location is a string type (versus integer or others), and correctly labeled as "Bedroom".'] +Make your way to the bedroom and cease your movement.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "bedroom"}}}'];['2; The command is about going to a specific location (bedroom) but the JSON structure represents going to a different location (Kitchen). However, the structure of the command and JSON are aligned (same action type "go_to_goal" and parameter type in "location"). The location value is the only mismatch here.'] +Head to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['1; The natural language command refers to the action of going to a location, specifically the "Bedroom". This partially conforms to JSON structure where the action is "go_to_goal" with a parameter of location typed as "Kitchen". However, the natural language command specifies "Bedroom" and not "Kitchen" - hence the matching is not exact. The "pause" is also not represented in the JSON structure provided.'] +Go to the bedroom and stand still.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['3; The natural language command asks to go to the bedroom and stand still. The JSON structure has the right action "go_to_goal", but the "location" parameter is "Kitchen" not "bedroom". The command to stand still is not represented in the JSON.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["4; The language command mostly matches with the JSON structure but there's a slight mismatch between the values of the angle - 45 degrees in the command versus 40 degrees in the JSON and the angular velocities are different."] +Turn 45 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The natural language command corresponds with the action "rotate" in the JSON structure. The argument "45 degrees" is correctly represented with the key "angle". However, the command specifies counterclockwise direction while the JSON entails the key "is_clockwise" which is opposite. Also, angular_velocity has not been mentioned in the command while it is present in the JSON structure. Due to these mismatches, it\'s not exactly conforming so a score of 4 is given.'] +Rotate anticlockwise at an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; Mostly conform. The natural language command correctly maps to the action "rotate" and provides an angle that matches the JSON structure. However, it doesn\'t provide information on the "angular_velocity". Also, "is_clockwise" is correctly interpreted as false from "anticlockwise".'] +Rotate left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['1; The natural language command partially conforms to the JSON. The action "rotate" and angle "45" are correctly interpreted, however it should specify "is_clockwise" value and "angular_velocity" isn\'t mentioned in the natural command.'] +Perform a 45-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['2; The command bis correct but the angular_velocity is not specified in the command, it should not be 0 while the action is rotation.'] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'];["4; The commands are mostly accurately represented in the JSON structures. The rotation action is correctly represented as being clockwise, but the angular_velocity is not specified in the command. The movement action is correctly represented, assuming a linear_speed of 0.5 is default or an acceptable value considering it's not mentioned in the command. However, the angle in the rotate command in the JSON structure is not mentioned in the natural command, so we cannot confirm it's correctness."] +Proceed forward for a distance of 4 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];["2; The JSON instructions broadly capture the actions in the natural language command (rotating and moving). However, there are discrepancies in the specifics. The rotation in the natural language command signifies a right turn, which usually denotes a 90 degree rotation, but the JSON information records it as an undefined variable 'is_clockwise' and an angle of 40 degrees. The natural language command also specifies a distance of 4 meters, while the JSON again has an undefined variable for 'distance'. The JSON and natural language command do not match completely, hence the score is not full."] +Take a right and continue moving ahead for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 1.0, "angle": 90, "is_clockwise": true}} {"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "meters"}}'];['4; The natural language command and the JSON information align in their objectives of movement and direction. However, the angular_velocity and linear_speed in the JSON command do not match the natural language command as no speed information was specified.'] +After making a right turn, advance straight for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];["2.5; The natural language command does mention a move action with a certain distance. However, it also mentions a rotation which isn't reflected in the JSON structure. The mentioned moving speed isn't mentioned in the natural language command as well."] +Make a right-hand turn and proceed forward for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['2; The natural command is asking for a right hand turn and a forward move, however in the JSON only the move action is given. The rotation or turn action is not mentioned in the JSON.'] +Move 1 meter forward at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON format matches the command well, conveying the same action of moving forward a certain distance (1 meter) at a specific speed. However, the speed indicated in the command (1 meter per second) is not the same as in the JSON (0.5). Plus, there\'s an absence of parameter "linear_speed" value statement in the natural language command.'] +Proceed ahead by 1 meter with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; Partially conform. The natural language command correctly matches with the action of moving forward. The given distance and linear speed in the command match with the 'distance' and 'linear_speed' parameters in the JSON structure. However, the velocity is not accurately represented as 0.5 in the JSON structure, but as 1 in the natural language command."] +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches well with the JSON information but it does not specify whether the movement should be forward or backward, hence it lacks total conformity with the "is_forward" key in the sample ontology.'] +Go one meter ahead, moving at a rate of one meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The natural language command is perfectly matched with the JSON structure where the robot is asked to move one meter ahead with a speed of 1 meter/second. All the parameters in the command match with the values in the JSON command.'] +Travel forward for 1 meter while maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];['4; The natural language command matches with the JSON information for the action "move" regarding the direction (forward) and distance (1 meter). However, the speed indicated in the natural language command (1 meter per second) does not match with the JSON structure (0.5).'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn 270 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command perfectly matches the JSON information. The action "rotate" is clearly specified, the angle is 270 degrees, the direction is clockwise and the unit is in degrees. All keys correspond correctly to the natural language command.'] +Rotate by 270 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command matches perfectly with the JSON structure, respecting the keys of the ontology, also all the parameters were filled correctly.'] +Execute a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true}}'];['5; The natural language command requests a specific clockwise rotation of 270 degrees, and the JSON information correctly represents this command in the action "rotate", with the specified angle and direction and an assumed angular velocity. The keys "angle" and "is_clockwise" are appropriately used according to the sample ontology.'] +Shift the orientation by 270 degrees in a clockwise fashion.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command aligns perfectly with the provided JSON structure. The command to "Shift the orientation by 270 degrees in a clockwise fashion" matches with the mentioned action rotation, direction (clockwise), unit (degrees) and angle (270 degrees).'] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['1; The natural language command suggests movement and a rotation (turning left), however there is no matching "rotate" action in the JSON structure provided and the "move" action does not specify direction. Additionally, the specified "2 seconds" in the command does not correspond to any parameters in the JSON structure.'] +Proceed forward for 2 seconds, then make a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}} ', '{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['2; The JSON commands are somewhat conform to the natural language command. However, specifics such as the distance to move forward and the degrees to turn, which are crucial information to execute the commands, are assumed and not accurately derived from the natural language command.'] +Take a left turn and continue moving straight ahead for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": -90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The parameters provided do not match entirely, as there is no specific angular_velocity declared in the natural language command for the rotation, and in the move action, distance is measured in seconds while it should be a unit of length (like meters) based on the JSON structure in the given ontology.'] +Make a left turn and drive forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true}}'];['1; The natural language command "Make a left turn and drive forward for 2 seconds." doesn\'t exactly conform to the JSON structure. The command is broken into two actions: "rotate" and "move" in the JSON structure, which is somewhat correct but the parameters for both actions don\'t align well with the command. The angular velocity and linear speed are both provided as 0 in the JSON, whereas the command implies values that result in meaningful movement. The rotation\'s angle is mentioned as 90 degrees but it\'s not defined whether it\'s in clockwise or counterclockwise direction; however, a left turn typically implies counter-clockwise rotation. The move action\'s "distance" parameter is mentioned as "2", but the command specifies "2 seconds", not a distance. Distance would require a speed and time which is not properly defined here. Thus, the command and JSON structure differ significantly.'] +After turning left, continue moving straight for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The command of moving for a certain amount of time is represented in the JSON structure with proper keys for action and parameters such as linear_speed, distance, is_forward, and unit. However, the command of turning left is not represented in the JSON. Also, the distance value in the JSON is incongruent with the command - the command specifies time, not distance.'] +Move 3 meters backward at a speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The natural language command corresponds to the "move" action in the JSON structure. The "linear_speed" and "distance" values also match. However, the direction of movement described in the command ("backward") is different from the "is_forward" key in the JSON structure (which is true).'] +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; The JSON structure accurately represents the command in the natural language. It correctly dictates the action of moving, the linear speed of 1.5, the distance of 3 meters, the direction of not forward (or backwards), and the unit of measurement as meters.'] +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meters"}}'];["4; The natural language command asks for a motion and the JSON schema represents a motion with appropriate parameters such as distance, speed, direction and units which are meters and meters per second respectively. However, the direction in natural language command is 'reverse' while in the JSON, it is represented with a boolean. This slight difference is why the score is not a perfect 5."] +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; Mostly conform. The natural language command mostly matches the JSON structure. However, there is a slight inconsistency as the JSON structure does not state if the movement is forward or backwards, which in this case the command requests a retreat, implying backwards movement.'] +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command dictates the movement of an object backwards (False for "is_forward") for a distance of 3 meters at a speed of 1.5 meters per second. The JSON structure accurately represents this instruction with the correct keys and values.'] +Go to the dining room and stop.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'];["1; The command is partially matching with the JSON structure but the location is mentioned as 'Dining Room' in the natural language command, whereas in the JSON, it's 'Kitchen'."] +Proceed to the dining room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'];['2; The natural language command instructs the system to proceed to the dining room, but the JSON structure specifies going to a location set as "Kitchen". The actions follow the same pattern but the target locations are different. Moreover, the instruction to \'come to a halt\' is not represented in the JSON.'] +Head over to the dining room and pause.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'];['1; The natural language command instructs to go to a different location than mentioned in the JSON structure ("Dining Room" instead of "Kitchen"). Secondly, there is no indication, in the command, of the \'pause\' action in the JSON structure.'] +Make your way to the dining room and bring yourself to a stop.;['{"action": "go_to_goal", "params": {"location": "dining room"}}'];['1; The command asks to go to the dining room but the JSON structure demonstrates going to the kitchen. There is discrepancy in the targeted locations between the natural language command and the provided JSON structure.'] +Move towards the dining room and cease your motion.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}}}'];["3; The JSON structure tries to match the command but the command mentions a 'Dining Room' whereas in the JSON structure the value of the location is 'Kitchen'. The rest of the values are missing from the JSON structure as opposed to the command."] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];['3; The natural language command asks for a rotation counterclockwise of 60 degrees, which matches the action in the JSON structure but it does not mention the angular_velocity. Also, the JSON structure incorrectly lists "is_clockwise" as true, it should be false as per the natural language command.'] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command corresponds to a rotate action in JSON, but the natural language command only specifies the direction (left) and angle (60 degrees), and doesn\'t mention anything about the angular velocity, whereas the JSON structure includes an "angular_velocity" parameter. Also, the natural language command assumes "is_clockwise": false, which it has been correctly identified in the JSON action because turning left is anticlockwise. Therefore, it is mostly conform with some missing details.'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['2; The natural language command matches partially with the JSON. The action of rotation is correct, and so is the unit "degrees". However, the angle is not matching ("60" in the command vs "40" in the JSON). The natural language command does not specify the "angular_velocity", and the "is_clockwise" value is opposite in the command and JSON.'] +Execute a 60-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];["4; Although the rotation command is matched correctly in the JSON structure with its 'action' and 'params', but the 'angular_velocity' does not match. In the natural language command no 'angular_velocity' is mentioned."] +Rotate anticlockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command and the JSON structure mostly match. The angular velocity is not specified in the command but is drawn as a default value in the JSON structure. The command\'s rotation direction and angle match perfectly with the JSON structure. The "unit" key also conforms with the action requested in natural language command.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['4; The command \'Move forward for 5 meters\' matches with the JSON action "move" and parameter "is_forward" set to true. The command\'s distance parameter of 5 meters also matches with the JSON distance. However, the command does not specify the \'linear_speed\' parameter hence the slight mismatch.'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform. The natural language command "Proceed ahead for a distance of 5 meters" correctly matches with the JSON structure where action is "move", distance is 5, is_forward is true, and unit is "meters".'] +Advance straight ahead for 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true}}'];['5; The command perfectly matches the JSON structure. The action "move" and the required parameters "linear_speed", "distance", and "is_forward" are all correctly proposed. The "linear_speed" has a different value than in the command but it\'s not specified in the command, so it cannot be considered as wrong.'] +Travel forward for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command fully matches the given JSON structure. The action is "move", all parameters (distance, is_forward, unit) are included, and the values match with the command.'] +Go in the forward direction for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; Mostly conform. The natural language command correctly matches with the action "move" and the parameters such as "is_forward" and "distance". However, it doesn\'t provide information about "linear_speed", and the "unit" provided in the command doesn\'t match with the one in the JSON structure ("meters" vs "meter"). Therefore, the match is not perfect.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The command does match with the JSON structure mainly. The action "rotate" perfectly matches. The angle 90 also matches. However, there is no specification about angular_velocity in the command where there is in the JSON structure. Moreover, "counterclockwise" is equivalent to "is_clockwise": false but they present it in different ways.'] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The command is mostly aligned with the JSON structure. The "action" aligns as "rotate" and "angle" as 90. The "is_clockwise" is not aligned as the command specifies to turn counterclockwise, which would mean "is_clockwise" should be false, not true. However, the "angular_velocity" value is not mentioned in the command, so it is assumed as default.'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'];['4; The natural language command matches the action and parameters in the JSON perfectly, but the value for "angular_velocity" is missing in the command so it is replaced by a \'default_value\'.'] +Rotate to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'];["4; The natural language command matches the JSON structure fairly well, however, the parameters 'angular_velocity' and 'is_clockwise' do not match exactly as the command does not give specific values. Yet, the 'action' and 'angle' align perfectly."] +Change the orientation to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}'];['4; Although the natural language command correctly specifies a rotation action and a 90 degree angle, it does not align with the JSON information in terms of the "angular_velocity" and "is_clockwise" properties. The command mentions a left rotation, which implies a counter-clockwise direction. However, the "is_clockwise" property is not stated in the natural language command, hence the minus one point. The "angular_velocity" is also missing in the natural language command, resulting in the score being less than perfect.'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": false}}'];['1; The command asks to move backward for a period of time, but the JSON structure specifies a distance for movement, not a duration. So there is a mismatch in what the command asks and what the structure represents. Further, the "linear_speed" in the JSON structure is 0.0 which contradicts with the command of moving. But the direction of movement (\'is_forward\': false) is correctly represented in the JSON.'] +Reverse for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "duration": 3, "unit": "seconds"}}'];['0; The natural language command asks for a "reverse for a duration of 3 seconds" which isn\'t correctly reflected in JSON structure - it\'s given a rotation action rather than a reverse or move action. Also, the duration is not a parameter in the given sample ontology and it doesn\'t match in the JSON information. Therefore, no conformity was found.'] +Go in reverse for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "time": 3, "is_forward": false, "unit": "seconds"}}'];['0; The natural language command talks about moving in reverse for a certain time, but the provided JSON structures have actions related to going to a goal, moving with a specific linear speed and certain distance, and rotating with a specific angular velocity and angle. None of them include a time parameter or information about moving in reverse.'] +Travel backwards for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["1; The natural language command indicates a backward movement for a specific time duration, however, the provided JSON structure doesn't match this exactly. It includes the parameters for a move action, but it uses distance and linear_speed (normally related to space, not time) instead of a time-related parameter. The is_forward parameter is correct as it's set to false for a backward movement."] +Move in the opposite direction for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["2; The rotation action in the JSON structure and the 'move' action in the natural language command show no match. While the natural language command specifies movement in the opposite direction, the JSON structure specifies a rotation action, which does not conform or match with the NL command. The JSON structure also has different parameters such as 'angular_velocity', 'angle', and 'is_clockwise', not mentioned in the NL command. Moreover, the NL command wants the robot to move for '3 seconds', which is referred as time duration, not a distance parameter that exists in the JSON structure. So, they are only partially matched."] +Turn left and move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];['4; The natural language command is partially conforming to the JSON structure. The "move" action is correctly identified and the "is_forward" param is set to true consistent with the command. However, the command mentions "Turn left" which isn\'t represented in the JSON, and the "linear_speed" in JSON structure doesn\'t match with the command.'] +Proceed forward for 2 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meters"}}'];['1; The natural language command is about moving and turning (implied to be a rotate action), but the JSON structure only contains the \'move\' action. There\'s also a mismatch in the distance value, where JSON structure mentions 2 but it doesn\'t appear in the natural language command. The command does not specify the linear_speed, is_forward, and unit params. Furthermore, the JSON, although suggesting a move action, seems to miss the rotation implied by the phrase "after making a left turn" in the command.'] +Make a left turn and advance for 2 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meters"}}'];['4; The commands partially conform. The instructions for turning are not completely represented in the JSON structure. Although the "rotate" action matches the left turn instruction, the "angle" key isn\'t set to 90 degrees for a left turn. Furthermore, the "action" and "params" in the "move" JSON structure match the instruction to advance 2 meters, but the "linear_speed" parameter isn\'t specified in the command.'] +Take a left and continue forward for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The natural language command mentions the action to move forward for a certain distance, which strongly matches the structure of the "move" action in JSON. However, details such as the specific angle, angular velocity, clockwise rotation for the "rotate" command, or the location for the "go_to_goal" command aren\'t specified in the command, which gives it a partial match. The linear speed is also different from the natural language command which mentioned "continue forward" but the JSON has a speed of 0.0. Because of these differences, it does not completely conform to the JSON.'] +Move ahead for 2 meters after making a leftward turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];["2; The JSON structure partially matches the command, as it does encompass the moving action with a specified distance of 2 meters, but there's no mention or detail of the turning action mentioned in the command."] +Make a U-turn and move in the opposite direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "second"}}'];['1; The JSON structures do not match the natural language command perfectly. The command mentions nothing about angular_velocity or linear_speed, and the time duration mentioned in the command is different from the units used in the JSON. Also the order of actions in the natural language command is not the same as in the JSONs. The natural language command starts with rotating and then moves whereas the JSON structure has moving first before rotating.'] +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": false, "unit": "degrees"}}'];['2; The natural language command implies a U-turn which can be interpreted as a 180 degrees rotation. However, the duration of 10 seconds isn\'t represented anywhere in the JSON. Furthermore, the JSON structure doesn\'t perfectly match because it contains `"angular_velocity": 0.5` whereas in the command there\'s no information about the angular velocity.'] +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['1; The command calls for a U-turn, and the JSON structure indicates a rotate action, which are somewhat similar. However, the command\'s terms "travel in the opposite direction for a time span of 10 seconds" do not match any information in the JSON structure. The JSON structure includes values for angular_velocity, angle, is_clockwise, and unit, none of which are mentioned in the command. Even though U-turn might imply 180 degrees rotation, the time span requested and the rotation speed provided don\'t necessarily match. Hence the conformity is quite low.'] +Turn around and travel in the opposite direction for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["1; The JSON command instructs an action 'rotate' with the parameters of angular_velocity being 0, angle being 180 and is_clockwise as true. However, the natural language command mentioned does not specify the angle to turn around, and instead talks about a duration of 10 seconds which there is no reference to in the JSON data. Thus, there is minimal match."] +Perform a U-turn and move in the opposite direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180.0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": false, "duration": 10}}'];["1; Only partial conformity. While the JSON structures contain actions to rotate and move, the parameters do not match the natural language command. The 'angular_velocity' and 'linear_speed' are set to '0.0' in the JSON while in the command indicates a possible non-zero speed (U-turn and move). And there's no mention of 'duration' in the command which is present in the move action of JSON."] +Rotate clockwise by 180 degrees and stop.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true}}'];["5; The command follows the structure accurately with correct values and keys - it specifies that the action is 'rotate', provides the specific angle, and states that the rotation should be clockwise, all of which correctly match with the provided JSON structure."] +Perform a 180-degree clockwise rotation and then come to a halt.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'];['4; The first command for rotation is correctly translated into the JSON structure. However, the "come to a halt" command doesn\'t fully match. Instead of "move" action with "linear_speed" and "distance" set to 0, it would be better represented by a "stop" action.'] +Execute a clockwise rotation of 180 degrees and then cease movement.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command is only partially conforming to the JSON structure. There is no JSON command to cease the movement. The rest of the command, which instructs the rotation, is correctly mapped in the provided JSON. However, the field "angular_velocity" in JSON is set to 0 which is not mentioned in the command.'] +Turn right by 180 degrees and then stop.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": false, "unit": "degrees"}}'];["2; The natural language command indeed instructs a rotation, as specified in the JSON structure. Yet, the other parameters like the angular_velocity, is_clockwise and unit in the JSON do not match the command. Also, the JSON structure has the angular_velocity set to 0, which contradicts with the command as it would mean no movement. Lastly, the command has an additional 'stop' instruction not represented in the JSON."] +Rotate in a clockwise direction by 180 degrees and then come to a stop.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["4; The natural language command roughly matches the JSON structure. The 'action' is 'rotate' which is correct, and 'angle' is specified as 180 which is also in accordance with the command. However, 'angular_velocity' is not mentioned in the command and it is inexplicably set to 0 in the JSON, which doesn't imply a rotation."] +Move diagonally to the right for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];["2; The JSON structure contains the action of moving with details such as linear_speed, distance, is_forward, and unit which match with the command. However, the command direction (diagonally to the right) is not reflected in the JSON structure. Also, the 'linear_speed' value is different in the JSON structure (0.5) than what might be inferred from the command."] +Go right at an angle for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meters"}}'];['1; The natural language command indicates a movement with a certain angle and distance which partially matches with the "action" key in the JSON structure. However, the direction isn\'t specified as right or wrong in the parameters nor is the angle, and the distance in the parameters is variable, not fixed at 4. There are also discrepancies like "unit" value in the JSON structure is "meter" whereas it\'s "meters" in the command.'] +Travel in a diagonal direction to the right covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1.414, "distance": 4, "is_forward": true, "unit": "meter"}}'];['1; The natural language command suggests that the user wants the device to move in a specific, diagonal direction, however, the provided JSON structure only represents a straightforward move command with a certain linear speed and distance. The "direction" and "diagonal" parameters in the command are fully absent from the JSON. So, the JSON information is very loosely related to the natural language command.'] +Proceed at a diagonal towards the right, moving 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'];['1; The JSON structure describes a forward movement with a specific linear speed and distance. However, there is no information in the JSON corresponding to the direction of the movement (diagonal towards the right) present in the given natural language command. So, the command and the JSON partially match.'] +Move to the right diagonally, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];["2; The natural language command does specify to move a particular distance which matches with the JSON but it does not mention 'right diagonally', 'linear_speed', 'is_forward' and 'unit' which are parameters in the JSON. Therefore, the match is not exact."] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true}}'];['4; Overall, the command asks to take a right turn and move forward, which is reflected correctly in both JSON commands. However, the specific details such as angle magnitude, linear speed, and units are not specified in the text command, hence not a perfect match.'] +Make a right turn and proceed one meter forward.;['{"action": "rotate", "params": {"angular_velocity": , "angle": , "is_clockwise": true}, "action": "move", "params": {"linear_speed": , "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The actions in the command (rotate, move) correspond to actions in the JSON structure. However, the value of the 'angle' for rotation, the direction of rotation, and the 'linear_speed' for the forward movement aren't specified in the command and left as in the JSON structure. The conformity thus isn't full."] +Take a right and continue moving ahead for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['3; Partial conformity. The natural language command refers to a movement action with a specific distance, which matches the move action in the JSON. However, the movement direction ("take a right") and linear speed are not specifically matched in the JSON.'] +Rotate to the right and advance straight ahead for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['2; The natural language command partially matches the JSON structure. It matches the "action" key (move) and partially matches the "params" key (distance and is_forward match, but linear_speed doesn\'t). The command for rotation is left out completely.'] +Facing towards the right, progress forward for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['5; The JSON representation correctly describes the action of moving forward for a given distance, and the linear speed and distance values in the JSON match the distance specified in the natural language command. The JSON also specifies that the movement is forward, which is also mentioned in the natural language command.'] +Move in a zigzag pattern for 8 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true}}'];['1; The JSON command describes a linear movement of a certain distance and speed, it doesn\'t represent the zigzag pattern mentioned in the natural language command. Furthermore, the duration ("8 seconds") mentioned in the natural language command is not accounted for in the JSON command.'] +Perform a zigzag movement continuously for a duration of 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['0; The natural language command does not conform with the provided JSON structure. The command indicates a zigzag movement for a specific duration, which is not included in the JSON structure. The JSON structure does not have a key for the duration or zigzag movement.'] +Traverse in a serpentine motion for 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters", "traversal_mode": "serpentine", "traversal_time": 8}}'];['1; The natural language command and the JSON structure partially match - the "action", "move", is reflected in the command, but the command includes information on the traversal_mode and traversal_time that are missing from the JSON structure. Additionally, the command specifies a type of motion not included in the JSON structure - a serpentine motion.'] +Alternate your path in a zigzagging pattern for the next 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}}'];["2; The natural language command is concerning alternating path in a zigzagging pattern but the JSON structure represents a forward movement with a certain speed. The distance in the JSON is set to 0 which doesn't align with the zigzagging movement and no information about the time (8 seconds) is indicated in the JSON. Also, the JSON doesn't reflect any zigzag or alternate path movement."] +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "meter"}}'];["1; The command asks for a zigzag motion, which implies both moving and rotating actions alternatively. However, only the 'move' action is referenced in the provided JSON structure. The details for the 'rotate' action and information about how to correctly combine them to achieve a zigzag motion are missing. Furthermore, the 'second' time unit indicated in the command is not considered in the JSON structure, which uses 'meter' for measurement. The parameters' 'linear_speed' and 'distance' values are also labeled as 'undetermined', which offers no useful information."] +Rotate counterclockwise by 45 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; Both the rotate and move actions are correctly represented in the JSON structure, with all parameters correctly corresponding to the natural language command. The given values in the command correctly match the values in the JSON, including the direction of rotation, angle, movement direction and distance.'] +Turn left by 45 degrees and advance for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['2; The instruction to rotate matches with the JSON structure however, the "is_clockwise" field is required to be False (turned left) and "angle" is perfectly matched. The move action is partially matched but the "linear_speed" is not indicated in the command. The progressed distance is exactly matched (3 meters forward). However, the actions appear in one command but are represented in two separate JSON structures.'] +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];["2; The commands and actions do match in terms of rotation and movement however the angular_velocity and the linear_speed are not specified in the English command but indicated in the JSON structures with a value of 0 which does not match the sense of the English command. Also, the rotation is described anti-clockwise in the English command however 'is_clockwise' is stated as false in the JSON. This makes the English command somewhat conform to the JSON commands."] +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; While both actions "rotate" and "move" are used in the JSON structures and the natural language command, some details like angular_velocity and linear_speed are mentioned as 0 in JSON while there is no exact equivalent for these in the command. Also, the rotation direction is counterclockwise in the command but there is no definite value for "is_clockwise" parameter in JSON (programmatically assumed to be \'false\'). Hence, the command is mostly but not perfectly conform with JSON structures.'] +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 45, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform. The natural language command clearly specifies a rotation ("shift to the left by 45 degrees", which matches to rotation with angle of 45 in degrees) and a linear movement ("continue moving forward, covering a distance of 3 meters", which matches to moving, distance of 3 in meters and moving forward). Both instructions are covered by the JSON structure with the correct keys and values.'] +Move backward and stop at the nearest obstacle.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'];['3; The natural language command matches the JSON structure, in terms of the "move" action and the backward direction; however, there are two mismatches. The "linear_speed" value in the JSON is positive (0.5), while the natural language command specifies moving backward, which should result in a negative speed. Also, the command indicates that the movement should stop at the nearest obstacle, which is not reflected in the JSON structure.'] +Reverse and come to a halt once you reach the closest object in your path.;['{"action": "stop"}'];['0; The natural language command mentions reversing and stopping at a nearby object, however the provided JSON structures do not contain any information about reversing or stopping at objects. The JSON structures consider actions of going to a goal location, moving with a specific speed and distance, and rotating with a specific angular velocity and angle. Therefore, there is no conformity between the command and the JSON structures.'] +Back up and cease movement upon reaching the nearest obstruction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -1, "is_forward": false, "unit": "meter"}}'];["1; There is a slight correlation between the natural language command and the JSON structure. The command describes the robot backing up (which could be interpreted as movement not forward), however, there's a caveat - the command mentions reaching the nearest obstruction, which is not represented in the JSON structure. The JSON structure also lacks a way of determining the distance to the obstruction since the value of distance is not given."] +Retreat and come to a stop when you encounter the closest barrier.;['{"action": "go_to_goal", "params": {"location": "Kitchen"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false}}'];['1; The JSON structures contain actions like "go_to_goal", "move", and "rotate", while the command is talking about retreating and stopping. The parameters in the command don\'t quite fit the parameters from the JSON actions either. The location is not provided in the command, as in the "go_to_goal" action JSON. The "move" action JSON mentions a linear_speed but doesn\'t associate it with a barrier. So, there is a slight conformity, as the move action could correspond to the retreat command, but overall it is quite low.'] +Go in reverse and stop once you reach the nearest obstacle.;['{"action": "move", "params": {"linear_speed": -1, "distance": "nearest_obstacle", "is_forward": false}}'];['2; The command includes the action of moving in reverse until reaching a nearby obstacle. However, the JSON provided indicates linear_speed as -1 and is_forward as false which technically stands for a reverse action. Yet the distance is not specified correctly in the JSON as it needs a numerical value rather than "nearest_obstacle". Also, an important part of the command regarding the stoppage at the nearest obstacle is not mentioned in the JSON.'] +Turn left and move in a curved path for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];["1; Only the 'move' action and 'distance' parameter match but there is no parameter in the JSON to indicate the curved path or turning left in the command."] +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": false}, "action": "move", "params": {"linear_speed": "undetermined", "distance": 6, "is_forward": true, "unit": "meter"}}'];['1; The natural language command does imply movement and rotation but lacks specifics in terms of angular velocity, angle or the direction of rotation. This is reflected in the JSON structure with unspecified values. However, this JSON structure has two "action" keys which is not allowed in JSON. The format should be a list of objects, each representing a separate action.'] +Make a leftward turn and proceed along a curving route spanning 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];["1; The JSON command refers to a simple move action with specified parameters such as 0.5 linear speed, a distance of 6 units and forward movement where the units are in meter. However, the natural language command implies a more complex manoeuvre involving a leftward turn and following a curved route which isn't reflected in the JSON structure. Thus, there's a mismatch between the information conveyed in both commands."] +Go left and follow a curved path for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 6, "is_forward": false, "path_type": "curved", "unit": "meters"}}'];['1; The JSON structure represents a "move" action with certain parameters such as linear speed, distance, direction (forward), and unit. However, the natural language command specifies "Go left and follow a curved path for a distance of 6 meters", which involves direction (left), path type (curved), and distance (6 meters). The linear speed and whether the movements are forward or backward are not specified in the command. Moreover, the path type (curved) is mentioned in the command but it is not present in the JSON structure. Therefore, the conformity between the command and the JSON is low.'] +Regulate your movement to the left and travel in a curved trajectory for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['1; The instruction talks about a curved trajectory, but the JSON structure only has parameters for linear speed and forward movement. The "is_forward" key is set to false where as the language command specifies movement to the left which is not equivalent. There is also a lack of matching action to "travel in a curved trajectory" in the JSON structure.'] +Move forward at a speed of 1 meter per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; The intent of the command is perfectly matched with the JSON structure. However, the command mentions the duration ("for 10 seconds") while the JSON describes moving a certain distance. The exact distance cannot be determined from the command as it does not specify the robot\'s speed in relation to time.'] +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['4; The natural language command aligns mostly with the JSON structure, with the exception of a small mismatch. In the JSON, the "distance" key should be replaced with "duration" for an exact match, because the command talks about duration & not distance. Apart from this, "linear_speed" and "is_forward" fields match perfectly with the natural language command.'] +Advance at a rate of 1 meter per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "second"}}'];["2; The JSON structure includes the correct action 'move' and the correct units which corresponds to the command. However, the values for 'linear_speed' and 'distance' do not exactly match those given in the command. Furthermore, 'is_forward' parameter does not have an equivalent in the command."] +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; The natural language command mostly matches the JSON structure but there are a few discrepancies. The action "move" and the parameter "is_forward": true match perfectly. However, the linear speed is described in the command in terms of time, not distance as in the JSON structure. Therefore, the parameter "distance" does not conform. Additionally, the parameter "unit" in the JSON is "meter", which is correct, but the natural language command uses the term "second" which corresponds to time, not distance.'] +Travel forward for 10 seconds, covering a distance of 1 meter per second.;['{"action": "move","params": {"linear_speed": 1,"distance": 10,"is_forward": true, "unit": "second"}}'];['3; The command points to forward movement with a certain linear speed, this does match with the "move" action and the "linear_speed" in JSON. However, the command mentions about travel duration in seconds, whereas the JSON structure only entails "distance" and no parameter to include time information. Hence, complete conformity is missing.'] +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meters"}}'];['3; The JSON commands match the natural language command to an extent. The "rotate" command accurately represents rotating clockwise by a certain degree, however the specified angle doesn\'t match with the natural language command (40 in JSON vs 30 in language command). Similarly, the "move" command represents moving forward for a certain distance, but the specific distance differs (length unspecified in JSON vs 4 meters in the language command). In addition, the JSON command includes information about the "linear_speed" which wasn\'t specified in the natural language command.'] +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "meters"}}', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}'];["4; While both the natural language command and the JSON structures are conforming to the orders of moving forward and rotating, the specific parameters given in the command such as distance (4 meters) and the rotation angle (30 degrees) are not matching the values in the JSON structures which are set to random values. Also, in the 'move' action, the 'linear_speed' is not mentioned in the natural language command but is present in the JSON structure."] +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meters"}}'];['2; The natural language command matches partially with the JSON information given. Although there are actions for "move" and "rotate" defined, there aren\'t any parameters for angular velocity and linear speed in the command as depicted in the JSON structure, hence it\'s a partial match.'] +After rotating 30 degrees clockwise, continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'];["4; The natural language command and JSON structure largely correspond to each other, however, the angular_velocity parameter provided in JSON structure (10) doesn't match with the command. In the command, there isn't any information given about angular_velocity. Rest of the actions and parameters match well."] +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 30, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];["2; Partial match. The natural language command does mention a rotation and a forward movement, which matches actions 'rotate' and 'move' in the JSON structures. But, the specific rotation angle (30 degrees) and movement distance (4 meters) are also mentioned in the command, but these specific values are not in the JSON structures. Furthermore, the rotation direction (to the right) and the implied forward movement direction from the command does not match the 'is_clockwise': false and 'is_forward': true in the JSONs respectively. The linear speed and angular velocity in the JSONs also have unspecified values in the command."] +Move in a circular path with a radius of 2 meters for 7 seconds.;['{"action": "move", "params": {"linear_speed": 2*pi*2/7, "distance": 2*pi*2, "is_forward": True, "unit": "meter"}}'];["1; The natural language command suggests a circular movement, theoretically a combination of rotation and forward movement. However, the provided JSON information only captures linear movement (speed, distance, direction) not necessarily circular or rotational. Therefore, it doesn't completely match the natural language command."] +Circle around with a radius of 2 meters for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.2857142857142857, "distance": 12.571428571428571, "is_forward": true, "unit": "meter"}}'];["0; The natural language command asks for a circular motion with a specific radius and duration, but the provided JSON structure represents linear movement with a specific speed and distance. There's no match between the command and the JSON in terms of action or parameters."] +Perform circular movement with a radius of 2 meters for 7 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.286, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];["2; Although the rotation action and parameters in the JSON structure kind of resembles the command, it doesn't have a provision to input radius or time duration. Therefore, it's not a perfect match."] +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": false, "radius": 2, "time": 7, "unit": "seconds"}}'];["1; The natural language command refers to rotating along a circular trajectory with a particular radius and specified time. However, the JSON structure refers to rotation with given angular velocity and angle, with no mention of radius or time. There is no conformity in terms of parameters between the command and the JSON structure. However, the overall action 'rotate' matches."] +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 2/7, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3; The JSON structure partially matches the natural language command. While the "move" action, "distance", "is_forward" and "unit" parameters match, there is no mention of time or "linear_speed" in the command, and these factors are derived from the duration given in the command. Additionally, the command mentions a \'circular path\' which doesn\'t directly map to any of the JSON parameters but might influence the \'distance\' it needs to cover.'] +Turn right and move forward for 5 seconds, then revert back.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}}'];["0; The JSON structures do not match with the natural language command. The command talks about turning right and moving forward for a time duration which isn't represented in the corresponding JSON structures. Also, the command does not mention about any angular velocity or rotation angles which are present in the JSON structures."] +Make a right turn and proceed forward for 5 seconds, then return back.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["2; The natural language command partially matches with the JSON structure. The command asks for a rotation (a right turn), moving forward for a certain duration, and then returning back (another rotation). However, the duration for forward motion isn't converted into distance, and the direction of the initial turn isn't specified as clockwise or counter-clockwise in the JSON structures."] +Take a right turn and advance ahead for 5 seconds, then go back in reverse.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];["3; The commands in the JSON structure match the natural language command in terms of performing a rotation (turn) and moving (advancing ahead), but the values used in the JSON structure do not exactly match with what is mentioned in the natural language command (e.g., the turn in the JSON is 90 degrees while the direction of the turn - right or left - is not specified in the natural language command; the forward movement is carried out for a distance of 5 (units not specified in the JSON), while the natural language command mentions a duration of 5 seconds; and the backwards movement is also stated as a 'distance' of 5 while the natural language command says 'go back in reverse' without specifying a distance or duration)."] +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "second"}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": false, "unit": "second"}}'];["2; The natural language command includes actions for rotation and movement, hence it partially conforms with the JSON structure. However, there are discrepancies such as the lack of specification for the direction of rotation (right is not mapped to is_clockwise in JSON), absence of linear speed and distance values in the second move action, and the unit for 'move' action is mentioned as 'meter' in JSON but 'second' is used in the command."] +Change direction to the right and go forward for 5 seconds, then reverse back.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];["1; Although the action of moving forward and then back is captured in the JSON, the command to 'Change direction to the right' is not represented. Additionally, the command specifies 'seconds' as the unit of measurement but the JSON structures indicate 'distance' not time. The JSON structures do reflect 'linear_speed' which was not explicitly given in the command."] +Move along the perimeter of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "minute"}}'];["1; The JSON structure includes a 'move' action with parameters for linear speed, distance, direction, and units, which approximately match the command. However, the command specifies moving along the perimeter of the room for a duration (1 minute), while the JSON structure's distance and unit parameters do not specify an exact path or time duration."] +Walk around the edges of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "second"}}'];['1; The JSON command instructs an action of moving with a specific linear speed, distance, direction, and unit. However, the natural language command asks to "walk around the edges" which cannot be accurately determined from the JSON as it does not specify moving around any edges. Additionally, the time parameter in the natural language command is not represented in the JSON structure.'] +Circulate along the boundary of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": "unknown", "is_forward": true, "unit": "meter"}}'];["0; The natural language command asks for a circular movement along a room's periphery for a specific time frame, which does not match any of the provided JSON structures. In the given JSONs, we have commands for going to a specific location, moving with defined parameters like linear speed, and rotating with certain angular velocity. But none of them cater to the circulating command mentioned in the natural language command."] +Patrol the perimeter of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "meter"}}'];['1; Although the command indicates movement, the JSON structure does not fully match the command as it specifies a fixed distance to move while the command specifies a time during which the patrol action should occur. Furthermore, patrolling a perimeter requires more complex instructions than simple linear movement.'] +Traverse the outer edges of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "meters"}}'];["1; The JSON command involves a 'move' action with specific parameters such as linear_speed, distance, direction and unit. However, the natural language command does not clearly provide these specific details - it only suggests moving around the room but does not specify the speed, distance or direction. However, the concept of movement is present in both."] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];["3; Only partial conformity. The natural language command instructs both to 'rotate' and 'move', which aligns with the action key in the JSON structure. However, the parameters for 'rotate' mentioned in the natural language command do not match with the 'angle' and 'is_clockwise' parameters in the JSON structure. Also, the 'move' parameters mentioned in the natural language command do not match with the 'linear_speed' and 'is_forward' parameters in the JSON structure."] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['3; Partially conform. The natural language command is covered by the rotate and move actions in the JSON structure. However, there are discrepancies in the values provided in the commands and those in the JSON structure. The command specifies a rotation of 60 degrees counter-clockwise (since left is usually counter-clockwise rotation) and move with a distance of 3 meters - these do not match up with the provided angular_velocity of 0.35 and angle of 40 degrees under rotation, and no specific distance under move in JSON structure. Additionally, linear_speed value is provided in JSON structure for move command which is not defined in the natural language command.'] +Rotate anticlockwise by 60 degrees and advance 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['2; The actions from the natural language command match the JSON structures, but the parameters don\'t match correctly. For the rotate action, the natural language command specifies "anticlockwise", which should be interpreted as "is_clockwise": false. Also, no angular_velocity is specified in the command. For the move action, an advance would indicate "is_forward": true, and a distance is specified, but no linear_speed is specified in the command. Also, the "unit" for distance is "meter" in the command and "meters" in JSON.'] +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['3; The commands partially conform. The movement and rotation commands align well with the natural language instruction, including the distance, unit and direction of rotation. However, the angular_velocity does not match since there is no such detail in the natural language command. Also, facing "left" is not explicitly represented in the instructions.'] +Make a 60-degree left turn and move forward 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform. The natural language command is precisely reflected in the JSON structure with the action to rotate specified as a 60-degree turn in a counterclockwise direction (or a left turn) followed by an action to move forward a distance of 3 meters. The JSON structure therefore conforms exactly to the intent of the natural language command.'] +Move forward at a variable speed for 10 seconds.;['{"action": "move", "params": {"linear_speed": "variable", "distance": 0, "is_forward": true, "unit": "seconds"}}'];['2; While the action of "moving forward" matches the command, there is no use or mention of variable speed in the JSON structure. Moreover, the command specifies "for 10 seconds", but the JSON information presents parameters in terms of "distance" and "unit" with a value of "meter" instead of "seconds". Hence, there is only partial conformity between the provided command and JSON structure.'] +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 10, "unit": "seconds"}}'];["0; The natural language command related to moving forward for a specific duration at a self-adjusted speed. However, the JSON commands do not have any relation to the time duration and speed adjustment mentioned in the command. The correct keys like 'duration' and 'adjusting speed are not present in the given JSON structure."] +Advance for a period of 10 seconds, with variable speed.;['{"action": "move", "params": {"linear_speed": "variable", "distance": 10, "is_forward": true, "unit": "seconds"}}'];["1; The given JSON command conforms to the sample structure; however, the command in natural language does not match the information provided in JSON information. The natural language command suggests moving for a certain amount of time with variable speed, while the JSON command states that the action is to move at a linear speed and a given distance forward. The units in the natural language command and JSON don't match."] +Travel forward, varying the speed, for a total of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command instructs to "travel forward, varying the speed, for a total of 10 seconds". However, the "distance" parameter in the JSON structure is not defined clearly. Neither time is considered in the provided JSON action. Variations in speed are also not covered in the JSON structure. There is only marginal conformity between the JSON structure and the natural language command, with several significant parameters missing or mismatched.'] +Move ahead for 10 seconds, adjusting the speed accordingly.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command refers to moving for a duration (10 seconds), rather than a distance which the JSON structure dictates. A correct conformity to the JSON would be moving a particular distance (in meters) at a specified speed. In addition, the JSON structure also requires a boolean for "is_forward" which is not specified in the natural language command. However, the action \'move\' and the concept of adjusting speed is correctly referenced.'] +Move backward and stop 1 meter away from the designated target.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['1; The natural language command refers to moving backwards, which is mentioned correctly in the JSON structure as "is_forward": false. However, the command also refers to stopping a certain distance away from a target, which is not accurately portrayed in the JSON command. In addition, the specified speed in the JSON command does not match the natural language command.'] +Reverse direction and come to a halt at a distance of 1 meter from the specified target.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": false, "unit": "meter"}}'];["1; The JSON structure has some of the elements from the natural language command like distance and the action to move. However, the JSON does not specify the action of stopping or reversing direction, and also the 'is_forward' parameter should be 'false'. Additionally, the 'specified target' is not mentioned in the JSON structure."] +Go in the opposite direction and pause when you are 1 meter away from the assigned target.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['2; The natural language command presents a need for action of moving with an added pause function which isn\'t represented in the JSON structure. The directive of \'go opposite\' could be implied as not moving forward which is correctly represented in the JSON structure with "is_forward: false". However, The attribute of "linear_speed" is -0.5 but in the natural language command there does not specify the speed of moving. The JSON structure lacks the information regarding the goal/target which is present in the command. Therefore, the command partially matches with the JSON structure, obtaining two points.'] +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}}'];['1; The JSON command has an action "move" with parameters including a zero linear_speed which might suggest a stop, but the natural language command includes other actions like retreating and maintaining a distance which are not specified in the JSON command. The distance in the JSON command is also zero, which does not match the given distance of 1 meter in the natural language command. The "is_forward" field is set to false which could imply a retreat, but this is not explicitly clear. The correspondence is very weak.'] +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['0; The natural language command refers to moving in a reverse motion to a specific distance from a target. The JSON command neither mentions moving in reverse motion (it mentions moving forward) nor stopping at a certain distance from a target. The parameters in the JSON command do not match with the given natural language command.'] +Move forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command corresponds well to the JSON structure, but the "linear_speed" parameter value in the JSON structure does not match with the command. The command does not specify the speed.'] +Proceed ahead by 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];['4.5; Although the given command correlates with the "move" action in the JSON structure, the specified linear speed in the structure (0.5) does not match the assumed linear speed in the natural language command (not specified, but typically walking speed is more than 0.5 m/s). Therefore, it is not a perfect match.'] +Advance for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];["4; The JSON structure correctly represents an action of movement with specified distance and direction (forward). However, the JSON includes an unnecessary 'linear_speed' parameter not mentioned in the natural language command. The value for 'distance' matches the natural language command."] +Travel in a forward direction for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['4; The natural language command correctly translates to the "move" action with a forward direction and a distance of 1 meter. However, the command does not specify the speed, therefore the JSON information regarding linear speed does not fully conform to the command.'] +Go straight for a span of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The natural language command matches the action type and the parameters, however the 'linear_speed' value in the JSON is 0.5 while the natural language command implies a linear speed of 1."] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["3; Partial Conformity. The action and the unit are properly matched. The angle in the command is 90, which matches with the JSON. But the angular_velocity value isn't specified in the command, and the rotation direction is correctly specified as counterclockwise (is_clockwise: false)."] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command does provide an instruction to rotate, which matches the "rotate" action in the JSON. However, the "angular_velocity" is set to 0 in the JSON structure, which doesn\'t translate well from the natural language command. The "angle" is perfectly matched with the natural command as both indicate a 90 degree rotation. Also, the "is_clockwise" key in the JSON is not directly mentioned in the natural language command but generally, \'turn left\' implies counter-clockwise rotation, therefore the assignment of \'false\' to \'is_clockwise\' key is correct.'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["4; The action 'rotate' stated in the command matches correctly with the JSON schema but the angular_velocity in JSON is set to 0 where as its not mentioned in the natural language and the direction 'anticlockwise' is correctly interpreted and matched in the JSON with 'is_clockwise': false. However, there are differences in the exact angle command from the natural language (90 degrees) and JSON (40 degrees)."] +Rotate to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; While the rotation action and angle are accurately represented, the JSON structure does not specify the angular_velocity value. Also, the "is_clockwise": false is inferred from "Rotate to the left". The unit "degrees" is not specified in the natural language command but it\'s taken as default.', ''] +Spin counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": ???, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The command matches the action type and parameters in the JSON structure but the angular velocity is not specified in the command.'] +Move backward for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['4; The command tells the object to perform a move action, which matches with the information in the JSON. However, the JSON does not contain a key for "is_forward", which is inferred from the command\'s request to move "backward". Also, the JSON uses \'distance\' in presumably meters or some unit of length and the instruction is giving a time duration instead of a distance.'] +Go backward for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];["1; The command asks the bot to go backward for a duration of 2 seconds. The JSON mentions a 'move' action and 'is_forward': false, which might indicate going backward. However, it does not account for duration, it uses distance. Also, the 'linear_speed' is set to '-1', which does not clearly signify speed direction. Thus, the match is not accurate."] +Reverse direction and continue for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false, "unit": "meter", "duration": 2, "is_continuous": true}}'];['1; The JSON command does not exactly match the natural language command. The action "move" and parameter "is_forward" : false are present which indicates reversing the direction. However, the JSON command includes parameters such as "linear_speed", "distance", "unit", "duration", "is_continuous" that have not been specified in the natural language command. Also, in the natural language command, the term \'continue for 2 seconds\' doesn\'t completely align with how it\'s represented in the JSON structure.'] +Retreat for a period of 2 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command is about moving for a certain period of time but the existing action in the JSON is "move" with parameters indicating speed, distance, direction and unit of measurement, not time. The command does not align well with the existing JSON structure semantics.'] +Take a step back and hold for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": -1, "is_forward": false, "unit": "meter"}}'];['1; Although the command does indicate motion, the specific actions "move" or "go_to_goal" are not directly specified. Furthermore, the parameters "linear_speed", "distance", "is_forward", and "unit" do not exactly match with the instructions in the command. The JSON structure also doesn\'t include any way to represent the "2 seconds" hold instruction from the command.'] +Turn left and move forward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'];['2; The command partly matches the JSON information structure but since the "rotate" action is not present in the JSON information, despite being part of the command, the conformity is not complete. The "move" action and "distance" parameter match, but "linear speed" in JSON doesn\'t have a matching command. Also, no value or direction for turning or moving forward is provided in the command.'] +Take a left turn and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; Partially conform. The natural language command and the JSON structures both follow the same action but there are discrepancies in the parameters. In the command, the robot is asked to take a "left turn", which would mean a counter-clockwise rotation, but in the JSON this parameter is not defined. Furthermore, the exact distance is correctly defined in both.'] +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true, "unit": "meter"}}'];["2; Partial conformity. The natural language command asks for a leftward turn before moving straight ahead. However, the provided JSON only includes an action to move forward a certain distance and doesn't account for the rotation. The parameters in the JSON do also align partially with the command - the distance of 3 meters is correctly noted, but there is no mention of a linear speed in the command."] +Rotate to the left and proceed forward, covering a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true}}'];['1; The natural language command somewhat matches the information in the JSON structure. It correctly suggests "moving forward" which is captured in "is_forward": True. However, the command doesn\'t mention \'linear_speed\' which is a key in the JSON data. Moreover, the rotation action mentioned in the natural language command is not represented in the JSON structure.'] +Go left and move straight ahead for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The JSON structure aligns well with the natural language command indicating to "move", the distance is correctly translated as `3` meters, and `is_forward` matches the command to "move straight ahead". However, the command to "Go left" isn\'t reflected in JSON. Also, the JSON structure specifies a `linear_speed` of `0.5`, which isn\'t mentioned in the natural language command.'] +Move at a speed of 2 meters per second for 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];["3; The JSON and the command are generally aligned in the moving action with a certain speed. However, in the command, the duration is mentioned (5 seconds), but in the JSON block, distance is mentioned instead. Also, in the command, the unit of speed is not explicitly mentioned (it's implied to be m/s), but the JSON block expresses the speed in meters/second explicitly. Therefore, the conformity is not exact."] +Travel with a velocity of 2 meters per second for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command speaks about moving with a certain speed for a certain timeframe, which partially matches the JSON structure for the "move" action. However, the JSON structure uses distance for movement calculation not time duration. Also, the referred speed (2 m/s) and time (5 seconds) values are not reflected in the JSON.'] +Maintain a pace of 2 meters per second for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The JSON object matches the action in the command that the subject must move at a certain speed, but does not include the duration of the action which is specified in the command ("for a period of 5 seconds"). Therefore, there\'s slight difference.'] +Perform movement with a speed of 2 meters per second over a span of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];["2; The command matches partially with the JSON structure. It talks about moving (action) at a linear speed of 2 m/s, however, it mentions a time duration (5 seconds) instead of giving direct distance traveled information as in JSON. The 'unit' is correctly specified as 'meter' and 'is_forward' parameter could implicitly be true. However, the command does not provide values for all the keys present(status of moving forward or backward, is_forward) in the structure."] +Cover a distance at 2 meters per second for a time period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];['2; The JSON structure has the correct action "move" and the correct "linear_speed" of 2 but instead of detailing a "time period", the JSON gives a "distance" of 10. The "is_forward" key is also correct but the "unit" should be "seconds", not "meters". The natural language command does not refer anything about moving forwards or backwards.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["5; The natural language command exactly corresponds to the parameters in the JSON structure. The 'rotate' action, 'angle' of 180 degrees and the direction 'clockwise' are all specified correctly in the JSON."] +Rotate by 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["4; Partially conform. The 'angular_velocity' value is set to 0 in the JSON structure while the natural command does not specify the angular velocity. However, all other information matches perfectly: the action 'rotate', the angle '180', and the rotation direction 'clockwise'."] +Perform a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command correctly identifies the action "rotate" and the parameters "angle" and "is_clockwise". However, the "angular_velocity" is not given in the command while it is present in the JSON.'] +Turn 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; Exactly conform. The natural language command correctly specifies a rotation action, including the rotation angle and direction, which are all correctly reflected in the JSON structure.'] +Rotate in a clockwise fashion, making a 180-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The JSON structure almost completely matches the natural language command. The only difference is the given "angular_velocity" which is 0.0 in the JSON command, while the natural language command does not specify an "angular_velocity".'] +Move forward for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['4; While the command and JSON structure content align, the JSON structure has a "linear_speed" parameter defined, which the command does not state. But the command\'s action and direction do match the JSON structure\'s "action" and "is_forward" values, and the "distance" value in the command does match the "distance" value in the JSON structure.'] +Proceed straight ahead, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; The natural language command instructs the model to "Proceed straight ahead, covering a distance of 4 meters." which perfectly matches the provided JSON structure. The \'action\' is specified as \'move\', which corresponds to proceeding straight in the natural language commands. The distance is mentioned and correctly indicated as \'4\' in the JSON structure. The \'unit\' is given as \'meter\' which matches the command as well. The \'is_forward\' parameter is \'true\', matching the instruction to proceed straight ahead (forward).'] +Advance forward, spanning 4 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true}}'];["5; Exactly conform. The natural language command 'Advance forward, spanning 4 meters' accurately corresponds to the provided JSON information where the action is 'move', the distance is 4 and 'is_forward' is true indicating forward motion. The only parameter in JSON not specified in the command is 'linear_speed', but it doesn't affect the general meaning conveyed by the command."] +Take 4 steps in the forward direction.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "steps"}}'];["1; The JSON structure describes an action of moving with a speed of 1.0, a distance of 4, in a forward direction within a unit of steps. However, the natural language command specifies taking '4 steps', but it does not provide any information about the speed. Therefore, while the distance and direction fit, the speed does not exactly conform to the natural language command."] +Travel a distance of 4 meters, moving in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 4, "is_forward": true}}'];['4; The natural language command asks for moving a specific distance in the forward direction which matches with the action "move" and parameters "is_forward" and "distance" in the JSON structure. However, the lack of matching for "linear_speed" results in a less than perfect conformity score.'] +Turn right and move backward for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false}} ', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}}'];['1; Only the action of moving matches between the natural language command and JSON structure. The direction specified in the natural language command (backward) does not match with the direction in the JSON structure (no direction specified). The action of turning is not specified in the JSON structure. In addition, the natural language command specifies to turn right, but the JSON structure specifies to rotate without indicating a direction. The distance specified in the natural language command (1 meter) matches with the distance specified in the JSON structure. However, the speed specified in the JSON structure (0.5) is not mentioned in the natural language command.'] +Rotate to the right and travel in reverse for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false}}'];["1; The natural language command matches partially with the JSON structure. The command refers to rotation and moving in reverse, but the information about rotation and the definition of distance in parameters are missing in JSON. The 'is_forward' key is also set to 'False' reflecting the reverse motion, however, there isn't a specific direction mentioned in the command such as 'right' as found in JSON."] +Make a right turn and proceed backwards for a length of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; Mostly conform. The JSON objects correctly represent "make a right turn" and "proceed backwards for a length of 1 meter." However, the "angular_velocity" is set to 0 in the rotation action, which doesn\'t align with a normal turn action. ', '', 'While the "move" action and parameters match the command of moving backward for 1 meter, "linear_speed" does not have a clear correspondence in the natural language command, it is set to -1 which might refer to the backward movement but the speed is unclear from the command. This causes a slight mismatch.'] +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 1, "is_forward": false, "unit": "meter"}}'];['2; The JSON structure is a command for movement, which matches the natural language command. However, the direction specified in the natural language command ("shift to the right") is not represented in the JSON action. The \'is_forward\' parameter in JSON is set to false which can be interpreted as moving in the opposite direction but this still lacks clarity. Also, the \'linear_speed\' in JSON uses a placeholder, not a specific value which does not conform with the natural command.'] +Face right and move backwards, covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; The JSON structure is missing the "rotate" action stated in the command "Face right", but it correctly represents the command "move backwards, covering a distance of 1 meter" with its movement parameters. So, it\'s partially conform.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["3; The natural language command is partially matching the JSON information in terms of action type and angle. However, the 'angular_velocity' should not be 0 for a rotation to occur and 'is_clockwise' parameter has opposite value in JSON compared to the natural language command. In the natural language command, the rotation is anti-clockwise while in JSON it's clockwise."] +Rotate anti-clockwise by a 45-degree angle.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; The command partially matches the JSON structure. The action "rotate" and the "angle" parameter are correctly matched. However, the direction of rotation (anti-clockwise) is opposite to the value given in the JSON structure ("is_clockwise": is_clockwise). The angular velocity has been referred to as default_angular_velocity in the JSON expression, which may not align with the expected value.'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['3; The command partially conforms with the JSON structure, as the direction of rotation isn\'t specified in the parameters. "Angular_velocity" is also given as 0 in the JSON, while in the command it isn\'t mentioned, which means that the speed of rotation could be any.'] +Rotate in a counterclockwise direction by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}}'];['4; The natural language command mostly conforms to the JSON structure. The direction ("is_clockwise": false) and the "angle": 45 aligns with the command except for the \'angular_velocity\': the value isn\'t stated in the command and has been arbitrarily set as \'default_value\' in the JSON structure.'] +Rotate to the left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The natural language command matches with the JSON structure partially. The JSON structure properly indicates a rotation and the angle 45 degrees. However, there\'s no given command concerning the "angular_velocity", the actual command wants a clockwise rotation but \'is_clockwise\' is false in the JSON structure.'] +Move forward for 10 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'];['2; The command is to move forward for 10 seconds. However, this action in the provided JSON only indicates the action as "move" and the direction "is_forward" as true, the linear_speed or distance is not provided. Also, the unit indicated in the JSON is "meter" which does not match with the unit "seconds" in the command. Therefore, the command partially matches with the JSON.'] +Proceed straight ahead for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 10, "is_forward": true}}'];['1; The natural language command instructs to move straight ahead for a certain duration, which aligns partially with the JSON command for "move". However, the parameters in the JSON command are "linear_speed", "distance", "is_forward" and "unit", not "duration". Therefore, the match is quite weak.'] +Advance continuously for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];["0; The natural language command instructs to 'Advance continuously for a period of 10 seconds' which does not match with the JSON command which is set for moving a certain distance at a specified speed. The JSON structure also includes parameters that are not mentioned in the natural language command, such as the direction of movement (forward) and the unit of measurement (meter). Therefore, the command and the JSON structure do not conform."] +Travel forwards for a span of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command refers to moving forward for a span of time, but the represented JSON structure addresses "distance" instead of the duration of movement ("10 seconds"). Therefore, there is a mismatch in the interpretation of the command "move". The unit in the JSON structure is "seconds" but it is associated with the incorrect type "distance" instead of time.'] +Progress ahead for a time interval of 10 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "undetermined", "time_interval": 10}}'];['1; The JSON structure indicates a \'move\' action with parameters such as linear speed, distance, direction (is_forward), and unit, but these are not clearly specified in the natural language command. Moreover, the natural language command mentions "time interval" which is not present in the JSON structure.'] +Turn left and move at a speed of 1 meter per second for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'];["1; The natural language command instructs to turn left, however, the JSON structure does not include any command for rotation (hence, turning fact is neglected). It does partially match with the moving action but the speed is mentioned in 'meter per second' in the command and 'second' in the JSON which is not consistent."] +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}'];['0; The JSON does not match the natural language command. The command includes a rotation (left turn) and moving forward for 2 seconds at a specific speed, but the JSON lacks distance and speed parameters in "move" action, and also the rotation parameters (angular_velocity and angle) for the "rotate" action are missing. The command also mentions \'seconds\' which are not represented anywhere in the JSON structure.'] +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['3; The natural language command and the JSON representation share some similarities such as the action of moving and some parameters like "linear_speed". However, the natural language command includes "making a left turn" which has not been represented in the JSON structure. Also, the "duration" mentioned in the command does not match with any keys in the JSON structure, and there is a discrepancy with the "unit": it is "seconds" in the command but "meter" in the JSON. Hence, the conformity is partial.'] +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["2; The natural language command somewhat matches the JSON structure but does not articulate all the keys present in both the JSON actions (rotate, move). The is_clockwise value for the rotate action in the JSON structure given for the left-hand turn differs from the usual instruction (should be false for a left-hand turn). Moreover, the command does not specify an angular velocity for the rotation, while the JSON structure has a zero value. The forward movement parameters match with the JSON structure partially- distance in the command is referred in terms of time rather than the required 'meter'."] +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['1; The commands are partially accurate. The natural language command instructs a rotation and moving straight but it does not specify anything about angle to be rotated or whether the rotation is clockwise or anticlockwise which is crucial for the JSON "rotate" structure. Similarly, for the "move" action, the distance in JSON is provided as a variable called "distance" and not a value of 2. Also, the natural language command suggests duration (2 seconds) for the action but JSON structure expects a unit of distance (meter). Finally, the direction of movement (is_forward) is not clearly mentioned in the sentence. So, the instruction does not fully align with the JSON structures provided.'] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The statement required the robot to move backwards which is captured in JSON by the "is_forward": false. However, the "linear_speed" in JSON is 1 which does not match the speed not mentioned in the natural language command, and the "distance": 3 conform to the natural language command of "Move backward for 3 meters".'] +Go back 3 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4; The natural language command roughly matches the JSON information but does not specify the linear speed and implies 'is_forward' to be false while the 'is_forward' key is true in the JSON structure."] +Reverse your direction and travel 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['3; The JSON structure corresponds to a move action where the robot needs to travel a distance. However, the "is_forward" key indicates movement is in the forward direction, while the natural language command asks for reversing direction, which contradicts. The distance value is correct.'] +Retreat for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'];['3; The natural language command states "retreat for a distance" which matches the JSON structure where the action is "move". The "distance" parameter also matches. However, the "linear_speed" parameter in the JSON does not match anything stated in the command, and the "is_forward" parameter in the JSON is set to false which can be implied from the "retreat" command, but is not explicitly stated.'] +Take 3 steps backwards.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false}}'];['5; Although the exact word \'step\' is not used, it is commonly accepted that one step can convert to one meter for the purpose of understanding movement in general commands. Therefore, the command "Take 3 steps backwards." perfectly matches the JSON structure: \'"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false}\'. The amount of steps back or \'distance\' command as well as the direction \'is_forward: false\' conform exactly with the JSON. The linear_speed used in the JSON command is an attribute that the natural language command doesn\'t specify, but it doesn\'t contradict the JSON structure either.'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 270, "is_clockwise": true}}'];['4; The action in the natural language command and the JSON are the same (rotate) but angular velocity in the NL command is not specified while it is given in the JSON structure. So, it almost matches but not completely.'] +Rotate 270 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['4; The natural language command correctly matches the JSON structure for the "rotate" action. The angle is correct at 270 degrees and the direction of rotation is correctly identified as clockwise ("is_clockwise": true). However, there is no mention of the angular velocity in the command while it is present in the JSON structure with a value of 0.35, which results in some points being deducted.'] +Perform a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];["4; The natural language command is mostly conforming to the JSON structure, yet the 'angular_velocity' is not specified in the command while it's present in the JSON."] +Turn right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 270, "is_clockwise": true}}'];['4; The natural language command and the JSON information somewhat matches. The natural language command instructs to turn right (which is clockwise) by 270 degrees. This is supported by the JSON information, as the action is "rotate" and the angle is 270. The rotation is clockwise as mentioned in the command, which is represented by "is_clockwise" key in the JSON structure. But the angular velocity is not specified in the command, which is present in the JSON structure as 0.0. So, it\'s not an exact match.'] +Rotate by 270 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];["4.5; The natural language command does match with the JSON information in terms of performing a 'rotate' action, rotating by a 270 degree angle and doing this rotation in a clockwise direction. However, the 'angular_velocity' key is set to 0 in the JSON which is not specified in the natural language command. Therefore, it's not fully conforming."] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];["4; The command is asking to move forward for 5 meters which is mostly matched by the JSON structure. However, the speed of the movement specified in the JSON (0.5) doesn't match with the natural language command since the command didn't specify any speed."] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];['4; The command asks to move forward for a distance of 5 meters and the JSON structure correspondingly has the action as "move" and a distance of 5. The parameter "is_forward" is also correctly true. However, no information is given for the "linear_speed" in the command yet it appears in the JSON structure, hence, it is not a perfect match.'] +Advance 5 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];["4; Mostly conform. The command talks about moving forward in a specific distance, and this is represented properly in the JSON structure. However, the specific linear speed isn't mentioned in the command but is provided in the JSON, so it's not a perfect match."] +Take 5 meter steps forward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];["5; The natural language command aligns perfectly with the given JSON structure in action and parameters. The command clearly states to 'move' a 'distance' of '5 meters' 'forward', which matches with all the keys in the JSON."] +Go ahead and travel a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];["4; The natural language command instructs to 'travel a distance of 5 meters' which is mainly captured in the JSON structure. The distance value is matching but the linear_speed value is not specified in the command so it's marked as 0.0 in the JSON which is not a discrepancy but an assumption. However, the 'is_forward' direction is assumed as true in the JSON structure which isn't mentioned in the command and for a match score of 5 requires explicit indication in the natural language command."] +Turn right and move at a speed of 1.5 meters per second for 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];['2; The natural language command partially matches the JSON structure. The command implies a rotation, but the angular_velocity is not set in the JSON structure and the angle is not correct (90 instead of \'turn right\'- which is usually taken as 90 degrees). The "move" command in the JSON structure matches with "move at a speed of 1.5 meters per second for 4 seconds", but the calculated distance is 6 meters, not 4 seconds (time is not defined as an attribute in the sample ontology). The command does not specify the direction of the move, which is defined as forward in the JSON structure.'] +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['2; The natural language command indicates to make a right turn and go forward at a speed of 1.5 meters per second for 4 seconds, which can be translated into rotation and movement. However, the values in the provided JSON structures don\'t match. In the rotation action, the "angular_velocity" is 0 and "angle" is 90 instead of unspecified in the natural language command. In the move action, "distance" is 6 instead of being derived from speed and time (1.5m/s * 4s = 6m), and "linear_speed" is 1.5 matching with the command. Considering the command is properly translated into the two actions but the values are off, the conformity score is in the middle.'] +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];['2; The rotation command in the JSON structure matches the instruction to rotate in the natural language command, however, it doesn\'t specify the rotation direction (to the right). The movement command in the JSON structure moderately matches with the natural language command: the velocity in natural language command (1.5 m/s) is correctly reflected as \'linear_speed\', but the JSON has a value of \'6\' for \'distance\' whereas natural language command talks about \'time of 4 seconds", not a specific \'distance\'.'] +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['3; Partially conform. The natural language command is a two-step process involving rotation and movement, which is represented in the JSON structure. However, all parameter values in the JSON (angular_velocity, angle, is_clockwise, linear_speed, distance and is_forward) are not matching the command. Also, the computed distance (1.5*4=6) is not mentioned in the natural language command.'] +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": false, "unit": "meters"}}'];["1; The command instructs to go right but doesn't translate into a valid JSON structure as it does not match with any of the provided JSON structures. Although the movement action and linear_speed are reflected in the JSON structure, the directions (right or left) are not defined in the JSON, and neither is duration. Hence, there is a partial match."] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];["2; The natural language command refers to a rotation action with a specific angle, which matches the action and angle in the JSON structure. However, the direction of the rotation (counterclockwise) is not accurately reflected in the JSON structure ('is_clockwise': false) and the angular_velocity is not specified in the command while it is present in the JSON structure."] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];['3; The JSON structure partially matches the natural language command. The action of "rotate" and "angle" of 60 degrees are correctly represented. However, the "is_clockwise" parameter is set to false when the command specifies a left turn, which implies a counter-clockwise rotation. Also, the "angular_velocity" is set to 0 whereas no speed is mentioned in the command. The JSON structure should correctly reflect the direction of rotation for a complete match.'] +Move in an anti-clockwise direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];["2; The JSON structure is semi-conform to the natural language command. The action 'rotate' and parameter 'angle' are correct, but 'angular_velocity' is incorrectly set to 0 and 'is_clockwise' is missing in the command. It's assumed to be false based on 'anti-clockwise' direction in the command, but it isn't explicitly stated."] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];["3; The natural language command 'Rotate in the opposite direction by 60 degrees' refers to the JSON structure of 'rotate' with 'angle' of 60 but doesn't mention the 'angular_velocity' of 10, and 'is_clockwise' as False. This can be interpreted as the opposite direction but it is not explicitly mentioned in the command."] +Perform a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 60, "is_clockwise": false}}'];['3; The natural language command generally matches the JSON structure but does not provide a value for "angular_velocity". Also, as per the command, the rotation should be counter clockwise which means "is_clockwise" should be \'false\' but mentioned as \'true\'.'] +Move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];["4; The natural language command 'Move forward for 2 meters' correctly corresponds to the 'move' action in the JSON structure. The 'is_forward' parameter is also correctly set to true, and the 'distance' parameter is correctly set to 2. However, the natural language command does not specify a 'linear_speed', which is specified in the JSON as 0.5. Therefore, it's a partial but not an exact conformity."] +Proceed straight ahead for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The natural language command specifies a movement, which matches the "move" action in the JSON structure. However, it doesn\'t specify the "linear_speed" that is included in the JSON. The "distance", "is_forward", and "unit" parameters match perfectly. The score is not a 5 due to the lack of speed specification in the natural language command.'] +Advance onward by 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];['5; The natural language command matches the "move" action in the JSON structure. The instructed action, direction, and distance in the command align correctly to the "action": "move", "is_forward": true, and "distance": 2 in the JSON.'] +Travel straight ahead, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; The natural language command asks the actor to move straight ahead (is_forward: True) for a distance of 2 (distance: 2) meters (unit: "meter"). The speed is not explicitly mentioned in the command, but it correctly defaults to the value provided in the JSON (linear_speed: 0.5). Therefore, the JSON perfectly matches the command.'] +Take 2 meters forward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];['1; The natural language command is associated with motion, but the particular parameters of motion - forward by 2 meters, do not match with any provided JSON command. The "move" JSON command does include a "distance" parameter but it lacks an exact value match, and the "linear_speed" is specified as 0.5 instead of correlating to the speed implied in the natural language command.'] +Turn left and move at a speed of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meters"}}'];['1; The natural language command indicates a movement with a specific speed and a duration, not distance. There is no conformity with the rotation direction ("turn left"). The provided JSON structure only includes linear movement data, without specifying the direction of the movement ("is_forwards": "false" does not necessarily mean "left") and incorrect distance calculation (speed*time != distance).'] +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['2; The angular velocity in the JSON is inconsistent with the speed mentioned in the natural language command. Furthermore, the natural language command specifies a duration for the action, while the JSON structure mentions an angle for the rotation and a distance for the move action. No length of time is mentioned in the JSON structures.'] +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The natural language command partially conforms to the JSON structures. While it correctly instructs the rotation and moving forward action just as depicted in the JSON structures, it provides an incorrect metric (time instead of distance for moving). In addition, the rotation action lacks the required parameters such as angle and angular_velocity as in the JSON structure.'] +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meter"}}'];['2; Only the action "move" is considered in the natural language command but not in the correct way. The value of "is_forward" is not correctly transcribed, as the command specifies a "leftward turn", not backward motion. The "distance" is not given correctly (it specifies time not distance. Conversion is not stated), neither is "rotate" action covered which would make sense for "take a leftward turn". There is also no JSON structure that matches the "take a leftward turn" part of the command.'] +Face left and advance at a pace of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The natural language command instructs the movement at a certain speed, but does not correctly define the distance parameter. Also, there\'s no command in the language referring to rotation as instructed in the JSON structure ("Face left"). The translation between natural language command and the JSON information does not completely match. However, the parameters related to movement action such as "linear_speed" and "is_forward" are represented correctly in the JSON structure.'] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The command is almost conforming, but "is_forward" value should be False for backward movement. However, in JSON, it\'s not provided whether the movement is forward or backward.'] +Go back 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];["5; Exactly conform. The command 'Go back 6 meters' is represented correctly by the JSON structure where the action is 'move', linear speed is set, the distance is 6 as expressed in the command, 'is_forward' key is false which represents 'go back', and unit of distance is 'meter'."] +Reverse direction and move 6 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Retreat for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command instructs to move a certain distance in the opposite direction, which is accurately represented in the JSON code with "action": "move", "distance": 6, and "is_forward": false, indicating backward movement. The "linear_speed" (though not mentioned in the command) and "unit" fields also comply with the ontology keys.'] +Travel in the opposite direction and cover a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": default, "distance": 6, "is_forward": false}}'];['4; The natural language command matches with the "action": "move" and "params" in the JSON structure as the action is to move and the parameters include distance. However the direction is specified as opposite in the command but no parameter for direction is provided in the JSON. The "is_forward" parameter is not completely conformed to the natural language command.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];["4; The natural language command mostly conforms to the JSON structure. The action 'move' and the parameters 'is_forward' and 'distance' align with the command. However, there is a discrepancy in conformity as the 'linear_speed' isn't specified in the command, as well as the 'unit' is defined in the command but there is a spelling error in the JSON structured, i.e., in the 'unit' it is spelt as 'meters' in the command and 'meter' in the JSON structure."] +Proceed straight ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The natural language command is requesting a straight motion for a particular distance which perfectly matches with the "move" action. However, the linear speed is specified in the JSON, while it\'s not mentioned in the natural language command, hence the deducted point.'] +Advance by 5 meters in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['4; The natural language command and the JSON structure largely conform, but there\'s no specified "unit" information in the natural language command.'] +Go ahead for a span of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command asks to move forward for a stretch of 5 meters. The JSON information also contains an action of moving with the linear speed of 0.5, the same direction (forward), and the same distance of 5 meters measured in the unit meters. Therefore, they are exactly conforming.'] +Cover a distance of 5 meters by moving forward.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; Some conformity. The natural language command \'Rotate counterclockwise by 90 degrees\' correctly corresponds with the action "rotate" and "angle": 90. However, the "angular_velocity" value in the JSON structure is 0, which does not exactly match with the natural language command. Also, the "is_clockwise" value is false complying with the counterclockwise direction in the command.'] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; Although the natural language command and the JSON structure are a match in terms of action and rotation, the JSON structure contains the "angular_velocity" key which is not implicitly specified in the natural language command. As the correct direction (counterclockwise) is implied, the "is_clockwise" key rightly equals false. However, the "angular_velocity" value isn\'t identified from the command, hence it being set at 0 which seems an incorrect default value. The score is considered at 4 with insignificant missing information.'] +Rotate in a counterclockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command matches the JSON structure in terms of action and parameters, but incorrect values are provided: there is angular velocity indicated in JSON while in natural language command, it is not mentioned and angle provided in natural language command counterclockwise by 90 degrees does not match the angle value as 40 in JSON. Also, is_clockwise is false in JSON while it mentioned as counterclockwise in natural language command.'] +Rotate anti-clockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command is almost perfectly matched with the JSON structure. The only mismatch is the "angular_velocity" value which is not mentioned in the natural language command, therefore it\'s impossible to compare it. All the other parameters (action, angle, is_clockwise and unit) are correctly represented in both the command and the JSON structure.'] +Make a 90-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The command to rotate is properly addressed in the JSON structure. But, the value for "angular_velocity" is incorrectly mentioned as 0 which doesn\'t match with the natural language command where no instruction is given about "angular_velocity".'] +Stop.;['{}'];['0; The natural language command "Stop" does not match with any of the provided JSON structures. The command does not specify any action or parameters that can be correlated with the actions and parameters in the JSON structures. The conformity score is therefore 0.'] +Cease.;['{}'];["0; The provided natural language command is missing so it can't be compared with the given JSON structures."] +Halt.;['{}'];['0; The command "Halt." doesn\'t match any of the provided JSON structures; it suggests an action of stopping or pausing, not going to a goal, moving, or rotating.'] +Pause.;['{"action": "pause"}'];['0; The natural language command is "Pause" which does not match any of the JSON structures provided. The JSON structures are for actions of "go_to_goal", "move", and "rotate", respectively. Therefore, the conformity score is 0.'] +Terminate.;["I apologize for any confusion, but I can't proceed without a valid prompt. If you have any questions or need assistance, please let me know."];['Terminate.;["I apologize for any confusion, but I can\'t proceed without a valid natural language command to compare to the JSON structure."]'] +Reverse for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 0, "is_clockwise": false, "unit": "seconds"}}'];['1; The command involves reversing, but it doesn\'t specify a rotation. The JSON structure describes a rotation action. The parameters of the JSON such as "angular_velocity", "angle", "is_clockwise" and "unit" don\'t match with the command.'] +Reverse for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false, "duration": 2, "unit": "seconds"}}'];['0; There is no "duration" key in the JSON structure and the "is_forward" key is missing in the command. The action specified in the command also doesn\'t match any of the actions in the JSON structure.'] +Go back for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];["3; The action in the command is 'go back' which corresponds to the 'move' action in the JSON structure. Also, there's matching information about time ('2 seconds'), which aligns with 'distance' and 'unit'. But in the JSON structure, 'linear_speed' is -1 which is not mentioned in the command. There's no matching information for whether the motion is forward or backward, so 'is_forward' is not entirely correct. Also, it's unclear if linear_speed might refer to time or actual speed, leading to potential conformity issues."] +Move in reverse for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['2; The JSON structure has the correct action "move" and correctly indicates "is_forward": false to signify moving in reverse. However, the \'distance\' attribute is incorrect as the command seems to refer to a duration of time rather than a specific distance. A major nonconformity lies in the absent \'time\' parameter which could have better matched the "for 2 seconds" part of the command. The \'linear_speed\' set to -1 is arbitrary and doesn\'t match any instruction in the natural language command.'] +Go in the opposite direction for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];["3; The natural language command and JSON mostly conform. The action 'move' and parameter 'is_forward': false in JSON match the idea of 'Go in the opposite direction' in the natural language command. However, the natural language command specifies a time duration ('for 2 seconds') not a distance, the 'linear_speed' and 'distance' parameters should be replaced with a 'time' parameter."] +Turn left and move forward for 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'];['2; The natural language command instructs to "turn left and move forward for 10 meters" which correlates with the "move" action in the JSON structure. But the distance in the JSON structure is not set to 10 and the command to "turn left" does not match with any directives in the provided JSON example.'] +Proceed forward for a distance of 10 meters after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true}}'];['2; The JSON structures partially match the command. The action of moving forward is captured in the second JSON structure and the rotation is partially captured in the first JSON structure. However, the direction of the turn (left) is missing in the JSON and the angular_velocity, angle is not specified in the natural command. Also, distance is specified as "10" in the command and it\'s just mentioned as "distance" in the JSON.'] +Make a left-hand turn and continue straight ahead for a distance of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches perfectly with the JSON as it asks for a robot to make a turn - which aligns with the rotate action in the JSON - and then move forward for a certain distance - which coincides with the move action in the JSON. The parameters such as angle, distance, and direction are also correctly interpreted in the JSON from the command.'] +After turning left, continue moving straight ahead for a total of 10 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "meter"}}'];["3; The natural language command refers to a move action which fits the JSON structure. However, the command mentions 'turning left' which is not represented within the provided JSON structure. Moreover, the speed parameter in the command is missing a specification."] +Execute a left turn and then travel forward for a distance of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'];["3; The JSON structures and the command are somewhat conform. However, the parameters in the JSON structures like 'angular_velocity' in the 'rotate' action or 'linear_speed' in the 'move' action are not mentioned in the command. Moreover, the 'angle' in the 'rotate' action in the JSON structure is 90, but it's not specified in the command."] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['2; The natural command is requesting to move backwards for a certain time duration, not a distance, and there is no such time duration parameter found in the JSON structure. Although the direction of movement (backward) matches with "is_forward": false, the "distance" in JSON structure should correlate to a specific distance value rather than time. Therefore, it is partially conforming.'] +Go back for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 3, "is_forward": false, "unit": "seconds"}}'];["1; The natural language command talks about moving back for a specific duration, and the given JSON is mainly about moving. However, it specifies distance instead of duration and misses a key parameter 'is_forward' that should be set as False according to the natural language command. So, the matching is not very good."] +Reverse movement for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['2; Partially conform. The action of movement is correctly identified in the JSON structure but the distance is measured in "seconds". The value for "is_forward" is correctly marked as false, indicating a backward/reverse movement. However, the "linear_speed" has a value of -1 which is not clearly specified by the natural language command. The duration of 3 seconds for this movement is incorrectly noted as "distance".'] +Retreat for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": false, "unit": "meter"}}'];['1; The natural language command indicates a backwards movement based on time, but in the JSON, the movement is forward with a specific distance in meters. Additionally, the time duration in the command does not match with any parameter in the JSON information.'] +Take a step back for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["2; The natural language command indicates a desire to 'take a step back' and refers to time duration, however, the JSON structure refers to 'move' with 'linear_speed' and a 'distance' parameter. Moreover, no indication for time ('seconds') is given in the ontology. Therefore, the command and JSON structure partially conform."] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['1; The natural language command asks the system to rotate 180 degrees clockwise. In the JSON command, the action and angle match, but the "is_clockwise" value is not set to true and the "angular_velocity" value does not match with the natural language command where no specific speed of rotation is mentioned.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command perfectly matches the JSON information. The action "rotate" is correctly captured, and parameters such as "angle", "is_clockwise", and "unit" are correctly set according to the command.'] +Rotate in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The JSON representation matches the natural language command in terms of rotating in a clockwise direction by a certain number of degrees, but the JSON does not specify an angular velocity which was not requested in the command either.'] +Turn right and rotate 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; Although the natural language command is correctly transformed into the JSON structure, the "angular_velocity" is not mentioned in the natural language command, so it has been added arbitrary and the correct is_clockwise property for the \'Turn right\' command hasn\'t been passed correctly to the JSON, the \'true\' value should\'ve been passed, but a variable name \'is_clockwise\' is passed instead.'] +Execute a rotation of 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The natural language command matches exactly with the JSON structure provided, with all keys confirming for a rotation action. The "angle" is 180 as dictated in the command and the rotation is "is_clockwise" just as the command specified. The only key-value pair not mentioned in the command is "angular_velocity", but since it is not conflicting with the natural language command, full score can be given.'] +Turn right and move forward for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": true, "unit": "meters"}}'];['4; The natural language command correctly instructs to rotate and move forward which matches the JSON structure actions of rotate and move. However, there are no values for angular_velocity and linear_speed and also the angular_velocity is clockwise which may not be equal to turning right in all scenarios.'] +Proceed forward for a distance of 8 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform.'] +Take a right turn and continue moving straight ahead for a duration of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": , "distance": 8, "is_forward": true, "unit": "meter"}}'];['3.5; The natural language command \'Take a right turn\' is correctly mapped with the JSON structure of the rotate action, but the "angle" value is not given in the command but assumed to be 90 degree for a right turn. Also the "angular_velocity" value is not mentioned in the natural language command and is assumed to be default. The \'continue moving straight ahead for a duration of 8 meters\' part of the natural language command correctly corresponds with the "move" action in the JSON structure with "distance": 8 conforming to \'8 meters\', "is_forward": true conforming to \'straight ahead\' and "unit": "meter" conforming to \'meters\'. However, the "linear_speed" value is not provided in the natural language command and is assumed to be default.'] +After making a right-hand turn, advance 8 meters in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['2; The natural language command provides instruction for a right hand turn and forward movement but there is no JSON structure for the rotation. The movement is partially matched with the provided JSON for action "move", but the distance detailed in the command (8 meters) is not reflected in the JSON structure. However, the direction of the movement onwards (forward) and unit of distance (meter) are properly matched.'] +Rotate to the right, then travel straight ahead for a distance of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": true, "unit": "meter"}}'];['1; The natural language command partially conforms to the JSON information and its conformity with the keys of the sample ontology. The "rotate" command states to rotate to the right, which would imply a clockwise rotation, but the actual JSON structure for the rotation params["is_clockwise"] key is missing a value. The "move" command matches well with the distance and forward movement intended, but the params["linear_speed"] are mismatched as the JSON has a value of 0, and the natural language command does not specify a speed.'] +Move forward for 1 meter and stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4.5; The JSON structure corresponds well with the command but the linear_speed should not be 0.0 as this would imply no movement. The command to stop is not represented in the JSON.'] +Proceed straight ahead for a distance of 1 meter and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['2; The natural language command and the JSON structure have partial conformity. The JSON structure correctly indicates a moving action with a specific distance and direction. However, it does not represent the concept of "come to a halt" expressed in the natural language command. The "linear_speed" parameter set to 0 contradicts the command to proceed straight ahead (which implies a non-zero speed). Therefore, the score is not high.'] +Advance one meter ahead and then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The natural language command corresponds perfectly with the provided JSON information. The robot is commanded to advance one meter which is represented in the JSON with the "action" as "move", "distance" as 1, "is_forward" as true, and the "unit" as "meter". Linear speed parameter in the JSON isn\'t mentioned in the natural language command but it doesn\'t create a discrepancy as it could be an assumed default value.'] +Travel in the forward direction for a length of 1 meter and then cease movement.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true}}'];['3; Partially conform. The command suggests movement, which matches with the "move" action in the JSON. Additionally, the distance is mentioned in both. However, the command doesn\'t specify the linear speed which the JSON structure does, and the JSON structure has \'0\' in "linear_speed", which contradicts the concept of movement. Further, the command doesn\'t specify the \'unit\', though it can be assumed to be \'meter\' based on standard units.'] +Move ahead for a distance of 1 meter, and then bring the movement to a stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The JSON information corresponds to the natural language command of moving ahead for a certain distance. However, the 'linear_speed' parameter in the JSON structure doesn't match with the command because the command doesn't specify the speed of the movement. Plus, the command to 'bring the movement to a stop' is not represented in the JSON structure."] +Rotate counterclockwise by 135 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['3; The natural language command and the JSON information is partially matched. The action and params are correctly identified as \'rotate\' and \'angle\' is correctly referred as 135 degrees in the JSON. However, the "angular_velocity" in JSON is given as 0 while the natural language doesn\'t provide any information for it. Also, the direction is implied to be counter-clockwise in natural command but it is set as "false" in the JSON command under the \'is_clockwise\' key which is confusing. Also, the value for \'is_clockwise\' key is not a boolean in the JSON command which might raise an error.'] +Rotate 135 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false}}'];['4; The natural language command matches well with the JSON structure, given that the action "rotate" and the angle of rotation "135" are indicated correctly. However, the information regarding the direction of rotation (counterclockwise) does not match the JSON structure where it suggests a clockwise rotation ("is_clockwise": false). The angular velocity is also mismatched, it\'s given as 0 in the JSON while no information is provided in the command.'] +Turn 135 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false}}'];['4; The natural language command specifies the action of rotating 135 degrees counterclockwise perfectly, but does not give a specific angular velocity. As a result, the JSON structure line inaccurately assigns an angular_velocity of 0, so it’s not an exact match, but it is very close.'] +Rotate anticlockwise by 135 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command matches the JSON structure perfectly by specifying the action, the angle of rotation, and the direction to rotate to (anticlockwise, which is correctly represented as "is_clockwise": false in the JSON). The angular_velocity is not specified in the command, which matches the given JSON where it is represented with the value "0".'] +Perform a 135 degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];["2; The action of rotation and the unit of degrees are accurate according to the natural language command. However, the angular velocity parameter do not match. Additionally, in the JSON structure the rotation is set to happen in a clockwise direction, whereas the command specifies a counterclockwise rotation. Moreover, the natural language command doesn't specify angular velocity."] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meters"}}'];['5; Exactly conform. The natural language command correctly corresponds with the JSON example in terms of action ("move"), parameters ("linear_speed", "distance", "is_forward", "unit"), and their respective values. The only addition in the command is "backward" which correctly translates as "is_forward": false in JSON.'] +Go in reverse for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure accurately represents the action type ("move") and parameters given in the natural language command. However, there\'s a discrepancy in the "linear_speed" value where JSON data has -0.5 while the command does not specify a speed. The "is_forward" value is correctly inferred from "Go in reverse".'] +Take 6 steps back.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false}}'];['4; Although the instruction for the action "move" is comprehensible and the keys for the params "distance" and "is_forward" are correct, the instruction indicates taking steps while the JSON structure implies moving a certain distance. The \'unit\' in the instruction should be \'step\' instead of \'meter\' and the \'linear_speed\' value doesn\'t match with the instruction.'] +Retreat 6 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);["2; The command 'Retreat 6 meters' somewhat matches with the 'move' action in the JSON structure but there is not enough information in the command to completely fill out the JSON structure. There is no specification on the direction of the movement (is_forward key), and the distance value doesn't match (6 vs. 'distance').", ''] +Travel 6 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];["5; Exactly conform. The command 'Travel 6 meters in the opposite direction' asks to move a certain distance in a specific direction. The JSON structure specifies to move, in the action key. Furthermore, the params key includes a distance of 6, which matches the 6 meters in the command. The direction is specified to be backwards in the command, which corresponds 'is_forward' being false in the JSON structure."] +Turn left and move forward for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['1; The natural language command asks for a turn and then a forward movement, however, the JSON only contains the movement action and does not contain the rotation action. Additionally, the command mentions a time duration ("4 seconds") which is not represented in the JSON structure, instead the JSON structure uses distance to measure the movement.'] +Take a left turn and proceed straight ahead for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter", "duration": 4, "duration_unit": "seconds"}}'];['1; The natural language command mentions a turn but in the provided JSON structure, this specific part is not represented at all.'] +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 4, "is_forward": true, "unit": "seconds"}}'];["2; Although the natural language command matches with the JSON structure in terms of action ('move') and moving forward (is_forward = True), it is specified in terms of time ('for 4 seconds') rather than distance. The JSON structure also doesn't account for the 'make a leftward turn' part of the command. Also, 'linear_speed' parameter does not match because its value is 0.0 in JSON while a movement is implied in the command."] +Pivot to the left and advance forward for a period of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 4, "unit": "seconds"}}'];['1; While the command does include rotational and movement actions which are similar to the JSON structures, specific necessary values such as the angular_velocity, angle, linear_speed, and distance are not mentioned in the language command. The duration value indicated in the command is also not represented in the JSON structures provided.'] +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.;['{"action": "move", "params": {"linear_speed": default_value, "distance": default_value, "is_forward": true, "duration": 4, "unit": "seconds"}}'];['0; The provided JSON structure does not match with the natural language command given. The command refers to rotation but no such action or parameter exists in the JSON structure. Also, the command mentions a direction (leftward) and a duration (4 seconds) that are not included in the JSON structure. The "move" action is mentioned, but none of the parameters align with it (linear_speed, distance, is_forward). The parameters in the command (rotate, leftward, 4 seconds) do not exist in the JSON structure.'] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; The natural language command mostly matches the provided JSON structure. The action is "rotate" and the "is_clockwise" is true, which matches the command. However, the angle in the command is 60 degrees, though in the JSON structure it\'s 40 degrees. Also, there is no information in the command that would point us to the value of "angular_velocity".'] +Turn 60 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; The JSON structure matches the natural language command, but the "angular_velocity" value in JSON does not match with command.'] +Rotate the object by 60 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];["4; The natural language command matches with the JSON structure for the most part, but the 'angular_velocity' given in JSON does not conform to the NL command. The natural language command doesn't specify any 'angular_velocity', it only commands to rotate the object by 60 degrees in the clockwise direction. Hence, this discrepancy."] +Move in a clockwise direction, making a 60 degree turn.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command specifies the action of rotating in a clockwise direction with a 60 degree turn. The JSON structure represents a rotate action with some different parameters like angular velocity and angle. But the specified angle in natural language command (60 degrees) and JSON structure (40 degrees) is not the same.'] +Rotate 60 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; The natural language command matches the JSON structure mostly. The "action" is "rotate", and "params" includes "angle" of 60 degrees and "is_clockwise" is true, as stated in the command. But "angular_velocity" is missing value in the natural language command but it is assigned a 0 in JSON, leading to a minor mismatch.'] +Move forward for 7 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}}'];['5; The command "Move forward for 7 meters and stop." perfectly matches the JSON structure given with the action "move" and a "distance" parameter of 7 meters. It\'s implied with the "stop" command that the movement is forward ("is_forward": true). The linear speed and the unit of measurement are not specifically given in the command but are default in the JSON structure.'] +Proceed straight for a distance of 7 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['3; The natural language command loosely matches with the JSON structure. The "move" action and "distance" parameter match, but the "linear_speed" details do not match as in JSON it is stated as \'0\' which means \'stop\', whereas in the command it says \'Proceed straight\' indicating movement. The command also lacks specific information about speed. The "is_forward" parameter matches as the bot is instructed to move forward. Unit of "meter" also matches.'] +Advance ahead covering a distance of 7 meters and then cease movement.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform.'] +Go forward 7 meters and then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meters"}}'];["4; The natural language command is partly reflected in the provided JSON structure. The move action, distance, and is_forward parameters correspond correctly. However, the command's mention of stopping is not mirrored in the JSON, nor is the command's unspecified speed mapped to a specific speed in the JSON structure."] +Move straight ahead, covering a distance of 7 meters, and then halt.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The natural language command and the JSON structure mostly match. The command tells the robot to move straight ahead for a distance of 7 meters, which is represented in the JSON structure with distance set to 7 and is_forward set to true. The unit "meter" also matches. However, the command doesn\'t specify the speed at which the robot should move, while the JSON structure does specify a linear_speed of 0.0. The command also mentions the robot should halt, which isn\'t represented in the JSON structure.'] +Reverse for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false}}'];['1; The natural language command instructs to move in reverse for 5 seconds, however, the JSON structure indicates a forward movement for a given distance, not time. The units and parameters do not align with the natural language command specified. Moreover, the value of "is_forward" in JSON structure is True, which contradicts with the command of reversing.'] +Reverse for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2.5, "is_forward": false, "unit": "meters", "duration": 5, "unit_duration": "seconds"}}'];['1; The natural language command orders the system to reverse for a duration, which slightly matches the move action in the JSON structure that describes moving a certain distance at a certain speed. However, there are mismatches, including the direction of movement (the command says to reverse, while the JSON structure says to move forward) and the lack of duration parameter in the JSON structure.'] +Perform a 5-second reverse.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "second"}}'];['2; The action in the command matches with the action in the JSON but the parameters partially match. The "is_forward" parameter correctly matches with the command but the "linear_speed" is missing from the command and the "distance" value does not directly align with the time duration mentioned in the command.'] +Execute a reverse motion for 5 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['2; The natural language command requests a reverse motion for 5 seconds, indicating a movement action but the specified duration is not represented in the JSON structure. However, the is_forward parameter in the JSON structure being set to "false" correctly represents the reverse motion. But the \'linear_speed\' value in the JSON notation is not conforming to the natural language command. Also, the \'distance\' key in the JSON structure does not match with \'5 seconds\' in the natural command. Moreover, \'unit\' in the JSON structure is set to \'seconds\' which is not a correct unit for distance.'] +Go backwards for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['2; The action in the command is "go backwards" which is somewhat represented in the JSON structure by "is_forward": false and the negative linear speed. However, the command specifies to go backwards for a period of 5 seconds which isn\'t correctly represented in the JSON structure, which has a "distance" key instead of a "duration" or "time" key. The unit in the JSON structure is also set to "seconds" which doesn\'t match with the required action of moving a certain distance.'] +Turn right and move forward for 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true, "unit": "meters"}}'];['4; The natural language command asks the robot to turn right (rotate clockwise) and move forward, which is represented in both JSON structures. However, the first JSON snippet, which corresponds to the rotation command, contains the "angle" parameter with a value of 90 - this is implied in the natural language command but not explicitly stated. The second JSON snippet correctly captures the command to move forward for 9 meters. The angular_velocity key in the rotation action and linear_speed key in move action are not mentioned in the command, therefore not fully conformant.'] +Move forward for 9 meters after turning right.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true}}'];['4; The natural language command and JSON structures are mostly compatible. The "move" action and its parameters align almost exactly with the command to move forward for 9 meters ("linear_speed": 0.5, "distance": 9, "is_forward": true). However, the rotation commands in the JSON struct and the natural language command are quite different. The JSON describes an angular velocity of 0.5 and an angle of 90 degrees, while the natural language command simply says to "turn right", which is typically assumed to be a 90 degrees turn, but the angular velocity is not specified. Also, the "unit" key isn\'t mentioned in the language command for both actions. Furthermore, the command suggests a sequence of actions (turn right, then move), but the JSON format provided does not account for multiple actions or their order. Due to these reasons, conformity is close but not perfect.'] +After turning right, proceed ahead for a distance of 9 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true, "unit": "meter"}}'];['2; The natural language command only partially matches the JSON structure. The action of moving forward for a particular distance is represented accurately. However, the command to turn right is not reflected in the JSON structure at all.'] +Take a right turn, then continue moving straight for a distance of 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'];['3; The natural language command and the JSON structures partially conform. The natural language command includes a directive to turn, which aligns with the rotate action in the JSON. However, it doesn\'t specify the angular_velocity, hence the 0.5 in the JSON doesn\'t correspond to anything in the command. Furthermore, it states \'take a right turn\' which ideally should be interpreted as a clockwise movement, thus correctly represented in the JSON as "is_clockwise": true. For the move action, the distance matches in both (9 meters). But again the command doesn\'t specify the linear_speed, hence the 1 in the JSON doesn\'t correspond to anything in the command. Lastly, the JSON for "is_forward" is true aligns with \'continue moving straight\' in the command.'] +Make a right turn and travel forward for 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'];['4; The natural language command and the JSON information align in terms of the actions to be carried out (move and rotate). However, the execution details such as the angular_velocity, angle, linear_speed and distance specified in the JSON structure and those implied in the natural language command do not match precisely. In addition, the command does not specify the direction of the turn (right or left) which is assumed to be right in the JSON.'] +Move forward for 2 seconds and stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['1; The command involves moving forward for a certain period of time, not a certain distance, and then stopping. However, the JSON structure shows a movement with a particular linear speed and distance, and no stopping action. The is_forward parameter is correctly depicted as True in the JSON.'] +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "duration": 2, "unit": "seconds"}}'];["2; Although the command given is asking for the action 'move', with the params 'is_forward' and, theoretically, a 'distance' in meters (even if it's calculated in terms of 'duration'), it doesn't match exactly with the provided JSON structure, as there is no 'duration' key in the ontology."] +Go ahead for 2 seconds and then halt.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['1; The natural language command mentions to "go ahead for 2 seconds" which implies some sort of movement but does not provide specifics like distance or speed which are present in the JSON structure. The JSON does not account for a time duration but rather a specific distance. Furthermore, the command in text form talks about halting afterwards which is not represented in the JSON at all. Therefore, there\'s low conformity between the command and the JSON structure.'] +Advance for a period of 2 seconds and then cease movement.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'];['1; The JSON information does not align well with the command. The command asks to "advance for a period of 2 seconds", but the given JSON structure does not include this request correctly. Instead, it mentions "linear_speed" as 0.0 and "distance" as 0, while the "duration" parameter illustrated in JSON structure is not a part of the JSON ontology provided.'] +Travel forward for 2 seconds before stopping.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['1; The natural language command is asking for forward movement for a specified time, however, the provided JSON structure represents a different command - moving a specified distance at a certain speed in the forward direction. The duration of this movement is not specified and thus does not match the natural language command. Additionally, the "distance" value in the JSON structure does not match the natural language command.'] +Rotate counterclockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['3; The given command "Rotate counterclockwise by 30 degrees" partially matches with the JSON data. The "angle" key matches since the command and JSON both indicate 30 degrees. However, "is_clockwise" in the JSON structure is not explicitly defined as it contains a variable instead of a Boolean value, but it can be inferred from the command that it should be "false" based on the statement "Rotate counterclockwise". The "angular_velocity" key does not match because the command does not provide any speed for the rotation. In summary, the command somewhat conforms to the JSON structure, but some key values are missing or unspecified.'] +Turn 30 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['2; The JSON structure matches the command to rotate, but the "angular_velocity" value in JSON is 0 while there\'s no information about it in the command, and the "is_clockwise" value is "False" while the command specifies a counterclockwise rotation. Therefore, the command partially matches the JSON structure.'] +Rotate in the anticlockwise direction by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];["4; The natural language command mostly matches with the JSON structure except for the 'angular_velocity' value. In the JSON script, its value is 0 whereas the command does not provide any specific speed for rotation."] +Rotate to the left by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['3; The natural language command specifies a rotation action and the angle of rotation, which matches with the JSON structure for the "rotate" action, but the "angular_velocity" value is not specified in the command and the clockwise direction in the command is not specified clearly.'] +Rotate in a counterclockwise direction, making a 30-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['4; The natural language command mostly matches the JSON information. Although the angular_velocity is not mentioned in the command, it has the right action (rotate) and the "angle" and "is_clockwise" parameters match up with the command to rotate counterclockwise by 30 degrees. However, the angular_velocity in the JSON structure is 0 while the natural language command does not specify this.'] +Reverse for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];["3; The natural language command is generally represented by the JSON structure, but the 'linear_speed' parameter doesn't match anything mentioned in the natural language command."] +Move back for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['3; The natural language command describes a backward movement for a certain distance which aligns with the action "move" and parameter "distance" in the JSON structure. However, the "linear_speed" is not specified in the command, and the "is_forward" key in the JSON is false, while it is not specified in the command. Therefore, it is partially conforming.'] +Go in reverse for a span of 4 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];["1; The natural language command somewhat matches the JSON structure as it references to moving a certain distance which is mentioned in the 'move' action in the JSON structure. However, the direction 'reverse' or speed of movement isn't correctly represented. Also, the 'linear_speed' in the JSON is positive, whereas the natural language command indicates a backward or reverse movement which should be perhaps represented with a negative 'linear_speed'."] +Retreat 4 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['3; The JSON structure represents the command "Retreat 4 meters in the opposite direction" well as it includes movement, a set distance, and the direction (not forward). However, the "linear_speed" information is not included in the natural language command hence it doesn\'t fully conform. The command doesn\'t specify the speed of the movement.'] +Travel backwards, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];["4; The command asks for a movement covering a certain distance in the backward direction which corresponds to the JSON structure that represents a movement action with a certain distance and direction (Rrepresented by 'is_forward' parameter set to false for backward movement). The only reason it doesn't exactly conform is because the command doesn't specify the speed of the movement, hence the 'linear_speed' is specifically defined in the JSON structure and not in the command. Also, 'unit' parameter is considered, which isn't expressed in the command but is implied."] +Turn left and move forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true}}'];["1; The natural language command instructs to turn left and move forward for 6 seconds, however, the provided JSON format only describes moving action with a specific speed and distance, it doesn't specify the direction (left or right) and also, the time (6 seconds) is not mentioned. The keys in the JSON are not fully matching with the command."] +Proceed forward for 6 seconds after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['4; Almost conform. The natural language command correctly corresponds to the rotate and move actions in the JSON structure. However, the "angular_velocity" is not specified in the natural language command, it is instead assumed based on the the fact that "making a left turn" implies rotation with some "angular_velocity". Also, the "distance" parameter is interpreted as time duration of the movement in the natural language command.'] +Make a left turn and advance for 6 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "seconds"}}'];["2; There is a match with both the 'move' and 'rotate' actions in the command, but the details specified in the JSON objects do not match the specifics of the command. The angular_velocity value is given as 0, despite a left turn being requested. The distance value and 'unit' in the 'move' action do not comply with the command asking for time duration, not a physical distance."] +Move ahead for 6 seconds after turning to the left.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['3; The natural language command matches the JSON structure to an extent. It mentions a rotation ("turning to the left") and a movement ("Move ahead for 6 seconds"). But, the command does not clarify the necessary parameters for the rotation i.e. angular_velocity in JSON and for the movement duration is mentioned instead of distance in JSON structure.'] +After veering left, continue straight for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['1; The provided JSON does not match well with the command. The command instructs to continue straight for a duration (6 seconds), not a distance. Additionally, the direction ("veering left") is not represented in the JSON. The "linear_speed" parameter is provided in the JSON, but there isn\'t anything in the command to suggest the speed of the movement.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['4; The command "Move forward for 5 meters" partially conforms to the provided JSON structure. The "distance" specified in the command matches with the "distance": 5 in the JSON. Additionally, "is_forward": true in the JSON aligns with "forward" in the command. However, a "linear_speed" is specified in the JSON but not mentioned in the command which leads to an incomplete match.'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The command is to "Proceed ahead for a distance of 5 meters" and the JSON structure indicates an action to "move" with a distance of 5 and a unit of "meter", which is a perfect match. Therefore, it\'s exactly conform.'] +Advance straight on and cover a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The command matches the JSON structure perfectly. It instructs a move action with a specified distance, which is correctly represented in the JSON. Although "linear_speed" and "is_forward" parameters are not clearly mentioned in the command, their default values are correctly assumed in the JSON, conforming to the underlying ontology of the system.'] +Head forward and travel 5 meters in that direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['4; The natural language command is mostly conforming to the JSON structure. The command instructs a forward movement which is correctly indicated in the JSON structure with the "is_forward": true key-value pair. The distance to be traveled is also correctly reflected with "distance": 5 in the JSON structure. However, the linear speed is not mentioned in the command but is indicated in the JSON structure ("linear_speed": 0.5), which is why the score is not a perfect 5.'] +Move straight ahead and go a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meters"}}'];['3; The natural language command correctly instructs a movement for a certain distance, but does not specify a speed and does not make it clear that it is moving forward. The JSON structure does present a speed, indicates that the movement is forward, and correctly captures the desired action and distance. However, the values for linear speed and distance do not exactly match up, hence the score is not a perfect 5.'] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command does not match well with the JSON information. While the command includes a rotation (turning left) and a movement forward, the JSON structure lacks a duration or time parameter under the "move" action for the "2 seconds" part of the command. Also, the "rotate" action key and parameters are missing in the JSON structure. The command also does not specify a linear_speed in the natural language command which is present in the JSON structure.'] +Move ahead for 2 seconds after turning left.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["1; The natural language command mentions turning left and moving for 2 seconds which matches with the JSON structure of rotate and move actions respectively. However, the distance value in move action JSON is represented in seconds which does not match with the ontology (expected in meters). Furthermore, the angle and angular velocity values for the rotate action are missing from the natural language command and hence are set to 'default_value' in the JSON structure which doesn't match with the ontology."] +After turning to the left, proceed forward for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command includes a rotation and then movement, however, the JSON structure only includes the parameters for movement, not rotation. Therefore, they partly conform. The conformity is not full because the direction of rotation is not specified in the natural language command and neither is it included in the JSON structure.'] +Take a left turn and then proceed straight for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["2; The natural language command corresponds to two different actions, which are rotating (taking a left turn) and moving (proceeding forward for 2 seconds). But the parameter values in the JSONs do not match the ones from the natural language command. The rotation angle is set to be 90, while a specific angle isn't mentioned in the command, and the motion distance is set to 2 seconds, not 2 meters which would be expected from a distance key."] +Make a left turn and continue moving forward for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'];["3; The JSON commands mostly match the natural language command but there are discrepancies in the values. The angular_velocity and linear_speed are given as 0 in the JSON commands which contradict the implied values in the sentence. Additionally, the angle of rotation is mentioned as 90 degrees in JSON while it's not specified in the natural language command. Lastly, the natural language command specifies a duration of moving forward but the distance is used instead in the JSON commands."] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command mostly matches with the JSON structure. However, the "angular_velocity": 0 doesn\'t conform to the command since it doesn\'t specify the rotation speed.'] +Turn in the opposite direction by an angle of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command almost completely matches with the JSON structure. However, the "angular_velocity" key in the JSON structure is specified with 0 which doesn\'t conform with the natural language command of turning. The turning command implies a non-zero angular_velocity.'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; The natural language command refers to rotation, which correctly matches the JSON structure for rotation. However, the command specifies \'anticlockwise\', which would translate to "is_clockwise": false in JSON - this matches the structure. The angle in command is 90 degrees which is absent in JSON but the "angular_velocity": 0 in the JSON structure does not match any information provided in the command.'] +Spin to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false}}'];["4; The natural language command instructs to rotate or spin to the left by 90 degrees. This has been translated to the 'rotate' action in the JSON structure with an angle of 90 degrees, but the direction of rotation, which is to the left according to the natural language command, has not been explicitly set to 'false' for 'is_clockwise' in the JSON structure. This parameter is just mentioned as 'is_clockwise' which does not specify if it's true or false. Therefore, it doesn't completely conform, hence a point deduction."] +Twist counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command is executed by the JSON command structure and the JSON information matches the command. However, the "angular_velocity" is set to 0 in the JSON structure, which doesn\'t exactly conform to the natural language command as it doesn\'t specify the speed of the rotation.'] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['2; The natural language command seems to be suggesting for the system to move backwards, which matches with the "move" action in JSON structure and also mentions the distance (3 meters) which can be found in the JSON structure. However, the natural language command does not specify the linear speed and the "value" given in the JSON structure is in negative which infers backward movement but not explicitly mentioned in the command. Also, the command does not specify the direction of the movement which is expected in the JSON structure ("is_forward": false/true).'] +Go in reverse for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The natural language command correctly reflects the action "move" and the parameters, including negative speed for reverse, distance, and unit as "meter". However, the "is_forward" value is correctly stated as "false" in the JSON, but not clearly specified in the natural language command.'] +Travel three meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The natural language command partially matches with the JSON information. The action "move", "distance" of 3, "is_forward" as false and "unit" as "meter" matches from the command. However, the "linear_speed" attribute is not mentioned in the command, meaning the conformity is not complete.'] +Retreat for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false}}'];['4; The natural language command and JSON structure match in that both represent a command to move a certain distance. However, the JSON structure contains "is_forward": true while the natural language command specifies a retreat, which implies moving backward. So, the value of "is_forward" should be False in the JSON structure.'] +Reverse your movement and cover a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['3; While the JSON command does indicate movement, the speed is not specified in the natural language command and is therefore not conforming to the JSON command. More specifically, the language command suggests a reversal of any current movement, but does not specify the speed of that movement. Although the distance of 3 meters does conform, overall the match is partial.'] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; Partially conform. The natural language command matches the "move" action in the JSON structure, stating the distance (1 meter), and the direction of movement (forward). However, when it says "turn right", it doesn\'t match the "rotate" action JSON in regarding the angle or the angular velocity. In the command, it\'s not clear how much is the rotation to the right. The JSON structure for rotating states an angle of 40 degrees with 0.35 angular velocity but the command just states \'turn right\' without specifying the angle, therefore, both parts match partially.'] +Proceed forward for 1 meter after turning to the right.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; Almost conform. The natural language command correctly instructs the robot to rotate then move forward. However, an angular velocity is mentioned in the JSON but not in the natural language command. Also, the angle in the JSON is 90 degrees (right turn), which fits with the command but isn't explicitly stated."] +Take a right turn and continue moving straight ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["2; Partially conform. The natural language command instructs a right turn and straight movement but angular_velocity in the JSON structure doesn't match with the command. Also, there's no JSON structure present for the straight ahead movement."] +After making a right turn, proceed ahead for 1 meter.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 1, "is_forward": true}}'];["2; The natural language command partially matches the JSON structure. The command instructs to 'proceed ahead for 1 meter' which matches with the 'move' action and 'distance' parameter in the JSON structure. However, the command also mentions 'making a right turn' which is not represented in the JSON structure."] +Rotate to the right and then advance for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}, "action": "move", "params": {"linear_velocity": 0.0, "distance": 1, "is_forward": true, "unit": "meters"}}'];["2; The JSON structure contains the two commands 'rotate' and 'move', which are indeed mentioned in the natural language command. However, the parameters for rotation such as angular_velocity and angle are not specified in the natural language command. Furthermore, the JSON structure does not specify the direction of rotation (to the right). The move command correctly denotes a distance of 1 meter, but the linear_velocity is not mentioned in the natural language command. Therefore, the JSON structure partially matches the natural language command."] +Move forward at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['4; The natural language command, "Move forward at a velocity of 0.5 meters per second", partly matches the JSON structure. The "action" matches as "move", and the "linear_speed" parameter matches at 0.5. However, the direction is not specified in the JSON structure, although it can be inferred to be forward. There is also a missing aspect in the command, as it does not mention anything about "distance".'] +Proceed ahead with a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true}}'];["3; Although the natural language command correctly indicates an action of movement ('move') and specifies the speed ('linear_speed': 0.5), it does not specify a distance or direction ('is_forward': true) as present in the JSON structure."] +Advance with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];["1; The natural language command specifies to advance with a certain velocity, and the JSON does contain an action to move with a certain 'linear_speed', which could correspond to velocity. However, the command does not provide a distance to move, which is included in the JSON. Additionally, the JSON includes the 'is_forward' parameter, which is not specified in the command. The unit of velocity is also not specified in the command."] +Go forward at a rate of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": , "is_forward": true, "unit": "meters"}}'];['3; The natural language command partially matches with the JSON structure. The "move" action and "linear_speed" parameter are correctly interpreted but the "distance" parameter is missing from the command, and the JSON structure uses "unit" as "meters" whereas the unit mention in the NL command is "seconds".'] +Travel in a forward direction at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true}}'];['4; The natural language command slightly corresponds to the JSON information. The command states to "Travel in a forward direction at a velocity of 0.5 meters per second", which corresponds to the \'action\': \'move\', \'linear_speed\': 0.5 and \'is_forward\': true in the JSON. However, the \'distance\' parameter in the JSON does not match with the natural language command.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command correctly directs an action of rotation with a specific angle, direction and unit all confirmed exactly by the JSON structure.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; Almost conform. The JSON structure correctly represents the action of rotation with the specified angle and direction. However, the angular_velocity is set to 0 which might not align with the physical action of rotation.'] +Turn by 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command accurately represents the rotate action in the JSON structure. However, the "angular_velocity" is specified as 0 in the JSON structure when it was not specified in the command.'] +Rotate in a clockwise manner, completing a 180-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["5; The provided natural language command exactly matches the action and parameters specified in the JSON command. The angular_velocity isn't specified in the natural language command but it is not required for the command to be executed correctly. The remaining values match precisely, including the rotation direction (clockwise) and angle (180 degrees)."] +Execute a clockwise rotation, rotating by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; Mostly conform. The natural language command matches with the JSON information of "rotate", the angle value matches but it doesn\'t specify the angular velocity which is given as 0.35 in JSON structure.'] +Move forward for 10 meters at a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The command matches the "move" action in the JSON structure but the rate doesn\'t match as the command specifies a speed of 2 meters per second while the structure dictates a speed of 0.5.'] +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];['4; The natural language command largely matches the JSON information - the action of moving in a forward direction for a certain distance at a certain speed is accurately conveyed. The values in the JSON object align well with the command. However, the conformity could be improved with a clear indication of the \'unit\'. The natural language command mentions speeds in \'meters per second\' and distances in \'meters\', but these are not explicitly indicated in the JSON structure- "unit": "meters".'] +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches exactly with the provided JSON structure. The command instructs to move in a forward direction for a certain distance at a specific speed, which aligns with the keys (action, linear_speed, distance, is_forward) in the JSON syntax.'] +Go ahead for 10 meters, moving at a pace of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];['5; The natural language command of going ahead for 10 meters at a speed of 2 meters/second perfectly matches with the JSON structure with the action keys as "move" and parameters (params) as "linear_speed": 2, "distance": 10, "is_forward": true and unit is "meters".'] +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Turn left and move forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "seconds"}}'];["0; The natural language command asks for a left turn and a forward movement but the JSON structure contains information about rotation parameters and movement direction, although duration (in seconds) is not taken into account in the JSON structure. The JSON doesn't relate to the direction of the movement ('left') in the command either."] +Make a left turn and proceed straight ahead for a duration of 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "duration": 5, "unit": "seconds"}}'];["2; The 'rotate' action in the JSON structure does match the 'make a left turn' command however the 'angle' is specified as 90 degrees whereas the command does not specify an angle. In the 'move' action, the command 'proceed straight ahead for 5 seconds' doesn't match with JSON structure as it translates 'distance' key and 'duration' key is not present in the sample ontology."] +Take a left and advance in a forward direction for a span of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2.5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command mentions to take a left which matches none of the actions available in the JSON structures. The part that mentions advancing in a forward direction does partially match the \'move\' action in JSON, however, the time duration ("for a span of 5 seconds") mentioned in the command does not match with the parameters in JSON structure.'] +Rotate to the left and proceed ahead for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["0; The natural language command asks for a rotation and forward movement, whereas the provided JSON structure doesn't match the command - it only includes a movement action with parameters such as linear speed, distance, direction and unit in seconds. The rotation action and its parameters are absent entirely."] +Veer left and move forward for an interval of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['4; The JSON structure mostly matches with the command given. The command mentions moving forward which is correctly represented in the JSON structure ("is_forward": true). However, in the JSON structure, the "distance" key\'s value is mentioned, instead, the "linear_speed" should have been given a specific value. Also, the command mentions "veer left" which is not represented in this JSON structure.'] +Move backward at a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": "default", "is_forward": false, "unit": "meter"}}'];['3; The natural language command partially matches with the JSON structure. The benchmark parameters like "action": "move" and "linear_speed": 1, "unit": "meter" are correctly referred in the command. However, the direction of movement i.e., "backward" is not properly addressed\xa0as boolean (true/false) under "is_forward". In addition, "distance" is mentioned as "default" in JSON structure which is not specified in the natural language command.'] +Go in reverse at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": false, "unit": "meter"}}'];['1; The natural language command dictates for the action to "go in reverse at a speed of 1 meter per second". In the given JSON structure, the "action" key is "move", which somewhat aligns with the "go" part of the command. However, the value for "is_forward" is "false", meaning the action will be performed in reverse, matching with the natural language command. Furthermore, the value for "linear_speed" is "1", which corresponds to the speed indicated in the command. But the "distance" key set as "0" in JSON does not match with the command, and the \'unit\' key is correct with a value of "meter". Overall, there is a partial match but with significant discrepancies present.'] +Travel backwards with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": "undetermined", "is_forward": false, "unit": "meter"}}'];['1; While the action of moving is present in the natural language command and the JSON, significant details such as direction (forward or reverse) and unit of measure are not properly aligned. In the natural language command the robot is asked to move backwards, while in the JSON it is set to move forward. Additionally, speed value mentioned does not match.'] +Move in the opposite direction at a rate of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure complies with the natural language command, with the exception of the 'distance' field. In the given command, no specific distance for moving in the opposite direction is mentioned. So, the 'distance' field should not be 0 but may need to be removed or changed to a suitable value. This small discrepancy leads to a conformity score of 4."] +Go backward at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['0; The natural language command indicates a movement to be done in backward direction with a certain speed but the JSON structure is missing completely which makes it impossible to match the command to the structure.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false}}'];['4; The natural language command mostly conforms with the JSON structure. The "rotate" action and "angle" parameter are identical, and "counterclockwise" correctly translates to "is_clockwise": false. However, the natural language command does not specify an angular velocity, which is a parameter in the JSON.'] +Rotate 45 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];["2; The action 'rotate' matches the natural language command, and the 'angle' parameter also matches, but 'is_clockwise' is incorrect because the command says to rotate counterclockwise, not clockwise. Although the 'angular_velocity' is given in the JSON structure, it was not specified in the natural language command."] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The command mostly matches the JSON structure, as it instructs a rotation with a specific angle. However, it doesn\'t specify the angular velocity which is mentioned in the JSON structure. Moreover, the direction "left" should translate to "is_clockwise": false, considering clockwise rotation as a right turn.'] +Rotate in an anticlockwise direction by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 45, "is_clockwise": false}}'];['2; Partial conformity. The natural language command asks for a anticlockwise rotation by 45 degrees which matches the "rotate" action and the "is_clockwise" parameter being False in the JSON structure. However, the "angle" in the natural language command is 45 degrees, but in the JSON it\'s 40 degrees which is a mismatch. Also, the angular_velocity parameter is not mentioned in the natural language command.'] +Rotate to the left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['2; The natural language command asks for a rotation to the left by 45 degrees which matches the action "rotate" and the "angle" value in the JSON. However, "angular_velocity" value is 0 which does not conform because the robot could not rotate with 0 velocity, also "is_clockwise" value is false which corresponds to rotating to the left but it didn\'t show a clear "unit" value as requested by the natural language command. The "unit" of the rotation is missing from the natural language command.'] +Move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true}}'];['5; The natural language command exactly corresponds to the associated JSON structure. The parameters such as moving forward and the distance of 7 meters are correctly reflected. The "is_forward" key is set to True, and the "distance" key is set to 7, which conforms perfectly with the command.'] +Proceed ahead for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The natural language command mostly matches the JSON structure. The action "move" and the parameters for direction "is_forward" and "unit" for the distance are represented correctly. However, the linear speed is not mentioned in the natural language command and the provided distance (7 meters) in the command is not reflected in the JSON structure.'] +Advance 7 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true}}'];['4; The natural language command corresponds well with the JSON structure. However, the "linear_speed" key in the JSON is not mentioned in the natural language command, hence the less-than-perfect score.'] +Travel straight ahead for a length of 7 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command directly corresponds with the given JSON structure, as it specifies that the action is moving, the direction is forward (indicated by "straight ahead"), the distance is 7, and the unit is meters. The linear speed is not mentioned in the natural language command but given in the JSON structure and as it is not conflicting with the command, it maintains conformity.'] +Go straight for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'];['4; The JSON structure matches the essential information of the command, it describes a moving action with a certain distance. However, the "linear_speed" key does not match with the command since there\'s no speed specified in the command. Also, the units of distance in the command and JSON are different: \'meters\' in the command and \'meter\' in the JSON.'] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];['3; The commands are partially conforming. The "rotate" command matches but the "move" command is missing some parameters such as speed. However the direction (forward) and distance (4) matches with the natural language command.'] +Take a right turn and proceed ahead for a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];["4; The natural language command corresponds to the given JSON structures accurately. Even though it doesn't specify the angular velocity, this might be pre-set in the system and not necessary to mention each time. However, the specified rotation in the command (right turn) is assumed to be 90 degrees, which does not match with the JSON structure where angle value is 40. Hence, this slight mismatch gives score 4."] +Make a right turn and advance straight ahead covering a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 4, "is_forward": true, "unit": "meters"}}'];['3; Although both the "rotate" and "move" action are represented in the JSON structures and the command mentions making a turn and advancing forward, there are no specific parameters given in the command for the angle of rotation or the linear speed for the movement as required in the JSON structure. There are also default values mentioned for the angular_velocity and angle in the JSON structure which do not correlate directly with any information provided in the command. As a result, there are certain mismatches between the command and the JSON information.'] +Rotate towards the right and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['2; The JSON structure partially corresponds to the command. The action "rotate" without a specified angular velocity or angle and "move" action with unspecified linear speed are present. However, the provided parameters in the command such as "towards the right" and "for 4 meters" are not reflected in the JSON.'] +Go right and travel straight ahead, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['3; The JSON correctly describes the action to "move" forward with a given "distance" of 4 and a "unit" of "meters". However, it does not account for the "go right" direction stated in the natural language command. Also, the "linear_speed" in the JSON structure does not match with any provided information in the natural language command.'] +Move forward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command ask for a temporal movement ("3 seconds") instead of distance, which is not reflected in the JSON structure provided. However, the overall concept of forward movement is captured.'] +Go straight ahead for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];["2; Partially conforming. The natural language command correctly identifies the 'move' action, however it specifies a 'duration' parameter which is not available in the JSON structure. Instead, 'linear_speed' and 'distance' are used to calculate movement. There is also no 'time' unit in the JSON ontology to equate the '3 seconds' in the natural language command. Therefore, the command can only be partially executed with the available information in the ontology."] +Proceed in a forward direction for a span of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true}}'];['2; The natural language command and the JSON structure partially match. The command mentions moving in a forward direction, which matches with the "is_forward": true in the JSON. However, the command states to move for a span of 3 seconds, not a specific distance or speed, which makes it not completely conform with the JSON structure.'] +Advance ahead for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command specifies to advance ahead for a time duration (3 seconds) whereas the JSON structure specifies information related to movement like linear speed, distance, direction, and the unit but not explicitly for a specific time duration. Also, the values in the JSON structure do not match with the natural language command.'] +Travel forward for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'];["2; Partially conform. The JSON command includes the 'move' action and 'is_forward' as in the natural language command. However, the 'distance' parameter is not conforming with the natural language command of '3 seconds duration', distance and duration are different concepts. Additionally, 'linear_speed' parameter is not mentioned in the natural language command."] +Turn left and move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];['2; The natural language command specifies turning left and moving forward which relates to both "move" and "rotate" actions. The JSON structure, however, represents only the "move" action with linear speed and distance parameters only. Turning is not represented in the given JSON structure. Additionally, the linear speed value in the JSON does not match the natural language command, as no speed was mentioned in the command. Therefore, the match is only partial.'] +Proceed straight for a distance of 2 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The natural language command mentions both a rotate and a move action. However, the provided JSON only represents the move action. The rotation action and its parameters are missing, so it does not fully match the instruction.'] +For a span of 2 meters, continue moving forward after taking a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure only includes the "move" action which has been partially mentioned in the command as "continue moving forward". However, the distance to move (2 meters) was mentioned in the command but not included in the JSON. There\'s no mention of "taking a left turn" in the JSON, and also the "rotate" action in the ontology reference was not utilized. The speed of the movement in the JSON structure doesn\'t match the command as there\'s no speed specification in the command.'] +Make a left turn and advance ahead for 2 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The JSON structures partially match the natural language command. The "rotate" action aligns with the "make a left turn" in the command, and the "move" action aligns with "advance ahead for 2 meters" (though no specific distance is listed in the JSON). However, many parameters in the JSON structures (e.g., "angular_velocity", "angle", "is_clockwise") do not have explicit equivalents in the natural language command.'] +After turning left, go straight for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "meter"}}'];["2; The command specifies a movement similar to the JSON structure. However, the command also includes turning left which is not captured in the JSON structure. Further, the linear_speed parameter in the JSON structure isn't consistent with the command as the speed isn't specified in the command."] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['2; The action and the is_clockwise value match but the specified angular_velocity does not match (0 in the JSON vs no specific value in the command), and the angle specified (270 in the command vs 40 in the JSON) does not conform.'] +Turn to the right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command is almost fully matched with the JSON structure. The command refers to turning right which suggests clockwise rotation, matching "is_clockwise": true. The angle of rotation is 270, matching "angle": 270. The only mismatch is the "angular_velocity", for which a specific value is not stated in the command, thus cannot be fully confirmed to match the JSON.'] +Rotate in a clockwise direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['4; The action and parameters match the natural language command, however, the "angular_velocity" isn\'t specified in the command so we cannot assume its value would be 0. Also, the "unit" of measurement isn\'t represented in the JSON structure.'] +Perform a 270-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 270, "is_clockwise": true}}'];['4; The natural language command and the JSON structure mostly conform, but the angular_velocity value is not specified in the natural language command and is given as 0.0 in the JSON while in rotation, angular velocity could not be 0.'] +Rotate by 270 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command matches perfectly with the JSON command in terms of the action (rotate), and the parameters (angle=270, is_clockwise=true). The "angular_velocity" value is not specified in the natural language command, this has been agreed to use default_value, which is acceptable. Also the units ("degrees") are matching perfectly. Therefore, the conformity score is 5.'] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The JSON matches the command in action and parameters but the "is_forward" key has value false, suggesting a backward movement, which isn\'t stated in the command.'] +Reverse direction and travel a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": false}}'];["4; The natural language command correctly instructs the robot to move. However, the JSON information indicates an unchanged linear speed of 0.0, where the natural language command does not provide specific instruction for speed adjustment. Additionally, the JSON specifies the direction as not forward, conforming with the 'reverse direction' command. The specified travel distance of 6 meters is accurately reflected in the JSON."] +Go back 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The natural language command dictates a movement of 6 meters backward, which matches the action type of movement of the given JSON. However, the JSON highlights a linear speed of 0.5, while the command doesn\'t specify this. Similarly, the direction of movement indicated in the command as backwards appears in the JSON as "is_forward": false, rightly matching the context but different in wording.'] +Retreat for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The natural language command is asking for a movement to happen over a certain distance, which explicitly matches with the "move" action in JSON structure. However, it does not specify the linear_speed, is_forward is inferred to be false due to retreat command which is not explicitly mentioned, and the unit is correctly identified as meter.'] +Move in the opposite direction for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The natural language command correctly corresponds to the JSON structure in general but it does not specify the linear speed, although it perfectly matches the movement action, direction, distance and the unit.'] +Turn right and move forward for 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["2; The JSON structures include actions to rotate and move, which align with the natural language command. However, the values of the parameters in the JSON do not match those specified in the natural language command. Furthermore, the unit for the 'move' action is provided as 'seconds' which does not match the ontology provided where we're supposed to have 'meter'. The natural language command also does not include any direction ('right'), corresponding to which the 'is_clockwise' key can be set."] +Take a right turn and proceed ahead for a duration of 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];["2; The natural language command partially matches with the JSON structure. The command indicates a rotation or turning which is covered in the JSON but the proceeding ahead duration doesn't translate exactly to any given JSON structures. The angular_velocity in the JSON is also not matching with the command."] +Make a right turn and continue moving straight for 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command instructs to make a right turn and move straight, which matches with two actions in the JSON structures: "rotate" and "move". However, the details in the JSON structure do not match with the command. In the "rotate" action JSON, the "angle" should be 90 (for a right turn), and "is_clockwise" should be true. In the "move" action JSON, "distance" is noted as 5 but it is given as "for 5 seconds" in the command, indicating time, not distance. So, the match is not exact.'] +Go right and advance for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["1; The natural language command instructs a right rotation/turn and a forward movement for a specific duration, this appears to require both 'move' and 'rotate' actions. However, the JSON provided includes 'move' action only. It includes linear speed instead of duration (seconds), the distance parameter is not clearly defined, and it lacks the specifics of direction (right). Thus, not fully compliant with the command. Also, the JSON structure doesn't consist of a 'rotate' action which is needed as per the natural language command.", ''] +Shift to the right and travel in a forward direction for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; Although the command mentions a movement in a forward direction which is reflected in the JSON information ("is_forward": True), there are several mismatches. The command mentions "moving to the right", not represented in the JSON data, and specifies a time duration ("5 seconds") rather than a distance or speed. The JSON data includes "linear_speed" and "distance" parameters which do not match the natural text command.'] +Move forward at a velocity of 0.3 meters per second for 10 meters.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The command generally matches the JSON structure: it refers to moving forward, specifies linear speed (though the value in the command is 0.3, not 0.5 as in the JSON), and implies a distance (10) in meters. However, the natural language command does not specify the JSON parameter "is_forward".'] +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; The natural language command mostly matches the JSON structure. The action "move" and its parameters "linear_speed", and "distance" are correctly mentioned. But the speed value in the JSON structure is 0.5 and in the command is 0.3. Also, the unit and is_forward parameters are not explicitly mentioned in the natural language command.'] +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The natural language command directly corresponds to the provided JSON structure. Specifically, the actions of travel and maintaining velocity, along with the specified parameters in the command, are properly reflected as values in the JSON structure.'] +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The natural language command partly matches with the JSON structure for the "move" action. The values and keys for "action", "linear_speed", "distance", and "unit" match correctly, however, there is no mention of the "is_forward" key in the natural language command. One could infer that "advance" implies forward movement, making it a partial match.'] +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];["4; The natural language command almost accurately matches the provided JSON structure. The 'linear_speed' is mentioned as 0.3 meters/second and 'distance' as 10 meters, which matches with the JSON structure. The 'is_forward' command is also provided in the natural language command, however, the velocity in the command is 0.3 instead of the 0.5 that's present in the JSON structure."] +Rotate counterclockwise by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'];['1; The natural language command matches with the "rotate" action and the "angle" and "unit" parameters in the JSON structure. However, the "angular_velocity" in the JSON is set to 0 which doesn\'t match with the command and also, the "is_clockwise" value doesn\'t match the "counterclockwise" direction specified in the command.'] +Rotate 120 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": false}}'];['4; The natural language command matches with the JSON structure for rotation action. However, there is an inconsistency with the angular_velocity parameter as the command does not specify it. The command also specifies a counterclockwise rotation which can be interpreted as "is_clockwise": false in the JSON structure.'] +Perform a counterclockwise rotation of 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 120, "is_clockwise": false}}'];['Score: 3; Justification: The command and the JSON structure partially match as the rotation action and the angle are correctly specified. However, the direction of rotation isn\'t correctly captured, the command mentioned counterclockwise rotation while the JSON has "is_clockwise" set to true. Furthermore, the "angular_velocity" hasn\'t been specified in the command. Also, the unit is mentioned in the ontology but not in the JSON command.'] +Turn left by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false}}'];['3; The command wanting to rotate the entity matches with the action specified in the JSON. However, the "angular_velocity" value in the JSON is 0 and "is_clockwise" isn\'t clearly specified in the natural language command. Also, the JSON lacks a "unit" attribute for the angle value.'] +Rotate in the opposite direction by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false}}'];['2; The JSON structure contains the correct action "rotate" and a matching parameter "angle". However, the "angular_velocity" is not specified in the command, and the "is_clockwise" parameter is incorrectly set to false while the command states to rotate in the opposite direction.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['2; The natural language command corresponds to the action "rotate" and includes an angle value which is matched in the JSON structure. However, the JSON structure includes an "angular_velocity" parameter which is not specified in the natural language command., and the "is_clockwise" parameter is given the value "false" while in the natural language command says to rotate counterclockwise, meaning they do not align. The "unit" parameter is missing from the JSON response.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['2; The action "rotate" and parameter "angle": 90 matches the natural language command. But the values for "angular_velocity" and "is_clockwise" in the JSON structure are inconsistent with the command \'Turn left by 90 degrees\'.'] +Rotate anti-clockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["4; The action and parameters match for the most part, such as the action being rotate and the angle being 90 degrees. However, the direction specified in the command ('anti-clockwise') is not clearly represented in the JSON structure as is_clockwise is mentioned as false. Moreover, the angular_velocity is not defined in the command but appears in the JSON structure as 0 which is contradictory."] +Rotate in the opposite direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false}}'];["1; The JSON structure correctly identifies the 'rotate' action and provides parameters, including angle. However, the 'angular_velocity' value and 'is_clockwise' value do not match the natural command's specifications, so the score cannot be higher."] +Rotate counter to the clockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; The action \'rotate\' and the parameter \'angle\' with a value of 90 match with the natural language command. However, the natural language command specifies a counter-clockwise rotation, but the JSON structure does not include a "is_clockwise" value. Also, the "angular_velocity" value in the JSON structure does not match with the command.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['5; The Natural Language Command accurately matches the JSON structure, only difference being the parameter "distance" where the command specifies 5 meters - which corresponds with the placeholder value in the JSON structure. The action "move" and the direction "forward" are clearly stated in the JSON.'] +Proceed straight ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['2; The natural language command loosely matches the JSON structure. In the command, the robot is asked to move straight which corresponds to the "action": "move" key in the JSON structure, and also specifies a distance which matches "distance": 5 in the structure. However, the natural language command does not specify linear speed or direction (forward), and the JSON structure has additional parameters not mentioned in the command such as linear speed and is_forward.'] +Advance ahead by 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];['3.5; The JSON structure correctly represents the moving action, forward direction, and the distance of 5. However, there\'s no specific linear speed mentioned in the natural language command, while in the JSON command, the "linear_speed" parameter is set at 0. This might or might not be accurate depending on the context. Also, the "unit" key is missing in the JSON structure while it is implied in the natural language command (meters).'] +Travel in a forward direction, covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];['3; It is partially conform since the natural language command does mention moving in a forward direction and covering a specified distance in meters which matches with the JSON structure. But the natural language doesn\'t provide information about the "linear_speed" key that exists in the JSON structure. Moreover, the linear_speed value is presented as 0.0 which doesn\'t imply \'move\'.'] +Move straight ahead and travel a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0, "distance": 5, "is_forward": true}}'];["4; The distance of movement as well as the direction (forward) indicated by the command matches the JSON structure. However, the linear speed isn't specified in the command but it is present in the JSON structure."] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['1; The natural language command is partially matched with the JSON structure. The action of moving forward is present in both, but the aspects of turning left and the time duration of 2 seconds specified in the command are not represented in the JSON structure. The given JSON structure denotes speed and distance, not direction or time.'] +Proceed forward for 2 seconds after turning left.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true, "unit": "second"}}'];['4; Mostly conform. While the actions "rotate" and "move" match the natural language command, some parameters, such as the angular_velocity, linear_speed and the unit for the distance, do not conform completely. The natural language command does not specify units for the speed or the angle for the turn.'] +After making a left turn, continue straight ahead for 2 seconds.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['3; The natural language command is partially conforming to the JSON structure. The action "move" and parameter "is_forward" matched, but the parameters for "distance" and "unit" do not match directly as they have different values in the command and JSON structure. Specifically, the command specifies a time duration ("2 seconds") for moving, while the JSON structure uses a distance-based parameter.'] +Take a left turn and then advance forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command instructs to take a left turn and then move forward for 2 seconds. This command matches partially with the functionalities of the rotate and move actions as the parameters angular_velocity and distance are missing. However, the natural language command does not specify the values for angular_velocity or linear_speed, and also uses "seconds" which is not in conformity with the JSON structure ontology which uses "meter" and "degrees". The command does not specify the angle for rotation either.'] +Rotate to the left and travel straight for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['2; The JSON structures partially match the given command. The move action is performed forward as per the command but the distance parameter in the JSON should be given in meters as per the ontology which is missing in the command. The rotate action also partially agrees with the command. The rotation should be performed to the left which means is_clockwise should be set to false, but the given angle in JSON does not match any information given in the command. The command is also lacking the information to fill the angular_velocity parameter.'] +Stop and wait.;['{"action": "stop"}'];["0; The natural language command instructs the system to 'stop and wait', however, the JSON structures contain commands for 'go_to_goal', 'move' and 'rotate'. The actions do not match, hence a score of 0."] +Cease and remain still.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}'];['0; The natural language command indicates a halt or stop action, but the JSON structure suggests going to a specific location ("Kitchen"). They do not match.'] +Halt and stay put.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}'];['0; The natural language command orders the system to stop and not move. However, the JSON command is set to take the system to a location (Kitchen). There is no correlation between the two.'] +Pause and remain stationary.;['{"action": "pause"}'];['0; The natural language command asks the system to pause and remain stationary, but none of the provided JSON structures correspond to this command.'] +Desist and await further instruction.;['{}'];['0; The natural language command does not match with any of the provided JSON structures. It instructs to suspend any action, while the JSON structures represent moving to a location, linear movement, and rotation respectively.'] +Move backward for 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure matches the action in the natural language command (moving) and specifies moving a certain distance (10 meters), as does the command. However, the linear speed and 'is_forward' parameters in the JSON do not match with the command as the command specifies to move backward, while in JSON it is not specified. Also, the linear speed parameter in JSON is not specified in the command."] +Go back a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 10, "is_forward": false, "unit": "meter"}}'];["4; The command asks to move backward a distance of 10 meters, which matches the JSON structure. However, the 'linear_speed' in the structure is '0.0', which conflicts with the command. The action of moving isn't possible with '0.0' speed."] +Retreat for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": false, "unit": "meter"}}'];['3; The natural language command indicates to move at a certain distance but the direction is not forward but backward, while the JSON structure suggests a forward movement, but the distance is correctly matched. However, the unit is also matching and there is no value given in JSON for linear_speed in the command.'] +Reverse your direction and travel 10 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 10, "is_forward": false}}'];['2; Partial conformity. The natural language command specifies reversing direction and travelling a specific distance. The JSON structure also refers to a move action and contains the "distance" parameter. However, it should include a negative value in the \'distance\' or \'is_forward\' being False to truly reflect reversing. The provided linear speed doesn\'t necessarily indicate a reverse direction.'] +Take 10 steps backward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false}}'];['1; The natural language command asks for the robot to take 10 steps backward, but the provided JSON structure indicates a faster linear speed of 1 and a distance of 10 but does not specify the direction of the movement. In the JSON structure, the parameter "is_forward" is set to "false", which might be interpreted as moving backward. However, the command does not explicitly match up with the JSON structure and additional parameters such as \'unit\' of distance are also missing.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command perfectly matches the JSON structure. The action is "rotate", where the agent should rotate clockwise by a specific angle (here, it\'s 180 degrees). All keys and their respective values from the JSON structure are well-represented in the given command.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['3; The command matches the JSON structure in that it specifies a rotation action, but the angular_velocity parameter specified in the JSON is 0, which does not conform to the natural language command.'] +Turn by 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The command is well reflected in the JSON structure, however the "angular_velocity" parameter is set to 0, which may conflict with the command to rotate.'] +Execute a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command matches the JSON structure in terms of action and rotation parameters. However, it does not specify the "angular_velocity", which is included in the JSON structure.'] +Turn right and move forward for 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": 90, "is_clockwise": true}} ', '', '{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command matches with the JSON information but only partially. The command asks for a right turn, which is a rotation and can be represented by the "rotate" action in JSON, but a specific angular velocity or angle is not given in the command. The "move forward for 3 seconds" part of the command does not properly match the "move" action in the JSON because the "move" action requires a distance, not a time duration.'] +Make a right turn and proceed forward for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "undetermined", "duration": 3, "unit_duration": "seconds"}}'];['1; The natural language command attempts to describe two actions – rotation and movement. However, there are discrepancies in terms of specifics: the angle of rotation and the distance to move forward are not specified in the command but are required in the JSON. Moreover, the duration of the movement as mentioned in the command is absent in the JSON structure.'] +Take a right and continue moving straight ahead for a total of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];["2; Partial conformity. The JSON information of rotating action matches with the beginning part of natural language command, where it asks to take a right (which involves a rotation). But there is disparity in the angular velocity and angle. The moving part of the JSON structure isn't completely aligned with the latter part of the natural language command - the natural language command specifies duration (3 seconds) rather than distance."] +Rotate to the right and advance for a period of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true, "unit": "degrees"}}'];["2; The natural language command specifies to rotate to the right and to advance for a certain period, which does not correspond completely with the provided JSON. The JSON does contain an action to rotate with parameters that could be used to rotate to the right. However, there is no information about advancing for a specific period in the JSON. There's also angular_velocity and angle mentioned in JSON which are not in natural language command."] +Face towards the right and travel forward for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 3, "unit": "seconds"}}'];["2; The natural language command partially matches the JSON command. The moving action and direction (forward) matches but there are discrepancies in parameters like 'linear_speed', 'distance' and particular 'unit' (meter) are not mentioned in the natural language command, instead 'duration' key is mentioned which isn't present in the JSON structure. Also, the rotation or facing towards right is not represented in the JSON command."] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['1; The command matches with the "go_to_goal" action and a location parameter, however, it mismatches with the value of "location" - "Living Room" in the command versus "Kitchen" in the JSON structure. The term "stop" is not represented in the JSON.'] +Proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['1; The natural language command instructs to go to the living room, but the JSON structure shows an action of going to the kitchen. Thus, the location does not match, hence getting a low conformity score.'] +Move to the living room and cease all movement.;['{"action": "go_to_goal", "params": {"location": "Living room"}}'];["1; The JSON data correctly specifies an action (move to a location; 'go_to_goal'), but the specified location ('Living room') only partially matches with the natural language command, which also includes the directive to stop ('cease all movement'), which isn't represented in the JSON structure at all."] +Make your way to the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];["2; The natural language command instructs the robot to go to the living room while the JSON commands instruct the robot to go to an unspecified location (the value of which could be 'Living Room') and then stop moving (indicated by the linear speed and distance values being 0 in the move JSON command). However, there is a discrepancy in the location value between the natural language command ('Living Room') and the JSON command ('Kitchen') and there is also no mention of the movement being in a forward direction in the natural language command which is indicated in the JSON command. Hence, the conformity score is 2."] +Head to the living room and remain stationary.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['4; The natural language command matches with the "action": "go_to_goal", and "params": {"location": {"type": "str", "value": "Living Room"}} parts of the JSON structure. However, the command also explicitly states "remain stationary" which is not represented in the given JSON structure. So the command is not entirely conform to the JSON information.'] +Move 2 meters to the left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];["1; Partial match. While the action of 'move' and the parameter of 'distance' is correct, there is no value for 'is_forward', the 'linear_speed' does not match and there is no knowledge of the direction 'left' in the JSON."] +Shift your position by 2 meters towards the left.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];["2; The JSON contains the 'move' action which corresponds to the 'shift your position' command, and also includes the 'distance' parameter which matches the '2 meters' command. However, the 'is_forward' parameter set to 'false' in the JSON does not correspond to any part of the command, nor does the 'linear_speed' parameter otherwise included in the JSON. Also, moving to the left doesn't necessarily dictates a forward or backward move."] +Change your location by 2 meters in a leftward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];["1; The natural language command instructs the change of location to the left by 2 meters, but the JSON structure only specifies a linear movement action without any indication of the direction (left). Moreover, the 'is_forward' parameter in the JSON is set to 'false' which seems to contradict the implied forward movement in the command. Therefore, the match is not exact."] +Relocate yourself 2 meters to the left.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['1; The natural language command does suggest movement which lines up with the provided \'move\' JSON. However, commands to move "to the left" aren\'t properly matched in the JSON as there are no arguments to reflect direction. Additionally, the speed in the command is not specified while it is in the JSON structure.'] +Move to the left by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['1; The JSON structure represents a movement action with specific parameters like linear_speed, distance and direction of movement. However, the direction is incorrectly set to false (implying backward) when the natural language command indicates a leftward movement, not necessarily backward. Additionally, the "move" action does not account for directionality beyond forward and backward in the given ontology. Therefore, the command and JSON do not match up perfectly. Direction to the left is not represented in the JSON structure.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; Mostly conform. The natural language command mostly conforms to the JSON structure. However, it does not specify the "angular_velocity" value.'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command matches the JSON structure in terms of the action (rotate) and angle (45 degrees). However, the command specifies a direction (left), which correlates with "is_clockwise" as false, but the angular_velocity is not specified in the command, and the JSON structure has this as 0. Due to the natural language command not specifying the angular velocity, the score is not exactly conforming, but still largely so.'] +Execute a counterclockwise rotation of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['3; Partially conform. The action "rotate" and angle value "45" in the natural language command match with JSON structure, but the "angular_velocity" in JSON doesn\'t match as it\'s "0" which isn\'t specified in command, and the command requests a counterclockwise rotation but the JSON has "is_clockwise" set to "false". Also, "is_clockwise": false correctly corresponds to the counterclockwise rotation command.'] +Rotate anticlockwise by an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['3; Partially conform. While the natural language command mentions rotation and an angle, which are present in the JSON structure, the provided angle value does not match. Moreover, \'anticlockwise\' movement in the command corresponds to "is_clockwise": false in JSON, but a specific angular velocity is not mentioned in the command while it\'s set to zero in the JSON structure.'] +Perform a 45-degree rotation in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}}'];["3; The natural language command somewhat conforms to the JSON structure. It correctly identifies the action (rotate) and angle (45 degrees). However, it doesn't specify the angular velocity and incorrectly identifies the direction (It's counterclockwise in the command but clockwise in the JSON)."] +Move forward at a speed of 0.5 meters per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['3; The command requests moving forward at a speed of 0.5 meters per second for 4 seconds while the JSON indicates moving forward at a speed of 0.5 meters/second for a certain distance, with the specific distance (instead of time duration) being undefined. The action and the speed are perfectly matching, but the passage of time vs distance traveled are divergent.'] +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command partially matches with the JSON structure. Although the speed and action match, the command specifies a time duration for the action while the JSON denotes a distance value. The direction of movement (forwards) is assumed in the command but not explicitly stated.'] +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command and the JSON structure only partially match. The action type \'move\' and \'linear_speed\' of 0.5 is mentioned in both, but there is no reference to \'distance\' in the command. Instead, a duration of \'4 seconds\' is given which isn\'t represented in the JSON structure. Furthermore, the "unit" is incorrectly represented as \'seconds\' in the JSON structure while it should be \'meter\' according to the ontology. There is no reference to \'is_forward\' key in the natural language command as well.'] +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3; The natural language command and the JSON information partly conform. The \'linear_speed\' key in the JSON matches with "Advance at 0.5 meters per second", and "in a forward direction" corresponds to "is_forward": true. However, "for a period of 4 seconds" has no correspondence within the JSON structure. The \'distance\' key is also not precisely defined in the natural language command, despite being mentioned in the JSON.'] +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; Only partially conforming as there\'s information that only partially matches with the JSON structure. For example, action of "moving" and linear_speed of 0.5 m/s is there. But distance is calculated by taking time into account which is not available in the json structure. Also, the unit in json structure does not match with unit mentioned in the command ("seconds").'] +Turn left and move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['3; The command of moving forward for 7 meters does conform with the JSON structure however, the command to turn left does not. There is no specification of how much to turn left and the speed of turning. Also, the command does not stipulate any data about which direction to move which might have been useful here.'] +Make a left turn and proceed straight ahead covering a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'];["2; Only the 'move' action in the JSON structure matches with the command to a certain extent as there is a mention of moving straight ahead covering a distance in the natural language command, but the specific distance and direction are not accurately represented. The 'rotate' action also does not correctly capture the command of making a left turn. The 'angular_velocity', 'angle', 'is_clockwise', 'linear_speed', 'is_forward' values are not correctly reflected."] +Take a left turn and continue moving ahead, advancing 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];["2; The command instruction matches partially with the JSON structure. The forward movement is mentioned correctly, however, the left turn or rotation is not represented in the provided JSON structure. The parameters such as linear speed in the JSON structure doesn't match with the command. Also, the specific speed isn't mentioned in the command."] +Head to the left and travel straight for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['3; Partially conform. The natural language command matches in terms of moving forward at a certain distance but it does not specify the linear speed or the direction (left). The JSON command also lacks the key for specifying the direction of movement.'] +Rotate in the left direction and proceed forward, covering a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['3; Partially conform. The natural language command correctly instructs the rotation (implicit "is_clockwise": false indicates left direction) and forward movement, but there are no details regarding the "angular_velocity" for the rotating action and "linear_speed" for the moving action. The provided values for the "angular_velocity" and "linear_speed" in the JSON are arbitrary on the case "0", since no concrete value was mentioned in the command.'] +Stop and reverse direction.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'];['2; Even though the natural language command "Stop and reverse direction." might imply "move" action which is present in the JSON, the specific parameters (like linear_speed, distance) don\'t match the command. Also, the command doesn\'t strictly convey if it is a complete reversal or just stopping.'] +Come to a halt and begin moving in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];['1; The natural language command does not match perfectly with the JSON structure. Although it suggests the movement to take place in the opposite direction, it does not provide specifics on linear_speed, distance or unit which are present in the JSON structure.'] +Cease forward motion and start moving backwards.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 0, "is_forward": false}}'];["3; Partial match. The command is regarding the movement of the robot but there is no parameter in the JSON to specify the cessation of forward movement, it only suggests a direction of movement which is backwards. This lacks the element of initially moving forward and then stopping to move backwards. Also, the linear_speed mentioned in the JSON (1.0) doesn't particularly match with the natural language command."] +Bring yourself to a stop and change your direction to the opposite way.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['1; The command asks for the robot to stop its movement and then rotate in the opposite direction. In the first JSON, the action is "move" and linear_speed is set to 0, correctly indicating stop but the distance key should not be present or the value should be 0. Also, "is_forward" key doesn\'t match with the command as no forward movement is requested. In the second JSON, the action is correct "rotate" and the angle is 180 which is correct for the opposite direction but no angular_velocity is requested in the command, so it should not be present. Furthermore, "is_clockwise" key neither matches nor contradicts with the command, so it\'s neither completely correct nor incorrect. Hence, the conformity score is 1 due to key mismatches and superfluous keys.'] +Halt your movement and proceed in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}}'];['2; The natural language command indicates stop in movement and go in opposite direction. But in the JSON structure, it\'s not going in opposite direction as "is_forward" is marked as false which means it\'s stopping but no information about proceeding in the opposite direction. Also, the speed and distance values are set to zero which doesn\'t meet the natural language command of movement in opposite direction.'] +Move 3 meters to the right.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['2; The natural language command indicates a movement to the right but there is no parameter in the JSON structure that indicates the direction of the movement. It only states "is_forward": false, which cannot indicate a rightward movement on its own. Additionally, the linear speed mentioned in the JSON structure (0.5) does not match with the NL command, which doesn\'t specify any speed.'] +Shift 3 meters towards the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; While the JSON structure includes a "move" action which could correspond to the "Shift" command, the parameters don\'t match. The direction "towards the right" is not specified in the JSON structure, additionally the "distance" parameter matches with the "3 meters" mentioned in the command but the "linear_speed" doesn\'t have a matching command counterpart.'] +Go 3 meters horizontally in the right direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];["4; While the JSON structure does match the command in terms of moving a certain distance, it fails to specify the direction of this move ('the right direction'). Also, it assigns a value to the linear speed, which was not mentioned in the command, and uses the wrong unit ('meters' instead of 'meter')."] +Change your position by moving 3 meters to the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure does indicate a \'move\' action which aligns with the natural language command. However, the JSON parameters do not match the directions denoted in the command (\'to the right\'), instead, there is a true value for "is_forward", and the command\'s specific distance of 3 meters is correctly represented.'] +Traverse a distance of 3 meters towards the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['2; The natural language command is partially conform to the JSON structure. The JSON correctly identifies the action as "move" and the distance as "3" and the unit as "meter". However, it does not specify the direction as "right" and it incorrectly labels "is_forward" as false. A "move" to the right does not inherently mean moving backwards.'] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; The command matches with the action "rotate" in the JSON structure. The direction as "clockwise" and the angle as "60 degrees" are also correctly mentioned. However, the angular_velocity is mentioned as 0 in JSON whereas it is not specified in the command. This mismatch in extra detail in the JSON leads to a lower score.'] +Perform a clockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 60, "is_clockwise": true}}'];["4; The natural language command is mostly matching with the JSON structure. The 'rotate' action, 'angle' of 60 and 'is_clockwise' true all conform. However, 'angular_velocity' is not specified in the natural language command and is hence 'undetermined', which does not conform."] +Rotate 60 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];["4; Although the rotation action and clockwise direction matches, the specific angular_velocity is not mentioned in the natural language command, but it's specified in the JSON."] +Turn to the right by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['3; The command does match the JSON structure ("rotate" action with "angle" parameter specified), but "is_clockwise" status is not specified in the command (although it is implied as "right") and "angular_velocity" is 0 which wasn\'t mentioned in command. JSON could also provide unit of "degrees" as per the command but it is missing. In short, JSON structure doesn\'t represent the natural language command in complete detail.'] +Rotate to the right by an angle of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['1; The JSON structure understands the rotation action correctly, but the angle does not match, in the natural language command it was 60 degrees and in the JSON structure it is 40 degrees. In addition, the is_clockwise attribute has been correctly identified but the angular_velocity is not defined in the JSON, despite not being specified in the natural language command.'] +Turn right and move forward for 1 second.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": DEFAULT_ANGLE, "is_clockwise": true}, "sub_actions": [{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 1, "is_forward": true}}]}'];["2; The natural language command speaks to both rotation (turn right) and moving forward but the JSON command speaks to rotation and moving a certain distance in meters, not for a certain time period, like one second. There's a discrepancy with the measurement of distance travelled, hence the lower score."] +Take a right turn and proceed straight ahead for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}}'];['3; Some parts of the command match the JSON structure. The command to turn right is represented in the first JSON, although the "angle" and "angular_velocity" parameters do not match the values given in the command. The second JSON shows the \'move\' action which is represented by \'proceed straight ahead\' in the command, but the distance is represented as time (1 second), not as an actual distance. It also lacks specific direction (like \'North\', \'South\', \'to the Kitchen\' etc.), hence, it cannot be fully concluded to perfectly match the sample ontology provided.', ''] +Make a right turn and advance for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "second"}}'];['2; The natural language command describes actions similar to the JSON structures, but they do not perfectly match. The command does not specify the angular velocity for the rotation (the JSON specifies a velocity of 0.35 but the command doesn\'t mention this). The command also asks for a forward movement for a duration ("1 second") instead of a specific distance.'] +Rotate to the right and move forward for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter", "duration": 1, "unit": "second"}}'];['1; The provided JSON contains both rotation and movement commands but the values of "angle", "angular_velocity", and "linear_speed" do not match the command. Also, the "duration" field is stated in the command but not present in the JSON.'] +Go right and continue moving forward for 1 second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];['2; The natural language command and the provided JSON structure both pertain to the action of "moving". However, there are considerable mismatches. The command doesn\'t provide the direction "right", the command asks for moving forward "for 1 second", but in the JSON structure there is no field for time and the JSON structure has a "unit" field set as "meter" which doesn\'t match with the time unit in the command. Furthermore, the "linear_speed" value in JSON is not matching.'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['5; Exactly conform. The command "Go to the bedroom" perfectly matches the JSON structure for the action "go_to_goal" with the parameter specifying the location as "bedroom".'] +Head to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['1; The command mentions the action "go_to_goal" to a specific location, which is "Bedroom" in the natural language command and not "Kitchen" as in the JSON structure. The parameters are also missing in the JSON structure.'] +Make your way to the bedroom and cease all movement.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['1; The natural language command pertains to going to a specific location (bedroom), as specified in the "go_to_goal" action. However, the natural language command also involves stopping all movement afterwards, which is not represented in the JSON structure. The parameters regarding "linear_speed", "distance", "is_forward", "unit", "angular_velocity", "angle", and "is_clockwise" are also not represented in the command.'] +Proceed to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];["5; Exactly conform. The natural command and the JSON structure both contain an instruction for the target (robot) to go to a specific location which is the bedroom. The value of 'location' in the JSON structure matches the location mentioned in the natural language command."] +Go to the bedroom and stand still.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['4; The JSON command is almost conformity with the natural language command. However, the location in the JSON structure is set to "Kitchen" while in the natural language command, it\'s "Bedroom". As such, there\'s a mismatch at this point.'] +Move backward for 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": false, "unit": "meter"}}'];['4; The JSON contains the correct "action" and its "params" match the command in part, specifying movement with a certain "linear_speed" and "distance". However, the command says to move \'backward\' while the "is_forward" parameter is not set to false in the JSON.'] +Go 8 meters in reverse.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 8, "is_forward": false, "unit": "meters"}}'];["3; The natural language command is only partially conforming to the given JSON structure. The command specifies a reverse movement, however the JSON structure only changes the 'is_forward' flag to 'false', but not 'linear_speed' to a negative value. The distance is correctly specified as 8 in both the command and the JSON. To be fully conforming, 'linear_speed' should not be negative for reverse movements due to the 'is_forward' flag taking care of the direction."] +Travel 8 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The command \'Travel 8 meters in the opposite direction.\' perfectly matches with the given JSON structure. The action "move" is specified with the correct parameters - linear_speed, distance, is_forward and unit.'] +Retreat for a distance of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": false, "unit": "meter"}}'];['1; The natural language command directs to move backwards. The JSON structure corresponds to a movement action but does not specify the direction of the movement (backwards in this case). The JSON structure has "is_forward": True, whereas the command instructs to "retreat", i.e., move backwards. However, the correct distance and unit is represented in the JSON.'] +Reverse 8 meters.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 8, "is_forward": false, "unit": "meters"}}'];['5; Exactly conform. ', '', 'The command provided asks for a reverse movement of 8 meters. In the JSON structure provided, the "action" matches as "move". The "params" also match with the command - "distance" is 8 and "is_forward" is correctly identified as false because it\'s a reverse action. The "unit" is provided as "meters", which matches the command. The only parameter that is not specified in the command is "linear_speed" but it is okay to use default as specified in the JSON structure.'] +Rotate counterclockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4; The command \'Rotate counterclockwise by 270 degrees\' matches well with the JSON structure provided. However, there are minor discrepancies. The "angular_velocity" is stated as 0 in the JSON, which doesn\'t align with the command as it doesn\'t specify the rotation speed.'] +Turn left by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];["2; The action in both the command and JSON is rotation which aligns but the other parameters in the JSON including 'angular_velocity' and 'is_clockwise' do not have corresponding information in the command."] +Rotate anti-clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'];['5; Justification: The natural language command perfectly matches the JSON structure. The verb "rotate" corresponds to the "action" key, the "anti-clockwise" direction was correctly inverted to "is_clockwise": false in the JSON structure, and the numerical value "270" corresponds to "angle": 270 in the JSON structure. The "angular_velocity" key value is not specified in the command but is present in the JSON, not affecting conformity.'] +Rotate in the opposite direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command matches with the action "rotate" in the JSON structure. The parameters in the JSON structure like "angle" and "is_clockwise" are also mentioned in the command. However, the angular_velocity value in the JSON does not match with the command, as the command doesn\'t specify any angular velocity.'] +Perform a 270-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": false}}'];['4; The natural language command mentioned \'270-degree counterclockwise rotation\' which is accurately reflected in the JSON structure, with "angle": 270 and "is_clockwise": false. The angular_velocity parameter is not specified in the command, so it\'s assumed with a default value. However, the unit is not stated in the natural language command that\'s why the score is not 5.'] +Turn left and move forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}'];['1; Although the action of moving forward is present in both the command and the JSON, the command specifications such as "turn left" and "for 6 seconds" are not represented in the JSON structure.'] +Go forward for 6 seconds after turning left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true}}'];['1; The provided natural language command refers to moving forward for a duration (6 seconds) and turning left, however, the associated JSON structure only represents moving forward. The distance parameter in the JSON is not specified in a unit of time ("seconds"), instead it\'s a scalar value without specified unit, there\'s no mention of turning left. Therefore, the match is minimal.'] +Take a left turn and proceed straight for 6 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['2; The command instructs to rotate and move in a certain distance/time. The JSON commands implements actions of rotate and move, which matches the NL command. However, the values for angle, angular_velocity, and linear_speed specified in JSON do not match with NL command. No specific angle is provided for rotation. Additionally, the distance for movement has been expressed as time (seconds) in the NL command, whereas in JSON, it is direct distance. The units do not match.', ''] +After turning left, continue moving forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": true}}'];['0; The natural language command mentions a rotation (turning left) and moving forward for a certain duration (6 seconds). However, the provided JSON doesn\'t match with this command. The JSON shows linear movement only, and the "distance" field is incorrect as it should be time, not distance. Also, the rotation part of the command is missing in the JSON.'] +Make a left turn and move ahead for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true}}'];["0; The natural language command asks for a left turn and movement forward for six seconds, whereas the JSON structure sets the action as simply 'move' with a linear speed of 0.5, a non-defined distance, and is_forward set to True. The JSON structure does not incorporate the 'left turn' from the natural language command or a matching time duration of 6 seconds, instead, it is based on distance."] +Turn left and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": default, "distance": 5, "is_forward": true}}'];['2; The command mentions turning left but provided JSON does not contain any operation related to rotation. Also, speed mentioned in JSON structure but not in the natural language command. Because of these partial matches score is 2.'] +Take a left turn and proceed ahead covering a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['1; The natural language command asks for a left turn and moving forward, which corresponds to the "rotate" and "move" actions. However, there is no correspondence to the angular_velocity, angle, and is_clockwise under the "rotate" action or the linear_speed, distance, and is_forward in the "move" action. The specifications in the JSON structures provided don\'t match the instruction given in the natural language command.'] +Make a left turn and continue moving straight, covering a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];["3; Partial conformity. The rotation action in the natural language command matches the JSON structure, but there might be a mismatch in the specifics of angular_velocity and angle ('Make a left turn' might not exactly translate to the given values). The movement action also has a conformity as the direction ('moving straight') and distance ('5 meters') are specified, but the linear_speed is not mentioned in the command."] +Go left and advance forward, traveling a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['3.5; The natural language command and the provided JSON information align on the action of moving forward a certain distance (5 meters). However, the natural language command includes an additional action ("go left") not captured in the JSON. The JSON also implies a specific linear speed (0.5 m/s), which is not referenced in the natural language command.'] +Execute a left turn and proceed straight, ensuring a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The natural language command partially conforms with the JSON structure. The command asks for a left turn, but there\'s no JSON structure for a "turn" action. However, the "proceed straight," "distance of 5 meters," and "ensuring a distance of 5 meters" corresponds well to the "move" action and the distance parameter in the JSON structure. The distance and is_forward parameters match but linear speed is not mentioned in the natural language command.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The command is partially conform. The value for "is_clockwise" corresponds to the command in natural language, as does the "angle" value. However, "angular_velocity" does not have a specified equivalent in the command, which makes it difficult to confirm complete conformity.'] +Turn 90 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command and the JSON structure match in terms of the action ("rotate") and the "angle" parameter (90). Also, \'counterclockwise\' corresponds to the "is_clockwise": false. However, there is no definition in the natural language command to the "angular_velocity" parameter in the JSON structure. Hence one point is deducted.'] +Rotate anti-clockwise at a 90-degree angle.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The JSON structure generally conforms to the description given in the natural language command, as they both describe a counterclockwise rotation. However, the value for angular_velocity (rotation speed) is not specified in the natural language command, so the JSON command sets it to 0 by default.'] +Spin to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["3; The natural language command and the JSON structure partially match. The command 'Spin to the left by 90 degrees' matches with the 'rotate', 'angle' and 'is_clockwise' fields in the JSON. However, the provided 'angular_velocity' in the JSON is 10, but the natural language command does not specify this. Also, spinning to the left implies a counter-clockwise movement, not clockwise as in the provided JSON."] +Rotate in the counterclockwise direction, making a 90-degree turn.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'];['1; The natural language command is about rotation in the counter clockwise direction, but the rotation parameters such as angle (90 degrees) in the command do not match the JSON information values (40 degrees). Furthermore, the according key \'is_clockwise\' is expected to be \'False\' (as inferred from the word "counterclockwise" in the command) which does not conform to the JSON structure.'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['2; The command matches the "action" key in JSON as it involves movement. However, the parameters do not match correctly. The movement is not specified in terms of distance and the direction is mentioned as backward which does not conform with the "is_forward": True in the JSON. Also, the unit in command is in seconds which doesn\'t match with the unit "meter" in JSON.'] +Go in reverse for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "second"}}'];["1; The JSON represents a 'move' action, which aligns with the command 'Go in reverse'. However, the parameters in the JSON do not match well with the command. In the command, the robot is asked to go in reverse for a duration of 3 seconds, but the JSON specifies a distance rather than a duration. Also, the linear speed is set as -0.5, but it's not specified in the command. Furthermore, the unit in the JSON is 'seconds' while the command does not specify any unit."] +Take a step back and continue for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['3; The JSON command reflects the backward movement request, but instead of specifying a distance in meters (as would be expected from the context of the natural language command), it uses a duration measured in seconds with a negative speed, which is not completely accurate. It would be more fitting to have a specific "duration" key for such actions.'] +Reverse your movement and maintain it for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "duration": 3, "unit": "seconds"}}'];['1; The JSON structure has the correct action ("move") and is to be performed in reverse (indicated by "is_forward": false), however, the natural language command asks for a specified duration (3 seconds), while the JSON information contains distance instead of duration. Additionally, the natural language command did not specify linear speed and distance, but they are included in the JSON.'] +Retreat for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The JSON structure involves a "move" action with specific parameters, which matches partially with the natural language command as both are related to some form of movement. However, there is no conformity with the rest of the keys in the JSON, especially "linear_speed", "is_forward", and "unit" which are not complimented in the given natural language command about the retreating motion (there\'s no mention of the retreat\'s speed, the direction is opposite and the unit of time is different from the default unit of distance in the JSON structure) therefore the score isn\'t high.'] +Turn right and move forward for 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meters"}}'];['2; There\'s partial matching. The "rotate" action in the JSON structure correctly represents the "Turn right" part of the command. The angle is 90 degrees and it\'s clockwise. However, there\'s no "angular_velocity" specified in the command. For the "move" action, although it represents the "move forward" part of command properly, the distance in the JSON structure is incorrectly left as a variable "distance" instead of the actual value "10". Also, the linear speed is specified in the JSON, but not in the command.'] +Proceed forward for 10 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'];["3; The natural language command matches partially with the JSON structure. While parameters like 'rotate', 'move', 'is_clockwise', 'is_forward' match, there are discrepancies in values such as 'angle' which is mentioned as 90 degrees in JSON command instead of being a right angle as indicated in the natural language command. Also linear_speed in JSON doesn't match with any equivalent command in the natural language."] +Take a right and continue moving ahead for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The natural language command and the JSON structure partially match. The action "move" and parameter "is_forward" which is set to "true" match the command of moving ahead. However, there is discrepancy in the "distance" parameter where it is unstated in the command but set to 10 meters in the JSON structure. The rotation command ("take a right") is not in the structure either.'] +Make a right turn and travel straight ahead for a total of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; Partially conform. The natural language command and JSON structure are partially matching. The "rotate" action conforms but there is not enough information to confirm "angular_velocity". Under "move", the direction (forward) and unit (meter) match, but the "distance" is correct while "linear_speed" can\'t be confirmed. There is no mention in the natural language command about the speed of movement.'] +After turning right, advance forward and cover a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'];['2; The natural language command mentions a "turning right" action which is not represented in the JSON structure. The "advance forward and cover a distance of 10 meters" part is partially captured in the JSON, but the "linear_speed": 1 does not match with the command as no speed rate was specified in the natural language command.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["2; The natural language command 'Rotate clockwise by 180 degrees' mostly conforms to the JSON structure by indicating the action and parameter of rotation (action: rotate, angle: 180). However, the angular velocity and direction of rotation (is_clockwise) are not specified, with a default action of rotating in the clockwise direction assumed- which is not mentioned in the natural language command. The provided JSON also does not match the value for 'angular_velocity' in the sample ontology (0.35 in the ontology but unspecified in the provided JSON) and it has an additional key value pair ('unit': 'degrees') which is also not mentioned in the command."] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 180, "is_clockwise": true}}'];['4; The natural language command and the JSON structure are mostly conform, it is noted "is_clockwise" as true and "angle" as 180. However, "angular_velocity" value isn\'t specified in the command, which makes it undetermined.'] +Turn in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['3; The natural language command correctly corresponds to the "rotate" action in the JSON structure and correctly specifies the angle and the direction(clokwise). However, no value is provided for "angular_velocity" in the JSON structure, but one is in the command. This discrepancy results in a lower conformity score.'] +Execute a rotation of 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The natural language command matches precisely with the JSON structure. The command asks for a rotation which is specified in the "action" key of the JSON. The angular_velocity is not specified in the command, so it could match with the default value of 0 in the JSON. The angle of 180 degrees is also mentioned in both the command and the JSON. Similarly, both the command and JSON specify a clockwise rotation.'] +Rotate by 180 degrees, following the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command aligns with the given JSON structure for the most part, indicating a "rotate" action. However, the "angular_velocity" in the JSON structure is 0, which doesn\'t match with the natural language command implying a rotation action. The "angle" and "is_clockwise" fields match perfectly.'] +Move forward at a speed of 0.5 meters per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; Although there is a match between the action "move" and the direction "forward" in both the command and JSON, the command mentions speed in a temporal context whereas the JSON structure represents speed in spatial terms, i.e., distance. The time factor (4 seconds) in the command is not represented in the JSON structure, making it partially conforming. Furthermore, distance value in the JSON does not match with the command.'] +Go ahead for 4 seconds at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['4; The natural language command mostly matches the JSON structure. The action "move" is correctly detected, as are the parameters for "linear_speed" and "is_forward". However, the command specifies "4 seconds" which has been translated to the "distance" parameter in the JSON. The ontology does not provide a way to define time. So it is slightly off.'] +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 4, "unit": "seconds"}}'];['2; The natural language command mentions linear speed matching with the JSON structure, but it refers to a duration of 4 seconds while the JSON uses a distance parameter. The "duration" parameter is not present in the JSON structure, thus causing partial conformity.'] +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['2; The command does not correctly correspond with the JSON structure. The natural language command mentions moving forward for a certain amount of time, while the JSON structure refers to a certain distance. Additionally, the natural language command does not specify the exact distance to be covered which slightly matches the JSON structure. However, the syntax of the JSON is incorrect as it does not contain commas after "is_forward": true.'] +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3; The natural language command is partially matching the JSON information. The action of moving and the linear speed are correct. But the distance and the direction of the movement which should be mentioned in the parameters are missing in the natural language command.', ''] +Turn left and move backward for 2 meters.;['{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": false}}'];["1; The JSON data represents a moving action, which correlates to the natural language command. However, the direction of movement (backward) is not specified in the JSON data. Also, the command 'turn left' does not match any action in the JSON data."] +Take a left turn and proceed backwards for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 2, "is_forward": false}}'];['3; The natural language command partially matches the JSON structure, but it does not include rotation information (taking a left turn) which should fit into the "rotate" action structure. However, it clearly defines the backward movement with a specific distance, which matches with the "move" action in the JSON structure.'] +Make a left turn and travel in reverse for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; The command suggests the action of moving in a certain direction, which aligns with the "move" action in the JSON, but there is no parameter for direction or "reverse". However, it lists the "distance" corresponding to the command\'s "2 meters", and the "is_forward" set to "false" does imply it moves in a reverse direction providing some relation to the non-specified reverse direction in the command. The "linear_speed" isn\'t justified by the command though.'] +Rotate left and proceed in reverse for a total distance of 2 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['1; The natural language command mentions rotating and moving in reverse for a specified distance. However, the provided JSON structure does not include an action for rotation.'] +Shift to the left and move backwards covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meters"}}'];['4; The natural language command partially matches the JSON information provided. The command indicates movement and references a distance of 2 meters which corresponds correctly to the JSON action "move" and "distance" parameter. However, the direction of movement ("shift to the left" & "move backwards") are not clearly defined in the JSON structure, as a \'direction\' or \'angle\' is not specified in the "move" action. Hence, the lack of a perfect match.'] +Move forward for 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3.5, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command specifies a time duration for the movement "7 seconds", while the JSON structure delineates movement in terms of distance. Although there\'s conformity in the action being "move" and the direction is "forward", the parameters in JSON do not match with the natural language command.'] +Proceed ahead for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "duration": 7.0, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command asks to "proceed ahead for a duration of 7 seconds" this correlates to the move action in the JSON. However, the JSON structure does not match perfectly as it states "linear_speed: 0.0" (which means no movement), while the natural language command implies some speed. Also, the parameter \'duration\' specified in the command does not exist in the sample ontology.'] +Advance for a period of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3.5, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command and JSON information partially match. The command indicates motion and a time period but does not specify speed, distance or direction as the JSON does. Furthermore, the JSON\'s unit is incorrectly labeled as "seconds" instead of "meter".'] +Keep moving forward for 7 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];["3; The natural language command states 'Keep moving forward for 7 seconds', which means the robot has to move forward for a time duration instead of a precise distance. This matches the action in JSON structure, but the parameter 'distance' should be 'time_duration' instead. Moreover, 'unit' is described as 'seconds' in the natural language command but in JSON, it should be the measurement unit of 'distance' not time, therefore they aren't entirely in conformity."] +Continue ahead for a total of 7 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];['1; Although it involves the action of moving ahead which is present in the JSON structure, the time is expressed in seconds which is not correspondent to any keys in the JSON structure. The JSON structure uses measures of distance and speed, rather than time.'] +Rotate counterclockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['3; Partially conform. The natural language command can be seen in the JSON structure, but it lacks information on angular velocity, and suggests a counterclockwise rotation not mentioned in the JSON.'] +Turn left by an angle of 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['3; Partially conform. The natural language command requests a turn action which corresponds to the "rotate" action in the JSON. The angle in natural language command and JSON also match. However, the angular velocity is not specified in the natural language command and defaults to 0 in the JSON. Additionally, the lack of a direction in the natural language command results in a false "is_clockwise" value in JSON.'] +Rotate anticlockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": Default, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command partially matches the JSON information with slight variation. The given command specifies an anticlockwise rotation but does not dictate the angular velocity. Therefore, the JSON structure defaults to an unspecified angular velocity. The angle of rotation matches the natural language command.'] +Rotate in the opposite direction by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['3; Partial Match. The action type "rotate" and the unit "degrees" align correctly with the natural language command, but the specified angular_velocity and angle do not match. There is also a lack of information provided for "is_clockwise" choice in the JSON structure from the natural language command, thus the JSON structure only partially corresponds to the natural language command.'] +Make a 30 degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['5; Exactly conform.'] +Move backward at a speed of 1 meter per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['2; The natural language command specifies for the robot to move backwards which aligns with the "move" action in the JSON. However, the directions in the JSON do not specify the direction of movement (backward or forward is indicated by "is_forward" being True or False). The speed is inconsistent between the command and JSON (1 in command vs. 0.5 in JSON) as well as the distance (6 in the command and no specific distance in the JSON). Also, the unit specified in the JSON is "meter" while a unit of time ("seconds") is used in the command.'] +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false}}'];["3; The JSON structure matches with the natural language command in terms of reversing the movement and the linear speed. However, the command mentions movement duration in seconds while the JSON structure has distance as a parameter, which is not specified in the command. There's a mismatch in this context. The parameter 'unit' which is 'meter' in the JSON is also not mentioned in the command."] +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'];["4; The JSON matches the command in concept that the robot is to move with a certain speed and for a certain period, however, in the natural language command, the distance is not explicitly specified, it is derived from the given velocity and time. Also, the direction is indicated as 'opposite' in the command while in the JSON structure it is indicated as 'is_forward': false. The unit is not 'meter', it should be 'seconds'."] +Travel backwards for 6 seconds at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "second"}}'];['4; The action and most parameters match the natural language command. The robot is requested to move, the speed matches with `linear_speed` in the query and the `is_forward` is set to false, indicating backwards motion. However, the distance is given as time ("6 seconds") rather than an actual spatial measurement, which does not perfectly align with the `distance` parameter in the JSON. Thus, it\'s not an exact match.'] +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 6, "is_forward": false, "unit": "meter", "duration": 6, "unit_duration": "seconds"}}'];['4; Almost conform. The natural language command describes a backward motion (hence "invert your motion") at a rate of 1 meter/second for 6 seconds which matches with the JSON action "move" and parameters: "linear_speed": -1, "distance": 6, "is_forward": false. However, the "duration" and "unit_duration" are not part of the sample ontology and these added keys result in a minor discrepancy.'] +Turn right and move forward for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}, "unit": "degree"}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; The command is partially conform. The movement action is fully matched with the natural language command but the rotation doesn\'t include the angular_velocity value and the is_clockwise key is set as false, while in the command "Turn right" usually means a clockwise movement.'] +Proceed for 8 meters after taking a right turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meters"}}'];['2; The JSON structure mainly corresponds with the natural language command as it involves moving a certain distance, but it lacks the rotation (taking a right turn) part of the command.'] +Take a right and continue straight ahead for a distance of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];["4; The commands match partially with the JSON structure. The language command instructs to make a right turn and move ahead for 8 meters. The corresponding JSON structure contains this information but lacks detail on rotation (is it clockwise or not?) and linear speed during the move. Hence, it's not a perfect match."] +Make a right turn and then proceed ahead for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 8, "is_forward": true, "unit": "meters"}}'];['5; The natural language command directs to make a right turn, which corresponds to the "rotate" JSON action and the angle of rotation is correctly mentioned as 90 degrees in one of the JSON structures. Secondly, it instructs to move ahead for 8 meters, that corresponds to the "move" JSON action and the distance is correctly mentioned as 8.'] +After turning right, cover a distance of 8 meters by moving forward.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 8, "is_forward": true, "unit": "meters"}}'];["2; While the commands are overall matching, the values in the JSON structures do not perfectly align with the natural language command. The angle of rotation and the linear speed of movement are not specified in the command and have arbitrary values in the JSON structure. The unit in the move action is also slightly off, it should be 'meter' rather than 'meters'."] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];["5; Exactly conform. The natural language command perfectly matches the JSON information structure including action ('rotate') and all parameters ('angular_velocity', 'angle', 'is_clockwise')."] +Turn 270 degrees to the right.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['5; The JSON structure accurately represents the command to rotate 270 degrees to the right, with an angular velocity of 0, the rotation is indeed clockwise (right) and the unit is specified as degrees.'] +Turn three-quarters of a full rotation to the right.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 270, "is_clockwise": true}}'];['4; The natural language command generally matches the JSON structure. However, the "angular_velocity" parameter is not specified in the command and hence will need to default value.'] +Perform a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate in the clockwise direction, making a 270-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command fully matches the JSON in terms of the action being performed, the angle of rotation and the direction of the rotation. However, the angular_velocity value in the JSON structure is 0 which does not conform to the natural language command as this value should be specified in order to perform the rotation action.'] +Move forward and then immediately stop.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['3; The command is partially matching with the JSON structure. The instruction to "move forward" is correctly interpreted as "action": "move" and "is_forward": true in the JSON. However, the "linear_speed" and "distance" parameters in the JSON are 0, which technically means that no significant movement would occur, and this is not clear from the original command. The command does not entirely implicate a stop, it could just require a very small forward distance motion.'] +Proceed forward and promptly come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['3; Although the command had a verb-action ("Proceed forward") that matched the "move" action in the first JSON structure, it lacked specific values (like linear_speed and distance). The command also inferred a halting action that was not found in any of the JSON structures.'] +Advance and instantaneously cease movement.;['{"action": "stop", "params": {}}'];["0; The natural language command instructs for an 'advance and instantaneously cease movement', but the provided JSON structures involve actions 'go_to_goal', 'move', and 'rotate' which don't match with the natural language command. Also, there's no JSON structure requesting a 'stop' action which would match with 'cease movement' in the command."] +Go forward and abruptly pause.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];["1; The natural language command matches partially with the JSON structure. The 'go forward' command can be related to the 'move' action with 'is_forward': true in the JSON structure. However, there's no information or parameter in the JSON that relates to or indicates the 'abruptly pause' command. The JSON structures also have unassigned variables such as 'distance' and 'is_clockwise', and there's an erroneous extra JSON structure which is empty."] +Move ahead and promptly end motion.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true}}'];['3; The natural language command matches partially because the "move" action is correct. However, the JSON structure lacks information about the "linear_speed" and "distance" parameters which are needed to execute the command fully.'] +Turn left and move backward for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['1; The natural language command instructs the robot to turn left and move backward. Although the JSON command indicates a \'move\' action which aligns with the second part of the command, it doesn\'t include any instruction to \'turn left\'. Also, the "is_forward" key of the JSON structure is set to true, which does not match with moving backward action in the natural language command.'] +Make a left turn and proceed backwards for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];["2; The natural language command gives details about making a left turn (which relates to a 'rotate' action) and moving backwards (which relates to a 'move' action). However, the provided JSON information doesn't include any 'rotate' action and the 'is_forward' key in 'move' action is not set to 'False' to match with the 'proceed backwards' command. Also, there's no specify the 'distance' as 4 in 'move' action params."] +Go in the opposite direction and turn to the left, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['1; The JSON structure corresponds to a move action with certain parameters, but the natural language command mentions a turn to the left, which is not represented in the JSON structure. Also, the JSON structure indicates a negative speed (-1), whereas the command does not specify this.'] +Rotate to your left and travel in the reverse direction, moving 4 meters behind.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} {"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}}'];['2; The given JSON structures partially conform to the natural language command. The command refers to rotation and movement but the parameters given in JSON, such as angular_velocity and linear_speed, are not mentioned in the command. Also, the direction of rotation is not specified in the command.'] +Head left and travel in reverse for a total of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The natural language command matches well with the JSON structure, however, direction information is not included in the JSON structure.'] +Move forward for 10 seconds at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command asks to move forward at a particular speed for a certain amount of time, however, according to the JSON structure provided, the robot only accepts distance as a parameter not time. Also, in JSON format, distance is undefined and unit is given as "seconds" which doesn\'t match with the sample ontology where unit is "meter".'] +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];["2; The natural language command approximately conforms to the JSON structure. While both involve movement with a specific linear speed, the command talks about executing the action for a specific duration (10 seconds) while the JSON structure specifies a 'distance' parameter instead of duration. Also, the distance is not provided in the command."] +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3.0, "is_forward": true}}'];['2; The natural language command corresponds to the "move" action of the JSON structure, but not entirely. The given command implies a speed but the distance in the JSON structure and the duration in the command do not match since time is not a parameter in the JSON structure. Also, \'unit\' key in the JSON structure does not match with the natural language command.'] +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];['3; The command can be interpreted into two parts - first is "Travel straight ahead", which is denoted by "is_forward": true in JSON. The second part is "moving at a speed of 0.3 meters per second", which is represented by "linear_speed": 0.3 in JSON. However, the command asks to move for a duration of time (10 seconds), whereas the JSON represents it as distance travelled in meters (3 in this case). The mapping of content isn\'t exact, therefore a perfect score isn\'t justified.'] +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];["2; The velocity mentioned in the natural language command doesn't accurately translate to the JSON structure. The natural language command speaks about the velocity but then mentions the time for which the velocity has to be maintained whereas, the JSON structure has a parameter for distance and not time. Therefore, the JSON structure and the command do not match correctly."] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['1; The natural language command is slightly mismatched to the JSON information. The command specifies a rotation in the counterclockwise direction with an unspecified angular velocity, however, the JSON structure shows a counterintuitive clockwise rotation with a different angular velocity. The angle of rotation in the command is also different from that in the JSON structure.'] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 60, "is_clockwise": false}}'];['4; The natural language command matches with the JSON structure but it does not explicitly state the "unit" for the angle measurement, which is present in the JSON structure. Also, the "angular_velocity" value is not provided in the natural language command.'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command matches with the JSON structure action and parameters but the angular velocity is set to 10 in the JSON structure, while it is not specified in the command.'] +Make a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['3; The natural language command partially conforms to the JSON information. The action type "rotate" and the unit "degrees" match. However, the value of "angle" in the JSON structure doesn\'t match the command (40 vs. 60), the value of "is_clockwise" also doesn\'t match (command indicates counterclockwise rotation), and the value of "angular_velocity" is not specified in the command.'] +Rotate leftwards by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false}}'];['3; The natural language command partially conforms to the JSON structure. The action "rotate" and parameter "angle": 60 match, but the "is_clockwise" property isn\'t specified in the command and the angular_velocity isn\'t mentioned in the command as well.'] +Move backward and then immediately stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": false}}'];['1; The natural language command asks for a backward motion however the JSON structure suggests a stop action (i.e., both speed and distance are zero). The "is_forward" key is set to \'false\' which matches with the \'backward\' direction in the command but the immediate \'stop\' action isn\'t clearly defined in the JSON structure.'] +Reverse and come to a sudden halt.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false}}'];["1; The JSON structure does match the 'move' action in the ontology, including parameters for linear_speed, distance, and direction (is_forward). However, the natural language command specifies a 'sudden halt' which is not adequately represented in the JSON. The JSON indicates a speed of 0 and distance of 0, but doesn't necessarily capture the 'sudden' aspect of the command. Also, the command is about reversing yet the 'is_forward' parameter in the JSON is set to false, contradicting the command."] +Go in reverse and abruptly cease.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'];['3; The natural language command partially matches the JSON information. The "action" is correctly identified as "move" and the "is_forward" key matches the command reverse (false). However, the "linear_speed" and "distance" parameters in the JSON structure do not match the abrupt stop in the natural language command. The speed and distance are not specifically mentioned, making the command and JSON structure only partially matched.'] +Back up and instantly come to a standstill.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];["1; The natural language command mentions backing up and stopping, which does imply movement but does not specify any distance or speed. The JSON structure utilizes the 'move' action, which somewhat aligns with the command. However, the 'linear speed' and 'distance' keys are not reflected in the command nor is 'is_forward' which is set to 'False' when the command does not specify direction. The only aspect that slightly matches is that the stop at the end could imply a speed of 0. Neither units of measurement nor any rotation action is mentioned in the command which makes most of the JSON structure irrelevant. Hence, a lot of guesswork will have to be used."] +Move backwards and promptly come to a stop.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];['1; Although the command is about movement, the parameters in the command "Move backwards and promptly come to a stop" do not match with the JSON structure for "move" action. The command implies a backward movement but doesn\'t specify speed or distance, and "promptly come to a stop" implies a zero speed while JSON structure has a 0.5 linear speed. The "is_forward" key is false which matches with the backward movement but overall conformity is very low.'] +Turn right and move forward for 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['3; Partial match. The action "move" matches the command to move forward for 6 meters, with the distance parameter as 6 and the "is_forward" as true. The "rotate" action also matches the command to turn right, however the "angle" parameter value should be 90 rather than 40 to indicate a right turn. The "angular_velocity" is not specified in the command, so it doesn\'t match the given value 0.35.'] +Make a right turn and proceed straight ahead for a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['2; The natural language command matches partially with the JSON structure. The command instructs a right turn which can be interpreted as a \'rotate\' action with "is_clockwise": True. However, there\'s no value for "angular_velocity" or "angle" provided in the command. The command also mentions to proceed straight for 6 meters, but there\'s no JSON structure matching \'move\' action with corresponding parameters in the provided information.'] +Go to your right and continue moving forward for a total of 6 meters.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Right"}}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];['4; The natural language command primarily matches with the move action in the JSON structure but the go_to_goal action does not fully conform as the location value should be a specific place such as "kitchen". The term "right" in the natural command is more aligned with a direction than a specific location. The score is 4 because the command is correctly structured, but the location value does not perfectly conform with the sample ontology.'] +Take a right turn and advance ahead, covering a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": true, "unit": "meter"}}'];['4; The command corresponds well to the provided JSON structures but doesn\'t specify the angular_velocity for the "rotate" action and linear_speed for the "move" action. These parameters are left as 0.0 in the JSON, which doesn\'t perfectly conform to the command about advancing ahead and taking a right turn.'] +Head towards the right and maintain a straight path for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];["4; The JSON structure partially matches the natural language command. The action of moving, forward direction, and distance of 6 meters are present in both the command and the JSON. However, the specific linear speed of 0.5 in JSON is absent from the natural language command. Furthermore, the command's mention of moving towards the right isn't represented in the JSON structure.", ''] +Rotate clockwise by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 120, "is_clockwise": true}}'];['5; The command description perfectly matches with the JSON, with the action being "rotate", the angle being 120 degrees, and the rotation being in the clockwise direction. The angular_velocity value is not provided in the command but the default value is assumed which is compliant with the JSON structure.'] +Turn 120 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'];['4; The natural language command correctly matches the action "rotate" and the parameters "angle" and "is_clockwise" in the JSON structure. However, the "angular_velocity" is 0 in the JSON, while it\'s unspecified in the command. Hence, a full score can\'t be given.'] +Move in a clockwise rotation by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": true}}'];["4; The command 'Move in a clockwise rotation by 120 degrees' can be related to the JSON structure. The action is 'rotate' which is correct, the 'is_clockwise' parameter is also accurate. However, the 'angle' in the JSON is 40, not 120 as in the command, and the 'angular_velocity' is 0.35, not specified in command."] +Adjust the rotation by 120 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'];['2; While the natural language command does express the need to rotate and it does so clockwise, the angle of 120 degrees matches, it does not specify the "angular_velocity" amount which has a different value \'0\' in JSON.', ''] +Execute a 120-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'];['5; The command accurately translates into the given JSON structure. The "action" is "rotate", and within "params", all information is consistent with the command. The "angle" is 120 (degrees), and "is_clockwise" value is true. The command does not mention "angular_velocity" but the corresponding value in the JSON structure is 0 which does not conflict with the command.'] +Move forward and then backward for 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meters"}}'];['1; The natural language command instructs the system to move forward and then backward for 5 meters, but the JSON structure only describes a forward motion of an unspecified distance. The linear speed, distance, and direction of movement in the natural language command do not match those in the JSON structure. The unit of measure also does not match because it\'s "meter" in the JSON structure and "meters" in the natural language command.'] +Proceed ahead and then return in reverse for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true, "unit": "meters"}}'];['2; The JSON structure partially matches the natural language command. The command mentions movement which is reflected in the JSON structure action "move". However, the JSON structure information about \'linear_speed\' does not match anything in the command. The distance in the JSON structure is correctly mention as \'5\' and \'is_forward\' parameter matches the command "Proceed ahead". However, the command also mentioned \'return in reverse\' which is not reflected in the JSON structure.'] +Advance forward and then retract for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];["4; The natural language command partially corresponds to the JSON structure. JSON instruction is about moving forward for a certain distance, which matches the action described in the natural language command. However, there is no corresponding JSON structure for 'retract' action specified in the command. So, the match is not perfect."] +Go straight ahead and then move backward covering a span of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform.'] +Propel forward and then reverse, covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The command and the JSON partially conform. The command instructs a forward movement with an unspecified linear speed, which matches the "move" action, "is_forward": true, and "unit": "meter" parameters. However, the command also includes a reverse movement, which isn\'t reflected in the JSON. Furthermore, the JSON specifies a linear speed of 0.5, which isn\'t mentioned in the command.'] +Move forward for 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true}}'];['4; The command matches the "move" action in the JSON structure, and follows the keys \'linear_speed\', \'distance\', and \'is_forward\'. However, the linear speed is not specified in the command but is given in the JSON structure.'] +Proceed straight for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "meters"}}'];['4; The natural language command matches with the JSON structure to some extent, but the value of "linear_speed" in the JSON structure does not match with the natural language command which doesn\'t mention speed at all.'] +Advance ahead by 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The command "Advance ahead by 10 meters" perfectly matches the JSON structure with "action": "move" and it has "distance": 10 and "unit": "meter". Even though the "linear_speed" value doesn\'t correspond directly to anything in the natural language command, it doesn\'t conflict with it either.'] +Go straight ahead covering a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];["4; The command is a perfect match for the JSON's action and 'distance' parameter. The linear_speed and is_forward params also conform with the directive but there's no information to confirm conformity for these params in the command."] +Travel in a forward direction for 10 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);['2; The natural language command talks about moving in a forward direction for a certain distance, however, the distance isn\'t correctly defined in the JSON structure ("distance": distance)', 'The command doesn\'t mention anything about the speed of the movement, which is given in the JSON structure as a "linear_speed" of 0.5.'] +Turn left and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}}'];['1; The command "turn left and move forward for 5 meters" somewhat represents the move action found in the JSON structure. However, it does not specify the linear_speed and there is no mention of the direction (left) in the JSON structure. Additionally, the distance is not specified in the JSON structure.'] +Make a left turn and proceed ahead for a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['3; Partially conform. The movement part of the command matches with the JSON structure. However, the direction of the turn was specified as left in the command but in the JSON content it does not specify whether the rotation is clockwise or anti-clockwise.'] +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['0; The natural language command requires rotation and moving forward. However, the provided JSON structure only contains details about moving forward and completely omits the rotation part. Therefore, it does not conform or match the natural language command.'] +Take a leftward turn and advance for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "meters"}}'];["2; The natural language command mentions a 'leftward turn' which is missing in the JSON structure. The JSON structure specifies only 'move' action with 'linear_speed' and 'distance' as parameters. Although the mention of advancing for '5 meters' perfectly matches with the 'distance' value in the JSON structure, the overall command does not fully conform to the JSON structure provided."] +Face left and go straight for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['1; The natural language command instructs to \'Face left and go straight for 5 meters\', however the JSON structure does not include the action to \'Face left\' which corresponds to a "rotate" action in our ontology. Another mismatch is that the given speed in JSON structure does not match with the natural language command as speed details are not provided in the command.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; Although the command was perfectly executed with the correct action, angle and rotation direction, the angular speed was not specified correctly in the JSON. It is set to 0, which contradicts the fact that a rotation is to be performed.'] +Rotate in an anticlockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'];['4; The natural language command matches the JSON structure in terms of action - "rotate" and parameter - "angle". However, it doesn\'t specify the "angular_velocity", and while it states the direction of rotation, it doesn\'t directly state the boolean value for "is_clockwise". Thus, it\'s not exactly conforming, hence the score of 4.'] +Perform a 90-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command corresponds reasonably well with the provided JSON structure. The requested action of rotation is clearly defined. However, the specific "angular_velocity" is not mentioned in the command, which is why it cannot achieve a perfect score of 5.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false}}'];["3; Partially conform. The JSON structure correctly represents a rotate action and an angle of 90 degrees, but does not specify the direction as left (counter-clockwise). Additionally, the 'angular_velocity' is set to 0.0, which does not make sense for a rotate action."] +Anti-rotate by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command is mostly matched with the JSON. The command specifies an "anti-rotate" operation which can be understood as counter-clockwise rotation. JSON also has a "rotate" operation. However, the \'angular_velocity\' in JSON is given as \'0\' which doesn\'t conform with the idea of rotation. Furthermore, the natural language command doesn\'t specify the angular velocity for the rotation which is present in the JSON structure.'] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure conforms to the natural language command but the linear speed doesn't match the command."] +Go in reverse for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['1; The natural language command suggests the robot to move in reverse for a distance of 3 meters, which corresponds to the "move" action in the JSON. However, the parameters do not match completely. The \'linear_speed\' parameter is not mentioned in the natural language command and the \'is_forward\' parameter in the JSON does not match with the command that specifies to go in reverse.'] +Retreat by 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['Score: 4; Justification: The JSON structure is mostly conforming to the natural language command with the correct action and parameters such as "distance" and "unit". However, the value of "is_forward" is set to False which doesn\'t directly correspond to the term "retreat" in the command. Also the "linear_speed" value in the JSON doesn\'t match with any information mentioned in the command.'] +Step back 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Reverse direction and travel 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'];['2; The JSON structure partially matches the natural language command. The command specifies a reverse direction which is represented as "is_forward": false in the JSON, and the command\'s specified distance of \'3 meters\' is reflected in the JSON as "distance": 3. However, there are dissimilarities such as the JSON\'s "linear_speed": 1 which isn\'t specified in the command. Furthermore, the command\'s \'reverse direction\' does not specify speed, thus the "linear_speed": 1 in the JSON does not completely match with the command. Hence considering these, a score of 2 is justified.'] +Turn right and move forward at 0.5 m/s for 20 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meters"}}'];['2; The natural language command asks to turn right which matches with the "rotate" action in the JSON structure, yet the angular velocity and angle don\'t match. The command also mentions to move forward at a certain speed which matches with the "move" action in the JSON, however, the distance is calculated to be 10 meters based on the speed and time which doesn\'t have a correspondence in the JSON structure.'] +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "seconds"}}'];["2; The linear speed and direction of motion in the 'move' action matches the command, but the distance parameter is defined in seconds in JSON while the command specifies it as a time interval and not a spatial distance. There is no 'rotate' action in the command, and the angle of rotation is not defined in the JSON structure."] +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "seconds"}}'];["4; Partially Conform. The JSON information aligns with the natural language command in terms of a rotation action and a subsequent movement action. However, the angular speed in the rotate action is described as 0.35 in the JSON but the natural command asks for a right turn which doesn't specify an angular velocity. The second JSON command specifies unit in seconds, not as a distance in meters as mentioned in the natural language command."] +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "seconds"}}'];["1; The rotation in the natural language command is somewhat represented in the JSON fragment, however, the angular velocity in JSON is 0.5 instead of being unspecified in the natural command. Also, the angle is specified as 90 degrees instead of being a right turn in the natural command. At the same time, the move action in the natural language command is somewhat represented in the JSON structure, however, the distance in JSON is 10 while in the natural command it is a function of time (20 seconds * 0.5 m/s = 10 meters), which isn't clearly mirrored in the JSON structure."] +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "seconds"}}'];["2; The natural language command states to turn right first, but this action is not specified in the JSON. Additionally, the 'move' action in the JSON structure doesn't show the correct 'unit' which should be 'seconds' based on the command, not 'meter'. Also, the 'distance' in the JSON is not correctly matching with the natural language command. The command states that the bot is to move for 20 seconds, but a 'distance' is named instead of 'time'."] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['5; The natural language command correctly corresponds to the JSON structure. The action "go_to_goal" is correctly intended and the parameter "location" represents "Living Room" in the natural language command.'] +Please proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];["2; While the action 'go_to_goal' and the parameter key 'location' are correctly used, the value in the natural language command 'living room' does not match up with the value in the JSON command 'Kitchen'."] +Make your way to the living room and cease movement.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['1; The natural language command implies the action of moving to a specific location ("Living Room"), but the given JSON structure\'s action is "go_to_goal" with a parameter location of "Kitchen". Although the connotations of the actions may be similar, the specified locations do not match.'] +Head over to the living room and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['5; The natural language command perfectly matches with the JSON structure. The command instructs to head towards a location, which in the JSON structure, correlates with action: go_to_goal and the location is specified as "Living Room".'] +Walk into the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['0; The natural language command is asking to "walk into the living room and stand still" while the JSON structure represents three unrelated actions: "Go to the kitchen", "move" with specified parameters and "rotate" with specified parameters. There is no match between the places mentioned ("living room" in the command and "kitchen" in the JSON) and the actions of moving and rotation are not reflected in the command.'] +Move forward for 2 seconds at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command matches with some keys in the JSON structure especially in the "move" action. The "is_forward" key matches with the "move forward" direction in the command and the linear_speed matches as well. However, there\'s no key to capture the time parameter ("for 2 seconds") mentioned in the command in the move action\'s params. The unit doesn\'t match as well: the command uses "seconds" as its unit, while the sample JSON structure uses "meter".'] +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'];['4; The JSON structure and the natural language command match reasonably well. The bot is to move straight ahead with certain velocity. However, the "duration" mentioned in the natural language command does not match exactly with JSON key "distance". Still, it can be inferred that the distance can be measured as \'velocity * duration\'. The \'unit\' in JSON also does not match directly, as it is \'meter\' whereas in the command it is \'second\'.'] +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["2; Although the action of moving forward is indicated, it doesn't match perfectly with the provided JSON. In the natural language command, time is given (2 seconds) instead of distance, which is mentioned in the JSON (distance: distance)."] +Move ahead at a rate of 1 meter per second for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The command and the JSON structure match in terms of action and parameters. However, in the command, the unit for distance is implicitly given as seconds, which doesn\'t match with the "meter" unit mentioned in the JSON.'] +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["4; The JSON structure is almost exactly as per the natural language command, but there's one small mistake. It's about distance, in the command it says '2 seconds' but in the JSON, '2' is for distance, whereas it should be for time."] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command corresponds with the action "rotate" and the parameters "angle" and "is_clockwise" from the JSON structure. However, the "angular_velocity" value in the JSON code is 0, which is not specified in the natural language command.'] +Perform a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180, "is_clockwise": true}}'];['4; The command indicates rotation to be performed, which is correctly identified in the JSON information. However, the angular_velocity value is not mentioned in the command whereas it is present in the JSON structure as 0.0. For a perfect match, the command should provide enough information to fill all the parameters.'] +Rotate 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command matches the JSON structure well, but since the "angular_velocity" in JSON is 0 which is not clearly mentioned in the natural language command, it can\'t be considered as an exact match.'] +Turn in a clockwise direction and rotate by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command is mostly aligned with the JSON object. The rotation, clockwise direction and the unit of degrees are well matched, however the angular velocity is not given in the command and assumed as 0 in the JSON structure.'] +Execute a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 180, "is_clockwise": true}}'];['5; The command asks for a specific rotation of 180 degrees in a clockwise direction. The JSON order corresponds to this command, even though the angular velocity is not specified. The action "rotate", parameters such as "angle" and "is_clockwise" all match with the command.'] +Move forward for 4 meters and then turn left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'];["1; The natural language command calls for the entity to move forward for 4 meters which is somewhat represented in the JSON command; however, the JSON command is not complete as it does not include a unit for the distance. Additionally, the natural language command calls for the entity to 'turn left' afterwards, which is not represented at all in the JSON command."] +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structures include the action of moving straight and turning as requested in the natural language command. However, the specific parameters do not align completely. The distance of 4 meters is mentioned, but not the linear speed, which is set to 0.5 in the JSON. The command requests a left turn but does not specify the angle or angular velocity, which are set to 90 degrees and 0.5 respectively in the JSON. Also, the JSON for the rotate action is assuming that a left turn means counter-clockwise, which is a reasonable interpretation but not explicitly stated in the command.'] +Go straight for a distance of 4 meters followed by a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Perfectly conform. The first action in the JSON commands involves moving a certain distance forward, which corresponds to the "Go straight for a distance of 4 meters" command. The second action, rotating counter-clockwise (a left turn), also lines up with the "followed by a left turn" command in the natural language command.'] +Advance in the forward direction, covering 4 meters, and then make a leftward turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["2; The natural language command is partially matched. The 'move' action in JSON instructions correctly corresponds to 'Advance in the forward direction, covering 4 meters' in the command. However, the 'rotate' action is not in agreement with 'make a leftward turn' in the command. The JSON structure does not specify the direction of rotation (clockwise or anti-clockwise), which is crucial for determining left or right turn. Also, linear speed, angular velocity and the rotation angle are not mentioned in the natural language command."] +Move ahead for 4 meters and then change direction by turning left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'];['2; Only the "move" action with the "distance" parameter matches in the given JSON structure. The natural language command also includes a "turning left" action which is not reflected in the JSON structure as the "rotate" action in the example JSON is not mentioned in the NL command. The "linear_speed" and "is_forward" parameters are also not specified in the NL command.'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['3; For the "rotate" action, the "angular_velocity" values do not conform as the user command doesn\'t provide an angular speed. For the "move" action, the "linear_speed" value doesn\'t conform as there\'s no speed mentioned in the command. However, general action and their main parameters (such as "angle" for rotation and "distance" for move) in JSON partially match with the user command.'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];["4; Mostly conform. The rotation command matches correctly with 'rotate' action in the JSON structure, but the 'angular_velocity' is missing in the NL command which is required in the JSON. The 'move' command also has a good match, but it lacks the 'linear_speed' which JSON structure requires. The lack of these two parameters causes a minor non-conformity, hence the score isn't perfect."] +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];["4; Partial conformity. The JSON structures provided match the given command in terms of the actions and most parameters, but the specific values for 'angular_velocity' and 'linear_speed' do not match since they are not specified in the command."] +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];["4; The JSON structures fairly match the natural language command. The command requests for rotation which is accurately matched in the JSON structure. However, the 'angular_velocity' value in the JSON does not exactly match with the rotation described in the command. The command requests moving 3 meters, but the JSON structure does not reflect any specific distance."] +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4.75; The natural language command mostly matches the JSON structures. The command implies a "rotate" action with an angle of 60 degrees in a counterclockwise direction, and a "move" action to move 3 meters forward. This roughly matches with the corresponding JSON structures provided. However, the angular_velocity and linear_speed in the JSON structures are unspecified, hence a slight mark down.'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['4; The natural language command and the JSON structure match to a large extent. However, the natural language command includes the action "stop" which is not reflected in the JSON structure.'] +Proceed to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['1; The command asks the entity to move to a specific location, which corresponds to the "go_to_goal" action. However, the location specified in the command ("bedroom") doesn\'t match the location value in the JSON structure ("Kitchen"). The second portion of the command ("come to a halt") is not represented in the JSON at all.'] +Make your way to the bedroom and cease your movement.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['1; The natural language command instructs the system to go to the bedroom, but the JSON structure indicates a command to go to the kitchen. The general action ("go_to_goal") matches but the specific location parameter does not. Plus, there\'s an instruction to cease movement in the natural language command which is not represented in the JSON structure at all.'] +Head towards the bedroom and come to a standstill.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['2; The command partially matches the JSON structure. The action "go_to_goal" and parameter "location" matches with the command. However, the location "Bedroom" given in the command does not match the "Kitchen" given in the JSON structure. The command to "come to a standstill" is not represented in the JSON structure.'] +Move to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];["0; The natural language command suggests a 'go_to_goal' action towards the bedroom. However, the JSON structure does not include a 'go_to_goal' action nor does it specify a location like 'Bedroom'."] +Move backward for 7 meters at a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['4; The command in natural language and the JSON structure largely conform. The action "move" and parameter keys "linear_speed," "distance," "is_forward," and "unit" are properly used the same in both. However, the given natural language command specifies to move backward while in the JSON structure, the "is_forward" parameter is set to True, indicating forward movement. If "is_forward" was set to False to represent backward movement, it would be a perfect match.'] +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['4; The natural language command corresponds broadly to the JSON structure in terms of action ("move") and parameters such as "linear_speed" (0.8), "distance" (7), "is_forward" (False as \'reverse\') and "unit" ("meter"). However, the JSON contains a typo with the distance parameter as \'distance\' instead of a numeric value similar to the command.'] +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['3.5; While the natural language command does mention actions and parameters present in the json such as "move", "linear_speed", "distance", the direction of the command is "backwards" whereas in the JSON structure the "is_forward" parameter is set to true. The values for speed and distance do match with the command.'] +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meters"}}'];['4; The JSON structure mostly matches the command. The "action" is "move" which is correct, and the parameters like "distance" and "linear_speed" are correctly mapped with the values 7 and 0.8 respectively. The "is_forward" is set to false which corresponds to moving in reverse. However, the unit of speed in the command is "meters per second" while the unit in JSON is just "meters".'] +Turn left and move forward for 5 meters at a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];["2; The natural language command instructs two actions: rotate (turn left) and move forward, but the provided JSON structure corresponds only to the move forward action with correct speed and distance parameters. The JSON doesn't reflect the turn left (rotate) instruction from the command."] +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The commands align with the actions but are missing exact values such as "angular_velocity" for rotation command and "distance" in move command is specified in the natural language command but not in the JSON.'] +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];['3; Partially conform. The natural language command corresponds with the given JSON structure, it describes a \'rotate\' action and a \'move\' action. However, some parameters do not match. It mentions "make a left turn" which infers anticlockwise rotation but doesn’t specify the angle or the angular velocity, and it asks to "move forward for 5 meters with a velocity of 2 meters per second" which matches with the \'move\' action but the "velocity" doesn\'t match with the "linear_speed" key in the ontology.'] +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];["0; The natural language command implies that the robot should first rotate counter-clockwise (left turn) and then move forward for a distance of 5 meters at a speed of 2 meters per second. But the JSON snippets provided do not show any rotational related information and the linear speed in the move action is 0.5 not 2 as in the command, also the distance isn't specified in the JSON structure."] +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 2, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];['1; In the command, it says to "change direction to the left" and in the first JSON structure it says to rotate with an angular velocity of 2, an angle of 90, and is_clockwise is set to false which matches the command. However, the command says to "travel straight for a distance of 5 meters" at a "constant speed of 2 meters per second" this part is not matching with the JSON, as it is not defines there.'] +Back up for 1 meter and then execute a 90-degree turn to the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The commands are mostly consistent with the JSON structure but there are minor discrepancies. The "move" action is in accordance with the first part of the natural language command - "Back up for 1 meter", but the linear_speed parameter is not indicated in the natural language command, so the assignment of a specific value (0.5) can be regarded as arbitrary. The "rotate" action corresponds to the second part of the natural language command - "execute a 90-degree turn to the right". However, "is_clockwise" should be "true" for a right turn and the angular_velocity is not specified in the original command, hence the given value (10) is arbitrary.'] +Reverse for 1 meter and then make a right turn of 90 degrees.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command and the JSON structures align closely as they both describe a movement action and a rotation action. However, the \'is_forward\' key in the "move" structure should be true based on the command, and the \'is_clockwise\' key in the "rotate\' structure should be true since a right turn is considered clockwise.'] +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.;['{"action":"move", "params":{"linear_speed":-1, "distance":1, "is_forward":false, "unit":"meter"}}', '{"action":"rotate", "params":{"angular_velocity":1, "angle":90, "is_clockwise":false, "unit":"degrees"}}'];['3; The commands partially match the JSON data. The moving command is completely correct, with a negative linear speed representing backward movement. However, the rotation command is inconsistent with the natural language command. The "is_clockwise" condition should be set as true for a right turn.'] +Retreat by 1 meter and then make a right turn of 90 degrees.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command matches with the JSON structures in most of the ways. However, in the first JSON structure there is no parameter to define the "linear_speed" and in the second JSON structure there is no parameter to define the "angular_velocity".'] +Take a step back for 1 meter and then execute a 90-degree right turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command partially conforms with the corresponding JSON structure. The \'move action\' instructions are correctly represented in JSON, however the JSON parameters for the \'rotate" action doesn\'t match with the natural language command. According to the command, direction of rotation is to the \'right\' i.e., \'clockwise\', but in corresponding JSON, direction is not specified (indicated as variable \'is_clockwise\'). The \'angular_velocity\' value is not mentioned in the command as well.'] +Navigate to the specified GPS coordinates and play a pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "coordinates", "value": {"latitude": "latitude_value", "longitude": "longitude_value"}}}}'];['0; The natural language command asks the system to navigate to specific GPS coordinates and play a pre-recorded message, but the JSON structure is about going to a specific location specified as "Kitchen". Also, the action of playing a pre-recorded message is not represented in this JSON structure at all. Therefore, the command doesn\'t conform to this JSON structure.'] +Please go to the given GPS coordinates and play the pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "GPS coordinates", "value": "given"}, "play_message": true}}'];['0; The natural language command is asking the bot to go to a specific GPS location and play a message, however this does not match any of the JSON structures provided. The "go_to_goal" action seems to be the closest but the location type is not a string ("Kitchen") as specified in the command. Also, there is no mention of playing a message in the JSON structure. Therefore, the command does not conform to the JSON information.'] +Can you navigate to the provided GPS coordinates and start playing the recorded message?;['{"action": "go_to_goal", "params": {"location": {"type": "GPS_coordinates"}}}'];["0; The natural language command asks for navigation to GPS coordinates and to play a recorded message, neither of which matches with the provided JSON structures. The JSON structures provide instructions for actions: 'go_to_goal', 'move', and 'rotate', with specific parameters for each, but none involve GPS coordinates or playing a recorded message."] +Follow the given GPS coordinates and play the message that has been prerecorded.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS_coordinates"}}}'];['1; The natural language command requires going to a specified location following GPS coordinates and playing a prerecorded message. This does not perfectly match with the JSON structure which only involves simple action of going towards a goal (inevitably towards the "Kitchen", based on the given parameters), with no additional command such as playing a message. The provided \'location\' in the JSON structure is also not designed to process GPS coordinates, but rather, it is specified for pre-determined locations.'] +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS coordinates"}}}'];['0; The natural language command mentions going to GPS coordinates and initiating playback of a message, but none of these elements are present in the provided JSON structures. The JSON structures are related to going to a kitchen location, moving with specific parameters, and rotating with specific parameters.'] +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 10, "is_forward": true, "pattern": "zigzag", "unit": "meter"}}'];['1; The natural language command mentioned moving in a zigzag pattern for 10 meters, alternating between forward and backward motions. However, the provided JSON structure does not have any key to specify the zigzag pattern or alternating between forward and backward motions. Nor does it have a field to specify default_linear_speed, as the JSON structure requires a specific number for linear speed. The "distance" key in the JSON structure matches but overall the command does not conform well to the defined JSON schema.'] +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 10, "is_forward": true, "unit": "meters"}}'];['2; The natural language command mentions moving forward and backward in a zigzag pattern for a distance, which somewhat matches with the "move" action in the JSON structure. However, there\'s no mention about the zigzag pattern in the JSON, and the "is_forward" parameter in the JSON structure is always true, which doesn\'t reflect the backwards movement mentioned in the command.'] +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure matches partially with the natural language command. The "distance" parameter from the command is correctly captured in the JSON. However, the command specifies zigzag motions alternating between forward and backwards but the JSON structure does not capture this detail. Also, the command does not specify a "linear_speed", which is included in the JSON structure.'] +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The command mentions about moving forward and backward in a zigzag pattern, which isn\'t explicitly represented in the provided JSON. Also, the "linear_speed" value is not specified in the given command. The distance of 10 meters is correctly matched though.'] +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['1; The linear_speed is not specified in the natural language command and there is no zigzag pattern in the JSON structure. The natural language command mentions switching between forward and backward motions, but there is no parameter to represent this in the JSON. Only the distance key-value pair matches correctly.'] +Spin around in a circle three times and then stop abruptly.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command matches with the JSON structure as both indicate an action of rotation. However, the natural language command does not specify the angular velocity or the direction (clockwise or counterclockwise), and "spin around in a circle three times" is interpreted to be 1080 degrees in the JSON, but could have different interpretations.'] +Rotate in a full circle three times before coming to an abrupt halt.;['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 360, "is_clockwise": true, "unit": "degrees"}}'];['1; The natural language command partially matches the JSON structure as it only covers the rotate action but does not specify the abrupt halt. Furthermore, the angular_velocity mentioned in the JSON does not align with the natural language command.'] +Perform three complete rotations in a circular motion and then abruptly come to a stop.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];["1; The provided JSON structure includes actions for rotation and linear movement; however, the action to abruptly stop is not clearly indicated. Also, the angular velocity in JSON is 10 while the natural language command doesn't specify any speed for the rotation, and the rotation angle is 1080 (three complete rotations) which matches with the command but the direction (clockwise or anti-clockwise) is not specified in the command. Hence, conformity is low."] +Turn around in a complete circle three times and then suddenly cease movement.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true}}'];['3.75; The natural language command matches relatively well with the JSON command structure. It correctly invokes the "rotate" action and can be inferred to do so in a clockwise direction. However, the exact values for "angular_velocity" and "angle" do not directly match to the natural language command, which asks for three rotations. The JSON command is set for an angle of 1080 degrees, which equals three full rotations. Thus, it is mostly aligned with the command but requires some inference to fully match.'] +Spin in a circle three times and then bring yourself to an immediate halt.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['3; The command to rotate or spin is properly captured in the JSON structure, however, the command to "bring yourself to an immediate halt" is not accurately captured. The JSON structure indicates a move action with zero speed and distance which can be interpreted as "halt", but is not immediate as specified in the command.'] +Move forward at a constant speed of 1 meter per second for 30 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "seconds"}}'];['4; The command and JSON structure mostly conform. The command requests moving forward, which is consistent with "action": "move" and "is_forward": true in the JSON. The speed parameter matches with the "linear_speed": 1. Although the time for this action is specified in the command, the JSON expresses this as "distance": 30 which can be inferred if we assume that the action should continue for 30 seconds at the given speed. However, this assumption might not be completely accurate and "unit" in JSON is "seconds" which is not reflected in the natural language command. So the match is not exact.'] +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "second"}}'];["4; The command partially matches with the JSON structure. The action 'move', parameters like 'linear_speed', 'is_forward' and 'unit' match with the command and other parameters are calculated implicitly (distance = speed x time). However, the parameter 'distance' value should be 30 meter (distance = speed x time = 1m/s x 30s = 30m), not 30 seconds as per the command. The time duration is not present in the JSON structure."] +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "second"}}'];["2; The natural language command partially conforms to the JSON structure. The 'linear_speed' and 'is_forward' keys match but the 'distance' key in the JSON structure is instead a time duration in the natural language command, which doesn't perfectly align. Furthermore, the unit of distance in the command ('second') isn't correctly captured in the JSON structure (as 'meter')."] +Advance for 30 seconds with a consistent velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command asks the system to advance with a specified speed, matching with the "move" action in the JSON structure. However, the command specifies a time ("30 seconds") rather than a "distance", and the "unit" in the JSON is incorrectly set to "seconds" instead of "meter". Thus, it does not fully match with the parameters specified in the given JSON structure.'] +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'];['3; The instruction is partially matched. The command talks about moving straight ahead for 30 seconds with a fixed speed which is correctly captured in the JSON structure. However, the value of "distance" isn\'t accurate. In this case "distance" seems to be confused with "time". The linear speed is defined correctly as 1 meter per second.'] +Turn right and follow a curved path for 2 meters, then stop and beep.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['0; The JSON structure does not match with the natural language command given. The command mentions turning right and following a curved path, but there are no relevant parameters such as angular_velocity or angle in the JSON structure. Moreover, the command mentions stopping and beeping, which are also not reflected in the JSON structure. The JSON structure only includes actions related to rotation.'] +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.;['{"action": "rotate", "params": {"angular_velocity": 0.8, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}', '', '{"action": "beep", "params": {}}'];["2; The natural language command involves multiple actions which include rotation, movement, and a beep. The JSON structures provided partially capture the actions but there are inconsistencies. The rotation's parameters like 'angular_velocity', 'angle', and 'is_clockwise' do not fully correspond with the information in the command. The movement action matches well with the forward motion covering a certain distance. However, the emitted beep sound in the command is not represented in any of the provided JSON structures."] +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meters"}} ', '{"action": "pause", "params": {"duration": 1}} ', '{"action": "produce_sound", "params": {"sound_type": "beep"}}'];["1; The natural language command instructs to take a right turn, move along a serpentine trail, pause and produce a beeping sound. However, the provided JSON structures do not match these instructions exactly. There is no reference to 'serpentine trail' in any of the JSON actions, the moving distance does not match and there is no action for 'produce_sound' at all. Thus the conformity is low."] +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} ', '{"action": "stop_movement"} ', '{"action": "beep"}'];["2; Despite some similarities, the natural language command doesn't fully match the JSON commands due to the absence of specific numerical data used within the JSON structure. Further, JSON commands include 'beep' action which is not referenced in the natural language command. Additionally, it's ambiguous what is regarded as a 'curving route' in the JSON commands."] +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["1; The command mentions altering the direction and moving along a particular path, however, the specific parameters such as angular velocity, angle, or whether it's clockwise is not mentioned. Consequently, the JSON structure does not match accurately with the command. The beeping part mentioned in the command is not represented in the JSON at all."] +Move forward for 5 meters and then reverse for 2 meters, repeating twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];["5; This JSON structure matches perfectly with the natural language command, with the 'action': 'move', 'is_forward', 'linear_speed', 'distance' and 'unit' keys set properly to execute the command of moving forward for 5 meters and then reversing for 2 meters, and the action is repeated twice."] +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command matches perfectly with the JSON information. The "move" action is correctly utilised with appropriate parameters such as the linear speed, distance, direction of the movement, and the unit of measurement. Also, the sequence of actions is correctly reflected in the JSON command.'] +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; Almost conform. The JSON structure matches the natural language command. However, the "linear_speed": 1 is present in the JSON, but was not specified in the command.'] +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['3; The JSON structures match the natural language command in terms of the "move" action and "distance" parameter. However, the linear speed in the JSON structures is 1, while the natural language command does not specify a speed. Also, the command to repeat the cycle twice is missing in the JSON structures.'] +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meters"}}'];['5; Exactly conform.'] +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0.5, "is_forward": true, "unit": "second"}}'];["1; The command given does ask to move forward, which is partly matched in the 'move' action JSON structure. However, the JSON structure details a specific set of parameters not mentioned in the command like linear speed and unit. Further, the command states a random duration, not a specific 'distance' as the JSON structure highlights. The direction is also not explicitly stated in the JSON format. Therefore the match is low."] +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 0, "is_forward": true, "duration": 3, "unit": "seconds"}}'];["1; The JSON and the natural language command only partially match. While the command suggests a random direction and duration between 1 and 5 seconds, the JSON only specifies a move action with a speed of 1.0 and a duration of 3 seconds. The direction and the randomness mentioned in the command are not reflected in the JSON, and the distance key in the JSON is given a value of 0, which is not implied by the command. Moreover, the sample ontology also doesn't contain a key for duration. Thus, the conformity is very low."] +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": random_distance, "is_forward": true, "unit": "second"}}'];["1; The natural language command mentions moving in a random direction for a random period, but the JSON information is missing any parameters related to direction or randomness. Also, it uses a 'distance' parameter with a value of random_distance, whereas the natural language command specifies a random period of time instead. The 'linear_speed' parameter's value is fixed at 1 in the JSON information, which doesn't correspond with any specific speed given in the natural language command. Thus, there's only a weak match between the JSON information and the natural language command."] +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['1; The command does not exactly match the JSON structure. The command requests a random direction, duration, and assumably a random speed, however the JSON structure dictates a specific linear speed with a distance of 3 meters in a forward direction. The unit of time mentioned in the command ("seconds") does not match the unit in the JSON structure ("meter").'] +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": true, "duration": 4, "unit": "seconds"}}'];['1; While the command does refer to moving which matches the action in the JSON, it doesn\'t give necessary specifics such as linear_speed or distance, as available in the JSON structure. Also, the JSON structure contains keys for "is_forward" and "unit" which are not addressed in the command.'] +Perform a 180-degree turn, then launch a small drone from your back.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['1; The command requests a 180-degree turn which matches with the "rotate" action in the JSON structure. The fields angular_velocity, angle, is_clockwise, and unit match with the command as well. However, the command also includes an action ("launch a small drone from your back") that doesn\'t have a corresponding JSON structure in the provided sample ontology.'] +Execute a 180-degree rotation and subsequently release a compact drone from your rear.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true}}'];['1; The natural language command matches with the "rotate" JSON structure as the command denotes a 180-degree rotation. However, the angular_velocity value in the JSON structure does not match with the command. Additionally, the command\'s later part about releasing a compact drone does not have any matching JSON structure.'] +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true}}'];['2; The JSON structure corresponds to the "rotate" command in part, specifying a 180-degree turn as commanded in the natural language. However, there are missing parts in the JSON structure, such as a specific angular velocity and a declaration of whether the rotation should be clockwise or not. Moreover, the command to deploy a drone is entirely absent from the JSON structure, so it doesn\'t fully conform with the natural language command.'] +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false}}'];['1; The command mentions a 180-degree maneuver which matches with the "rotate" action in JSON. However, the parameters in JSON do not match the command, as the angular_velocity given is different than the one in the JSON sample. Moreover, the command includes an extra action of launching a drone, which is not represented in any of the given JSON structures.'] +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": false}}'];['1; The natural language command partially matches the JSON structure. The action "rotate" and parameter "angle" with value 180 match, but the additional action and parameters in the natural command about a drone and its release mechanism aren\'t represented in the JSON structure. The parameter "is_clockwise" isn\'t specified in the natural command either.'] diff --git a/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v2-GPT3.5-SCORES-only.txt b/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v2-GPT3.5-SCORES-only.txt new file mode 100644 index 0000000..f5366ae --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v2-GPT3.5-SCORES-only.txt @@ -0,0 +1,1000 @@ +5.0 +4.0 +5.0 +4.0 +5.0 +4.0 +4.0 +4.0 +4.0 +3.0 +1.0 +4.0 +4.0 +1.0 +2.0 +4.0 +4.0 +4.5 +4.0 +2.0 +4.0 +5.0 +5.0 +4.0 +5.0 +4.0 +3.0 +4.0 +3.0 +4.0 +4.0 +4.5 +2.0 +4.0 +4.5 +4.0 +4.0 +5.0 +5.0 +2.0 +5.0 +5.0 +4.0 +4.75 +5.0 +5.0 +4.0 +4.5 +4.0 +4.0 +4.0 +4.0 +5.0 +5.0 +4.0 +3.0 +0.0 +1.0 +3.0 +1.0 +5.0 +5.0 +4.5 +3.5 +4.0 +5.0 +4.0 +5.0 +5.0 +5.0 +1.0 +2.0 +2.0 +1.0 +2.0 +3.5 +4.0 +5.0 +5.0 +4.5 +4.0 +2.0 +3.0 +3.0 +4.0 +4.0 +4.0 +4.0 +2.0 +5.0 +4.5 +5.0 +4.0 +5.0 +4.0 +4.0 +2.0 +5.0 +5.0 +4.0 +4.0 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z$WJUAS@wMZmGPYBix5;MHh9|Uz;`()X&zz`0=$;iaQiDND=GV)n`i@Mm8!t)!d{@? z-HgL;!n~Tf$)-iy@^J*fc%`yORvbWr=HvB1vDwZ7Oa_3=G&wwjw|W^|Ual%6FC+D9 z^c3do+HP*qxpwOxc+$P-<@W_~;FycxevubO?hy;yR6yU!%DVU>KfZLYa;bAktC`gl z6j|zBo3H&2fDHXz2CYK?<~(~Dwh`JZ0>Vw&!_^GLyo~1+Lg28@c^EwVDW(u5y3)x4dw*oMxIl1`1s3PkJy!;c2Y;2lE?+?HE|5htfRw&15sjA>sCy023~9ft7#SvB$WRI9B%-jf9%D&U=v_Fthu}mYi)P*i~bVr z>2Ys1j3y>=J^Kv4l)7{I^1KnMk@bR{0 zgx)uMh}AyHG-lExd>Q$+2&31bK8^siwqcS)qC5W0#`$3P_2M5~QEoAQHm-qbK?7UL zkwpnIq;v6MApiKveTLE&^Kf=wc$C}~6&dqHxD&-UOB{cm|Chx2Z*`e4NEo)ahv{z-o;WW51Jz|M bojvN^`_Eos, "angle": 180, "is_clockwise": true}}'];['5; The natural language command precisely matches the JSON structure. The rotation action is specified along with all the necessary parameters including angular_velocity and angle. The direction of rotation is also specified as clockwise.'] +Rotate 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 180, "is_clockwise": true}}'];['5; Exactly conform. The natural language command perfectly matches with the JSON representation, correctly using the action "rotate" and providing appropriate parameters including "angle" and "is_clockwise". The unspecified "angular_velocity" is acceptable as it can have any reasonable default value.'] +Turn to the right until you are facing the opposite direction.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["5; The command 'Turn to the right until you are facing the opposite direction' perfectly matches the JSON structure. The action 'rotate' and all parameters 'angular_velocity', 'angle', 'is_clockwise' and 'unit' are correctly defined according to the command. The value of 'angle' is also fitting, since facing the opposite direction implies a 180-degree rotation. Therefore, the conformity score is 5."] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['4; The natural language command is conforming with the JSON structure. However, "move backward" suggests the command "is_forward" should be False, which is correct in the JSON structure. But in the natural language command, linear speed shouldn\'t be -1 because it\'s not specified. Furthermore, the distance isn\'t exactly translated as "3 seconds" in the natural language command which might mean a different parameter.'] +Go in reverse for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['2; The command partially matches with the JSON structure. While the action "move" is correct, the parameters are not perfectly matched. The "unit" is incorrectly interpreted as "seconds" instead of "meter". The "distance" field is incorrectly interpreted as "3" instead of being a variable. Moving in reverse has been correctly interpreted as "is_forward": false, however, "linear_speed" being -1 is not evidenced in the command.'] +Reverse your movement for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['2; The JSON structure has understood the "reverse" movement correctly and managed to consider it as a backward movement by marking "is_forward" as false. However, duration (seconds) has been mistaken as distance. Additionally, "linear_speed" is just an assumption, as there\'s no mention of it in the command.'] +Backtrack for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": false, "unit": "meter"}}'];['2; Only the "action": "move" from JSON structure is aligned well with the given command \'Backtrack for a period of 3 seconds\'. However, the \'is_forward\': false property also matches the \'backtrack\' action correctly as it means to move in the opposite direction. But the \'distance\' parameter is given as a value \'1.5\' which does not conform to the time of \'3 seconds\' mentioned in the command. There is no information in the sample ontology for time duration. As a result, the conformity score is low.'] +Take a 3-second step backwards.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "second"}}'];['4; The JSON structure contains the action "move" and parameters "linear_speed", "distance", "is_forward", and "unit" which match with the command \'take a 3-second step backwards\', however the value for "linear_speed" is 1 which does not directly translate from the command. Thus, it\'s not an absolute match.'] +Turn left and continue for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'];['5; Both the "rotate" action and the "move" action are fulfilled in the JSON structures as per the natural language command. The rotation is specified to be counter-clockwise (left) and the movement is forward for 7 meters. The specific values for angular_velocity in the rotation and linear_speed in the movement are not specified in the command and thus any reasonable value in JSON is acceptable as per the instructions.'] +Take a left turn and proceed straight ahead for a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 7, "is_forward": true, "unit": "meter"}}'];['5; The natural language command is very well represented by the two JSON structures. First structure describes the action of rotating (taking a left turn), while the second one describes moving forward for a distance of 7 meters. Both JSONs conform exactly to the provided schema.'] +Make a left turn and keep going for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": "undetermined", "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The JSON structures partially match the natural language command. The first JSON structure correctly captures the "rotate" action, however, the natural language command does not specify the angular velocity and angle, making it hard to determine the exact values. The second JSON structure is accurate for the "move" action with correct \'distance\', \'is_forward\' and \'unit\' values. \'linear_speed\' is not specified in the natural language command so it is acceptable here.'] +Go left and carry on for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 7, "is_forward": false, "unit": "meters"}}'];['2; The action in the JSON is correct (move) but the parameters in the JSON partially match with the command. The command specifies "go left", which implies a rotation, not accounted in the JSON. The parameter for distance is correctly matched but the "is_forward" parameter in the JSON is not applicable in this context. The speed is not mentioned in the command, so it could be any reasonable value. The unit is correct.'] +Head to the left and continue for a length of 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": false, "unit": "meters"}}'];['4; Partial conformity, given all the parameters like linear speed, distance, direction (forward/backward) and unit are correctly translated into JSON structure. However, the direction "Left" mentioned in the command does not exactly match with "is_forward": false, in JSON payload, because is_forward likely refers to a straightforward or backward movement, not left or right.'] +Move forward at a speed of 1 meter per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];["4; The natural language command matches the JSON structure in action and parameters, however the unit of measure (seconds) is not specified in the JSON for the distance. An assumption has been made that the 'distance' key is measured in seconds."] +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "second"}}'];['4; The JSON structure command matches the natural language command almost perfectly. However, "duration" of the moving action specified in the natural language command is converted as "distance" in the JSON structure. Even though these could be considered as interchangeable in this context (as moving 1 m/s for 4 seconds will result in moving for 4 meters), they are not exactly the same. This justifies a score of 4.'] +Advance for 4 seconds, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['4; The command matches the JSON structure for movement action but is missing the "unit": "meter" parameter. However, it\'s not clear whether the distance is actually 4 meters - the command specifies a duration of 4 seconds, not a distance, so the JSON\'s "distance": 4 and the command might mismatch.'] +Travel forward for 4 seconds, moving at a rate of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['4; The information mostly aligns with the natural language command and correctly interprets it, but the "unit" in natural language command is about time (second) while "unit" is about distance (meter) in the JSON information.'] +For a period of 4 seconds, move ahead at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The natural language command mostly matches the JSON data. However, the time parameter ("For a period of 4 seconds") is not included in the JSON structure, as it only denotes speed and direction of movement, along with the distance (which is inferred here as the product of speed and time from the natural language command). The "unit" is also correctly mentioned.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; Mostly conform. While the "angular_velocity" value is not provided in the original command, it is not contrary to it, thus making it valid. The "angle" and "is_clockwise" parameters, however, match precisely.'] +Change the orientation by 45 degrees in a counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];["5; The command matches with the JSON structure perfectly. The action is 'rotate', the angle is specified as '45', and the direction is indicated by 'is_clockwise: false', meaning a counterclockwise rotation."] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The angle value in the JSON matches with the natural language command instructions. However, the direction (left or right) is not correctly represented. The "is_clockwise" value should be false when turning left. Any value for the angular_velocity is acceptable as there\'s no requirement for rotating speed specified in the command.'] +Rotate anticlockwise by an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command accurately reflects the "rotate" action and all its parameters in the provided JSON. Although the angular_velocity in the JSON structure is 0, which does not explicitly mentioned in the command, it could still be understood as a reasonable value. However, the command specified anticlockwise rotation which is not accurately reflected in the "is_clockwise" parameter (it is false instead of true).'] +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The JSON structure correctly represents the natural language command with the "rotate" action and specifying parameters such as "angle" and "is_clockwise". But it does not include a value for the "angular_velocity" parameter, as this was not mentioned in the command. Therefore, although the representation is largely correct, it is not perfect.'] +Go straight for 8 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; The natural language command "Go straight for 8 meters" perfectly matches with the JSON structure. In the action "move", the parameters: "linear_speed", "distance", "is_forward" and "unit" have reasonable values which conform to the command.'] +Proceed in a straight line for a distance of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Continue in a straight direction for a span of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command and the JSON dictate the same action of moving forward for a certain distance. The unspecified parameters in the natural language command (linear_speed and is_forward) are given reasonable defaults in the JSON.'] +Maintain a straight path for a duration of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Stay on course for a distance of 8 meters ahead.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; The natural language command aligns with the "move" action in the JSON, with "distance" and "is_forward" parameters correctly translated. However, the "linear_speed" parameter isn\'t specified in the command, so although 1 is a reasonable value, it\'s not an exact match.'] +Turn right and move forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "second"}}'];['2; While the JSON correctly identifies the two actions, "rotate" and "move", it does not correctly follow the natural language command for "Turn right". The JSON does not specify the angle to turn or the velocity at which to turn. Similarly, the command "move forward for 2 seconds" has been interpreted as two separate moves. The first has no distance or speed specified, and the second incorrectly uses time (2 seconds) as a distance measurement without specifying a speed.'] +Proceed straight for 2 seconds after making a right turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command requests a right turn before moving straight, but the provided JSON structure only accounts for the straight movement and neglects the rotation. Consequently, it only partially reflects the desired actions given in the command.'] +Take a right turn and continue moving ahead for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} {"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'];['3; The command is somewhat conform. The rotation is correctly captured in the JSON but it lacks the specification of "angular_velocity" and "angle" values (which are given as zero), and the specification if it\'s clockwise or not. The "move" action correctly specifies the "is_forward" parameter as "true" and "duration" as "2", however the "linear_speed" and "distance" are incorrectly set as zero. The ontology doesn\'t include "duration" as a parameter for the "move" action.'] +Make a right turn and advance forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "second"}}'];["4; Mostly conform. The commands in the natural language command are corresponding to the JSON commands accurately. However, the angular_velocity in 'rotate' and the linear_speed in 'move' was not specified in the natural language command hence, they are taken as 0. These are not reasonable values for these keys and may not execute the commands as expected."] +After turning right, keep moving forward for a period of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": default_angle, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The natural language command is properly captured by the JSON representations given. However, some assumptions have to be made such as the "angular_velocity" and "angle" for rotation and the "linear_speed" for moving forward since they were not explicitly given in the command. The rotation direction should be assumed to be clockwise for \'right\'. The unit of "distance" is supposed to be in "meter" according to the ontology, but here it appeared to be used as a measure of time, which deviates from the ontology.'] +Move backward for 4 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false}}'];['4; The command aligns with the "action" key which is set to "move" implying movement, however, the direction of movement is backward, which is not explicitly defined in the JSON struct, but can be inferred from the "is_forward" key that is set to false. The "distance" key matches the 4 meters stated in the command as well. But, the "stop" command mentioned in the original sentence, could not be represented in JSON structure given.'] +Reverse for a distance of 4 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}}'];["4; The action and the parameters fit well with the JSON structure. The JSON structure indicates a 'move' action, giving the 'distance' and 'unit' as parameters which conform with the command. However, the 'is_forward' parameter has been deducted correctly as 'false' for a reverse action but the 'linear_speed' is given as 0, which could be incorrect as it might imply no movement. The command to 'come to a halt' is not represented in the JSON."] +Go back for 4 meters and then come to a stop.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'];['4; Both the actions from the command are appropriately captured in the JSON structures. However, the "is_forward" parameter for going back is incorrectly set to "false". Although it\'s reasonable to think of going back as not moving forward, in the context of the given ontology and the absence of any other direction specifications, "is_forward" should be set to "true". Yet the negative "linear_speed" value does a good job of depicting the reverse direction. But, such actions are better represented by an action of "reverse" not "move". Therefore, it\'s not completely perfect.'] +Take 4 meters in reverse and cease movement.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure has all required keys presented correctly, and it successfully communicates the command of moving in reverse for 4 meters. 'Cease movement' hasn't been converted into JSON structure."] +Travel in the opposite direction for a distance of 4 meters and then pause.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}', '{"action": "pause"}'];['2; The natural language command partially conforms to the JSON structures and sample keys\' ontology. The "move" action is correctly implemented with correct keys (distance, is_forward, unit) and values. Yet, the "pause" action does not exist in the sample keys. Therefore, it cannot be converted to JSON using the provided sample ontology.'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true}}'];['5; Exactly conform. The natural language command is perfectly represented by the JSON structure. The "rotate" action is used, the "angle" is correctly listed as 270, and "is_clockwise" is correctly listed as true.'] +Turn to the right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 270, "is_clockwise": false}}'];["4; Partially correct. The 'angle' value in JSON matches the degrees in the command, and 'is_clockwise' makes sense as the direction is right. However, 'is_clockwise' is marked as false in JSON, which doesn't match the command to turn right (which would be clockwise)."] +Move in a clockwise direction, rotating 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];["5; Exactly conform. The natural language command exactly matches the JSON structure, including action type 'rotate' and details of the parameters including, 'angle' and 'is_clockwise'. The 'angular_velocity' does not need to be specified in the command according to the instructions, therefore its value does not affect the score."] +Spin in a clockwise manner, completing a 270 degree rotation.;['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command exactly matches with the JSON structure including all parameters like "action", "angular_velocity", "angle", "is_clockwise" and "unit". The only parameter value not specified in the natural language command is "angular_velocity", and the value given in the JSON is accepted as a reasonable value.'] +Rotate by 270 degrees in a clockwise fashion.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 270, "is_clockwise": true}}'];['4; The command is followed correctly but the "angular_velocity" parameter in JSON is assigned a value of "default". Although it is not directly mentioned in the natural language command, a specific numeric value is expected according to the sample keys. However, this small discrepancy can be considered minor, thus the score is still relatively high.'] +Turn left and continue for 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true, "unit": "meter"}}'];["1; The natural language command specifies a turning action, which requires a 'rotate' action. This is missing from the JSON, which only has the 'move' action for moving a certain distance. The 'move' action and distance parameter conform, but the missing 'rotate' action creates a discrepancy."] +Make a left turn and keep going for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];["4; The commands in natural language partially match with the JSON structures. The rotation action is not specific about the 'angular velocity' and assumes a left turn is counter clockwise that is correct. Also, for the move action, it assumes an arbitrary 'linear_speed' of 0.5 which was not mentioned in the command."] +Proceed straight for 3 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The JSON command correctly captures the \'move\' action existing in the ontology, together with parameters like \'distance\', \'is_forward\', and \'unit\'. However, the instruction "after making a left turn" is not captured in the JSON command. A JSON structure directing the entity to rotate is missing.'] +After turning left, travel straight for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];["4; The command is partly matched, with the 'go straight' matching the 'move' action in JSON, linear_speed is not stated in the command but has a reasonable value in JSON. 'distance' and 'unit' conform well, however, the action 'turning left' isn't represented in the JSON provided."] +Take a left and continue on for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['2; The natural language command mentions "take a left", which might correspond to the "rotate" action in JSON structure, but it is not present in provided JSON. Also, the "move" action corresponds in the natural language command with the movement for a specific distance, but it mentions the movement as forward which contrasted with the given JSON that mentions "is_forward" as false.'] +Move forward at a speed of 0.3 meters per second for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter", "duration": 5, "time_unit": "second"}}'];['4; The natural language command is mostly conform with the JSON structure. However, the command mentions a duration of 5 seconds which isn\'t reflected in the sample keys of the JSON structure. Also, the distance in the natural language command is calculated assuming the robot moves at a constant speed, but the key for duration ("duration") is not present in the sample JSON structure.'] +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['4; The action and params keys match with the sample ontology, though unit is set as \'seconds\' which is not part of the options in the sample ontology ("meter" is used instead), hence it doesn\'t completely conform.'] +Advance at a rate of 0.3 meters per second for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; The command partially matches with the JSON structure. However, the "distance" field has been misinterpreted as the "time". Also, the unit for the "distance" parameter in JSON structure is "meter" but here it is represented in "seconds". Hence the conformity score is not high.'] +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true}}'];["5; The natural language command is correctly represented in the JSON structure with the appropriate 'move' action and parameters including speed, distance (which is reasonable assuming the robot moves at 0.3m/s for 5 seconds), and direction."] +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "second"}}'];['2; Although the intention of the command seems to be represented by the action "move" in the JSON, the translation of the actual parameters is not completely accurate. For example, the command specifies 5 seconds but the JSON structure does not have a parameter for seconds in the "move" action. Additionally, the mentioned "distance" parameter in the JSON structure is not mentioned in the command.'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The action "rotate" in the command matches with the JSON structure. But Angular velocity value is not provided in the command, assumed to be 0 which might not be reasonable in actual scenario. Other parameters like angle (60 degrees), unit (degrees) and direction (is_clockwise: false) match perfectly.'] +Turn 60 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": false}}'];['5; The natural language command matches exactly with the provided JSON structure. The command "Turn 60 degrees counterclockwise" translates accurately to the "rotate" action, with a specified angle of 60 and "is_clockwise": false, representing a counterclockwise rotation. The "angular_velocity" parameter, while not specified in the command, is given a reasonable value of 1.'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];["3.5; The command does perfectly match the 'rotate' action in terms of the parameters 'angle' and 'unit', while 'is_clockwise' was reasonably inferred. However, the value for the 'angular_velocity' parameter was not mentioned in the command and hence any specific value cannot be assumed as being correct."] +Rotate to the left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The command matches the "rotate" action in the JSON structure but the "angular_velocity" is set to 0 which does not actually signify a rotation even though the "angle" and "is_clockwise" parameters match.'] +Make a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];['4; The command "Make a counterclockwise rotation of 60 degrees" matches with the JSON structure. The \'action\': \'rotate\' and \'angle\': 60 show perfect conformity. However, it uses \'is_clockwise\': false for counterclockwise rotation in the JSON – this does match with the command but is not an intuitive conversion. The \'angular_velocity\' is stated as 0 in the JSON but not specified in the command, which could still be acceptable considering the instructions.'] +Go straight for 6 seconds.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['2; Although the given command is a movement type of command which corresponds to the JSON action structure of "move", given the parameters, it does not conform entirely. The parameter mentioned in the command is time, in seconds, but in the JSON structure, the parameters required are linear speed, the distance to be covered and the direction. The \'time\' unit does not match with the \'distance\' parameter in the JSON structure.'] +Proceed in a straight line for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['3; Although the natural language command suggests a move action, the parameters specified in the JSON do not perfectly match the command. The command mentions a duration, not a distance, and unit is "meters" not "seconds". However, the action type and its ensuing motion (forward) could be inferred from the context.'] +Keep moving forward in a straight path for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}}'];['2; The action in the JSON structure matches the command "keep moving forward" but the parameters are not properly represented. The natural language command specifies a time duration "for 6 seconds", while the Json structure is employing a distance parameter instead of time. Additionally, "unit":"second" does not correspond to any of the sample keys.'] +Maintain a straight course for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}}'];["1; The JSON command includes information about linear speed, distance, and direction, but it does not specific the time duration as mentioned in the natural language command. Also, the values for linear speed and distance in the JSON command don't really correspond to the natural language command."] +Continue in a straight direction for a period of 6 seconds.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": default_linear_speed * 6, "is_forward": true, "unit": "seconds"}}'];["2; The JSON represents the command somewhat accurately. The action and parameters match up, though the unit of measurement 'seconds' is not included in the original JSON structure. Also, the calculation for distance is not defined in the NL command but it is assumed based on default linear speed and time, to accommodate for the unmentioned distance. The distance should've been directly provided in the command."] +Turn right and move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure matches the natural language command partially. The command to turn right is not represented in the JSON structure and the keys "angular_velocity", "angle" and "is_clockwise" are missing. The \'move\' action is represented correctly with reasonable values for "linear_speed", "distance", "is_forward" and "unit".'] +Take a right turn and proceed straight ahead for a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'];['4; The JSON structure is almost perfect. The angular_velocity and linear_speed values are not mentioned in the natural language command, but the JSON is reasonable. The only missing piece is the "unit" field under "rotate" action which doesn\'t exist in the natural structure.'] +Make a right-hand turn and continue moving forward for a length of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'];['4; The commands given in natural language are almost perfectly represented in the JSON structures. In the action "rotate", the "angular_velocity" is not specified in the natural language command but a reasonable value is accepted. Similarly, in the "move" action, "linear_speed" is not specified but a reasonable value is accepted making it mostly conforming with a minor shortfall.'] +Head to the right side and advance for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['3; The command is partially conforming. The JSON structure matches the "move" action correctly, along with the "distance" and "is_forward" parameters. However, the command also asks for a direction ("Head to the right side"), which is not represented in the JSON. Also, "linear_speed" is not specified in the command, but the JSON structure has a value of 0.0. Although any value is acceptable, this specific value would imply not moving at all, which contradicts the command.'] +Rotate to the right and travel straight for 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];["4; The commands moderately match the structure of the JSON. The 'rotate' command has 'is_clockwise' set to true which matches the 'rotate to the right' command. However, the 'angle' and 'angular_velocity' have reasonable values but are not specified in the command. Similarly, the 'move' command matches but the 'linear_speed' of 1 is not specified in the command but is a reasonable value. The 'distance' of '7' fully matches the command 'travel straight for 7 meters'."] +Move 2 meters forward.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'];['4; The formulated JSON somewhat conforms to the natural language command. The action is correct and the parameter "is_forward" is accurate. The set "distance" matches with the command as well. However, the "linear_speed" value does not conform to the command, as no speed was specified, and therefore it should not be assumed to be 0. Also, the "unit" key is missing in the JSON.'] +Proceed straight ahead by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true}}'];['4; The natural language command corresponds to the "move" action in the JSON structure. However, the "linear_speed" value in the JSON does not match the command - it should not necessarily be 0.0 as it isn\'t specified in the command.'] +Advance 2 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];["5; Exactly conform. The action 'move' with parameters 'distance', 'is_forward' and 'unit' are correctly represented and 'linear_speed' key does not conflict as it is reasonable and is not contradicted in the command."] +Take a step forward for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Move straight ahead, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meters"}}'];['5; The command perfectly matches the JSON structure. The action "move" is mentioned and all the parameters: "linear_speed", "distance", "is_forward", "unit" are included in the command. The units match as "meters" in the command and "meters" in the ontology.'] +Turn left and move forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["2; The action of 'rotate' is missing even though 'Turn left' hints at a rotation action. However, 'move' action's 'is_forward' key and value are correctly expressed, and there's assumption of a reasonable value for 'linear_speed'. The 'distance' key doesn't match because it's considered as time duration (5 seconds) instead."] +Move forward for 5 seconds after turning left.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; Partially conform. The command matches the move action in the JSON structure but the sample ontology does not provide a structure or information for turning. Moreover, the unit for distance in JSON is reflected as "meter" while in the command is mentioned "seconds".'] +After making a left turn, proceed forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["1; The action 'move' is correctly mapped, but the keys 'distance' and 'unit' in the JSON structure do not match the natural language command properly since the command describes a time duration (5 seconds), not a distance. Also, the command mentions 'making a left turn' which corresponds to the 'rotate' action in the ontology, but this is missing in the provided JSON."] +Take a left turn and continue moving forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "second"}}'];['1; The natural language command corresponds partially with the JSON structure. The action "move" with "is_forward" as True is represented. However, the parameters "linear_speed" and "distance" are given as 0.0 and 0 in the JSON respectively, which doesn\'t match with the command as it mentions "5 seconds". The part "Take a left turn" in the command is not represented at all in the JSON.'] +Start moving forward for 5 seconds after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 5, "is_forward": true}}'];["3; The commands partially agree with the JSON structures. The 'rotate' action is mapped correctly, but the 'move' action in the natural language command specifies time (5 seconds), while the JSON structure uses distance as a parameter, not time."] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command specifies a rotation, an angle of 90 degrees, and a counterclockwise direction. These correspond directly to the keys "action", "angle", and "is_clockwise" with the proper values in the JSON. The "angular_velocity" is not specified in the command, but any value is accepted according to the instructions.'] +Rotate 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'];['5; Exactly conform. The JSON structure correctly represents the natural language command "Rotate 90 degrees counterclockwise" by having the action as "rotate", specifying the angle as 90, and setting "is_clockwise" as false to indicate a counterclockwise rotation. The "angular_velocity" value is unspecified in the command, but an arbitrary, reasonable value (1) is provided in the JSON.'] +Perform a counterclockwise rotation of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; The natural language command perfectly conforms to the JSON information. All keys exist in the ontology and the values are specified correctly. The angular velocity value is missing in the command, but the JSON provided a reasonable value (0 in this case).'] +Rotate by 90 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; Exactly conform.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The command fully matches with the "rotate" action in the JSON structure. The direction "left" is correctly converted as "is_clockwise:false".However, in the given command angular_velocity is not specified, therefore, whether 0 used in JSON structure is a reasonable value or not is ambiguous.'] +Move 3 meters backward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meters"}}'];['4; The natural language command tells to "Move 3 meters backward" which matches with the "action": "move" key-value pair in JSON structure and also identifies a "distance": 3 and "is_forward": false as it is instructed to move backwards. However, the "linear_speed" key in the JSON is arbitrary, it isn\'t specified in the natural language command, hence the score is not exactly 5. Additionally, the unit "meters" in the JSON is not conforming with the sample ontology which uses "meter" instead of "meters".'] +Go back 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4.5; The natural language command conforms largely to the JSON structure. There is matching action and parameters like distance, is_forward, and unit. However, the linear_speed parameter's value doesn't match, but it's a reasonable value."] +Retreat 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; Even though the term "retreat" implies reverse movement, the JSON structure does not explicitly set "is_forward" to false. So, even though the distance and unit matches the command, there\'s an implicit detail in the command not clearly reflected in the JSON structure.'] +Step 3 meters in reverse.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];["3; The action 'move' and parameters like 'distance' and 'unit' match, 'is_forward' also matches with the command 'in reverse'. However, the 'linear_speed' value is negative in JSON which isn't implied in the command. And a specific speed isn't mentioned in the command either, hence the provided value of 0.5 doesn't quite align."] +Travel in the opposite direction for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command directly corresponds to the provided JSON structure with an accurate "move" action, including the distance and direction (opposite, hence is_forward is marked as false). The linear speed and unit have reasonable values according to the sample keys.'] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; The "rotate" action matches the command but "angular_velocity" isn\'t explicitly mentioned in the command, so its value is arbitrary. The "move" action generally matches but "linear_speed" isn\'t specified in the command, so its value is also arbitrary. The unit, distance, and direction (forward) match correctly.'] +Take a right turn and proceed straight ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 90, "is_clockwise": true}, "action": "move", "params": {"linear_speed": "default", "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command has been fairly translated into JSON conforming with the sample ontology keys. However, there is a minor issue in the JSON. The command specifies angular_velocity as "default" which is not an acceptable numerical value. The commands, angle rotation for the right turn and moving ahead for a specific distance, have been correctly structured. The JSON is providing acceptance for unspecified parameters such as angular_velocity and linear_speed.'] +Make a right turn and advance ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4.5; The JSON structures conform to the command relatively well. The "rotate" command is almost perfect, but the "angle" value is given as 90 degrees in JSON while the natural command only refers to a "right turn," which could arguably translate to 90 degrees, but it isn\'t explicitly stated. The "move" command is correctly captured entirely. Therefore, the conformity is high, but with minor ambiguity in the "rotate" command\'s "angle" parameter.'] +Head to the right and continue moving forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command loosely corresponds to the JSON structure. It correctly identifies the "move" action with "is_forward" being true and "distance" being 1 meter. However, the command also implies a direction change ("Head to the right") which doesn\'t exist in the JSON structure, hence the score isn\'t perfect.'] +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": true}, "action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON structures partially conform to the command. The action "rotate" is mentioned in the command and translates correctly in the JSON structure with "is_clockwise": true. However, there isn\'t an angular_velocity and angle specified in the command so the exact values are unknown. The same situation applies to the "move" action, the distance "1 meter" is correctly specified but the linear_speed isn\'t mentioned in the command.'] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['5; This natural language command matches the "go_to_goal" JSON structure perfectly and the location value "Living room" is a reasonable value.'] +Please proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living room"}}'];['5; Exactly conform. The natural language command asks the device to move to a specific location ("living room"). This matches to the "go_to_goal" action, with "living room" as the location parameter.'] +Make your way to the living room and cease moving.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];["5; Exactly conform. The natural language command precisely asks for a 'go_to_goal' action towards the 'Living Room', which matches perfectly with the provided JSON script."] +Head to the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "living room"}}'];['3; The natural language command partially matches with the JSON structure. The action "go_to_goal" and the parameter "location" are consistent with the command, but the command to "stand still" is not represented in the provided JSONs.'] +Move towards the living room and come to a stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];["4; The action 'go_to_goal' and the parameter 'location' matches the natural language command, but the parameter value 'Living Room' does not match the value 'Kitchen' specified in the JSON structure.", ''] +Move 4 meters forward at a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches perfectly with the JSON structure. Both action and all parameters are in accordance with the command.'] +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];["5; The natural language command explicitly directs a move action with specified distance, linear speed and direction which perfectly aligns with the JSON structure. Hence, it's an exact match."] +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];["5; Exactly conform. The natural language command precisely requests a forward motion with given linear speed and distance which are correctly represented in the JSON structure. The 'move' action, 'linear_speed', 'distance', 'is_forward', and 'unit' keys are all in accordance with the sample ontology."] +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true}}'];['5; The natural language command perfectly matches the JSON structure. The \'action\' key matches with "rotate". Under the \'params\' key, \'angle\' = 180 and \'is_clockwise\' = true matches too. The \'angular_velocity\' has a not specified value in the natural language command, hence any reasonable value is accepted which is true in this case.'] +Turn 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The command is perfectly matched with the provided JSON structure. It correctly identifies the action as "rotate" and provides all necessary parameters such as "angle" and "is_clockwise". The "angular_velocity" is not specified in the command but a reasonable value is present in the JSON structure.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate by 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The natural language command precisely matches with the JSON information. The action "rotate" and parameters "angle" and "is_clockwise" are present in the command. Though the "angular_velocity" is not specified in the command, 0 is accepted as a reasonable value.'] +Turn in a clockwise fashion, rotating 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": true}}'];['5; Exactly conform. The command is appropriately transformed into the JSON structure. The action "rotate" is correctly used. Both "angle" and "is_clockwise" parameters were clearly specified, with a reasonable default value for the "angular_velocity" which was not defined in the command.'] +Turn left and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The JSON structures are mostly correct reflecting the order of the actions in the command i.e., first rotate and then move. But the value of the angle to rotate is wrong as it should be -90 or 270 for left turn not 90. Also, the speed parameters are not mentioned in the command so any reasonable value in the JSON is accepted but the given 0 value for both linear and angular speeds is not reasonable as it means not moving or rotating at all. Therefore, the JSON structures are not exactly conforming to the command.'] +Make a left turn and proceed straight ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The JSON commands partially conform to the natural language command. The rotation action aligns with the "Make a left turn" part of the NL command, but the angle value in JSON (90 degrees) is assumed as it wasn\'t mentioned in the NL command. The "move" action corresponds well with the "proceed straight ahead for a distance of 3 meters" segment of the command, except that the linear_speed is again filled in with a reasonable value that wasn\'t specifically stated in the NL command. Overall, the conformity is high but not perfect due to these value assumptions.'] +Take a left and continue moving forward, covering a span of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; The natural language command exactly matches with the JSON structure. The action "move" has been correctly identified, and parameters like "distance", "is_forward" and "unit" have been correctly populated. The unspecified parameter "linear_speed" is reasonably given a value of 0.5.'] +Rotate to the left and advance for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'];['2; The "move" action is well represented in the JSON with appropriate parameters such as "linear_speed", "distance" and "is_forward". However, the "rotate" action mentioned in the command is missing in the provided JSON. Thus, the command is only partially represented in the JSON.'] +Shift towards the left and travel straight for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];["2.5; The command's instruction to rotate or turn (inferred by 'shift towards the left') is missing in the JSON structure. However, the 'move' action with a distance of 3 meters is in conformity with the provided JSON structure."] +Move 2 meters backward at a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; The natural language command is perfectly matched with the JSON structure both in terms of action and parameters. The direction is correctly inverted as the command specifies to move backward, hence "is_forward": false.'] +Back up 2 meters with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure and all keys are according to the ontology. The action is "move", the linear_speed is 0.5, the distance is 2 and is_forward is false to indicate backward movement, and the unit is in meters to indicate the distance unit. All these are accurately represented in the JSON.'] +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; The natural language command matches perfectly with the given JSON structure. The action ("move"), parameters ("linear_speed", "distance", "is_forward"), and unit ("meter") align with the command. The values in the command also match with the JSON structure (0.5 for linear speed, 2 for distance, false for is_forward, indicating that the command is to move in reverse).'] +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; The JSON correctly captures the "move" action at a speed of 0.5 meters per second for a distance of 2 meters. However, the "is_forward" parameter should be False as the command is to "Retreat" which implies moving backwards, not forwards. Hence the score is not a perfect match.'] +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; The natural language command perfectly matches the JSON command structure. All information required by the keys (the linear_speed, the direction, the distance to be moved) have been correctly represented in the JSON.'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['1; Although the "go_to_goal" action and the "location" parameter are correctly used in the JSON structure according to the natural language command, the command "stop" found in the natural language command doesn\'t exist in the JSON structures provided and is thus ignored.'] +Please proceed to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];["4.5; The natural language command instructs to proceed to a location, which is accurately represented in the JSON structure. However, the JSON structure doesn't match the command fully as it doesn't indicate the action of coming to a halt."] +Make your way to the bedroom and cease your movement.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "bedroom"}}}'];['4; The command is partially conform with the JSON structure. go_to_goal action is correctly interpreted with corresponding parameters. But the command "cease your movement" has no corresponding action in the provided JSON.'] +Head to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];["1; The natural language command partially matches with the JSON structure. The action 'go_to_goal' and location as 'Bedroom' is correct, but the command also includes 'pause' which doesn't exist in the provided JSON structures."] +Go to the bedroom and stand still.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['4; The natural command "Go to the bedroom and stand still" is correctly translated to the action of "go_to_goal" with the parameter of `"location": "bedroom"` in the JSON structure. However, the part "stand still" is not translated into the JSON structure, hence a perfect score of 5 is not achieved.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4.5; Justification: The natural language command provides the correct explicit action for rotation and specifies that it should be counterclockwise, which reflects the correct "is_clockwise": false parameter. The angle provided in the command is correctly reflected in the parameter. However, the "angular_velocity" in the JSON structure doesn\'t match with any information given in the natural language command, so we cannot say that everything in the JSON format is clarified in the command. Therefore, the score is not a perfect 5.'] +Turn 45 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['5; The natural language command perfectly matches the JSON object. The action "rotate" is specified, as well as all necessary parameters: "angle" is correctly provided as 45, and "is_clockwise" is correctly indicated as false for counterclockwise rotation. Although "angular_velocity" isn\'t specified in the command, the 0 value in JSON is acceptable.'] +Rotate anticlockwise at an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["5; Exactly conform. The natural language command corresponds exactly with the JSON structure. It specifies the action to 'rotate', the angle is 45 degrees, and rotation direction is anticlockwise which is denoted by 'is_clockwise': false in the JSON structure. It doesn't specify the angular_velocity but it's reasonable to accept any value provided in the JSON structure."] +Rotate left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];["5; The natural language command corresponds well to the JSON structure. Even though the angular_velocity is not specified in the command, it can take any reasonable value. Rotation is also specified as anti-clockwise according to the command which matches with the 'is_clockwise': false JSON key."] +Perform a 45-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];["4; The action 'rotate' and parameters 'angle' and 'is_clockwise' match perfectly with the natural language command. However, 'angular_velocity' isn't specified in the command, so it doesn't exactly conform."] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'];["4.5; The JSON structures mostly match the command. The robot is requested to turn (rotate) and then move forward, which corresponds to the 'rotate', and 'move' actions. The direction of rotation is right (clockwise), the distance is specified (4 meters) and movement is forward, aligning with 'is_clockwise', 'distance' and 'is_forward' param keys in the JSONs respectively. However, the angular_velocity in rotation and linear_speed in movement aren't specified in the command. The provided values in JSON are accepted as a reasonable assumption. The scoring is not a complete 5 due to this reason."] +Proceed forward for a distance of 4 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];['5; The JSON commands correctly represent the natural language command. "Making a right turn" translates correctly to the "rotate" action with "is_clockwise": true, while "Proceed forward for a distance of 4 meters" correctly translates to the "move" action with "distance": 4 and "is_forward": true.'] +Take a right and continue moving ahead for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 1.0, "angle": 90, "is_clockwise": true}} {"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "meters"}}'];['5; The JSON structures match the command perfectly, specifying both the rotation and the movement with appropriate parameters. The direction, distance, and mode of movement are all correctly integrated into the structures.'] +After making a right turn, advance straight for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure corresponds to the natural language command of moving forward a specified distance. However, there\'s a part of the command ("After making a right turn") that is not reflected in the provided JSON.', ''] +Make a right-hand turn and proceed forward for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['2; The natural language command specified an action of turning right but it is not reflected in the JSON string. The key-value pairs for the "move" action are consistent with the command but the "rotate" action is missing.'] +Move 1 meter forward at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The action 'move' and parameters 'linear_speed', 'distance', 'is_forward', and 'unit' match exactly with the JSON structure. However, the speed mentioned in the command does not match with the speed defined in the JSON. The command mentions a speed of 1 meter per second whereas the value of 'linear_speed' in JSON is 0.5."] +Proceed ahead by 1 meter with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches the move action in the JSON structure, all the parameters in the command like linear_speed, distance, is_forward and unit also exist in the JSON keys. However, the speed in command is 1 meter per second which not matches with the speed in JSON structure i.e. 0.5.'] +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The natural language command exactly matches the JSON structure, with all parameters appropriately specified.'] +Go one meter ahead, moving at a rate of one meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Travel forward for 1 meter while maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];['5; The natural language command exactly matches with the provided JSON structure with respect to the action and the parameters (distance, linear speed, is_forward).'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn 270 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The JSON structure perfectly matches the command.'] +Rotate by 270 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['4.5; The given natural language command is incorporated into the JSON structure except for the "angular_velocity" value, which is set to 0 in the JSON, but is not specified in the command. Given the command, a reasonable value for angular_velocity isn\'t necessarily 0, so there\'s a slight inconsistency.'] +Execute a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true}}'];["4.5; The command is accurately converted to JSON format with most details provided. However, the angular_velocity value is not specified in the command, but it is assumed to be 1 in the JSON structure, which could be reasonable but not necessarily accurate to the command's requirement."] +Shift the orientation by 270 degrees in a clockwise fashion.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["5; Exactly conforms. The natural language command specifies an action ('rotate') and all the parameters associated with that action ('angular_velocity', 'angle', 'is_clockwise', 'unit') in the JSON structure. The user didn't specify the 'angular_velocity', but any reasonable value is accepted in the JSON structure."] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['1; The natural language command includes a rotation ("Turn left") and a movement ("move forward for 2 seconds"). However, the provided JSON structure only represents a part of the movement ("move forward"), and does not represent the rotation at all. The parameters for time duration is also not represented in the JSON structure.'] +Proceed forward for 2 seconds, then make a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}} ', '{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; While the JSON structures do match the natural language command, both in terms of action and parameters, there is no specification of the linear_speed in the natural language command thereby assuming a reasonable value in the JSON (1 for linear speed). In addition, the exact angular velocity for the left turn is not specified hence assuming a 90 degrees rotation in JSON. This is a reasonable assumption, but it is still an assumption.'] +Take a left turn and continue moving straight ahead for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": -90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The command is mostly correct in its conversion; the angular velocity and direction are implicit in a left turn, so that part of the JSON is reasonable. However, the command specifies that the robot should move for 2 seconds, not necessarily a distance of 2 under unspecified units. The "unit" field in the "move" JSON should be "seconds", not left as unspecified.'] +Make a left turn and drive forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true}}'];['2; The JSON structures partially match the natural language command. The command "Make a left turn" corresponds to the "rotate" action in JSON, but the angular values aren\'t specified in the command. And the move action in JSON could be inferred from the command "drive forward for 2 seconds". But again, the linear_speed is not specified in the command and the "distance" is set to 2 but in the JSON it represents time, not distance. Also, the "unit" attribute is missing in both JSONs.'] +After turning left, continue moving straight for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["2; The JSON structure partially matches the natural language command. The instructions to move straight for 2 seconds are in the JSON, but the command to turn left prior to moving is not represented. Also, the usage of 'distance' key for duration ('2 seconds') is incorrect. Since the 'turn' command is missing, the total conformity is reduced."] +Move 3 meters backward at a speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command perfectly matches the provided JSON structure. All the keys are present (action, linear_speed, distance, is_forward, unit) and the corresponding values in natural language command match the JSON exactly (move, 1.5, 3, false, meter).'] +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meters"}}'];['5; The JSON correctly reflects the natural language command. The "move" action is used, the desired distance and linear speed have both been set correctly, and "is_forward" has been set to False indicating the reverse direction. The unit of measurement is also specified correctly.'] +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];["5; The natural language command instructs the robot to move backwards (retreat) for a certain distance (3 meters) at a certain speed (1.5 meters per second), which aligns perfectly with the provided JSON structure. Units for speed and distance match with the ones used in the command. The 'is_forward' parameter is set to false indicating the retreat direction, in conformity with the command."] +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The command corresponds well to the JSON structure, specifying the action as "move", the linear_speed as 1.5, the distance as 3, and the unit as "meter". However, it is missing conformity in the "is_forward" key in which the JSON asserts "false", but the command did not specify moving backwards.', ''] +Go to the dining room and stop.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'];['5; The natural language command specifies a "go to" action, which directly corresponds to the "go_to_goal" action in the JSON. The specified location, "Dining Room", correctly matches the "location" key parameter in the JSON.'] +Proceed to the dining room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'];['2; There is a slight match as the \'go_to_goal\' action and \'location\' parameter keys are correct but the location value "Dining Room" specified in the natural language command does not match with the given value "Kitchen" in the JSON structure. Also, the \'come to a halt\' part of the command is not captured in the JSON structure.'] +Head over to the dining room and pause.;['{"action": "go_to_goal", "params": {"location": "Dining Room"}}'];['2; The action "go_to_goal" and parameter "location" conform to the sample ontology, but the value "Dining Room" does not match the sample value "Kitchen". Also, command for pausing is completely missing.'] +Make your way to the dining room and bring yourself to a stop.;['{"action": "go_to_goal", "params": {"location": "dining room"}}'];['2; The JSON only covers the "go_to_goal" action but not the part of the command requiring a stop.'] +Move towards the dining room and cease your motion.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}}}'];['1; The natural language command partly matches with the JSON commands. The "go_to_goal" action matches, but the command doesn\'t request to stop, which isn\'t represented in the JSON commands.'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];["5; The command 'Rotate counterclockwise by 60 degrees' accurately matches the provided JSON structure. Although the 'angular_velocity' is not specified in the natural language command, it is well represented in the JSON structure with a reasonable value of 0. The 'angle' and 'is_clockwise' keys perfectly match with the command."] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command matches well with the given JSON structure, especially the "rotate" action. However, the "angular_velocity" key isn\'t specified in the command, so the score isn\'t a perfect 5.'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The command is mostly conform with the given JSON. The "action" and "params" keys are correct. The "angle" and "unit" parameters match as well. However, the natural language command doesn\'t specify the "angular_velocity", and though any reasonable value is accepted, the given value seems too high for a standard rotation action. Additionally, given the command, the "is_clockwise" parameter should ideally be false (in the opposite direction typically imply counterclockwise), which does match with the provided JSON.'] +Execute a 60-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command asks for a counterclockwise rotation, which matches with the JSON structure provided. The angular velocity in the JSON is a reasonable value that was not specified in the natural language command.'] +Rotate anticlockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The given natural language command is only partially conforming to the JSON structure - the "angular_velocity" value is not specified in the natural language command, but it is present in the JSON. However, rest of the command, i.e., the action "rotate", the params "angle", "is_clockwise", and "unit", all match with the corresponding elements in the JSON structure.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['5; Exactly conform. The natural language command "Move forward for 5 meters" correctly corresponds to the example JSON structure with the "move" action, a reasonable linear speed, a specified distance of 5, and a direction which is forward.'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform. The natural language command instructs the action of moving forward for a specific distance, matching perfectly with the JSON structure. It includes the action (move), the direction (is_forward: True), and the distance (5 meters). The linear speed is unspecified in the command but its presence in JSON with a reasonable value is accepted.'] +Advance straight ahead for 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true}}'];['4; The JSON structure translates the command quite well but the "linear_speed" isn\'t mentioned in the natural language command so even though the value is reasonable, it\'s not a perfect match. The action, distance and direction are correctly captured.'] +Travel forward for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The command perfectly matches with the JSON structure, including the action "move", params "distance", "is_forward", and "unit". The unspecified "linear_speed" is filled with a reasonable value.'] +Go in the forward direction for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The JSON structure accurately represents the movement in the forward direction for a certain distance, and it adheres to the ontology. However, since the linear speed is not defined in the command, it is randomly selected in the JSON structure which results in a point being deducted.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; The natural language command is reflected correctly in the JSON. The action "rotate" is correctly identified, and the parameters are correct with the "angle" parameter specified as 90, and the "is_clockwise" parameter specified as false to indicate counterclockwise rotation. The JSON does not specify an angular_velocity, but the natural language command also does not specify this, so any value for this parameter is acceptable.'] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command perfectly conforms to the provided JSON structure with the action being "rotate", the angle being 90 degrees, the direction being counterclockwise ("is_clockwise": false), and the unit of measurement being degrees. The angular velocity is not specified in the command but is accepted as a reasonable value in the JSON structure so there\'s still perfect conformity.'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'];['5; The command accurately conforms to the "rotate" action structure in the JSON. All of the necessary parameters such as the "angle" and "is_clockwise" fields have been correctly interpreted from the natural language command.'] +Rotate to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false}}'];['4; Partially conform. The "angular_velocity" value is 1 in the JSON, but the natural language command doesn\'t specify the velocity amount.'] +Change the orientation to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}'];["4; The natural language command largely matches the JSON structure. The 'rotate' action is correctly represented, and the correct value is given to the 'angle' parameter. However, the 'is_clockwise' field is interpreted as false (for a left turn), which doesn't exist in the natural language command. The 'angular_velocity' parameter value is also reasonably assumed to be 0.5, but this isn't specified in the command. Hence, there is slight non-conformity."] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": false}}'];['3; The action "move" and the parameter "is_forward" match with the natural language command and JSON structure respectively. However, the natural language command specifies the movement time which is not a parameter in the JSON structure. Also, "linear_speed" doesn\'t match as no speed is specified in the command, a zero value is assumed. The parameter "distance" is given a value of 3 assuming seconds were converted to some distance value, but it\'s not a perfect alignment with the command.'] +Reverse for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "duration": 3, "unit": "seconds"}}'];['2; The JSON represents a rotation action, not a reversal. The "duration" parameter exists in the JSON, but it\'s not a part of the sample ontology. Also, the \'is_clockwise\' action is set as \'true\' which is not mentioned in the command.'] +Go in reverse for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "time": 3, "is_forward": false, "unit": "seconds"}}'];["2; The action 'move' and the param 'is_forward' are correct. However, the 'linear_speed', 'time' and 'unit' keys do not exist in the natural language command. Also, the command in JSON format has 'time' which does not match with any ontology sample key. Conformity could be improved if there was a 'distance' with an appropriate value and 'unit' was 'meter'."] +Travel backwards for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["1; The 'linear_speed' is incorrect as it should not have a negative value, the 'distance' referred in the command is used for time in the JSON structure, and the 'unit' is used incorrectly since the unit of distance cannot be in seconds."] +Move in the opposite direction for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['2; There are several mismatches: First, duration or time to travel is not a parameter in the "move" action, the expected parameter is distance which doesn\'t match the natural language command. Second, there is no parameter for direction control such as "in the opposite direction". The JSON structure does recognize a parameter to evaluate if the movement is forward or not, but the natural language command is quite ambiguous and does not directly specify whether the movement should be forward or not.'] +Turn left and move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];["2; The JSON structure only shows the 'move' action with is_forward being true and the distance being 2, which matches the command. However, the 'turn left' part of the command is not reflected in the JSON structure. The parameter 'linear_speed' is included in the JSON with a value of 1, but this parameter was not mentioned in the command."] +Proceed forward for 2 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "meters"}}'];['1; The JSON structure does match the action of moving but there is an absence of a parameter describing the rotation or the turn left mentioned in the command.'] +Make a left turn and advance for 2 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meters"}}'];['4; The JSON structure largely matches the command, but the "angular_velocity" value in the "rotate" action does not match because it isn\'t specified in the command.'] +Take a left and continue forward for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure partially matches the command. The instruction to move forward for a specific distance is present in the JSON. However, the command to take a left (rotate) is not captured in the JSON structure.'] +Move ahead for 2 meters after making a leftward turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure only includes the moving forward action but does not include any action for turning left which was given in the natural language command. Thus, the natural language command and the JSON information partially conform to each other.'] +Make a U-turn and move in the opposite direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "second"}}'];['3; The parameters for the "rotate" action are correct, but an angular_velocity value is assigned as 0 and according to the command angular_velocity should be a reasonable non-zero value. "Clockwise" could also be either true or false, as a U-turn is not specified to be clockwise or counterclockwise in the command. For the "move" action, the unit parameter does not match the natural language command ("seconds" is not compatible with "distance"). The "is_forward" parameter should be true to \'move in the opposite direction\' after the U-turn , but it\'s given as false on JSON structure.'] +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": false, "unit": "degrees"}}'];['4.25; The natural language command mentions actions related to the rotate action but the values don’t match exactly. The angular_velocity value is supposed to be 0.35 but it is 0.5 in the JSON. The angle is correct at 180 degrees for a U-turn and is_clockwise is not specified in the natural language command hence any reasonable value is accepted. But the command mentions proceeding for a distance in the opposite direction, this is not reflected in the json structure provided.'] +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["4; The JSON structure correctly represents the action of executing a U-turn as it involves a rotate action with an angle of 180 degrees. However, the natural language command also includes a specification of traveling in the opposite direction for 10 seconds which isn't properly represented in the JSON."] +Turn around and travel in the opposite direction for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["2; The command to rotate is present but the parameters don't match with natural language command. There is no reference to the angular velocity in the natural language command, and although the angle of rotation could be inferred as 180 degrees for 'turning around', it's not explicitly mentioned. Also, the 'is_clockwise' direction is arbitrary and the duration of 10 seconds doesn't convert to any fields in the JSON command provided."] +Perform a U-turn and move in the opposite direction for 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180.0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": false, "duration": 10}}'];['4; The natural language command and JSON structures generally match, especially the rotate action. However, there\'s no "duration" parameter in the given ontology for the move action, it uses distance instead, thus the score is 4 not 5.'] +Rotate clockwise by 180 degrees and stop.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true}}'];["4; The natural language command is correctly described by the given JSON structure. However, the command 'stop' is not converted to JSON, so it doesn't completely conform."] +Perform a 180-degree clockwise rotation and then come to a halt.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'];["4; Most of the command is matched correctly in the JSON structures. The rotation action and its parameters are accurate. However, the 'come to a halt' part of the command is not present in the ontology. The 'move' action with a linear_speed of 0 is used to represent this but it doesn't align perfectly with the given ontology."] +Execute a clockwise rotation of 180 degrees and then cease movement.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4.75; The natural language command matches with the JSON structure for the "rotate" action, including parameters such as "angle", "is_clockwise" and "unit". However, the "angular_velocity" in JSON structure received a value of 0 from the command “cease movement” which is not entirely accurate as cease movement would technically mean stop, not really relating to angular_velocity which is the speed of rotation.'] +Turn right by 180 degrees and then stop.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": false, "unit": "degrees"}}'];['3; Although the "rotate" action is matched correctly and "angle" value is perfectly used in the JSON, "angular_velocity" value is incorrectly indicated as 0 whereas there is no hint in the command about its value, so it could be any reasonable value and the "is_clockwise" value is false in the JSON, which is not correct because turning right should be clockwise. It also misses a "stop" action which should be mentioned in the JSON.'] +Rotate in a clockwise direction by 180 degrees and then come to a stop.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; Partially conform. The action ‘rotate’ and its parameters are correct. However, the angular_velocity value is not mentioned in the natural language command.'] +Move diagonally to the right for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['2; The given natural language command asks for diagonal movement, which is not explicitly covered in the provided JSON examples. The sample ontology provided suggests actions for moving linearly and rotating but doesn\'t cater to diagonal moves. However, the "move" action has been used in the JSON with "is_forward": true and "distance": 4, which is correct in terms of distance to move.'] +Go right at an angle for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meters"}}'];["1; The JSON structure partially matches the command. The action of moving and the distance parameter are conveyed correctly. However, the command specifically indicates a right turn which isn't represented in the JSON. It also specifies an angle which is not represented in the JSON. So, the direction and angle in the command are not covered in the JSON structure."] +Travel in a diagonal direction to the right covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1.414, "distance": 4, "is_forward": true, "unit": "meter"}}'];['1; Only the action of "move" matches, however, the parameter "linear_speed" is not mentioned in the command and the \'direction\' represented in the command ("diagonal direction to the right") does not exist in the given JSON structure. Therefore, it\'s not fully conforming.'] +Proceed at a diagonal towards the right, moving 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'];['2; The natural language command somewhat conforms to the JSON. The "move" action and "distance" parameter matches but the command specifies an action (moving diagonally) that is not represented in the JSON structure. Furthermore, the JSON structure includes "linear_speed" and "is_forward" keys which were not specified in the natural language command.'] +Move to the right diagonally, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['3; The command partially matches with the move action JSON. The parameters of distance, unit and is_forward are correctly interpreted. However, the command specifies diagonal movement while the JSON structure does not include this direction. The linear_speed is a reasonable assumed value, but is also not specifically mentioned in the command.'] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true}}'];['5; The natural language command is perfectly converted in the JSON structures as it asked for a right turn which implies a clockwise rotation and a forward movement for 1 meter, which is represented correctly in the JSON structures. The "unit" field is not mentioned but it can be assumed that it\'s the default unit meters for distance and degrees for angle as the natural language command uses these units.'] +Make a right turn and proceed one meter forward.;['{"action": "rotate", "params": {"angular_velocity": , "angle": , "is_clockwise": true}, "action": "move", "params": {"linear_speed": , "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The commands somewhat conform. From the command, we make an assumption that "make a right turn" implies a clockwise rotation which is reflected in the JSON structure for rotate. The "proceed one meter forward" is translated in the JSON structure for move. However, the commands should have been separated into different JSON structures instead of in one. Also, the angular_velocity and angle values for the rotate action and the linear_speed for the move action are missing.'] +Take a right and continue moving ahead for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];["1; The natural language command involves both moving and rotating, however the JSON structure only has the moving action. The parameters also are not exact, the command doesn't specify the linear speed and if the movement is forward."] +Rotate to the right and advance straight ahead for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["2; The natural language command partially matches one JSON structure. The command mentions 'rotate to the right', but no corresponding JSON structure is given for rotation. The 'advance straight ahead for 1 meter' part of the command matches with the 'move' action JSON structure but the linear speed is not specified in the natural language command."] +Facing towards the right, progress forward for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['4; The JSON structure correctly corresponds to the command \'progress forward for a distance of 1 meter\' which is converted to the action "move", and parameters "distance": 1, "is_forward": true. However, there is no representation in the JSON structure for \'Facing towards the right\' from the command. Therefore, it\'s not exactly conform.'] +Move in a zigzag pattern for 8 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true}}'];['0; The JSON does not match the natural language command. The natural language command specifies a zigzag pattern, which is not outlined in the sample JSON. The JSON explains a forward motion, not zigzag. The duration of the movement is also not mentioned in the JSON parameters.'] +Perform a zigzag movement continuously for a duration of 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];["1; While the JSON structure contains the 'action' which is 'move', the specific parameters required for a 'zigzag' movement aren't concretely specified, nor does it match the 8 second duration mentioned in the natural language command. Additionally, only one action is provided but a continuous zigzag movement would likely involve multiple actions."] +Traverse in a serpentine motion for 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters", "traversal_mode": "serpentine", "traversal_time": 8}}'];['0; The command pertains to a form of movement (serpentine motion), for which there isn\'t a matching action or a "traversal_mode" parameter in the ontology provided. The natural language command also mentions a "traversal_time" of 8 seconds, which isn\'t represented in any of the JSON structure\'s parameters.'] +Alternate your path in a zigzagging pattern for the next 8 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}}'];["0; The given command should involve the key action as 'rotate', but it does not exist in the provided JSON structure. The 'move' action does not appropriately represent 'zigzagging pattern'."] +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "meter"}}'];['2; The command partially matches with the \'move\' action in the JSON structure. However, the command doesn\'t provide explicit information about the direction of the motion (forward or backward), distance, or linear speed to conform fully to the JSON structure. Furthermore, the "zigzag" motion and time duration requested in the command don\'t have corresponding parameters in the sample ontology.'] +Rotate counterclockwise by 45 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; The natural language command perfectly matches the JSON structures. The action "rotate" has all parameters correctly matched in the JSON data, including "angular_velocity", the "angle" of 45, and "is_clockwise" as False indicating counterclockwise. The "move" action also perfectly matches with "linear_speed" as default, "distance" of 3, "is_forward" as True, and "unit" as "meters". Therefore, the conformity score is 5.'] +Turn left by 45 degrees and advance for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The given JSON structures do conform to the command but not exactly. In the "rotate" action the "angular_velocity" value is not specified in the command, although a reasonable value of 0 is accepted. Also, the "unit" key in the "move" action does not exactly match with the command given, where "meter" should be used instead of "meters".'] +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The commands "rotate" and "move" are correct and most of the parameters are correctly interpreted. However, "angular_velocity" and "linear_speed" were not provided in the natural language command but appear in the JSON, which reduced the conformity score.'] +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; The natural language command matches perfectly with the JSON structures. The action of rotate with angle 45 and is_clockwise as false fits the first JSON, and the action of move with distance as 3 matches the second JSON. The unspecified parameters have provided a reasonable default of 0.'] +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 45, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4.5; The JSON structures given correspond to the actions requested in the natural language command (rotate, then move), although the "angular_velocity" in the rotation and the "linear_speed" in the move are not specified in the command, so any reasonable values are acceptable. It\'s not clear from the command whether the rotation should be clockwise or anticlockwise, so assuming "true" (i.e., clockwise) is not fully conformant. Also, the unit in the move action is written as "meters" instead of "meter".'] +Move backward and stop at the nearest obstacle.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'];['3; The "action" key is correct as "move" but it\'s a bit unclear with "linear_speed" and "distance" since the command is not explicitly mentioning the values. But they are logically represented in the JSON. The direction "is_forward" set to false, depicting move backward is okay. The part "stop at the nearest obstacle" is not represented in the JSON.'] +Reverse and come to a halt once you reach the closest object in your path.;['{"action": "stop"}'];['0; None of the JSON structures match the command. The JSON for action "move" with "is_forward" False might be used for reversal, and "go_to_goal" for reaching an object, but there is no action for stopping. Therefore, command doesn\'t match any JSON action or parameters.'] +Back up and cease movement upon reaching the nearest obstruction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": -1, "is_forward": false, "unit": "meter"}}'];['2; The natural language command mostly conforms to the "move" action in the sample ontology. However, the command specifically mentions to stop upon reaching an obstruction, and this is not represented in the JSON as there isn\'t any "stop_if_obstacle" parameter in the sample keys. So, the JSON is partially conforming to the command because it involves moving backwards, but it doesn\'t fully execute the requirement of halting upon detection of an obstruction.'] +Retreat and come to a stop when you encounter the closest barrier.;['{"action": "go_to_goal", "params": {"location": "Kitchen"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false}}'];["0; The natural language command instructs the recipient to retreat and stop upon encountering a barrier, which does not match with the provided JSON structures. The JSON structures suggest moving to a specific location ('Kitchen'), and moving with a certain linear speed and distance, neither of which correlate with the retreat and stop action mentioned in the command."] +Go in reverse and stop once you reach the nearest obstacle.;['{"action": "move", "params": {"linear_speed": -1, "distance": "nearest_obstacle", "is_forward": false}}'];['2; The command matches the "move" action in JSON but "unit" key is missing in the JSON structure. Also, moving in reverse is indicated in the command, but the direction is not stated using the "is_forward" key in JSON. The "distance": "nearest obstacle" in the JSON structure does not conform fully as no specific distance is indicated in the command.'] +Turn left and move in a curved path for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['1; The natural language command includes a "turning" action which the JSON structure does not properly reflect. While the JSON accurately captures the movement and distance, it does not have the capability to describe turning or moving in a curved path as per the sample ontology. Furthermore, the direction of the turn ("left") is also not represented in the JSON structure.'] +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": false}, "action": "move", "params": {"linear_speed": "undetermined", "distance": 6, "is_forward": true, "unit": "meter"}}'];['3.5; Partial conformity. The JSON structure doesn\'t contain information about the curved trajectory mentioned in the natural language command. However, the "rotate" and "move" actions match, and all the keys are present. The angular velocity and angle in rotation action are marked "undetermined", which is accepted since it was indeed not specified in the command. The direction of the turn (the "is_clockwise" key) is correctly set to false for a left turn. In the move action, distance is correctly set but linear speed is undetermined, which is also accepted. The direction of movement (the "is_forward" key) is correctly translated from the command. The unit is correctly set to meters.'] +Make a leftward turn and proceed along a curving route spanning 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['1; The natural language command refers to a specific action (turning leftward and proceeding along a curving route), but this is not accurately reflected in the provided JSON structure. The JSON structure only presents a straight "move" action with a specific distance and does not account for the direction or the curving route mentioned in the command. Moreover, the "rotate" action isn\'t represented at all in the JSON structure.'] +Go left and follow a curved path for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 6, "is_forward": false, "path_type": "curved", "unit": "meters"}}'];['1; The action "move" and the parameter "distance" with the value of 6 and the "unit" of "meters" are correctly identified. However, the parameter "is_forward" should be True and not False because the command is to go left, not backward. Moreover, "path_type" and "DEFAULT_LINEAR_SPEED" don\'t exist in the sample keys, and there is no reference to the "linear_speed" in the natural language command.'] +Regulate your movement to the left and travel in a curved trajectory for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['1; The JSON structure provided does not match the natural language command exactly. The command mentions the robot to travel to the left in a curved trajectory which implies rotation but no such action is found in the JSON structure. Only movement is suggested with a distance of 6 meters and not forward, but no details are provided about the leftward or a curved movement. Thus, even though it contains some correct information, it lacks other crucial details, so the score is low.'] +Move forward at a speed of 1 meter per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The action is "move", which exists in the sample keys. All the parameters mentioned in the natural language command matched with the JSON structure parameters - linear_speed, distance, is_forward, and unit. The values of these parameters are also specified and reasonable.'] +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; While the action in the natural language command suggests a "move" command is appropriate, the parameters don\'t line up with the expected parameters in the JSON structure; "duration" is not a recognized parameter, and the "unit" should refer to distance not time. The "linear_speed" parameter in the command is identified correctly.'] +Advance at a rate of 1 meter per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "second"}}'];['4; The natural language command generally matches with the JSON structure. However, it fails to match the hierarchy for the \'unit\', \'linear_speed\' and \'distance\' parameters as it states "rate of 1 meter" and "per second for 10 seconds," which can create confusion on what the unit parameter refers to: distance or time.'] +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; While the idea of moving forward with a certain speed is within the JSON, the time period of this "move" action is not included in these JSON keys. The natural language command specifies a time period ("for a period of 10 seconds"), but the JSON structure only provides distance as a parameter, so the match is not fully fitting.'] +Travel forward for 10 seconds, covering a distance of 1 meter per second.;['{"action": "move","params": {"linear_speed": 1,"distance": 10,"is_forward": true, "unit": "second"}}'];['5; Exactly conform. The natural language sentence correctly specifies the JSON action "move" and its parameters "linear_speed", "distance", "is_forward", and "unit".'] +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meters"}}'];['4; The rotation action is correctly translated into JSON with specified angle and rotation direction. However, the "angular_velocity" key is incorrectly set to 0 when the value was not specified in the natural language command. The move action is also correctly translated into JSON with the "is_forward" key set to true and a specified distance of 4 meters. Yet the \'linear_speed\' key is incorrectly set to 0 when it was not discussed in the command.'] +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "meters"}}', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command perfectly matches the provided JSON structures. The move and rotate actions, along with their associated parameters, are correctly interpreted and represented in the JSON format.'] +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": true, "unit": "meters"}}'];['4.5; The natural language command matches with the corresponding JSON structures. The actions ("rotate" and "move") and their parameters are mentioned correctly. However, the \'angular_velocity\' and \'linear_speed\' in both structures are given as \'0\', while in the command there are no values given for these parameters. According to the rules, the absence of these parameters in the command allows for reasonable values in the JSON, which \'0\' may not be considered reasonable for these contexts.'] +After rotating 30 degrees clockwise, continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'];['4.5; The JSON representation matches the command with reference to the action type and parameters. However, the given "angular_velocity" in the first JSON script does not match with the command as it is not mentioned. Other than this, everything else seems to conform with the command.'] +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 30, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];["4; The JSON structures specified correctly represent a rotation and a movement action. However, the 'is_clockwise' parameter for the rotation action is incorrectly set to 'false'. Since the natural language command asks for a rotation 'to the right', this parameter should be 'true'."] +Move in a circular path with a radius of 2 meters for 7 seconds.;['{"action": "move", "params": {"linear_speed": 2*pi*2/7, "distance": 2*pi*2, "is_forward": True, "unit": "meter"}}'];["1; The natural language command does not match with the given JSON structures. The 'move' action doesn't have parameters to allow for moving in a circular path. The calculation provided for 'linear_speed' and 'distance' is not a specific value and isn't typical of JSON structures."] +Circle around with a radius of 2 meters for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.2857142857142857, "distance": 12.571428571428571, "is_forward": true, "unit": "meter"}}'];["2; The natural language command asks to circle around, which implies a rotate action instead of linear move action. The calculation for linear_speed and distance parameters seems accurate but doesn't fit well to the 'rotate' action context. Also, desired 'radius' and 'duration' keys are not represented in the provided JSON structure."] +Perform circular movement with a radius of 2 meters for 7 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.286, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];["1; Although the action is 'rotate' which could be associated with the term 'circular movement' in the command, the specific details needed for the JSON aren't mentioned in the command. The radius of 2 meters and 7 seconds don't directly match to the given JSON structure and its parameters."] +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": false, "radius": 2, "time": 7, "unit": "seconds"}}'];['1; The JSON structure includes the action "rotate" which is mentioned in the command but it also includes keys like "radius" and "time" which do not exist in the sample keys. Additionally, the ontology specifies "angular_velocity", "angle", "is_clockwise", and "unit" as needed parameters for a rotation action yet none of these are specified in the command or represented in the given JSON.'] +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 2/7, "distance": 2, "is_forward": true, "unit": "meter"}}'];["3; The natural language command is partially conforming to the 'move' action JSON structure. All the key parameters like distance and unit are correctly interpreted, but the 'linear_speed' parameter calculated from the duration is not directly specified in the natural language command. There's no information about moving in a circular path."] +Turn right and move forward for 5 seconds, then revert back.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}}'];['1; The natural language command includes elements of both the "move" and "rotate" action, however, the specific parameters given in the command such as "turn right" and "move forward for 5 seconds" are not properly matched in the JSON structures, where they show 0 for linear speed, distance, angular velocity, and angle. The "revert back" part of the command is also not accounted for in the JSON structures. The general structures of the JSONs match the sample ontology.'] +Make a right turn and proceed forward for 5 seconds, then return back.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["3; The JSON structures partially match the natural language command. The command 'Make a right turn' matches with the action 'rotate' and the 'is_clockwise' parameter set to true. 'Proceed forward for 5 seconds' corresponds with the 'move' action, but the 'distance' parameter is used instead of a parameter indicating a period of time. Finally, 'return back' is interpreted as a 180 degree rotation, but it would more commonly refer to reversing the previous 'move' action. Additionally, 'angular_velocity' and 'linear_speed' values are not provided in the command so their values in the JSON structures are arbitrary."] +Take a right turn and advance ahead for 5 seconds, then go back in reverse.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['2; Although the JSON information semi-correctly encodes parts of the given command, it is not entirely accurate. For instance, the natural language command doesn\'t specify the direction of rotation, while the JSON structure presumes a right turn (is_clockwise: true). Moreover, the command asks for a duration of movements ("5 seconds"), whereas the provided JSON incorrectly interprets that as a "distance" value. Notable, the rotation\'s angular_velocity isn\'t mentioned in the NL command, so it\'s acceptable in the JSON command.'] +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "second"}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": false, "unit": "second"}}'];["2; The 'rotate' action does not contain angular_velocity or angle. The 'move' actions contain 'linear_speed' and 'distance' although these parameters were not mentioned in the command. The reverse direction command does not match the JSON structure."] +Change direction to the right and go forward for 5 seconds, then reverse back.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['2; The first part of the command "Change direction to the right" has not been converted to JSON but the "go forward for 5 seconds, then reverse back" command was correctly converted to two separate JSON move actions with correct parameters.'] +Move along the perimeter of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "minute"}}'];['1; The natural language command is only partially aligned with the JSON structures. The \'action\' of moving is correctly identified, however, the parameters of the "move" action listed do not have any equivalent in the natural language command (i.e., linear_speed, distance, is_forward, unit). Although the \'unit\' coincides as \'minute\' in both the JSON and NL command, it refers to a different aspect (time vs distance). Also, the JSON incorrectly represents \'minute\' as a unit for \'distance\'.'] +Walk around the edges of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "second"}}'];["0; The JSON structure does not match the natural language command. The command indicates a duration of movement (1 minute), but the structure deals with object speed and distance which is not specified in the command. Also, the action in the JSON structure ('move') is not equivalent to 'walk around the edges of the room' in the command."] +Circulate along the boundary of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": "unknown", "is_forward": true, "unit": "meter"}}'];['0; The action in the JSON structure is "move", which doesn\'t match with the natural language command "circulate along the boundary of the room". The JSON parameters - "linear_speed", "distance", "is_forward", "unit", also do not match well with the command. The given command doesn\'t provide any information that maps to these parameters in the JSON.'] +Patrol the perimeter of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "meter"}}'];["1; The JSON structure does not match with the natural language command. While the natural language command refers to patrolling the perimeter of the room for 1 minute, the JSON structure refers to the robot moving forward a specific distance at a certain linear speed. There's nothing in the JSON structure about patrolling for a specific time or around a perimeter, so it's a poor match."] +Traverse the outer edges of the room for 1 minute.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 30, "is_forward": true, "unit": "meters"}}'];['1; The natural language command implies movement but not directly linear movement or specific distance, speed or direction as described in the JSON. Hence, the command is not directly linked to the JSON structure. The JSON structure and the command may be relating to the same action (movement), but they are not identical or very similar.'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; The JSON structures match the natural language command perfectly. The rotation direction is counter clockwise, angle is 60 degrees which all are mentioned in the command. The move forward and the distance of 3 meters are also correctly mentioned in the JSON structures.'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4.5; The commands in the natural language input are almost fully covered by the corresponding JSON structures. The rotation command is accurately translated to its JSON form, but the \'angular_velocity\' parameter is not mentioned in the natural language command, hence the JSON value is assumed (10). The same case applies to the move command\'s \'linear_speed\' parameter, where the JSON value (0.5) is reasonable although not stated in the natural language command. However, there is a missing JSON structure for the \'is_clockwise\' parameter in the rotation action. Assuming a "left" turn is counter-clockwise, the JSON should have stated "is_clockwise": false.'] +Rotate anticlockwise by 60 degrees and advance 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];["4; Mostly conform. The first JSON structure has all the elements spoke in the natural language command - it is instructed to rotate anti-clockwise by 60 degrees. The second JSON structure also captures most of the spoken command - it is told to move a certain distance, although the 'is_forward' key is redundant as 'moving 3 meters' can be interpreted as moving forward. However, both JSON structures assume the value 0 for the 'angular_velocity' and 'linear_speed' parameters, values that weren't specifically stipulated in the command. Therefore, it's not a perfect match."] +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform.'] +Make a 60-degree left turn and move forward 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The rotation action in the JSON segment fits the natural language command perfectly, mentioning a 60 degree turn (though directionality is reversed with clockwise:false implying a counter-clockwise or left turn). The subsequent action of moving is mostly correct, specifically going forward 3 meters, but there is no mention of speed in the command which leaves the "linear_speed": 0.0 without a clearly defined counterpart in the command.'] +Move forward at a variable speed for 10 seconds.;['{"action": "move", "params": {"linear_speed": "variable", "distance": 0, "is_forward": true, "unit": "seconds"}}'];['3; The command gives the "move" action correctly, and the direction "forward" is correctly translated to "is_forward": true. However, the distance and time in the command are swapped in the JSON structure, with "10 seconds" being used as the "distance", and "linear_speed" being given as "variable". The JSON structure doesn\'t include a key for the time to move.'] +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 10, "unit": "seconds"}}'];["1; The linear_speed and distance are 0 in the JSON structure but the natural language command suggests that the agent should move forward (distance shouldn't be 0) with adjusting speeds (speed shouldn't be 0). Duration and unit keys don't exist in the sample keys of the ontology. Therefore, matching is very low."] +Advance for a period of 10 seconds, with variable speed.;['{"action": "move", "params": {"linear_speed": "variable", "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; Although the action "move" and param "is_forward" match, there are discrepancies with the rest of the parameters. First, the natural language command specifies time for movement, not distance as shown in the JSON. Second, there\'s no parameter for variable speed in the JSON, and third, there is no instance of the unit "seconds" in the JSON structure.'] +Travel forward, varying the speed, for a total of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The action of moving forward matches but the parameter for linear_speed, distance, and unit in the JSON structure does not conform with the natural language command. The command specifies a duration of 10 seconds, but the JSON indicates a distance of 5 meters. The proper parameter in the JSON should be "time" instead of "distance", and "unit" should be in "seconds".'] +Move ahead for 10 seconds, adjusting the speed accordingly.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];["3; While the action 'move' with parameter 'is_forward' is correctly inferred from the command 'Move ahead', the key 'distance' should match with 'time' in this context, not 'distance'. The key 'unit' also should be in 'seconds' as per the natural language command. There is no mention of 'linear_speed' in the command, so any reasonable value is acceptable but there's no time unit in the provided ontology."] +Move backward and stop 1 meter away from the designated target.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; The action "move" and parameters "linear_speed", "is_forward", and "unit" conform. The "distance" parameter in the command is interpreted as stopping distance rather than travel distance in the JSON structure which does not totally match. Also, "linear_speed" value is unspecified in the command but present as -1 in the JSON. The negative sign indicating "backward" can be inferred but it\'s not clearly mentioned in the command.'] +Reverse direction and come to a halt at a distance of 1 meter from the specified target.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; While the action "move" and distance specified as 1 meter in the natural language command aligns with what is in the JSON structure, the command "come to a halt" doesn\'t exist in the sample keys. Similarly, "Reverse direction" indicates that the "is_forward" value should be False, not True as in the given JSON structure, resulting in only partial conformity.'] +Go in the opposite direction and pause when you are 1 meter away from the assigned target.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['1; The JSON structure reflects the action of moving but it does not capture the concept of "going in the opposite direction" in the correct way because there is no information on an "assigned target" as stated in the natural language command. Additionally, there is no realization for the command "pause".'] +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}}'];["1; The JSON structure does not accurately represent the command. The action key correctly indicates 'move' but the 'is_forward' key is set to 'false' should be 'True' because the command is to retreat, not go forward. The 'distance' key is set to 0, whereas the command clearly asks for a distance of 1 meter. Also, the command of stopping and maintaining the distance is not reflected in JSON properly."] +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['2; The JSON structure partially matches the command. The "move" action and "distance", "is_forward", and "unit" parameters conform to the command. However, the command includes an element ("cease motion once you are 1 meter away from the specified target") that doesn\'t match the JSON information. Moreover, the command is specifying a "reverse motion", but the JSON \'linear_speed\' is not negative.'] +Move forward for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The JSON matches the command "Move forward for 1 meter" perfectly, with the correct action "move" and parameters "linear_speed", "distance", "is_forward" and "unit".'] +Proceed ahead by 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];["4; The command to 'Proceed ahead by 1 meter' refers to moving forward, which is correctly represented in the JSON structure provided. However, the 'linear_speed' key's value is not specified in the actual command. The parameter being set to '1' in the converted JSON is a reasonable assumption, but it is not explicitly stated in the command itself. Hence the score of 4 instead of a perfect 5."] +Advance for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['5; Exactly conform.'] +Travel in a forward direction for 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['5; Exactly conform. The natural language command perfectly describes the action "move" with parameters "linear_speed", "distance" and "is_forward" set to reasonable values. The parameter "unit" is not described in the command but falls under the acceptable parameters.'] +Go straight for a span of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command corresponds correctly with the JSON structure, as the action requested is "move", and the "params" attributes all match with a "linear_speed" of 1, "distance" of 1, "is_forward" as true and "unit" as "meter".'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command exactly matches with the given JSON structure. The action "rotate" and the parameters like "angle", "is_clockwise" and "unit" are all present and match correctly. Although "angular_velocity" is not specified in the original command, it is accepted per the guidelines that if a parameter\'s value is not specified in the natural language command, any reasonable value in the JSON is accepted.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command is mostly conformant with the JSON structure. The action of rotating is correctly identified and the angle is correctly specified as 90 degrees. However, the direction of rotation ("is_clockwise": false) is inferred from the command rather than explicitly stated, and the angular velocity is set to 0, which doesn\'t specifically align with the user\'s command of "Turn left by 90 degrees."'] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; The natural language command asks the system to rotate anticlockwise by 90 degrees. This perfectly matches the JSON command where the action is "rotate", the angle is 90 and "is_clockwise" is false. As the angular velocity isn\'t specified in the natural language command, any value (such as 0 in this case) is acceptable.'] +Rotate to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; The natural language command matches perfectly with the JSON structure. The action "rotate" is correct, the angle is specified correctly as 90 degrees, and rotating to the left correlates to "is_clockwise" being false.'] +Spin counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": ???, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure matches the natural language command to rotate counterclockwise by 90 degrees. Here, "is_clockwise" is correctly set to false, the "angle" is correctly set to 90 and the "unit" to "degrees". The "angular_velocity" is not specified in the command, so any reasonable value in the JSON is accepted which makes it overall conform. However, it\'s not exactly conform due to the missing angular velocity, therefore a point is deducted, resulting in a score of 4.'] +Move backward for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['3; The action is correct and the use of negative linear speed to indicate backward movement is a reasonable interpretation. However, the unit of "distance" should be in meters not seconds according to the ontology. Moreover, distance in the natural language command is indicated as a time duration (2 seconds), not an actual distance value. It induces some confusion in interpretation.'] +Go backward for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['2; Even if the command says to go backward, there is no reference to "is_forward" key in the JSON. The parameter "unit" in JSON refers to distance unit, not time.'] +Reverse direction and continue for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false, "unit": "meter", "duration": 2, "is_continuous": true}}'];['2; The natural language command partially conforms to the JSON structure. The "action" is of type "move", but it doesn’t specify the "linear_speed" and "distance" as required by the structure. Also, the JSON structure provided for the "move" action doesn\'t have keys for the "duration" and "is_continuous", which are included in the JSON.'] +Retreat for a period of 2 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "seconds"}}'];['2; The action of moving is present in the JSON structure, and the parameter to move backwards (is_forward: false) technically corresponds to the "retreat" command. However, in the natural language command there is a specification of "for a period of 2 seconds" which is not reflected nor possible in the current JSON structure as the move action does not consider a parameter time. Therefore, the command does not fully conform with the JSON structure.'] +Take a step back and hold for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": -1, "is_forward": false, "unit": "meter"}}'];['2; The natural language command moderately aligns with the JSON structure. The action "move" is correctly identified but the parameters do not fully match. Specifically, the "hold for 2 seconds" command does not exist in the sample keys and hence was not converted to JSON. Additionally, the "linear_speed" is inaccurately set to 0.0 whereas it should indicate the speed of stepping back. The "is_forward" key is correctly set to false. Although the distance is not specified in the command, the value of -1 in JSON is reasonable.'] +Turn left and move forward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'];['2; The JSON information partially matches the natural language command. The command \'move forward for 3 meters\' is correctly translated in JSON format. However, the command to \'Turn left\' isn\'t addressed properly as it would require a "rotate" action, which is missing in the provided JSON structure.'] +Take a left turn and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];["3.5; The JSON structures mostly match the command, but there are some inconsistencies. The angular_velocity is not specified in the command, but it's reasonable. However, the angle in the command is a left turn which is generally considered as 270 degrees in clockwise, not 90 degrees. The movement action is correctly represented in the second JSON."] +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure partially matches the natural language command. However, the leftward turn mentioned in the natural language command is not represented in the JSON structure. Additionally, the specified linear_speed of 1.0 in the JSON response does not match the unspecified speed in the command.'] +Rotate to the left and proceed forward, covering a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true}}'];["2; The natural language command partially matches with the 'move' action in the JSON structure, as it involves moving forward for a certain distance. However, the 'rotate' part of the command is not reflected in the provided JSON. There is also a discrepancy in the 'linear_speed' parameter, which was not specified in the command but is included in the JSON."] +Go left and move straight ahead for 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];["4; The natural language command 'go left' is not represented in the JSON structure. Although the command 'move straight ahead for 3 meters' is correctly represented in the JSON, due to the incomplete representation, the score can't be 5."] +Move at a speed of 2 meters per second for 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];["4; The action in the command is 'move' which matches the action in the JSON. The parameters 'linear_speed' and 'unit' match, the 'distance' doesn't match but it is reasonable in the context of the command. The 'is_forward' parameter doesn't exist in the command, so its default value is 'True' is accepted. However, 'duration' parameter is mentioned in the command which does not exist in the JSON structure, so deducted 1 point."] +Travel with a velocity of 2 meters per second for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['4; The JSON structure moderately conforms to the natural language command. However, the "unit" in the JSON structure corresponds to the distance rather than time as in the command.'] +Maintain a pace of 2 meters per second for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; Mostly conform. The command does correspond to the "move" action, the "linear_speed" matches, and the "is_forward" boolean makes sense, but the parameter for "distance" should not be provided as it was not specified in the command.'] +Perform movement with a speed of 2 meters per second over a span of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];["4; The JSON command correctly carries out a move action at a specified linear_speed. However, the natural language command specifies a time duration, which isn't represented in the JSON command. The distance in JSON is inferred based on the given time and speed in the natural command but it is not mentioned explicitly in the command."] +Cover a distance at 2 meters per second for a time period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The action "rotate" and parameters "angle" and "is_clockwise" perfectly match. However, the "angular_velocity" in the JSON structure is 0, which is not a reasonable value as it would mean no rotation at all. The command suggests some speed, even if not specifically mentioned.'] +Rotate by 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command matches the "rotate" action in the JSON structure in terms of the action to be performed and the parameters such as angle and is_clockwise. However, a specific angular velocity is not mentioned in the command, and while the value for angular velocity in the JSON could be assumed to be a reasonable default, the value of 0 in this specific JSON is not reasonable for a rotation action, hence, a point is deducted.'] +Perform a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The JSON command matches the natural command and all parameters are present. However, the "angular_velocity" is not directly specified in the natural language command, so the 0 value is a default not specified in the command. This deviation accounts for the deducted point.'] +Turn 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command correctly refers to the JSON structure of the "rotate" action with "angle" set to 180 and "is_clockwise" set to true. However, the "angular_velocity" value was not mentioned in the command, but in JSON, it is marked as 0, which is not a feasible rotation speed.'] +Rotate in a clockwise fashion, making a 180-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The command perfectly matches the "rotate" action in the JSON key structure. The parameters "angle" and "is_clockwise" are well specified in the command and fits the JSON structure, with the "unit" also implied in the command. The "angular_velocity" parameter isn\'t mentioned in the command, but its presence in the JSON doesn\'t conflict with the command.'] +Move forward for 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['4; The natural language command matches with the JSON structure but the "linear_speed" key is not specified in the command, hence any reasonable value is accepted. The other keys "distance" and "is_forward" perfectly match the natural command.'] +Proceed straight ahead, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; The command and the JSON structure match perfectly. The action "move" and all parameters "linear_speed", "distance", "is_forward", and "unit" are stated correctly in the JSON in reference to the natural language command. The values of the parameters are also correctly extracted from the command.'] +Advance forward, spanning 4 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true}}'];['4; The natural language command matches with the JSON information in terms of action and parameters. However, there is a disparity in the "linear_speed" value as it\'s specified as 0.5 in the JSON structure but not mentioned in the command, the value 1.0 in the JSON is thus a assumed value.'] +Take 4 steps in the forward direction.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": true, "unit": "steps"}}'];['3; The natural language command was partially converted to JSON correctly. The action "move" and "is_forward": true match. However, the "linear_speed" key is not specified in the command, and the "unit" in JSON structure indicated as "steps" which does not exist in the given JSON ontology, and the correct unit should be "meter". Additionally, the parameter "distance" is assumed to be correct as "4".'] +Travel a distance of 4 meters, moving in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 4, "is_forward": true}}'];['5; The natural language command perfectly matches the JSON information structure. Even though the "linear_speed" key value is not mentioned in the command, it is still reasonable as per the provided ontology.'] +Turn right and move backward for 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false}} ', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}}'];["4; Partially conform. The commands in natural language and their JSON equivalent match up regarding the actions of rotation and movement, with direction and distance provided respectively. However, there are discrepancies in the values. The speed for the movement action is not specified in the natural language command, so the JSON's value of 1 can be considered acceptable. However, for the rotation, the natural language command specifies turning right, which equates to a 90 degrees clockwise rotation. The JSON specifies a 90 degree rotation which matches, but the angular velocity in JSON should be reasonable value as it's not specified in command, hence the score is 4 and not a perfect 5."] +Rotate to the right and travel in reverse for a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false}}'];['2; The JSON contains moving the robot which matches to the command "travel in reverse for a distance of 1 meter". But the rotation action in the natural language command "Rotate to the right" is not reflected in the JSON. Also, the linear speed of 1 is not mentioned in the command.'] +Make a right turn and proceed backwards for a length of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4.5; Generally corresponding to the command, though the "angular_velocity" in rotation action doesn\'t have a specified value, which makes it conform less, and the "linear_speed" in the move action is negative, which is not explicitly stated in the NL command. However, it is still reasonable considering the command to move backward.'] +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4.8; The natural language command matches the JSON structure in the action of moving and parameters of distance, is_forward and unit. However, "shift to the right" does not correlate with any action or parameter in the sample keys. Also, the specific value for linear_speed is not provided in the natural language command but any reasonable value is acceptable according to the instructions given.'] +Face right and move backwards, covering a distance of 1 meter.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['2; The action "move" matches with the provided JSON structure. However, the direction "backwards" is interpreted as "is_forward": false which is correct but the natural language command also contains an action "Face right" which is a type of rotation but is not reflected in the provided JSON structure. Also, the provided JSON has a "linear_speed" key which is not specified in the command.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["4; The action and parameters match the command, but the angular_velocity given in the JSON doesn't reflect the natural language command. Without details on how fast the rotation should be, it should be a reasonable value, not 0."] +Rotate anti-clockwise by a 45-degree angle.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["4.5; Justification: The natural language command correctly translates to the JSON structure. However, the angular_velocity is not given in the natural language command, and the JSON has a placeholder (default_angular_velocity) implying that a value should be provided. For full conformity, the natural language command should state the angular_velocity, or the JSON should show it's optional or can be any reasonable value."] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The JSON command correctly identifies the action as "rotate" which matches the natural language command of turning. However, the "angular_velocity" is stated as 0 in the JSON where it isn\'t specified in the natural language command and could assume any reasonable value, thus this error leads to the deduction of one point. The natural command doesn\'t specify the direction of turn as being clockwise or anti-clockwise whereas JSON specifies it as false. Overall, it\'s mostly conform but has some minor inconsistencies.'] +Rotate in a counterclockwise direction by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}}'];['5; The command asks for rotation in the counter-clockwise direction by 45 degrees. The JSON output matches this command with the correct action ("rotate"), proper angle value (45) and the "is_clockwise" set to false indicating counterclockwise rotation. The angular_velocity is not mentioned in the command so any default value is accepted.'] +Rotate to the left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The JSON structure appropriately captures the action "rotate" and the parameter "angle". However, the natural language command does not specify the "angular_velocity" hence the zero value does not fully match with the command. Also, the rotation direction is correctly interpreted as counterclockwise, translated as "is_clockwise": false. It slightly deviates from the command but the important elements are represented.'] +Move forward for 10 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'];['2; Partially conform. The action "move" and parameter "is_forward" match, but the unit is incorrect. The natural language command specifies time ("seconds"), but the JSON structure uses distance ("meter") as a unit. Furthermore, the JSON structure provided does not include parameters for time.'] +Proceed straight ahead for a duration of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 10, "is_forward": true}}'];['3; The natural language command somewhat matches the JSON structure. The action "move" and parameter "is_forward" are correctly interpreted. However, the natural language command specifies a duration while the JSON structure returns a "linear_speed" and does not mention a "duration". Furthermore, "distance" is a key in the JSON structure which is not mentioned in the natural language command at all.'] +Advance continuously for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['1; The action in the JSON structure is correct (\'move\'), however, none of the values and parameters specified in the natural language command ("advance continuously for a period of 10 seconds") are reflected in the JSON. The JSON includes parameters (linear_speed, distance, is_forward, unit) that are not specified in the command. The concept of time or duration is not present in the JSON.'] +Travel forwards for a span of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; The action "move" and parameter "is_forward" matches. However, the command asks for moving forwards for a span of time which does not correspond to a distance, the distance and linear_speed are not specified in the command which doesn\'t match the JSON structure. And unit in the JSON structure should be "meter", instead of "seconds".'] +Progress ahead for a time interval of 10 seconds.;['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "undetermined", "time_interval": 10}}'];['1; The JSON structure somewhat aligns with the natural language command as it does correctly execute a "move" action with indicated time interval. However, time_interval is not mentioned in the sample ontology for an action of "move". The unit of movement is also not specified in the natural language command. Therefore, the conformity is relatively low.'] +Turn left and move at a speed of 1 meter per second for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'];['2; The action of turning left is not reflected in the JSON structure. The JSON only shows the action of moving forward, which is in accordance. However, the "unit" is mismatched with the natural language command, where the JSON has "unit": "second" while the command speaks of distance (meters per second).'] +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}'];['2; The rotation action is vaguely described in the command but it lacks specification of the unit and angular velocity. The forward movement action does not exist in the sample keys hence cannot be converted to JSON.'] +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The JSON command correctly captures the action "move", with the corresponding parameters "linear_speed" and "distance". However, the "unit" parameter in the JSON command doesn\'t match with the command given. The phrase "for a duration of 2 seconds" suggests time, not distance which is implied in the JSON command. The "is_forward" parameter is correctly assumed to be true considering the forward movement implied in the command.'] +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The "rotate" action in the JSON structure is partially conform to the command: the "is_clockwise" is correctly captured as false for a left turn, but "angular_velocity" and "angle" are arbitrary set since there\'s no relevant information in the command. The "move" action is correct with matching "linear_speed" and "distance", though the "unit" should be "meter" instead of "seconds".'] +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["3; The 'rotate' action is almost correct, although 'angular_velocity' seems to be assumed rather than commanded. The 'move' action is correct but the 'unit' should be 'meters', not 'seconds'. These elements lead to a partial match."] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4; Most of the parameters in the command are present in the JSON structure. However, the linear_speed value in the JSON does not match with the command because it's not specified in the command."] +Go back 3 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The command mostly conforms to the "action": "move" JSON information. The "is_forward" parameter is correctly interpreted as false for going back. The "distance" mentioned in natural language command and in the JSON structure is a match. However, the "linear_speed" is not specified in the natural language command and hence any reasonable value is accepted. The missing specification prevents a perfect score.'] +Reverse your direction and travel 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4.5; The JSON format correctly includes the action "move" and the parameters "distance" and "unit". It also properly sets "is_forward" to false, implying a reverse direction. However, the "linear_speed" parameter in the JSON structure doesn\'t match any information given in the natural language command, but since it is a reasonable value, it is acceptable. Hence the slight deduction in the score.'] +Retreat for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4.5; The natural language command almost perfectly matches with the JSON structure. The "move" action is correctly used in the JSON and the "distance" parameter is correctly set to 3 meters. The direction is given as "Retreat" which implies backward movement which is represented accurately in JSON as "is_forward": false. The only discrepancy comes from the "linear_speed" parameter, which is not specified in the natural language command but is given a value of 1.0 in the JSON. The fact that the speed is not specified in the command means any speed value would be considered reasonable, hence the score is close to perfect.'] +Take 3 steps backwards.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false}}'];['4; The natural language command is mostly represented in the JSON structure. The "move" action is correct but the "is_forward" parameter was not rightfully adjusted to false as the robot is commanded to move "backwards". There is also the "unit" parameter missing in the JSON structure, which is part of the provided ontology.'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 270, "is_clockwise": true}}'];['5; Exact match. The JSON structure correctly defines the action "rotate" with specified parameters including a "clockwise" rotation by 270 degrees with a reasonable angular velocity of 0.5 .'] +Rotate 270 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];["5; The JSON structure correctly represents the action 'rotate' with parameters 'angle': 270 and 'is_clockwise': true as per the natural language command. Although the 'angular_velocity' value isn't mentioned in the command, it's assigned a reasonable value of 0 in the JSON structure."] +Perform a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['4; The natural language command matches well with the JSON structure with an "action" of "rotate". Most parameters ("angle" and "is_clockwise") also match. However, the "angular_velocity" has a value of 0 in the JSON, while not mentioned in the command. A non-zero value would have been a more reasonable assumption.'] +Turn right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 270, "is_clockwise": true}}'];['4; Almost conform. The "angular_velocity" is specified as 0.0 in the JSON while it\'s not mentioned in the command, which technically makes it incorrect since 0.0 would imply no rotation. But since this is deemed a reasonable value in the absence of given input, this is nearly conforming save for the illogical assumption of an \'angular_velocity\' of 0 for rotation.'] +Rotate by 270 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['4.5; The JSON structure reflects the natural language command accurately through the action "rotate" and its parameters. The commanded angle of rotation at 270 degrees and direction "clockwise" is correctly specified in the JSON structure. However, the angular velocity value in the JSON structure is not mentioned in the command and therefore it doesn\'t completely match the command.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['5; The natural language command matches perfectly with the JSON structure; "move" is the action just as it is in the command, and the parameters "linear_speed", "distance", and "is_forward" are all presented with reasonable values.'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];['4; The command matches the action "move" and parameters "distance" and "is_forward". Parameter "linear_speed" is set to 0.0 in JSON, while its value is not mentioned in the command, so any value is accepted. The key "unit" is missing in the JSON structure of the command.'] +Advance 5 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['5; The natural language command is completely matched to the JSON structure. The action "move" with parameters "distance" of value 5 and "is_forward" as true are well represented. The "linear_speed" parameter value is not provided in the command, but a reasonable value of 1 is accepted.'] +Take 5 meter steps forward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The given command precisely conforms with the JSON structure. The action \'move\' is correctly used in the JSON, and it also accurately contains the distance information obtained from the command ("5 meter"). The parameter "is_forward" is set to true, which corresponds to the "forward" movement direction mentioned in the command. However, the \'linear_speed\' indicated in the JSON is assumed as the command does not specify it.'] +Go ahead and travel a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];['4; The natural language command is almost completely consistent with the JSON structure, with a slight deviation. The "linear_speed" key isn\'t mentioned in the command and has a value of 0.0 in the JSON structure, which doesn\'t make sense when the robot is ordered to move.'] +Turn right and move at a speed of 1.5 meters per second for 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];['4; The rotate command in JSON is correct, but the angle value in natural language command is not specified so the angle value of 90 in JSON is assumed. The move command in JSON successfully converted the natural language command to JSON structure, except the "distance" value in JSON calculated based on the duration time doesn\'t match the parameters in the sample ontology.'] +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command asks for a right turn which matches the JSON command for rotation and specifies a clockwise direction. The linear speed, distance (which is computed from the speed and time), and direction of movement also conform exactly to the JSON structure for moving forward.'] +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];['4; The rotate command in JSON doesn\'t include any parameters specified in the natural language command ("rotate to the right"). Though, the direction "right" implies clockwise rotation, the angular velocity and the angle to rotate is not specified in the command. For the move command, the linear_speed matches but the distance of 4 seconds is translated incorrectly because the duration of movement is given in the natural language command, not the distance. It was expected to use the formula distance = speed * time, hence the distance should be 6 (1.5 * 4) instead.'] +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];["2; Mostly conform. The JSON command 'rotate' does not specify the direction as rightward nor does it assign a value for 'is_clockwise' which should be true for a rightward turn. Additionally, the 'angular_velocity' value is incorrectly set to 0 instead of receiving a command or value. The 'move' JSON command partially aligns with the command given, it correctly assigns the 'linear_speed' as 1.5 however the 'distance' value is specified to be a product of speed and time (6 meters) instead of the duration mentioned in the command which is 4 seconds."] +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.;['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": false, "unit": "meters"}}'];['2; The action matches as "move" and "linear_speed" parameter of 1.5 is good but the "distance" is not mentioned in the natural language command and False value for "is_forward" does not satisfy the command of "Go right". The units are well referred as "meter" in the JSON whereas its "meters" in the command.'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];['4; The given JSON structure correctly represents the action "rotate" and the angle parameter of "60 degrees". However, "angular_velocity" isn\'t mentioned in the natural language command, so "0" may not be the most accurate representation. As for the "is_clockwise" parameter, it\'s appropriately interpreted as "false" from "counterclockwise" in the command.'] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];['4.5; The action and parameters match well but is_clockwise should be False for turning left and the angular_velocity is not specified so it cannot be 0.'] +Move in an anti-clockwise direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false}}'];['4; The JSON structure correctly denotes the action of rotation and the anti-clockwise direction as commanded. However, the angular_velocity parameter is given the value 0 which does not conform to the natural language command. The command does not specify an angular velocity, therefore any non-zero reasonable value could have been accepted.'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure correctly matches the natural language command "Rotate in the opposite direction by 60 degrees." as it includes the right action "rotate" and the correct parameters "angle" and "is_clockwise". The only slight mismatch is the value of "angular_velocity", which is not specified in the command but is present in the JSON, although any reasonable value is accepted as per the instructions.'] +Perform a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 60, "is_clockwise": false}}'];['4.5; The command almost perfectly translates to the provided JSON structure, however the "unit": "degrees" is missing in the JSON structure even though it is implied.'] +Move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['5; The natural language command correctly matches the JSON structure. The action "move" and params such as "linear_speed", "distance", and "is_forward" are all correct. The distance value of "2" is also correctly obtained from the command.'] +Proceed straight ahead for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; The natural language command corresponds to the JSON structure with the action "move" and parameters including "linear_speed", "distance", "is_forward", and "unit". The distance value is correctly stated in the command.'] +Advance onward by 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];['4; Although the command correlates to the JSON structure and uses the "move" action, the linear_speed is randomly assigned in the JSON as it wasn\'t specified in the command. The is_forward boolean and distance are correctly interpreted.'] +Travel straight ahead, covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; The JSON structure correctly encapsulates the command to move forward, covering a distance of 2 meters. The action "move" and parameters "linear_speed", "distance", "is_forward", and "unit" accord with the command and the sample ontology. The parameter\'s values provided in the JSON are also reasonable and align with the command.'] +Take 2 meters forward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];['5; Exactly conform. The natural language command matches perfectly with the given distinct JSON. It indicates the action to move forward 2 meters, which is represented in the JSON structure as a move action with a distance of 2 and "is_forward" set to true. While the linear speed is not mentioned in the command, the JSON value of 1 is reasonable and accepted.'] +Turn left and move at a speed of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meters"}}'];['3; The command requires an action of moving with a provided speed, which matches with the JSON "move" action. However, the command specified to turn left, which isn\'t included in JSON provided. But, there is an inaccuracy in the "distance" field, in natural language command there is a time of duration for how long to move mentioned but not distance. Also, there is contradiction with "is_forward" field, according to command robot should move forward, but in JSON it is set to "false". The unit of speed is correct in both command and JSON.'] +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['2; The first JSON structure partially matches the natural language command. The action of rotation and the "angular_velocity" are correct, however, the "angle" and the direction of the turn (being counterclockwise or not) are not mentioned in the natural language command, so this can\'t be assumed. The second JSON structure also partially matches the command in the rotation but incorrectly includes a distance parameter that is not mentioned in the command. Additionally, the unit is slightly incorrect with "meters" in the JSON while the command mentions "meter". The durations parameter is missing in the JSON.'] +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The commands given match mostly with the JSON structure. The action "rotate" and "move" are correctly identified, and most of the parameters for these actions are accurate, such as the "angular_velocity", "linear_speed", "is_forward" and "unit." However, there are slight issues: an angle is not specified for rotation in the natural language command but is specified in the JSON (a reasonable value is given, so it\'s not totally wrong), and the "distance" value in the "move" JSON does not match up with the natural language command, as time is specified there instead of distance.'] +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meter"}}'];['2; The JSON structure partially conforms to the natural language command. The "action" key is accurate; the phrase "travel with a speed of 0.5 meters per second" correctly matches with "action": "move" and "linear_speed": 0.5 in the JSON structure. However, the values for "distance" and "unit" don\'t match with any information in the natural language command. Also, the "is_forward" key has a wrong value, based on the command it should be True. Moreover, the command "Take a leftward turn" is missing in the JSON structure.'] +Face left and advance at a pace of 0.5 meters per second for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; While the natural language command and the JSON instruction both involve moving forward at a certain speed, the command indicates time ("for 10 seconds"), not distance as the JSON structure denotes. There is also no information reflected for the \'Face left\' part of the command in the provided JSON.'] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure contains the same action as the natural language command and includes details for movement direction ('is_forward'), distance, and unit. However, the 'is_forward' value in the JSON structure is false which conforms with the backward movement in the command. But the linear_speed is not mentioned in the natural language command but is present in the JSON which slightly reduces the conformity."] +Go back 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The command closely matches the JSON information. The "move" action and "distance" parameter match perfectly. However, the "is_forward" parameter in the JSON structure is reversed in the actual command as the robot is commanded to "go back", which implies moving backwards rather than forwards. The "linear_speed" parameter is not mentioned in the command, but any reasonable value is accepted.'] +Reverse direction and move 6 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; The JSON representation matches the command perfectly. The action is "move" and all parameters including "distance", "is_forward", and "unit" are correctly encapsulated and corresponding to the command.'] +Retreat for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; The natural language command matches exactly with the JSON structure, including the action of "move", the parameters, and their respective values, except for the linear_speed which was not mentioned in the command but, has a reasonable value in the JSON. Therefore, it is an exact match with the command.'] +Travel in the opposite direction and cover a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": default, "distance": 6, "is_forward": false}}'];["4; The natural language command correctly matches with the JSON key 'action' value 'move' and 'params' values of 'distance' and 'is_forward'. However, 'linear_speed' is not mentioned in the command, hence the default value. A perfect score context would include all needed parameters."] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];["5; The command perfectly matches with the 'move' action structure in JSON. It specifically mentions 'forward' movement, which matches with the 'is_forward' parameter set to true; The distance of 5 meters also matches perfectly. The 'linear_speed' is a reasonable default value. Hence, the JSON accurately represents the command."] +Proceed straight ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true, "unit": "meter"}}'];["4; The natural language command is converted to JSON structure correctly with the right 'action' and 'params'. However, the 'linear_speed' is not specified in the natural language command and thus its value is assigned 0.0, which is not reasonable as there must be some speed to move ahead. Therefore, a point is deducted."] +Advance by 5 meters in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['5; The natural language command exactly matches with the JSON structure, with parameters like linear_speed, distance, is_forward are all correctly mentioned.'] +Go ahead for a span of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The command perfectly matches with the JSON instruction. All parameters in the command ("move", "distance: 5", "is_forward: True", "unit: meter") are present and even though the "linear_speed" parameter is not mentioned in the command, its presence (with any value) is accepted. Therefore, they are in complete conformity.'] +Cover a distance of 5 meters by moving forward.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command perfectly matches with the JSON information. The action "move" and parameters like "distance", "is_forward" and "unit" are correctly captured. Although the "linear_speed" is not specified in the command, the JSON structure provides a reasonable value, thus it is accepted.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["4.6; The 'action' and 'params' keys match perfectly with the sample ontology and the values within the 'params' key have a reasonable value. However, 'angular_velocity' in the JSON structure is 0, despite not being specified in the natural language command, which might be technically correct but it suggests no rotation, in contrast with the natural language command."] +Turn 90 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; The natural language command instructs to turn 90 degrees in the counterclockwise direction. This is accurately represented in the JSON structure; the "rotate" action and the parameters "angle": 90, "is_clockwise": false. Although the "angular_velocity" is not specified in the NL command, it is given a reasonable value in the JSON.'] +Rotate in a counterclockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['3; Partial conformity. The "action" and "angle" fields match, but the "angular_velocity" field in the JSON does not match with the natural language command where no speed is specified. The "is_clockwise" field matches but in a reversed logic, as counterclockwise in command is represented by false.'] +Rotate anti-clockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The command is mostly conforming with the provided JSON structure and the available keys. However, the "angular_velocity" in the JSON structure is set to "0", which doesn\'t match with the command to rotate, as no specific speed is given in the natural language instruction. This value should be a sensible default, not zero.'] +Make a 90-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command correctly match with the action and its parameters in JSON. However, "angular_velocity" is 0, which doesn\'t make sense as it contradicts the rotation action.'] +Stop.;['{}'];["0; The natural language command 'Stop.' doesn't match with any of the provided JSON structures. The given command does not include any action or parameters that correspond to the keys in the sample ontology."] +Cease.;['{}'];["0; The natural language command, 'Cease.', does not match any of the commands given in the JSON structures. There is no provided action corresponding to 'Cease' in the given samples. Therefore, it can't be converted into any of the provided JSON formats."] +Halt.;['{}'];["0; The natural language command does not correspond to any of the provided JSON structures. The command 'Halt.' does not match with any actions or parameters in the sample ontology. Hence, it cannot be converted into a JSON structure."] +Pause.;['{"action": "pause"}'];['0; The command "Pause" does not exist in the sample keys, thus cannot be converted to JSON.'] +Terminate.;["I apologize for any confusion, but I can't proceed without a valid prompt. If you have any questions or need assistance, please let me know."];['0; The command "Terminate" doesn\'t match any of the provided JSON structures, nor does it adhere to any keys in the given ontology.'] +Reverse for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 0, "is_clockwise": false, "unit": "seconds"}}'];['2; The JSON has the correct structure but the values are not completely matching. The command tells to "reverse", which suggests moving backward rather than rotating. Also, the rotation angle is not specified in the command, while it is specified in the JSON. The "angular_velocity" could be considered as a duration but it\'s not an accurate interpretation. Even though the action should be "move" which doesn\'t exist in the ontology, reversing can also be understood as turning around (rotating) 180 degrees, which could justify the given "rotate" action. However, this might not be the correct interpretation since the command is too ambiguous.'] +Reverse for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false, "duration": 2, "unit": "seconds"}}'];["2; The JSON structure encompasses an 'action' of 'rotate' which isn't explicitly stated in the natural language command. While the 'duration' is correctly captured, it is also missing a key for 'is_reverse' or similar, to accurately reflect the 'reverse' operation mentioned in the command. Additionally, the 'angular_velocity' and 'angle' parameters being set to 0 do not inherently imply a movement in reverse."] +Go back for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];["3; The JSON structure partially conforms to the natural language command. The direction of the movement is correctly interpreted as backwards ('is_forward': false). However, the unit for 'distance' parameter is 'seconds', which doesn't align with the typical unit of 'distance' (typically meters or similar units). Instead, 'seconds' might have been used as an indication of duration/time for this movement. Moreover, the 'linear_speed' is set as -1 but there is no information in the natural command to infer the speed. It's set to a negative value likely due to the command indicating to move backwards, but speed in itself can't be negative."] +Move in reverse for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['1; The JSON structure is somewhat conforming to the command. Its "action" and "params" keys matches with the command. But "linear_speed" is not mentioned in the natural language command and "is_forwards" key should be False in the JSON as the command specified to move in reverse. Also, distance in JSON is not conforming because in command it is defined as duration (sec) not the actual distance measure.'] +Go in the opposite direction for 2 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['4; Partial conformity. The overall action in the natural language command (going in the opposite direction) is represented in the "action": "move" key in the JSON. The duration of 2 seconds in the command might be loosely interpreted as a distance parameter, which is why a "distance": 2 appears in the JSON. However, the "unit" given in the JSON structure should be "meter", and "seconds" is not an appropriate unit for distance. It\'s also important to note that the linear_speed value of -1 in the JSON isn\'t clearly stated in the natural language command.'] +Turn left and move forward for 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'];['4; The natural language command partially corresponds with the given JSON structure, the action "move" and its parameter "distance" are correctly represented in the JSON. It also includes "is_forward" as true which is implied in the command. However, "turn left" is not represented in any JSON command and the linear speed is assumed.'] +Proceed forward for a distance of 10 meters after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true}}'];['4; The commands mostly conform to the JSON structure. However, the angular_velocity in the "rotate" command does not match. The command states a "left turn" without specifying velocity, allowing it to be any reasonable value. In the provided JSON, it is given a value of 0.5, whereas in the example JSON structure, the angular_velocity value is given as 0.35. This slight discrepancy leads to a score of 4 instead of a perfect 5.'] +Make a left-hand turn and continue straight ahead for a distance of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4.5; Both commands are correctly translated to the JSON format according to the ontology although angular_velocity for the first JSON structure does not match with the sample keys and values. Because a natural language command does not specify the angular_velocity, a reasonable value is accepted. But the value 10 in this JSON too much for angular_velocity. Usually this value ranges from 0 to 2.'] +After turning left, continue moving straight ahead for a total of 10 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "meter"}}'];["4; The JSON structure matches the 'move' action of the command and specifies the correct parameters ('linear_speed', 'distance', 'is_forward', 'unit'). However, the command also includes a 'turn left' instruction that is not captured in the JSON structure. That information should have been represented using the 'rotate' action."] +Execute a left turn and then travel forward for a distance of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'];['4; The commands of turning and moving are present in the JSON and the values provided are reasonable. However, the natural language command specifies a left turn but does not specify whether it should be in a clockwise or counterclockwise direction. The JSON has a clockwise rotation which could or could not be a left turn depending on the current orientation of the robot. Due to this missing piece of information, a perfect score could not be given.'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['2; The JSON structure appropriately captures the "move" action and the direction of the movement (backward). However, the "distance" key should not have a time (seconds) value because the nature of this key is for spacial displacement not temporal. Also, "linear_speed" is not mentioned in the command, and its value (-1) is arbitrarily chosen.'] +Go back for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 3, "is_forward": false, "unit": "seconds"}}'];["0; The JSON structure does not match with the natural language command, there is no 'duration' key present in the sample JSON ontology."] +Reverse movement for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command is represented in the JSON structure but the ontology isn\'t fully followed. The keys "linear_speed" and "distance" are not used in the intended way based on the command. Here the "distance" is used as "time" for "3 seconds". Also, the negative speed ("-1") is being used to indicate "reverse" movement which is not the way it is meant to be used in the provided ontology. The key to indicate the direction (forward/reverse) is "is_forward", however, it is used correctly in the JSON structure. The key "unit" is incorrectly shown as "seconds", Ideally it should be applied on "distance" or "speed" which wasn\'t expressed in the command.'] +Retreat for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": false, "unit": "meter"}}'];['4; The natural language command instructs a movement which matches with the "move" action in the JSON structure. However, in the JSON the distance is provided whereas the command talks about a time duration. Also, the JSON correctly identifies the backward movement (retreat) with "is_forward": false. The parameter\'s value, linear_speed, is also acceptable.'] +Take a step back for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The JSON structure doesn\'t match the natural language command completely. The "move" action is correct, but "duration" is not a valid parameter according to the keys in the sample ontology. Instead, "distance" and "linear_speed" are used, but there\'s no connection specified between duration, linear_speed, and distance. Also, the direction of movement is specified by "is_forward", not by a negative linear_speed in the sample ontology.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4.5; Almost a perfect match. Although angular_velocity value is not specified in the natural language command, 0 is regarded as a reasonable value. However, "unit": "degrees" key is missing in the JSON structure.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The JSON structure largely conforms to the natural language command, action correctly specified as rotate, the angle parameter and its value do correspond. The direction(\'is_clockwise\' = true) aligns as well. However, "angular_velocity" expected some data but is provided 0 instead of a reasonable unidentified value. This slight discrepancy lowers the conformity score.'] +Turn right and rotate 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; Although the natural language command specifies to "turn right and rotate 180 degrees", it technically only corresponds to the JSON that executes the rotation. The angular velocity is not specified in the command, but a value has been reasonably provided. However, the command "turn right" does not exactly match "rotate".'] +Execute a rotation of 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The natural language command exactly conforms to the JSON structure. The "action" is "rotate", and the "params" are an unspecified "angular_velocity", "angle" of 180, and "is_clockwise" as true, which matches the natural language command of 180 degrees clockwise rotation.'] +Turn right and move forward for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": true, "unit": "meters"}}'];['4; The natural language command correctly matches the JSON structures for rotate and move actions. The only deviation is in specifying an angular_velocity for the rotation when it is not mentioned in the command. However, the angle and direction of rotation as well as the distance to move forward are correctly represented in the JSON.'] +Proceed forward for a distance of 8 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'];['4.5; Almost perfect match, the `angular_velocity` in the rotation action and the `linear_speed` in the move action are not specified in the natural language command hence any reasonable values are acceptable. However, the `angular_velocity` is not as much as expected in a quick right turn.'] +Take a right turn and continue moving straight ahead for a duration of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": , "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; The natural language command correctly translates into the provided JSON structure. The given command "Take a right turn" is mentioned in the JSON structure with a 90-degree angle assuming a right-turn and clockwise rotation. Additionally, "continue moving straight ahead for a duration of 8 meters." is translated into a move action with a distance of 8 meters regardless of the unspecified speed.'] +After making a right-hand turn, advance 8 meters in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['3; The JSON correctly captures the "move" action described in the command, however, there is no JSON structure depicting the \'right-hand turn\'. The sample keys in the given command ontology does not have a specific action to represent a \'right-hand turn\'. Hence, the JSON is partially conforming to the command.'] +Rotate to the right, then travel straight ahead for a distance of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; The natural language command asks for a rotation and a move, which matches the actions in the JSON structures. However, the values of \'angular_velocity\' for rotation and \'linear_speed\' for moving are left as 0 in the JSON, which does not fully respect the command to "rotate" and "travel straight ahead". Therefore a point is deducted.'] +Move forward for 1 meter and stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The natural language command "Move forward for 1 meter and stop" matches very well with the provided JSON structure with "action" as "move". The parameters "distance": 1, "is_forward": true, "unit": "meter" are exactly specified in the command. Even though the "linear_speed" is not specified in the command, it set to 0.0 can be considered a stop action as mentioned in the command after the motion, therefore it is a reasonable value.'] +Proceed straight ahead for a distance of 1 meter and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3.5; The command is partially conforming. The direction of movement and the distance matches. However, the "linear_speed" is set to 0 in JSON which isn\'t implied in the command. The halt is not implied in the JSON structure.'] +Advance one meter ahead and then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command perfectly matches the JSON structure provided, which includes action "move" and parameters specifying distance, linear speed and direction (forward).'] +Travel in the forward direction for a length of 1 meter and then cease movement.;['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": true}}'];['4.5; The natural language command matches with the action "move" and its parameters, but the "unit" parameter in the JSON snippet is not specified in the natural language command. Additionally, the "linear_speed" value is also not specified in the command, although it indicates to stop the movement after certain distance, so a value of 0 is not reasonable in this context.'] +Move ahead for a distance of 1 meter, and then bring the movement to a stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The command asks to move, corresponding to the action "move" in the JSON. All parameters are appropriately matched - a positive distance is specified (implying is_forward = true), a specific unit "meter" is stated, and the stop function is implied via a "linear_speed" of 0.0.'] +Rotate counterclockwise by 135 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['4; Mostly conform. The JSON structure correctly represents the action to "rotate" with specified "angle" of 135, "unit" as "degrees" and "is_clockwise" as false, which aligns with the command to rotate counterclockwise. However, the "angular_velocity" has been set as 0 in the JSON which is inconsistent as a velocity of 0 would imply no rotation. A reasonable value other than 0 for "angular_velocity" would have been acceptable as per the instructions.'] +Rotate 135 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false}}'];['4.5; The command matches the "rotate" action but the value of "angular_velocity" does not match as it is given as 0 in the JSON while it is not defined in the natural language command.'] +Turn 135 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false}}'];['5; The natural language command matches exactly with the JSON structure. The action of "rotate" is correctly identified and the parameters such as "angular_velocity", "angle" and "is_clockwise" are present. Angle is accurately given as 135 and the rotation is counterclockwise, hence "is_clockwise": false is correct.'] +Rotate anticlockwise by 135 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];["5; The natural language command exactly conforms with the JSON structure. It correctly mentions the action as 'rotate', the rotation angle as '135', rotation direction as 'anticlockwise' which translates to 'is_clockwise': false in JSON, and 'unit' as 'degrees'. The 'angular_velocity' is not specified in the command, but any value is accepted as per instructions."] +Perform a 135 degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command clearly asks for a counterclockwise rotation of 135 degrees, and the JSON structure matches with this command: "rotate" as the action, a specific "angle" of 135, the direction not "is_clockwise", and the "unit" is degrees. The value of "angular_velocity" is reasonably put as 10, since the command doesn\'t specify it.'] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meters"}}'];['4; While the command fits the move action structure perfectly, it does not specify the linear_speed. However, the presumption made about the speed is reasonable. Also, the unit in the natural language command is "meters", but in the JSON structure, it is "meter" - a slight mismatch.'] +Go in reverse for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];["4; The natural language command fits mostly with the JSON structure. It's about moving, a distance is specified and the backward direction can be interpreted by 'is_forward': false. However, the linear speed is set to 0.5 in the command while no specific speed is requested in the command. The minus before the speed value in JSON structure is not in line with keys of the sample ontology."] +Take 6 steps back.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false}}'];['4; The command partially conforms to the JSON structure. The command "Take 6 steps back" correctly translates to the "move" action, and the "distance" value is correct at 6. However, it\'s not clear how "steps" translate to "linear_speed" in the provided JSON. The orientation "is_forward": false is correct for moving backwards. But, "unit" key is not considered in the natural language command.'] +Retreat 6 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);["2; The natural language command instructs to move a certain distance but in opposite direction (retreat) which the first ontology doesn't support. The second ontology does support a move with specified distance, but it lacks information to determine the direction (whether it's forward or backward). Therefore, the command partially matches with the second ontology but not fully and doesn't match at all with the first and third ontologies."] +Travel 6 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Turn left and move forward for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['2; The command involves both a rotation and movement, but the JSON structure only reflects the movement part. Furthermore, the movement in JSON is in \'distance\' and not in \'seconds\' as the command specifies, even though the value of 2 for distance could be reasonable. The command\'s request to "turn left" is completely missing from the JSON structure.'] +Take a left turn and proceed straight ahead for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter", "duration": 4, "duration_unit": "seconds"}}'];['2; The JSON structure does have "action" as "move", "is_forward" as True, and a duration of "4" seconds which is correct. However, there\'s no such parameter as "duration" or "duration_unit" in the sample ontology, and also speed and distance values are 0 in the JSON which isn\'t mentioned in the command. Moreover, the command\'s direction to take a left turn isn\'t represented in the JSON at all.'] +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['3; While the command "continue moving forward, maintaining the motion for 4 seconds" is partially present in the provided JSON structure with "action": "move" and "params": { "is_forward": True and "distance": 4 ,"unit": "seconds"}, the part of the command pertaining to "make a leftward turn" isn\'t represented in the JSON structure.'] +Pivot to the left and advance forward for a period of 4 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 4, "unit": "seconds"}}'];['2; The command was partially converted into JSON, but it doesn\'t match with the sample ontology provided. For example, the key "duration" in the move action\'s params is not present in the sample ontology. The rotation action seems to be mentioned in the natural language command but it is not fully or accurately represented in the JSON (i.e., there are no specified values for "angular_velocity" or "angle").'] +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.;['{"action": "move", "params": {"linear_speed": default_value, "distance": default_value, "is_forward": true, "duration": 4, "unit": "seconds"}}'];['1; The natural language command refers to two actions: rotating and moving forward. However, the given JSON structure only implements the \'move\' action and doesn\'t specify a rotation. Moreover, the JSON structure uses a "duration" element which does not exist in the provided ontology. Additionally, the rotation direction (leftward in the NL command) is not converted into \'is_clockwise\' as per the ontology. Hence, the match is very low.'] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['5; Exact match. The natural language command instructs to "rotate clockwise by 60 degrees" which is accurately depicted in the JSON structure where "action" is set to "rotate", "angle" is 60 and "is_clockwise" is true. The "angular_velocity" value is not specified in the command but is set to a reasonable value of 0 in the JSON structure.'] +Turn 60 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; The natural language command matches the JSON structure\'s "action" and "params" values. The "angle" in the command aligns with the "angle" in the JSON structure. The rotation direction ("is_clockwise") also aligns. However, the "angular_velocity" in the JSON structure is 0, whereas no specific angular velocity is indicated in the command. Thus, the command\'s conformity to the JSON structure is not perfect, indicating a lower score.'] +Rotate the object by 60 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['5; The natural language command exactly conforms to the given JSON structure. The action "rotate" is accurately stated, as well as its corresponding parameters: "angle" as 60, and "is_clockwise" as true. The "angular_velocity" is unspecified in the command, but as it\'s not necessary to perform the action and the JSON representation has set a reasonable value, it gets the highest conformity score.'] +Move in a clockwise direction, making a 60 degree turn.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['5; The command \'Move in a clockwise direction, making a 60 degree turn\' can be exactly translated to the provided JSON structure which includes the "rotate" action, angle of 60 degrees, and clockwise direction. The angular velocity is not specified in the command but it is accepted as a reasonable value in the JSON file.'] +Rotate 60 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; The natural language command is correctly converted to JSON structure, but the "angular_velocity" is 0, which makes it not make sense in the physical world, though it\'s acceptable in this test.'] +Move forward for 7 meters and stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command asks to "Move forward for 7 meters". This perfectly matches with the JSON structure in which the "action" is "move", "distance" is 7, "is_forward" is true and "unit" is "meter”. The "linear_speed" is not specified in the language command but a reasonable value of 0.5 is given in the JSON.'] +Proceed straight for a distance of 7 meters and come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure matches the command properly but the "linear_speed" parameter doesn\'t conform. The command mentions to proceed straight but doesn\'t specify the "linear_speed", so any value here is okay. But 0 is not a reasonable value because it means that there is no movement.'] +Advance ahead covering a distance of 7 meters and then cease movement.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meters"}}'];['5; The natural language command corresponds flawlessly with the provided JSON structure. The "move" action matches, and the "distance" parameter is accurately specified as 7 meters. The "is_forward" key is correctly set to true, and the "unit" is appropriately listed as "meters". The "linear_speed" parameter isn\'t specified in the command; however, 0.5 is a reasonable value.'] +Go forward 7 meters and then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meters"}}'];["5; Although the command doesn't explicitly specify that the movement should be forward, it can be inferred. The JSON meets the natural language command entirely, it carries out the action of moving forward with a specific distance as the command said."] +Move straight ahead, covering a distance of 7 meters, and then halt.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches with the JSON structure with the "move" action and the parameters match as well but the linear speed in JSON structure is mentioned as 0.0 whereas the command does not specify the speed, so we can\'t say if it\'s 0 or any other value. The "unit" and "is_forward" in the JSON structure are correct and match the natural language command.'] +Reverse for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false}}'];["1; The 'move' action in the JSON matches the 'reverse' command in natural language but 'unit' key in the JSON is missing. None of 'distance' or 'linear_speed' is mentioned in the natural language command. The boolean value of 'is_forward' key as false is correct and relative to 'reverse' action in the natural language command."] +Reverse for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2.5, "is_forward": false, "unit": "meters", "duration": 5, "unit_duration": "seconds"}}'];["4; The JSON structure correctly represents the action 'move', the parameter 'is_forward' is correctly set as false indicating a reverse action, and a reasonable 'linear_speed' value has been provided (0.5). Also, the 'duration' parameter is added in line with the command's request, set to 5 seconds. The 'distance' assigned value '2.5' is not indicated in the natural language command but is acceptable. However, the 'duration' parameter and 'unit_duration' parameter do not exist in the provided sample ontology, hence the 1 point deduction."] +Perform a 5-second reverse.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "second"}}'];["3; The action and parameters 'move' and 'is_forward' match with the requested command, however 'linear_speed' and 'distance' do not match - 'distance' in the command is given in terms of time (seconds) rather than a physical distance. The unit is also incorrect as it's given as 'seconds' rather than 'meters'."] +Execute a reverse motion for 5 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['2; The JSON structure partially matches with the command. The "action" value of "move" is appropriately derived from "execute a reverse motion". However, the command specifies the duration in seconds but in the given JSON "distance" is used instead of a time parameter. The "is_forward": false correctly translates "reverse". But the "linear_speed" value as -1 is not mentioned in the command. The use of the unit as "seconds" is correct in the context of given command.'] +Go backwards for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['2; The command asks to go backwards for a period of time (5 seconds), while the JSON structure represents a movement with a specified linear speed and distance, not time. The value for "is_forward" correctly translates the "go backwards" command. There is no appropriate key for time in the sample ontology. The unit given in the command is "seconds", but the JSON uses "meter". The distance parameter does not match any part of the command.'] +Turn right and move forward for 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true, "unit": "meters"}}'];['4; The natural language command almost exactly conforms to the provided JSON structures. The rotation action gives the correct direction (right, thus clockwise) but does not specify an angular velocity value. This is acceptable because any reasonable value is allowed if not specified in the natural language command. The move action is correctly formed with a specified distance, a default linear speed (not specified in the command), and the is_forward parameter set to true. However, the unit in the JSON structure is "meter" according to the sample ontology, but in the given JSON it\'s "meters".'] +Move forward for 9 meters after turning right.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true}}'];['5; The natural language command is exactly matched with the JSON structure where firstly, the robot is commanded to rotate clockwise (right turn) with a reasonable angular velocity and secondly, to move forward a distance of 9 meters with a reasonable linear speed. Both the commands are fulfilling the requirement of the sample ontology keys.'] +After turning right, proceed ahead for a distance of 9 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true, "unit": "meter"}}'];['3; The JSON structure partially conforms to the natural language command. It has the correct "move" action and parameters such as "distance", "is_forward" and "unit", but it doesn\'t cover the command "After turning right" which implies a "rotate" action.'] +Take a right turn, then continue moving straight for a distance of 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'];["3.5; The commands in JSON partially reflect the instructions in Natural Language but with some discrepancies such as the angular velocity not being specified in the NL instruction, and the 'rotate' command does not specify the unit it is measured in. However, an attempt has been made to convert NL commands into JSON format."] +Make a right turn and travel forward for 9 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'];['5; The natural language command is perfectly matched with the provided JSON information. The "rotate" action with clockwise direction corresponds to the "make a right turn" in the command, and the "move" action with "is_forward": true corresponds to "travel forward". The distance value is explicitly specified in the command as 9 meters, which also matches. Thus, the conformity score is 5.'] +Move forward for 2 seconds and stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['3; The command matches the general structure of the "move" JSON data however the unit is misinterpreted. In the command, moving forward is for a duration (seconds), not a distance. The "is_forward" parameter is correct. There\'s also no indication to stop in the JSON data.'] +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "duration": 2, "unit": "seconds"}}'];["1; The JSON structure partially matches the command. The action 'move' and a corrected 'is_forward' parameter match the command. However, there is no command asking for a specific linear speed and unit. The 'duration' key also doesn't exist in the sample ontology. 'Distance' parameter isn't referred on the command."] +Go ahead for 2 seconds and then halt.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];["1; The natural language command includes a move action which is presented in the JSON structure. However, the time parameter is not represented in the JSON structure, and the distance is not specified in the command but is specified in the JSON. Thus, there's only partial conformity."] +Advance for a period of 2 seconds and then cease movement.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'];['2; While the key "action": "move" and "is_forward": true is consistent with the command, the parameter keys in the JSON don\'t match part of the command\'s requirements. The keys "linear_speed" and "distance" do not align with the command\'s requirement to stop after a certain time period (2 seconds). Also, the keys "duration" and "unit" : "seconds" are not in the ontology.'] +Travel forward for 2 seconds before stopping.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['2; The natural language command does not specify distance nor direction but "forward" was interpreted from the JSON structure. Furthermore, the duration for which the entity will move is described in seconds (time) rather than distance as in the JSON structure. This involves a conversion that is dependent on the speed of entity, which isn\'t accounted for in the natural language command. As such, the conversion is not quite accurate.'] +Rotate counterclockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['4; The action and the angle parameter match perfectly with the natural language command. However, the JSON command also contains the parameter for "angular_velocity" and "is_clockwise" which are not specified in the natural language command. But that\'s still acceptable as per given instructions.'] +Turn 30 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['4.5; The command is almost perfectly conform. The "angular_velocity" is not specified in the natural language command, but it is assigned a plausible value in JSON. However, the "unit" field is omitted in the JSON, although "degrees" is implicitly indicated in the natural language command.'] +Rotate in the anticlockwise direction by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4; Almost conform. The JSON structure is matching correctly with the natural language command except one parameter. "\'angular_velocity\': 0" is not exactly specified in the command. But, it is not entirely mismatching because it\'s a reasonable value.'] +Rotate to the left by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];["4; The command 'Rotate to the left by 30 degrees' is matching with the JSON structure, but the angular_velocity value is given as 0 while in natural language command, it's not mentioned. So, the value in the JSON doesn't seem to be reasonable as rotating with zero velocity isn't possible."] +Rotate in a counterclockwise direction, making a 30-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['4.5; The command matches well with the JSON structure, even though the "angular_velocity" is 0 but the natural language command does not specify a velocity. The counterclockwise direction corresponds to the "is_clockwise": false in the JSON. The degree of rotation is also correctly captured. There isn\'t an exact match hence the .5 deduction.'] +Reverse for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The natural language command is accurately represented in the JSON structure. The action of "move" with the specified distance of 4 meters and the direction of motion indicated as reverse (is_forward equal to false) is correctly reflected. However, the command doesn\'t specify the "linear_speed", so the JSON value is less precise, hence a score of 4 instead of 5.'] +Move back for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['3; This JSON structure mostly reflects the natural language command, but the "is_forward" key should be set as `False`. However, the natural language command doesn\'t specify "linear_speed", so any value for "linear_speed" in the JSON is accepted.'] +Go in reverse for a span of 4 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command specifies the action of moving, which is correctly represented in the JSON command. All relevant parameters (distance, is_forward, unit) are included, and the negative linear_speed denotes the action of moving in reverse, which matches the natural language command. The exact speed is not specified in the natural language command, but a reasonable value is given in the JSON.'] +Retreat 4 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['5; The command is perfectly in line with the JSON structure. The action "move" is correctly identified, and the parameters "distance", "is_forward", and "unit" are accurately represented, even though "linear_speed" was not specified in the command, a reasonable value was assigned.'] +Travel backwards, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure matches the natural language command pretty well, except for the "linear_speed" parameter that did not get specified in the natural language command. It understood the direction, unit of measurement, and the distance to cover properly, hence the score of 4.'] +Turn left and move forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true}}'];['2; The JSON structure partially matches with the command. The \'move\' action and \'is_forward\' parameter align with "move forward" in the command. However, \'linear_speed\' and \'distance\' parameters do not have corresponding elements in the command. Also, the command mentions "turn left" which doesn\'t have a corresponding JSON structure in the provided examples.'] +Proceed forward for 6 seconds after making a left turn.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['4; The rotation action and parameters (angular_velocity, angle, is_clockwise and unit) match accordingly in the first JSON structure and the natural language command. However, the move action parameters do not conform exactly in the second JSON structure, the unit for distance measurement is described as "seconds" instead of "meters". Also, the value of distance is given in seconds instead of a measure of length.'] +Make a left turn and advance for 6 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['3; Partially conform. The "rotate" JSON structure is fine, assuming a left turn corresponds to a counterclockwise rotation. However, the "move" structure JSON does not match the command: the distance should be measured in "meters", not "seconds".'] +Move ahead for 6 seconds after turning to the left.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['3; The JSON structures partially conform to the natural language command. The rotation and move commands are correctly represented, but the direction of the rotation (to the left) is considered as anti-clockwise and should be indicated by "is_clockwise": false not true. For \'move\' command, \'distance\' in JSON is given a numeric value \'6\' but in the command it refers to time not distance so it doesn\'t exactly match.'] +After veering left, continue straight for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['1; The JSON structure denotes a "move" action, with parameters including a speed and direction. However, these do not conform to the given natural language command, which mentions veering to the left (suggesting a rotation action that is not present in the JSON) and continuing for a particular duration (which is not accounted for in the "distance" parameter). Moreover, the distance parameter in the JSON structure (3 meters) is not directly inferred from the natural language command.'] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['5; Exactly conform. The command "Move forward for 5 meters" perfectly aligns with the JSON structure having action as "move", "is_forward" as True and "distance" as 5. Though the "linear_speed" is not mentioned in the command, a reasonable value of 0.5 is provided in JSON which is acceptable.'] +Proceed ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The command correctly corresponds with the provided JSON structure. The action "move" is appropriately matched, and the parameters are also correct. The unit and distance are specifically provided in the command, and even though the linear speed and the direction (is_forward) are not mentioned, the given values in the JSON are reasonable interpretations.'] +Advance straight on and cover a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 5, "is_forward": true, "unit": "meter"}}'];["5; The natural language command accurately translates to the JSON structure, with all of the parameters clearly defined (though the 'linear_speed' has a reasonable default value as it's not mentioned in the command). The direction of the move (forward) is well reflected in the JSON structure. The action and parameters are all in the sample keys and the format of the JSON is correct."] +Head forward and travel 5 meters in that direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];["5; The command specifies an action that exactly matches the JSON structure, with all action and parameter keys matching perfectly. The 'distance' value is explicitly given in the command.Note: The 'linear_speed' value is not specified in the command but assumed to be reasonable in the context."] +Move straight ahead and go a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meters"}}'];['5; The command matches the JSON perfectly. All the parameters: action, direction of movement, unit of measurement, and distance are all present and correctly implemented in the given JSON.'] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command asks to \'turn left and move forward for 2 seconds\' which involves two actions; \'turning\' and \'moving forward\'. However, the JSON structure only accounts for the \'moving forward\' action but not the \'turning\' action. Additionally, the "unit" in the JSON is incorrect. It should be \'time\' as the command asks to move for 2 seconds, but the provided JSON has \'unit\' as \'seconds\'.'] +Move ahead for 2 seconds after turning left.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The angular velocity, angle, linear speed are not specified in the natural language command but are present in the JSON. Additionally, the unit for move action doesn\'t match as in JSON it is given as "meter" but in natural language command time unit "seconds" is used which isn\'t specified in sample ontology.'] +After turning to the left, proceed forward for a duration of 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["2; The natural language command does not directly correspond with the JSON structure. The direction of movement (turning left) is not represented in the JSON, and the unit of movement is specified in 'seconds' in the JSON, while the natural language command specifies movement by duration, not distance. Additionally, the linear speed in the JSON does not appear in the natural language command."] +Take a left turn and then proceed straight for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['3; The natural language command partially conforms to the JSON structure. The "rotate" action JSON block is missing a value for "angular_velocity", and the direction of the rotation is not specified in the natural language command. Furthermore, in the "move" action JSON block, the "distance" key is not congruent with the command, which specifies time ("2 seconds") rather than distance. The unit should be changed to "seconds" to match the command.'] +Make a left turn and continue moving forward for a duration of 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 2, "unit": "seconds"}}'];['2; The natural language command orders a left turn and moving forward. The JSON structures contain a "rotate" and "move" action, which do correspond to the natural language command. However, the details in the "params" don\'t match the command. In the "rotate" action, "angle" should be 90 to make a left turn but not provided. In the "move" action, the natural command specifies a duration not a distance. There\'s also a parameter "duration" included in the JSON structure that doesn\'t exist in the sample keys.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["5; While the angular_velocity is not specified in the natural language command and is therefore 0 in the JSON, this could be a reasonable value for the parameter, given it's not expressly contradicted. The action and other parameters align correctly."] +Turn in the opposite direction by an angle of 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["3; Partial match. The command matches with the 'rotate' action in the JSON but the 'angular_velocity' value is not specified in the command so any value is accepted but it is given as 0 in the JSON which is technically not a reasonable value for rotation. Also, it is not specified whether the rotation is clockwise or counter-clockwise in the command so 'is_clockwise' can be considered as missing."] +Rotate anticlockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; The natural language command precisely aligns with the provided JSON structure. The action "rotate" matches properly, and even though angular_velocity isn\'t specified in the command, it still fits within the range of acceptable values (0 in this case). The other parameters: angle (90) and is_clockwise (false, since the command specified anticlockwise rotation) are also perfectly reflected in the JSON configuration.'] +Spin to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false}}'];["4; The command almost exactly conforms to the JSON structure. The action and parameters match, but 'is_clockwise' is false as 'Spin to the left' is set in the command which means anti-clockwise rotation."] +Twist counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The action and parameters of rotation are correctly mentioned in the JSON structure. However, angular_velocity is not specifically mentioned in the natural language command, so the value is set to 0, although any reasonable value would be acceptable.'] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['1; The command partially conforms to the JSON structure. The \'move\' action and \'distance\' parameter match. However, the command specifies a backward movement, which should result in a "is_forward" value of false. But in the JSON, the \'linear_speed\' has value -1, which was not indicated or specified in the command, hence a point deduction.'] +Go in reverse for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The JSON command approximately matches the natural language command. However, the "linear_speed" value cannot be inferred from the natural language command and thus the specific value in the JSON command may or may not conform to the instruction. Also, there is no command in the natural language for the robot to go in reverse, so "is_forward": false is not directly inferred, but makes sense in the context.'] +Travel three meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure matches well with the natural language command except for the 'linear_speed' key where the value is defaulted as the natural language command does not specify the speed of travel."] +Retreat for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false}}'];['4.5; The JSON provided goes well with the command. The action "move" and the distance parameter with a value of 3 directly fit the command. However, in the command, the unit of distance is not specified but in the JSON it is specified as "meters". The speed and direction parameters though not mentioned in the command are acceptable. The JSON lacks a unit parameter as per the ontology.'] +Reverse your movement and cover a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4; Though the specific 'linear_speed' is not mentioned in the natural language command, the JSON structure accurately describes the action to be performed (i.e., move in reverse for a distance of 3 meters). The 'linear_speed' has a reasonable value and the 'unit' matches. However, the 'is_forward' key should be false according to the natural language command, which mentions a reverse movement."] +Turn right and move forward for 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The given natural language command properly translated into JSON structure(s) has all the required keys. Turning right is a rotation with is_clockwise set to true, and moving forward for 1 meter correctly applies to the "move" action with the distance set to 1 and is_forward set to true. Angular_velocity and linear_speed also have reasonable values.'] +Proceed forward for 1 meter after turning to the right.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command indicates a two part command- of first rotating and then moving forward. This matches exactly with the two JSON structures presented. The rotation parameters are correctly represented including the clockwise direction. The movement parameters are correctly represented, including the specified distance of 1 meter.'] +Take a right turn and continue moving straight ahead for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["4; The natural language command partially matches the JSON information. It accurately converts taking a right turn into rotation with an angle of 90 degrees (although the angular_velocity has another value than the one in the JSON example). However, it doesn't include the command to move straight ahead for 1 meter."] +After making a right turn, proceed ahead for 1 meter.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 1, "is_forward": true}}'];['1; The given natural language command includes an action of moving forward after making a turn, whereas the provided JSON structure only includes the moving forward action. Thus, the command only partially conforms to the JSON structure.'] +Rotate to the right and then advance for a distance of 1 meter.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 0.0, "is_clockwise": true}, "action": "move", "params": {"linear_velocity": 0.0, "distance": 1, "is_forward": true, "unit": "meters"}}'];["4.5; Almost all keys match perfectly, but 'linear_velocity' in the JSON structure should be 'linear_speed' according to the sample ontology provided. Additionally, the values of 'angular_velocity' and 'angle' are not provided in the natural language command, but reasonable values are given in the JSON, which is acceptable according to the rules. Therefore, a minor deduction was made."] +Move forward at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['5; Exactly conform. The command "Move forward at a velocity of 0.5 meters per second" matches perfectly with the JSON structure, which has the "move" action, linear speed set to 0.5, and the "is_forward" parameter set to True. The distance field in JSON is not specified in the command but takes a reasonable default value of 1.'] +Proceed ahead with a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true}}'];['4; The natural language command and JSON structure match partially. The "linear_speed" parameter is correctly defined as 0.5. However, the "distance" given in the JSON is not mentioned in the command and hence, it assumes any reasonable value (here it is 0). The "is_forward" is true which is implied by the command "proceed ahead". However, the unit of speed "meters per second" is not captured in the JSON structure. This unit might be implicit from the system or the robot\'s design specifications, hence it\'s not a significant issue. But not expliclity mentioning it in the JSON can create ambiguity.'] +Advance with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}'];['4; The natural language command matches with the action and params in the JSON except the "distance". The word "Advance" translates to "move" action and the phrase "with a velocity of 0.5 meters" matches with "linear_speed": 0.5. However, the distance value is not provided in the command although a value is provided in the JSON. "is_forward": true also fits as \'advance\' implies moving forward.'] +Go forward at a rate of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": , "is_forward": true, "unit": "meters"}}'];['4; The natural language command is almost in complete conformity with the JSON structure. It correctly maps \'go forward\' to the \'move\' action, and specifies a \'linear_speed\' of 0.5, and \'is_forward\' as true. However, the \'unit\' in JSON structure is \'meter\' and the natural language command mentioned it as \'meters\' in plural form. "Distance" parameter in the command is missing but it is considered with default_value.'] +Travel in a forward direction at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true}}'];['4.5; The natural language command matches the JSON in terms of action and linear_speed. \'is_forward\' also matches as the command specifies to move "in a forward direction". However, the \'distance\' parameter isn\'t specified in the command and the agent dynamically assumed a \'distance\' value and \'unit\' parameter isn\'t considered also.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["5; The command perfectly matches with the JSON structure. The action 'rotate' and its parameters such as 'angle', 'is_clockwise' and 'unit' are all included in the command, and the assigned values are reasonable even 'angular_velocity' is referred as default."] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The command is exactly matched with the JSON structure where action is "rotate" and parameters are the angle (180 degrees), rotation direction (clockwise) and angular_velocity that is not specified and can take any value.'] +Turn by 180 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The natural language command exactly fits the JSON structure, with matching "action" and "params". The "rotate" action is matched with angle and direction of rotation specified, which are also included in JSON as "angle" and "is_clockwise". Although "angular_velocity" wasn\'t specified in the command, it was set as 0 in the JSON, which can be assumed to be a reasonable default based on the system\'s settings. Therefore, it\'s an exact match.'] +Rotate in a clockwise manner, completing a 180-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; Exactly conform. The natural language command corresponds perfectly to the JSON structure. The action is "rotate", the angle is 180 degrees and the rotation is clockwise. Although the angular_velocity is not explicitly stated in the command, any value (here 0) is considered acceptable.'] +Execute a clockwise rotation, rotating by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The natural language command asks for a clockwise rotation of 180 degrees, and this is exactly what the JSON structure describes under the action "rotate". The value of "angular_velocity" isn\'t specified in the command, but its presence in the JSON is acceptable as it is a reasonable parameter for the action.'] +Move forward for 10 meters at a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform.'] +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches perfectly with the JSON information. The action "move" and all parameters ("linear_speed", "distance", "is_forward", "unit") are correctly specified in the command.'] +Go ahead for 10 meters, moving at a pace of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];['5; The natural language command asks the entity to move forward in a specific way, which exactly conforms to the JSON instructions where the action is "move", the linear_speed is 2, the distance is 10 meters, and the entity is moving forward. Hence the conformity score is 5.'] +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];["5; The JSON structure correctly matches the natural language command, implying a direct forward motion for a distance of 10 meters at a speed of 2 meters per second. The command's keywords and details all line up with the keys and values in the JSON."] +Turn left and move forward for 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "seconds"}}'];['3; The action and moving forward part of the command is correctly interpreted in the JSON format but the duration (5 seconds) and turning left (which is rotation, not addressed in the JSON) are not reflected in the given JSON structure.'] +Make a left turn and proceed straight ahead for a duration of 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true, "duration": 5, "unit": "seconds"}}'];['1; The JSON structures do not fully match the natural language command. The rotation is specified correctly but the "duration" key is not part of the sample keys. Additionally, the distance and linear speed values are not specified in the natural language command and are incorrectly configured with 0.0 in the JSON structure.'] +Take a left and advance in a forward direction for a span of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2.5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command gives instruction to move forward, which matches with the "move" action in the JSON. However, the time ("5 seconds") mentioned in the command does not conform with any parameter in the JSON structure, which mentions distances and speed, but not time. Therefore, the command only partially conforms to the JSON.'] +Rotate to the left and proceed ahead for a duration of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["1; The action and parameters in the JSON structure is about movement in a linear path and not about rotation. The parameters also indicate 'distance' and 'unit' as 'seconds' which is not mentioned in the given command where duration of the movement is given instead of distance. So, it is only partially conforming."] +Veer left and move forward for an interval of 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["2; Natural language command indicates a direction of motion but it's not reflected in JSON structure. The distance parameter is interpreted as time, which isn't in conformity with the sample structure."] +Move backward at a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": "default", "is_forward": false, "unit": "meter"}}'];['5; The command is correctly represented by the JSON structure. The action "move" is specified along with relevant parameters including "linear_speed" in meters per second, "is_forward" is false indicating backward movement, and "unit" in meter. Although the distance isn\'t specified in the command, setting it to a default value in the JSON is accepted.'] +Go in reverse at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure correctly explains a move action in reverse with a speed of 1. However, the distance value is assumed as 0, which could alter the intent of the command since the duration of the movement cannot be determined.'] +Travel backwards with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": "undetermined", "is_forward": false, "unit": "meter"}}'];['4; The action and unit are correct. The linear speed (velocity) is correctly represented by the "1" in the JSON. The \'is_forward\': false correctly represents the backwards motion. However, in the command the distance is not mentioned so "undetermined" is incorrect.'] +Move in the opposite direction at a rate of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure correctly represents the action "move" with the specified "linear_speed" of 1 as in the command, and it proposes an established parameter "is_forward" based on the command\'s phrase "opposite direction". However, the "distance" parameter should be unspecified instead of a value of 0 since the command doesn\'t specify a particular distance to move.'] +Go backward at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; Partial conformity. The natural language command has correct action and parameters except for the direction and distance. The backward direction is represented correctly as "is_forward": false, but linear speed should not be negative and distance should be a variable not a hard-coded \'1\'.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false}}'];['4; The JSON information matches the natural language command except for the "angular_velocity" value as it was not mentioned in the command, however the rest is conforming with the keys of the sample ontology.'] +Rotate 45 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The action and parameter types match the given ontology (rotate, angle, is_clockwise), however, the angular velocity value is set to 0 in the JSON while it is not specified in the command, but a reasonable value other than 0 should have been selected.'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['5; The command matches the JSON perfectly with the action being "rotate", and parameters for angle and clockwise direction given. The angular velocity could be any reasonable value so the fact that it\'s zero does not affect the score.'] +Rotate in an anticlockwise direction by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 45, "is_clockwise": false}}'];['4; The natural language command mostly matches the JSON structure. While the `angular_velocity` value is not specified in the command, we assume a default value. But the `unit` key is missing in the JSON structure which should hold the value "degrees" as per the sample ontology.'] +Rotate to the left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; Although the JSON structure matches the natural language command in terms of action and parameters, the value of "angular_velocity" is not specified in the command, yet it is marked as 0. If the value isn\'t specified, any reasonable value should be accepted.'] +Move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true}}'];['5; The natural language command matches perfectly with the JSON structure. The action is "move" and the details provided align with the parameters in the JSON, including moving forward and the distance of 7 meters. The "linear_speed" parameter is not specified in the natural language command, but 0.5 (as given in the JSON) is accepted as a reasonable value. The "unit" parameter is implicitly given as "meters" in the natural language command.'] +Proceed ahead for a distance of 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];["5; The natural language command corresponds perfectly to the JSON structure, with the 'move' action being specified along with the distance and the direction (forward). The 'linear_speed' parameter is not specified in the command, however, the value provided in the JSON is considered reasonable."] +Advance 7 meters in the forward direction.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 7, "is_forward": true}}'];['4.5; Mostly conform. The action type "move" and parameter "is_forward" accurately match. The "distance" parameter also matches with the value of 7 specified in the command. However, the "linear_speed" parameter is mentioned as 0.0 in the JSON structure, while it is not specified in the natural language command. It\'s reasonable but it would have been more accurate if the command also specified the speed.'] +Travel straight ahead for a length of 7 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}}'];["5; The command and the JSON structure match perfectly. The action command 'move' in the JSON structure corresponds to 'Travel straight ahead' in the natural language command. The parameter 'distance' with a value of '7' and 'unit' as 'meter' also matches perfectly. The 'linear_speed' of '0.5' and 'is_forward' set to 'true' reasonable values in the context of the command."] +Go straight for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'];['5; The natural language command exactly matches with the JSON structure. The action "move" goes with "go straight", the parameter "distance" goes with "for 7 meters" and making the robot go straight implies moving forward so "is_forward" is marked "true". Even though the exact linear speed is not given in the command, any reasonable value is accepted.'] +Turn right and move forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];['4; The natural language commands are partially conforming to the JSON structure. The rotation action match is perfect, but for the "move" action, "linear_speed" parameter\'s value wasn\'t specified in the command. The value of 1 in the JSON is reasonable and accepted.'] +Take a right turn and proceed ahead for a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The natural language command "Take a right turn" is correctly converted into the "rotate" action in JSON with a right turn presumed to be { "is_clockwise": true }. "Proceed ahead for a distance of 4 meters" correctly corresponds to the "move" action in JSON with { "distance": 4, "is_forward": true, "unit": "meter" }. However, the angular_velocity value is not specified in the natural language command, but it is included in the JSON.'] +Make a right turn and advance straight ahead covering a distance of 4 meters.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 4, "is_forward": true, "unit": "meters"}}'];['5; The JSON structures match the natural language command perfectly. Although we don\'t see specific values for angular velocity and linear speed in the command, the use of defaults or any reasonable value is acceptable. The rotation direction is implied by "right turn", distance and unit are also mentioned directly in the command.'] +Rotate towards the right and continue moving forward for 4 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];["2; Most of the parameters from the natural language command are not present in the corresponding JSON structure. The direction of the rotation (clockwise) and moving forward are specified correctly. However, angular velocity, angle, linear speed, and distance are given a value of 0, which doesn't align with the command which implies some non-zero values for these parameters. Additionally the format of JSON provided is incorrect, two actions are included in a single JSON object whereas they should have been separate."] +Go right and travel straight ahead, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; The natural language command accurately corresponds to the JSON structure. The command specifies a move action which matches with the JSON "action": "move". The specified distance of "4 meters" is also reflected properly in the JSON structure. The direction of "straight ahead" can be interpreted as "is_forward": true in the command. The speed is not specified in the command, but the chosen speed of 1 in the JSON is reasonable.'] +Move forward for 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "seconds"}}'];["0; The JSON structure does not match the natural language command. 'Move forward for 3 seconds' should not result in a 'distance' parameter. Also, the 'unit' in JSON structure is not matching with the natural language command. The unit in natural language command is 'seconds', while in the JSON structure it's 'meter'."] +Go straight ahead for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure accurately represents the "move" action in the command, including the linear speed and the direction (forward) parameters. However, the natural language command mentions a duration of 3 seconds, which doesn\'t have a directly corresponding key in the JSON structure. The \'distance\' is also inferred not directly stated.'] +Proceed in a forward direction for a span of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true}}'];['4; The natural language command can somewhat be linked to the action "move" described in the JSON template, with the \'direction\' being loosely interpreted as \'is_forward\'. However, it uses "seconds" as a distance unit, which isn\'t compatible with the JSON template and therefore modifies the meaning of the original command. Additionally, linear_speed parameter is also not accurately captured. Thus, it does not conform exactly to the given JSON structure.'] +Advance ahead for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];["2; The command requests for movement in time period rather than distance, but JSON structure only accommodates movement in units of measurement hence the rating. The 'distance' key in the JSON is inaccurately used to represent time."] +Travel forward for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'];['2; The action of moving forward aligns with the "move" action and the is_forward" parameter. However, the parameters "linear_speed" and "distance" do not match the command "duration of 3 seconds". The "duration" parameter is not present in the provided JSON structure. Moreover, without additional context, we cannot convert "duration of 3 seconds" into a distance.'] +Turn left and move forward for 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];["3; The command includes an action for turning (rotate) which is not reflected in the provided JSON structure. The moving forward action (move) is correctly presented in the JSON structure, though the speed is not explicitly stated in the command (reasonable value used). Due to the missing 'rotate' action, the command and JSON structure only partially conform."] +Proceed straight for a distance of 2 meters after making a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The command partially matches with the "move" action in the JSON structure -- the linear speed and the direction (forwards) are not specified in the natural language command, yet are included in the JSON. However, the \'rotate\' action to make a left turn was not included in the JSON structure. Hence, the match is incomplete.'] +For a span of 2 meters, continue moving forward after taking a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3; The JSON output is partially correct, it accurately captures the action of moving forward and the distance to be covered. However, the command to "take a left turn" is missing in the JSON structure.'] +Make a left turn and advance ahead for 2 meters.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3.5; The action and parameters mostly match, but angular_velocity in the JSON doesn\'t match with that command and "is_clockwise": false should be "is_clockwise": true as a left turn in JSON should be clockwise.'] +After turning left, go straight for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure partially conforms to the natural language command. The "move" action with the correct distance parameter is correctly captured in the JSON. However, the command to "turn left" is not represented in the JSON. The parameter "linear_speed" is not mentioned in the natural language command but is present in JSON, although this could be considered a reasonably assumed parameter.'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['5; Exactly conform. The JSON structure matches perfectly with the natural language command and conforms with the given sample ontology. The action "rotate", the angle "270" and the direction "clockwise" are all present in the JSON. The value for "angular_velocity" is unspecified in the command but a reasonable value of 0 has been provided in the JSON.'] +Turn to the right by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate in a clockwise direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['5; The natural language command talks about rotation in a clockwise direction, which perfectly aligns with the "rotate" action key in the JSON structure. Other parameters such as "angle" and "is_clockwise" also perfectly conform to the command, as the language command directly states these parameters. The "angular_velocity" value is not specified in the natural language command, but the reasonable value of 0 in the JSON is accepted.'] +Perform a 270-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 270, "is_clockwise": true}}'];['4; The natural language command perfectly corresponds with the JSON structure, the action and all parameters are in the ontology. However, angular_velocity is 0 in the JSON, which does not correspond with performing an action as specified by the natural language command. This invalidates a full score.'] +Rotate by 270 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["5; Exactly conform. The natural language command exactly matches the JSON structure, stating the action as 'rotate', specifying a rotation angle of 270 degrees, setting the direction as clockwise and explicitly stating rotation units. The angular velocity is not specified in the command, but as per rules a default value is accepted."] +Move backward for 6 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];["4; The natural language command mostly matches with the JSON structure except for the 'linear_speed' key. The command does not specify a speed, therefore any reasonable value could be used. However, in this case, the speed provided is 1 which may or may not be reasonable depending on the context."] +Reverse direction and travel a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": false}}'];["4; The command matches the JSON structure, but 'linear_speed' is not specified in the natural language command and thus '0.0' is not a reasonable value. It should not be '0.0' because the robot can't move if the speed is zero."] +Go back 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The command correctly encapsulates moving a certain distance in a direction. The "is_forward" parameter is correctly represented as false for going backward. The distance parameter is correctly set to 6 as mentioned in the natural command. The linear_speed is not mentioned in the command, however the specified value of 0.5 is considered reasonable.'] +Retreat for a distance of 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; Almost conform. The natural language command corresponds with the "move" action, but the direction is not aligned with the "is_forward" parameter. In the command, it asks to "retreat" which means to go backward but according to the JSON it\'s set to move forward.'] +Move in the opposite direction for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command asks to move in the opposite direction for a certain distance, which matches the action "move" in the JSON structure. The parameters specified, such as distance and moving direction (opposite), are also present and correctly valued in the JSON structure.'] +Turn right and move forward for 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['3.5; Partial match. The "rotate" JSON is nearly correctly translated, but angular velocity is not provided in the command and the JSON assumes it\'s 0.5. Also for the "move" command, the natural language implies speed but actual speed is not given and the JSON interprets a speed of 1. Furthermore, \'5 seconds\' does not indicate "distance" in meters as portrayed in the JSON structure. The unit parameter of "move" action describes the distance in "seconds" but in the ontology sample it is "meter", which creates a discrepancy.'] +Take a right turn and proceed ahead for a duration of 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['1; The natural language command only partially matches the JSON structure. The command mentions a right turn which fits with the action "rotate" in the JSON. However, the command also instructs to \'proceed ahead for a duration of 5 seconds\' which doesn\'t have a corresponding action in the provided JSON structures. Furthermore, "angular_velocity" is not specified in the natural language command and the value 0 in the JSON is not a reasonable default value.'] +Make a right turn and continue moving straight for 5 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["4; The natural language command partially conforms to the JSON structure. The 'rotate' action in the JSON is correct with 'is_clockwise' parameter set to 'true', implying a right turn. However, the 'angular_velocity' should likely be non-zero for a turn to happen, but its specific value isn't mentioned in the command. For the 'move' action, the unit 'seconds' is not consistent with the ontology which specifies distance traveled, not time, but the rest of the structure matches the command."] +Go right and advance for a period of 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command matches partially with the JSON structure as the action key "move" and is_forward key matches. However, the instruction to move right is not represented in the JSON. Moreover, instead of defining a distance, the command specifies a time period, which does not match the "distance" key in the JSON structure. The speed value is also arbitrarily added as it isn\'t mentioned in the command.'] +Shift to the right and travel in a forward direction for 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure corresponds in part to the natural language command. While the command does ask the machine to move in a "forward direction," the command requests the machine to move for a given time "5 seconds" and not for a specific distance which is shown in the JSON. In the JSON structure, "unit" is also specified as "seconds" which does not exist in sample ontology. Also, the command to shift to the right is not represented in the JSON structure.'] +Move forward at a velocity of 0.3 meters per second for 10 meters.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; The command \'Move forward at a velocity of 0.3 meters per second for 10 meters.\' partially matches the JSON structure \'{"action": "move", "params": {"linear_speed": 0.5, "distance": "distance", "is_forward": true, "unit": "meter"}}\'. The action and parameters like \'is_forward\' and \'unit\' are correctly represented in both. But parameter values for \'linear_speed\' and \'distance\' in JSON do not match with command\'s equivalents (0.3 and 10).'] +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The natural language command perfectly matches the JSON structure in terms of action, parameters, and their values. The "move" action and its parameters "linear_speed", "distance", "is_forward", and "unit" perfectly match and correctly represent the command "Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.".'] +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];["4; The JSON structure matches the command in terms of moving forward for a certain distance at a specified speed and unit. However, the exact speed specified in the natural language command (0.3) doesn't match with the speed in the JSON structure (0.5)."] +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The command matches perfectly with the JSON structure. All keys used in the JSON structure exist in the sample ontology, and the parameters in the natural language command match those specified in the JSON.'] +Rotate counterclockwise by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'];["3; Most of the elements in the natural language command are present and well translated in the JSON structure, but the angular_velocity is not specified in the command, and as per the guidance any reasonable value in the JSON is accepted, hence the score isn't lower. However, the provided JSON value does not seem reasonable (0) which decreases the overall score."] +Rotate 120 degrees counterclockwise.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": false}}'];['5; Exactly conform. The natural language command perfectly matches the JSON information structure and its keys conform with the sample ontology. The "rotate", "angular_velocity", "angle" and "is_clockwise" keys used in the JSON structure match the command "Rotate 120 degrees counterclockwise." The command specifies the rotation action, the 120 degrees angle and the counterclockwise direction which is represented in the JSON as "is_clockwise": false. The conform score is 5 as there\'s perfect alignment of the command and the structured JSON data.'] +Perform a counterclockwise rotation of 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 120, "is_clockwise": false}}'];['5; The natural language command exactly matches with the JSON structure. The action "rotate" and the parameters "angle" and "is_clockwise" are being correctly matched even though the angular velocity is not mentioned in the command, since any reasonable value is accepted in the given context.'] +Turn left by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false}}'];['4; The JSON structure correctly represents the action to rotate as indicated in the natural language command. However, the "angular_velocity" is set to \'0\' which doesn\'t make sense for a rotation action and it\'s not specified in the natural language command so it should have been assigned a reasonable value.'] +Rotate in the opposite direction by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false}}'];['4; The JSON structure matches the command better than the structure in the ontology. However, the value of "angular_velocity" doesn\'t match the command in the sense that the speed of rotation is not specified in the command, hence can\'t assume as 0. So, it\'s not exactly conformed.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The natural language command mostly aligns with the JSON structure. The command action "rotate" is matched correctly and the "angle" parameter value of 90 degrees in the JSON matches with the command. The direction "counterclockwise" is correctly interpreted as "is_clockwise": false in the JSON. However, the "angular_velocity" parameter is set as 0 in the JSON, but it\'s not specified in the command. But it\'s an acceptable value.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; Exactly conform. The natural language command exactly matches the rotate action in the JSON structures with the angle specified as 90 degrees and the rotation is in a counter-clockwise direction (left). Angular velocity is not specified in the command but it has been assigned a reasonable value in the JSON structure.'] +Rotate anti-clockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; The JSON correctly matches the action "rotate" and the "is_clockwise" parameter. However, for "angular_velocity" the JSON has a 0 value, which doesn\'t make sense for the action of rotation, a reasonable value in line with the command is expected. But the "angle" parameter perfectly matches the command, hence overall it\'s a good match but not perfect.'] +Rotate in the opposite direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false}}'];['5; Exactly conform. The "rotate" action is being used with all its parameters defined in the natural language command, including the rotation direction and angle.'] +Rotate counter to the clockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["4; The JSON structure accurately represents the action command of rotating counter to the clockwise direction by 90 degrees. However, since the angular_velocity's value in the natural language command is not specified, the JSON structure uses 0, which may not be a reasonable value as it implies no rotation."] +Move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['5; Almost all values in the command are exactly specified with their keys in the JSON structure. The value of "linear_speed" is not specified in the command but it is reasonable.'] +Proceed straight ahead for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['5; Exactly conform. The command matches the JSON structure perfectly by giving clear instructions to move forward for a certain distance.'] +Advance ahead by 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];['5; The natural language command exactly conforms to the JSON structure, even though the "linear_speed" key was not mentioned in the command, it is reasonable to have any value.'] +Travel in a forward direction, covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true}}'];['5; The natural language command instructs to move in a forward direction for a distance of 5 meters. The JSON information corresponds to this exactly with the action "move", parameters "distance": 5 and "is_forward": true. The linear_speed field in the Json has a value of 0.0 which is a reasonable value, as the command does not specify the speed.'] +Move straight ahead and travel a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0, "distance": 5, "is_forward": true}}'];['4; The natural language command corresponds to the "move" action in the JSON structure, including parameters like "distance" and "is_forward". However, the linear_speed in the JSON is given as 0, which doesn\'t perfectly conform to the implicit "move" command, which would logically apply a non-zero speed. This slight mismatch is the reason for scoring below 5.'] +Turn left and move forward for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['3; The command partially matches with the JSON structure. The rotation or the turn is not specified in the JSON but the moving forward part conforms with "action": "move" and "is_forward": True. The time component in the command "for 2 seconds" is not representable with the provided JSON structure. The speed and distance in the JSON structure is a reasonable estimate and does not contradict the command.'] +Proceed forward for 2 seconds after turning left.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true, "unit": "second"}}'];['3.5; The commands mostly match, but not perfectly. The angle for the rotation action is not specified in the natural language command. In the move action, the unit in the JSON structure is "second", while it should be "meter" or similar as in the command no distance is indicated but a time duration. The parameter "linear_speed" does not have a specified value from the natural language command, however, it was correctly understood as a move command in the forward direction.'] +After making a left turn, continue straight ahead for 2 seconds.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The command asks for a left turn which is not reflected in the JSON structure. The JSON structure does correctly interpret the "continue straight ahead" instructions as moving; however, it incorrectly interprets the duration of 2 seconds as distance. This is a misalignment with the natural language instruction.'] +Take a left turn and then advance forward for 2 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": default_value, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The commands "Take a left turn" and "advance forward for 2 seconds" match the structures of the "rotate" and "move" actions respectively in JSON format. However, the "rotate" command\'s parameters\' values aren\'t specified in the natural language command, and the "unit" of the "move" command should be a unit of distance, not time.'] +Rotate to the left and travel straight for 2 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['1; The JSON structures partially match the natural language command but there are some discrepancies. The rotation direction is correctly translated ("is_clockwise": false) but the angle is arbitrary as there was no specific angle mentioned in the command. Moreover, for the move action, the command mentions "2 seconds" not "2 meters". Thus, "distance": 2 is incorrect, and the unit should also be "seconds", not "meters". The specific speed is not specified in the command, and thus, it\'s considered an arbitrary value.'] +Stop and wait.;['{"action": "stop"}'];["0; The natural language command cannot be translated to any of the JSON structures because the action 'stop' and its parameters are not in the sample ontology."] +Cease and remain still.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}'];["0; The natural language command is about stopping and staying in one place, however, the provided JSON structure represents an action of going to a particular location (Kitchen). Hence, the command and JSON structure don't match."] +Halt and stay put.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}'];["0; The command 'Halt and stay put' does not match with any of the given JSON structures. It's a stopping command whereas the JSON structures provided are for moving to a location, moving a certain distance and rotation."] +Pause and remain stationary.;['{"action": "pause"}'];['0; The natural language command talks about a pause action which does not conform with the given JSON structures. No corresponding key value pairs are found in the sample ontology provided.'] +Desist and await further instruction.;['{}'];["0; The command 'Desist and await further instruction' does not relate to any of the example JSON structures provided, which include actions such as 'move', 'go_to_goal', and 'rotate'. The command is therefore not conform."] +Move backward for 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command explicitly states an action "move", direction "backward" which corresponds with the JSON field "is_forward": false, and a distance of "10" meters which corresponds with the JSON structure "distance": 10, "unit": "meter". The "linear_speed" is not specified in the command but the value provided in JSON is acceptable.'] +Go back a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 10, "is_forward": false, "unit": "meter"}}'];['4; The natural language command matches well with the JSON structure in terms of action and parameters. However, the linear speed is not mentioned in the natural language command and arbitrary value in JSON is not accepted.'] +Retreat for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": false, "unit": "meter"}}'];['5; The JSON structure matches exactly with the command. The action "move" is associated with parameters such as linear speed, distance, direction, and unit which are consistent with the directives in the given command ("Retreat for a distance of 10 meters."). The distance value is accurately reflected as 10 and the direction is correctly interpreted as not forward (hence "is_forward": false).'] +Reverse your direction and travel 10 meters.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 10, "is_forward": false}}'];['4; The action and parameters "distance" and "is_forward" perfectly match. However, "linear_speed" is not mentioned in the command, yet it is specified in the JSON with a reasonable value (-0.5, which implies a reversal), allowing a near perfect match. The unit "meter" in JSON though not mentioned in the command, is implicitly understood.'] +Take 10 steps backward.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false}}'];['4; The command is mostly conforming. The action "move" and the parameter key "is_forward" matches. However, the command does not specify "linear_speed" and the JSON structure has a value of 1, which might not correspond. The natural language command also assumes walking steps as a unit of distance, which may vary and is not precisely defined as "meters" in the JSON structure. The "distance" in the JSON is also not exactly specified to be 10.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The JSON exactly matches the command "Rotate clockwise by 180 degrees." It correctly identifies the action as "rotate", the direction as "clockwise" (True) and the specified angle of rotation as 180 degrees. The angular velocity is not specified in the command, but the given value in the JSON structure is accepted as a reasonable value.', ''] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command perfectly matches the JSON information and aligns with the keys in the sample ontology. The "rotate" action is correctly identified, with the specified parameters "angle" and "is_clockwise" matched correctly. The "angular_velocity" parameter is unspecified in the command, but the value in the JSON is deemed reasonable.'] +Rotate in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; Exactly conform. The action is rotate, JSON parameters image the command ("is_clockwise" is true for rotating clockwise, "angle" is 180 just as specified in the command). Angular_velocity isn\'t mentioned in the command, but any value is acceptable as per the instructions.'] +Turn by 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language command matches the JSON structure well, as it refers to an action ("rotate") and parameters (angular_velocity, angle, is_clockwise) that exist in the sample keys and ontology. However, the angular_velocity value is not mentioned in the command and hence its JSON value (0) is not fully accurate.'] +Execute a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['2; The action command "rotate" and the parameter "angle": 180 and "is_clockwise": true match with the natural language command, but the parameter "angular_velocity": 0 is not mentioned in the natural language command.'] +Turn right and move forward for 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": 90, "is_clockwise": true}} ', '', '{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command gives a time ("3 seconds") for the "move" action while the JSON structure expects a distance. The "rotate" action is correct expect for the "unit" param which doesn\'t exist in the provided JSON ontology.'] +Make a right turn and proceed forward for a duration of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "undetermined", "duration": 3, "unit_duration": "seconds"}}'];['4; The JSON structures correctly represent the command for making a right turn and moving forward. However, the angular_velocity and angle for the rotate action are not specified, and the linear_speed and distance for the move action are also not specified. Additionally, the duration parameter in the move action and its unit (seconds) are not explicitly in the provided ontology.'] +Take a right and continue moving straight ahead for a total of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];["4; The natural language command 'Take a right and continue moving straight ahead for a total of 3 seconds.' partially matches with the JSON structures. The first JSON structure correctly represents the 'Take a right' command with action 'rotate' and angle 90 in clockwise direction. However, the second JSON structure doesn't fully match with 'continue moving straight ahead for a total of 3 seconds'. The JSON structure represents the moving forward action but does not explicitly account for the '3 seconds' duration mentioned in the command. It is mentioned in meter which is not accurate for time measures. Moreover, the distance parameter value 1.5 in the JSON structure isn't mentioned in the command."] +Rotate to the right and advance for a period of 3 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true, "unit": "degrees"}}'];["2; Partially conform. The action 'rotate' and parameter 'is_clockwise': true are coherent with the command, but 'angular_velocity', 'angle', and 'unit' are incorrectly derived; the command also specifies to 'advance', which isn't represented in the JSON at all."] +Face towards the right and travel forward for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "duration": 3, "unit": "seconds"}}'];['1; The parameters "linear_speed" and "distance" in the JSON don\'t match with the natural language command. There is no information about these parameters in the command. And there is no "duration" parameter in the ontology. However, the "action": "move" and "is_forward": true are in conformity with the command.'] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];["5; The natural language command exactly conforms to the JSON structure, properly implements 'go_to_goal' as the action, and the 'location' parameter matches, so the score is 5."] +Proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];["5; The natural language command precisely matches the JSON structure. The command 'Proceed to the living room' correlates with the JSON action 'go_to_goal' with the parameter 'location' being the 'Living Room'. The phrase 'come to a halt' is implied in the 'go_to_goal' action as it means moving to a specified location and stopping there."] +Move to the living room and cease all movement.;['{"action": "go_to_goal", "params": {"location": "Living room"}}'];["4; The command 'Move to the living room' corresponds correctly to the 'go_to_goal' action in the JSON structure. However, the command 'cease all movement' does not match any of the given JSON structures. Thus, the score is 4."] +Make your way to the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['3.5; The command is partially conforming. "go_to_goal" action matches the first part of the command, and the location value of "Living Room" is acceptable. However, the "move" action provided in the JSON does not completely agree with the part of the command saying to "stand still"; This action would imply a "stop" action rather than a "move" action.'] +Head to the living room and remain stationary.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['4; The command matches the \'go_to_goal\' action in the first JSON structure. The parameters in the command also match the \'location\' parameter in the JSON correctly. However, the command contains an additional requirement/constraint ("remain stationary") not covered by the sample JSON structures.'] +Move 2 meters to the left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['1; The natural language command talks about a movement but the direction ("to the left") cannot be represented in JSON with the given ontology. The JSON correctly represents a movement for a specific distance in meters but without any explicit direction.'] +Shift your position by 2 meters towards the left.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];["2; The direction (left or right) of the movement isn't correctly addressed in the JSON structure. The linear speed value in the JSON command does not match with the natural language command as the speed was not specified in it. The action and the distance match correctly."] +Change your location by 2 meters in a leftward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['3; The action "move" is consistent but the parameters in the JSON have only some matching. The distance in the command matches the distance in the JSON and the unit "meter" is consistent. However, the "is_forward" parameter does not match the "leftward direction" in the command. Also, there is no parameter to indicate the direction of movement in the JSON according to the sample ontology.'] +Relocate yourself 2 meters to the left.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['2; The action "move" and "distance" parameter are well translated into the JSON structure. However, the direction indicated as \'to the left\' in the natural language command is not reflected in the JSON. Besides, the "linear_speed" and "is_forward" parameters in the JSON structure are arbitrarily assigned/values and not mentioned in the natural language command.'] +Move to the left by a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['3; The natural language command partially matches with the JSON structure. The action of moving and the parameter of distance (2 meters) are mentioned in both. However, the direction of movement stated in the natural language command ("left") does not have a corresponding key in the JSON structure. "is_forward" is also mentioned in JSON but not mentioned in the command. The speed in the JSON (0.5) is accepted since it\'s not specified in the command.'] +Rotate counterclockwise by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['5; The natural language command perfectly corresponds to the JSON structure. The command "Rotate counterclockwise by 45 degrees" clearly indicates the action to be taken ("rotate"), the angle of rotation (45 degrees), and the direction (counterclockwise). This matches the provided JSON structure, where "action" is "rotate", "angle" is 45, and "is_clockwise" is false. Although the "angular_velocity" parameter is not mentioned in the command, it can be any reasonable value, as specified in the instructions.'] +Turn left by 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['3.5; The JSON structure conforms to the ontology, but the angular_velocity is not specified in the command therefore its value is not accurately represented in the JSON. The \'is_clockwise\' parameter is implicitly provided in the command "Turn left" and is correctly represented as \'false\' in the JSON.'] +Execute a counterclockwise rotation of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The natural language command corresponds well to the JSON structure with the "rotate" action. The parameters "angle" and "is_clockwise" are properly converted, though the "angular_velocity" value isn\'t mentioned in the NL command but assigned with 0 in JSON which may not be reasonable. One point gets deducted due to this issue.'] +Rotate anticlockwise by an angle of 45 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 45, "is_clockwise": false}}'];['4; The natural language command instructs the action "rotate" which accurately matches the JSON structure. The "angle" parameter is mentioned as 45 degrees, which again matches. The direction "anticlockwise" suggests "is_clockwise" should be false in JSON, which is indeed the case in JSON provided. However, there is no information about "angular_velocity" in the command but it\'s included in the JSON, so the score can\'t be perfect.'] +Perform a 45-degree rotation in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 45, "is_clockwise": false}}'];['5; Exactly conform. The command exactly conform to the "rotate" action with the correct parameters of "angle", "is_clockwise".'] +Move forward at a speed of 0.5 meters per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['4; The natural language command matches the "move" action in the JSON structure. However, the command specifies the duration of the movement ("4 seconds"), while the JSON structure refers to the distance the object is supposed to move. The linear speed of 0.5 m/s and the direction of the movement (forward) are accurately reflected in the JSON structure. The value in the "distance" key in the JSON structure is generated assuming the given speed and time duration (0.5 m/s * 4 s).'] +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['3; Although the linear speed and unit parameters match correctly, the distance parameter in the JSON is not quite correct. The natural language command mentioned "duration" rather than distance, so it should refer to "time" instead. Also, the unit given in the JSON does not match any value mentioned in the sample ontology. The is_forward parameter is a good assumption based on "Proceed ahead."'] +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["5; The parameters 'linear_speed', 'distance' (calculated by multiplying time and speed), 'is_forward' and 'unit' match with the natural language command. The action 'move' also corresponds with 'Travel in a straight line'. The parameters provided in the natural language command match exactly with the values in the JSON."] +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; Although both the natural language command and JSON structure suggests forward movement at a specified speed (0.5 meters/second), the JSON calculates a distance (2 meters) from a implied duration (4 sec) which is not explicitly mentioned in the command.'] +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The natural language command matches the "move" action in the JSON structure, but the "distance" value in the JSON structure does not match the "4 seconds" command: the JSON structure calculates the distance using the velocity and time given in the command rather than using time directly.'] +Turn left and move forward for 7 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['3; The JSON command matches the action of "move" specified in the natural language command, and the attributes "distance", "is_forward", and "unit" also match. However, the JSON does not contain an action corresponding to "Turn left".'] +Make a left turn and proceed straight ahead covering a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meters"}}'];['4; The commands correlate well with the keys in the ontology, however, the angular_velocity and linear_speed values are given as 0 in the JSON which contradicts with the natural language command of making a turn and moving forward. The values should not be zero for movement.'] +Take a left turn and continue moving ahead, advancing 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure partially matches the natural language command. The "move" action and the distance parameter are correctly identified. However, the command to take a left turn is not converted to the "rotate" JSON action which is present in the ontology. The linear_speed is also arbitrary and not specified in the natural language command.'] +Head to the left and travel straight for 7 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The natural language command "travel straight for 7 meters" is correctly represented in the JSON structure as “move” action with the distance parameter of 7 meters. However, the command "Head to the left" is not represented in the given JSON structures.'] +Rotate in the left direction and proceed forward, covering a distance of 7 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The commands are almost perfectly conforming to the provided JSON structure. The "rotate" action doesn\'t specify the "angular_velocity" and the "angle" but it is not strictly necessary, so a default or unspecified value is assumed. Similarly, the "move" command doesn\'t specify the "linear_speed" so it assumes a default or unspecified value. However, all other keys match perfectly.'] +Stop and reverse direction.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'];["2; The command corresponds with the JSON structure related to the 'move' action, but 'distance' value should not be 0 if the command is to reverse direction. The 'is_forward' property is correctly set to false and 'linear_speed' is correctly negative. However, the 'unit' attribute is missing in JSON structures and the 'stop' command in the natural language command does not exist in the ontology."] +Come to a halt and begin moving in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];['2; The JSON structure partially matches the natural language command "Come to a halt and begin moving in the opposite direction". The action "move" is present in the JSON structure and the parameter "is_forward" is set to false which indicates moving in the opposite direction. However, the command to come to halt is not represented in the JSON structure.'] +Cease forward motion and start moving backwards.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 0, "is_forward": false}}'];['1; The natural language command partially matches with the JSON structure. However, the distance is given as zero which isn\'t accurate as no instruction for a stop command is given, hence it doesn\'t align correctly with the sample ontology. The sample does showcase an "is_forward" key in the parameters which accepts a Boolean value and is correctly set to false to indicate backwards movement in the JSON command derived from the natural language command.'] +Bring yourself to a stop and change your direction to the opposite way.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}} ', '{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['3; The JSON structures partially match the natural language command. In the natural language command, it is mentioned to "Bring yourself to a stop" which corresponds to the "move" action with a "linear_speed" of 0 in the JSON. However, the distance parameter is not mentioned in the command, so having a value is not correct here. The second part of the natural language command "change your direction to the opposite", corresponds to the "rotate" action in the JSON with an "angle" of 180. Yet, the is_clockwise and angular_velocity are not mentioned in the command thus any value would be acceptable for these keys.'] +Halt your movement and proceed in the opposite direction.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}}'];["2; The command: 'Halt your movement and proceed in the opposite direction' needs to perform two operations - stop and then move again, possibly in reverse. However, the provided JSON structure refers to move action only, and distance is '0' which doesn't match with moving in the opposite direction. The key 'is_forward' is indeed set to 'false' which partially matches 'proceed in the opposite direction' but it's still insufficient to completely translate the command. The 'halt' part of the command is entirely missing in the JSON structure."] +Move 3 meters to the right.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['3; The natural language command "Move 3 meters to the right" does not match exactly with the given JSON structure. The direction (right) isn\'t represented and the "is_forward" field is misinterpreted in the JSON. However, "distance" and "unit" (meter) are correctly interpreted. The JSON structure does not capture the meaning completely.'] +Shift 3 meters towards the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];["3; The action 'move' and the distance parameter is correctly noted in the JSON structure. However, the direction 'towards the right' is not represented anywhere in the JSON structure nor explicitly addressed in the action 'move' params. It would require an orthogonal movement or a rotation,maybe a 'rotate' action before the 'move' action."] +Go 3 meters horizontally in the right direction.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The natural language command matches quite well with the JSON structure. The action is "move" and parameters include "distance" and "unit" which are correctly identified as 3 and "meters". There is however no clear direction specified in the parameters to match the "right direction" in the command. The "linear_speed" and "is_forward" parameters are also not specified in the command but their reasonable defaults are accepted according to the rules.'] +Change your position by moving 3 meters to the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];["2; The action of 'move' corresponds to the command, and parameters such as 'distance' and 'unit' match. However, the direction of the movement ('to the right') is not represented in the JSON, and the 'linear_speed' and 'is_forward' fields are included in the JSON but are not mentioned in the command. There's no representation for directionality in the provided JSON structures, and without knowledge of the robot's current orientation, 'moving to the right' might not be represented by 'is_forward'."] +Traverse a distance of 3 meters towards the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['3; The natural language command partially matches with the JSON structure. The action \'move\' and parameters \'distance\' and \'unit\' are present in both. However, the direction \'towards the right\' does not directly translate into the parameter \'is_forward\': false, the distance parameter is correct but linear_speed is not mentioned in the command plus also missing direction in terms of rotation to indicate "right".'] +Rotate clockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['4; The JSON structure matches the natural language command in terms of the action and the angle, indicating a rotation action and specifying the angle of rotation. However, the angular_velocity is set to 0 in the JSON structure which doesn\'t entirely conform to the idea of a rotation movement. The "is_clockwise" key correctly reflects the command to rotate clockwise.'] +Perform a clockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 60, "is_clockwise": true}}'];['4.5; Almost perfect match. There is exact correspondence in the \'action\' field as \'rotate\', and in \'angle\' as \'60\', \'is_clockwise\' as \'true\'. The \'angular_velocity\' is not given in the natural language command but it accepts any reasonable value per instructions. The only non-conformity is the JSON structure provided the \'angular_velocity\' as a string "undetermined" instead of a reasonable numerical value.'] +Rotate 60 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['5; The natural language command exactly matches with the JSON structure. The action "rotate" correctly corresponds to the json action. The parameter details such as "angle" and "is_clockwise" are also perfectly matched with the natural language command.'] +Turn to the right by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['5; Exactly conform. The natural language command "Turn to the right by 60 degrees" perfectly matches the JSON structure. The "rotate" action is used, the "angle" specified is 60, and the direction "is_clockwise" is true, which implies a right turn. Although the "angular_velocity" is not specified, it is given a reasonable value of 0.'] +Rotate to the right by an angle of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": true}}'];['5; The natural language command is well represented by the JSON structure. All keys are correctly used and parameters\' values match those implied in the command (e.g., \'Rotate to the right\' is correctly translated to "is_clockwise": true, and the angle is correctly noted as 60). The only value not mentioned in the command, "angular_velocity", is given a reasonable value (0).'] +Turn right and move forward for 1 second.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": DEFAULT_ANGLE, "is_clockwise": true}, "sub_actions": [{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 1, "is_forward": true}}]}'];['2; The JSON structure captures the action of moving forward for 1 second, but it does not explicitly define the "turn right" action in the natural language command. Also, there seem to be extra keys in the JSON like "angular_velocity", "angle" and "sub_actions" that are not reflected in the command.'] +Take a right turn and proceed straight ahead for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}}'];['3; The natural language command is partially matched with the JSON structures. The command to "Take a right turn" matches with the "rotate" action JSON. The "angle" is correct but angular_velocity can\'t be inferred from the command. However, the "proceed straight ahead for 1 second" part doesn\'t match with the "move" action JSON structure perfectly. The "distance" parameter is not specified in seconds. Also, the "linear_speed" can\'t be inferred from the command therefore not completely conforming to the ontology.'] +Make a right turn and advance for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "second"}}'];['4; The JSON structures contain correct actions ("rotate" and "move") as indicated in the command. However, the \'angular_velocity\' in the \'rotate\' action doesn\'t align with the command, the command does not provide specific \'angular_velocity\', so any reasonable value is acceptable, but the value is given as \'0\' which implies no rotation, hence a slight mismatch.'] +Rotate to the right and move forward for 1 second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": true}, "action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter", "duration": 1, "unit": "second"}}'];['2.5; Partial match. The rotation action is correctly depicted in the JSON with the is_clockwise parameter set to true. However, angular_velocity and angle values are absent in the command hence, zero in the JSON is not acceptable in this case. For the move action, the is_forward parameter is correctly set to true in the JSON. The command mentions 1 second which ideally should relate to time but it\'s contextually not precise whether it correlates to speed or duration, hence JSON representation with duration is not entirely correct. The unit for this duration is correctly mentioned as "second". But, the distance and linear_speed parameters are not mentioned in the command, so their zero values are also not acceptable.'] +Go right and continue moving forward for 1 second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true}}'];['2; The natural language command partially conforms to the JSON structure. It correctly captures the "move" action and the forward direction from the JSON structure, but it does not specify the unit of the distance as "meter", and the concept of moving \'right\' is not represented in the JSON structure.'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['1; The natural language command presents a different location ("bedroom") than the one in the JSON structure ("kitchen"). Additionally, the command to "stop" does not have a corresponding action in the sample JSON structures.'] +Head to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['4; The action of going to a location (i.e., "Head to the bedroom") corresponds well to the \'go_to_goal\' action in the JSON structure. The parameter of \'location\' with a value of \'Bedroom\' also matches the action in the command. However, the phrase "come to a halt" in the command isn\'t represented anywhere in the given JSON structure.'] +Make your way to the bedroom and cease all movement.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['4; The natural language command partly matches the JSON information. The first part about moving to the bedroom conforms to the structure of the \'go_to_goal\' action, and the parameter (location type "Bedroom") is correctly specified. The second part about ceasing all movement is not represented in the provided JSON structures and is therefore not assessed.'] +Proceed to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['3; Although the action to "go_to_goal" matches the natural language command of proceeding to a location (in this case, the bedroom), the JSON structure lacks any element that could correspond to the command to "pause".'] +Go to the bedroom and stand still.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];["4; The action and location specified in the command match with the JSON structure. However, the command to 'stand still' is not represented in the JSON."] +Move backward for 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": false, "unit": "meter"}}'];['4; The natural language command does align with the JSON structure to a large degree. Although key-value pairs like "linear_speed" were not specified in the command, we can assume a reasonable value as stated, thus providing such a score. However, "is_forward": false is interpreted from the command \'Move backward\' when the parameter isn\'t explicit in the command.'] +Go 8 meters in reverse.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 8, "is_forward": false, "unit": "meters"}}'];['3; The action and parameters match the natural language command but there\'s two small problems: The "linear_speed" parameter should have any value because it isn\'t specified in the natural language command and it\'s most likely not possible to have a negative speed. Second, the "unit" should be "meter" instead of "meters" to follow the sample JSON structure.'] +Travel 8 meters in the opposite direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'];['4; The natural language command matches the action in the provided JSON structure, as well as the params for distance, is_forward, and unit. However, it does not specify the speed, while the JSON structure specifies linear_speed as 1. Thus, it does not exactly conform.'] +Retreat for a distance of 8 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": false, "unit": "meter"}}'];["4; The action and parameters match almost exactly, however, direction is not specified to be “is_forward” or “is_backward” in the natural language command. The assumption to move backwards (retreat) is reasonable, but because it's not explicitly defined in the keys we can't be sure. Therefore, a small deduction is justified."] +Reverse 8 meters.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 8, "is_forward": false, "unit": "meters"}}'];['5; The natural language command \'Reverse 8 meters\' perfectly corresponds to its JSON representation. The action "move" and the parameter values for "distance" (8), "is_forward" (false) and "unit" ("meters") have been correctly translated. The "linear_speed" parameter, unspecified in the natural language command, has a reasonable placeholder (default_speed).'] +Rotate counterclockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command mostly conforms to the JSON structure. However, the angular velocity is set to 0 in the JSON, while it is not specified in the command. A nonzero value might be more reasonable.'] +Turn left by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command "Turn left by 270 degrees" perfectly matches with the provided JSON including the action \'rotate\' and parameters such as angular_velocity, angle, is_clockwise and unit. The \'angular_velocity\' can be any reasonable value as it is not specified in the command. The direction \'left\' is correctly interpreted as \'is_clockwise: false\'.'] +Rotate anti-clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false}}'];['5; The natural language command calls for a rotation action anti-clockwise by 270 degrees. This matches up perfectly with the JSON as it has the "rotate" action, and the rotation is anti-clockwise (is_clockwise: false) for an angle of 270 degrees.'] +Rotate in the opposite direction by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['5; The JSON command matches perfectly with the natural language command. The command for rotation is correctly identified. The angular direction is specified as opposite, which corresponds to the "is_clockwise" attribute marked as false. Also, the rotation angle of 270 degrees is duly noted. Despite the "angular_velocity" not being specified in the natural language command, its presence in the JSON does not contradict the command and is therefore accepted.'] +Perform a 270-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 270, "is_clockwise": false}}'];['4.75; The natural language command matches well with the provided JSON structures. The action "rotate" and the parameters "angle" and "is_clockwise" are recognised and correctly assigned. However, "angular_velocity" is not specified in the natural language command and any reasonable default value used in JSON is accepted. This slight ambiguity is why the score is not 5.'] +Turn left and move forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true, "unit": "meter"}}'];['2; Although the JSON action "move" matches with the command "move forward", the parameters "linear_speed", "distance", and "unit" in the JSON structure do not match with any information given in the command. In addition, the command includes "turn left" which does not match with any action or parameters in the JSON structure.'] +Go forward for 6 seconds after turning left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true}}'];['2; The natural language command mentions actions of moving forward and turning left, which are partially reflected in the "move" action in JSON structure. However, the distance is given in seconds in the command, while it is not made clear in the JSON structure whether the distance parameter should be measured in time as well. The action of turning left is also not reflected in JSON.'] +Take a left turn and proceed straight for 6 seconds.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['3; Partially conform. The \'rotate\' action conform with the given command but \'move\' action doesn\'t completely conform. In the command "proceed straight for 6 seconds", time duration is given instead of distance. So, \'distance\' key in the \'move\' action is not correlating with the units \'seconds\'. Duration of the movement should be mentioned as \'duration\' not as \'distance\'.'] +After turning left, continue moving forward for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": true}}'];['3; The natural language command asks for a left turn initially which isn\'t captured in the JSON structure. The subsequent forward movement is captured correctly with the "is_forward" parameter as True. However, the "distance" parameter in the JSON seems to be misused in this context: it contains the value 6 which corresponds to the duration (in seconds) mentioned in the natural language command, instead of being a spatial measure. Hence, command and JSON mostly match, but there are significant deviations.'] +Make a left turn and move ahead for 6 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true}}'];['1; The natural language command requests a "left turn" and a forward movement, which are not correctly represented in the provided JSON. It only includes a "move" action without specifying a direction or turn. The "distance" parameter is interpreted as time (6 seconds), which is not described in the command. The correct JSON should include a "rotate" action to represent the turn, together with the "move" action.'] +Turn left and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": default, "distance": 5, "is_forward": true}}'];['2; The JSON structure partially matches the command. The "move" action and the distance parameter are correctly represented. However, the command to "turn left" is not represented in the structure at all. Additionally, the value of "linear_speed" is put as "default" which is not specified as a "reasonable value" in the instructions. Therefore, we can\'t assume its existence.'] +Take a left turn and proceed ahead covering a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];["3.5; The natural language command mostly conforms to the JSON structures. The direction of rotation (left turn) is accurately represented as a counter-clockwise rotation (is_clockwise: false) in the schema. Proceeding ahead is also correctly represented with forward motion in the move action (is_forward: true). However, the angular_velocity in the rotate action and the linear_speed in the move action were not specified in the command and are assumed in the JSON, which is acceptable. The angle for the rotate action in the JSON structure is assumed to be 90 degrees which can be a reasonable value for a left turn, though it's not specified in the command. The score isn't a full 5 due to these missing or assumed values."] +Make a left turn and continue moving straight, covering a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];["3; Partial match. The command 'Make a left turn' is partly covered by the 'rotate' action with angle set to 90 degrees and 'is_clockwise' set to false. However, 'angular_velocity' has been set to 0 which would mean no rotation at all, a reasonable value was not provided for that attribute. The next command 'continue moving straight, covering a distance of 5 meters' is covered by the 'move' action with 'distance' set to 5 and 'is_forward' set to true. However, 'linear_speed' has been set to 0.5, which was not specified in the command. The 'unit' of 'meter' used in JSON is correct according to the natural language command."] +Go left and advance forward, traveling a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true}}'];['4; The natural language command "Go left and advance forward, traveling a distance of 5 meters." partially matches with the JSON structure. The \'advance forward\' and \'distance of 5 meters\' appropriately aligns with the "action: move" and "distance: 5" in the JSON. However, the command \'Go left\' does not have a corresponding counterpart in the given JSON.'] +Execute a left turn and proceed straight, ensuring a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure correctly outlines the command to proceed straight with a distance of 5 meters. However, there is no JSON structure depicting the left turn operation mentioned in the natural language command.'] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; The JSON provided accurately reflects the directions in the command. The action is "rotate", the angle is 90 degrees, and it is indicated in the JSON that it is not a clockwise rotation, matching the command to rotate counterclockwise. Angular_velocity is not specified in the command, but any value is acceptable hence it does not affect the score.'] +Turn 90 degrees in the counterclockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['5; Exactly conform. The command "Turn 90 degrees in the counterclockwise direction" conforms perfectly to the JSON structure. The action "rotate" is correct, "angle" matches 90, and "is_clockwise" is correctly set to false to indicate a counterclockwise rotation. Even though "angular_velocity" isn\'t specified in the command, it\'s set to a reasonable value in the JSON.'] +Rotate anti-clockwise at a 90-degree angle.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["4; The natural language command matches with the action of rotating and provides an angle, but does not provide a value for angular velocity. Also, it correctly denotes a counterclockwise rotation, matching with the 'is_clockwise' parameter in the JSON structure, but interprets it in opposite way, hence leading to 1 point deduction."] +Spin to the left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The command mostly conforms to the JSON structure, except for the "angular_velocity" value. The provided value in JSON (10) is not mentioned in the natural command but is reasonable. And, although, it\'s not directly stated in the command that the rotation should be "not clockwise", the command "Spin to the left" typically signifies a counter-clockwise rotation.'] +Rotate in the counterclockwise direction, making a 90-degree turn.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'];['5; The command fits entirely within the given JSON structure, specifically the structure for rotation. All parameters given in the command match with those in the JSON structure: it specifies rotation ("action": "rotate"), implies an angle of 90° ("angle": 90) and specifies rotation in the counterclockwise direction, which aligns with turning not being clockwise ("is_clockwise": false).'] +Move backward for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The JSON structure corresponds to the "move" action mentioned in the command, and that the "distance" and "is_forward" keys are correctly identified. However, the value of "linear_speed" is not valid because the direction of movement (backward) is already indicated by "is_forward" and cannot be specified with a negative speed. Moreover, the "unit" key should have a unit of distance, like "meters", instead of "seconds", which is a unit of time.'] +Go in reverse for a duration of 3 seconds.;['{"action": "move", "params": {"linear_speed": -0.5, "distance": 3, "is_forward": false, "unit": "second"}}'];['2; Partial match. The action "move" is correctly identified but the parameters aren\'t properly aligned with the natural language command. The command indicates to move in reverse for a duration (thus time is being discussed and not distance). However, in the provided JSON, duration isn\'t used as a parameter; distance is used instead. Similarly, the "unit" in the JSON structure is "second", which is time-related, yet the "distance" in the natural language command doesn\'t denote a specific distance to be travelled, it denotes a duration for the movement. The value for "is_forward" is correctly identified as false as the command indicates to go in reverse. The "linear_speed" is not mentioned in the natural language command and hence can contain any reasonable value.'] +Take a step back and continue for a total of 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['3; The action "move" and parameter "is_forward" in the JSON clearly matches with the command "Take a step back". However, the command mentions "for a total of 3 seconds", which does not interpret distance and its unit of measurement properly according to the JSON structure. Linear_speed is also not specified in the command.'] +Reverse your movement and maintain it for 3 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "duration": 3, "unit": "seconds"}}'];["2; Justification: Although the JSON structure contains an 'action' and 'params' related to movement, it is not perfectly conforming to the sample ontology provided. In the sample ontology, there is no 'duration' parameter under the 'move' action. Additionally, the 'linear_speed' is set as -1 in the JSON structure which is not mentioned in the natural language command. Therefore, the conformity is partial."] +Retreat for a period of 3 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; Partial match. While the action "move" is correct and "is_forward" parameter is correctly set to "false," the parameters "distance" and "unit" do not entirely correspond to the original command of "retreat for a period of 3 seconds." In this command, "3 seconds" describes the time of the action instead of distance, but in the JSON structure, it is marked incorrectly under "distance" and "unit". The original command does not specify the retreat speed (linear_speed parameter in JSON), so it won\'t match directly to the JSON structure.'] +Turn right and move forward for 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meters"}}'];['4; The commands in natural language generally conform to the actions and parameters in the JSON structure with slight modifications needed. The "rotate" action could use an angular_velocity other than zero for turning and the "move" action has distance mapped correctly but the unit should be meter instead of meters.'] +Proceed forward for 10 meters after making a right turn.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'];["4; Mostly conform. The angular velocity of the rotation is given as 0.5 in the JSON while it's not specified in the natural language command. Similarly, the linear speed of the movement is given as 1 in the JSON, but it's also not specified in the command."] +Take a right and continue moving ahead for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure corresponds to the move action which is mentioned in the text command as \'continue moving ahead for a distance of 10 meters\'. The direction \'right\' was not accounted in JSON structure, neither is there a action "rotate" involving right direction in the JSON. Also, the "linear_speed" is assigned as 1 in the JSON structure, but speed information isn\'t provided in the text command. Therefore, it isn\'t a perfect match.'] +Make a right turn and travel straight ahead for a total of 10 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 10, "is_forward": true, "unit": "meter"}}'];["4; The natural command is accurately represented by the JSON commands although some parameters values are not specified in the JSON commands, such as 'angular_velocity' and 'linear_speed'."] +After turning right, advance forward and cover a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'];['2; The JSON structure partially matches the natural language command. However, the command "After turning right" doesn\'t match any JSON action structure, therefore it doesn\'t conform fully with the sample keys of this ontology. The command "advance forward and cover a distance of 10 meters" corresponds to the JSON action structure with the move action and the params: "linear_speed", "distance", and "is_forward". The value of "linear_speed" wasn\'t specified in the natural language command, so any reasonable value is accepted in the JSON.'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The natural language commands match with the JSON structure. However, the "angular_velocity" value remained unspecified in the command, but it was used in the JSON and set to 0, which is not a reasonable velocity for a rotation action.'] +Perform a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 180, "is_clockwise": true}}'];["5; The command perfectly matches with the JSON structure for rotation action. The parameters 'angular_velocity' is not provided in the command but is considered valid since it's mentioned it can be any reasonable value. The 'angle' perfectly matches with the command and 'is_clockwise' is also perfectly translated as true."] +Turn in a clockwise direction by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["5; The natural language command entirely matches the JSON structure. The 'rotate' action, the clockwise direction as 'is_clockwise', and the angle of rotation are perfectly specified. Even though angular_velocity is not clearly mentioned in the original command, it still works because any reasonable value is acceptable in the JSON structure as per the directions. Hence, the command conforms completely to the structure."] +Execute a rotation of 180 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['4; The command exactly matches the JSON structure in terms of the action taken and parameters involved. However, the value for "angular_velocity" is set as 0, when the command does not specify the velocity. An arbitrary reasonable value should be used unless specified otherwise in the command.'] +Rotate by 180 degrees, following the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The JSON structure exactly matches the command. It correctly identifies the action as "rotate" and includes parameters for "angle" at 180 and "is_clockwise" as true. Although the "angular_velocity" is 0 in the JSON, which is not mentioned in the command, it is a reasonable value.'] +Move forward at a speed of 0.5 meters per second for 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];["4; The action and parameters match the natural language command exactly in terms of moving forward at a specific speed. However, the natural language command specifies a time duration, not a distance. The JSON command interprets this as a distance, which isn't entirely accurate according to the natural language command."] +Go ahead for 4 seconds at a velocity of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['3; The action and the parameters names are well defined in the JSON. However, the value for "distance" in JSON is incorrect, it should be 2 (0.5m/s * 4s = 2m). Besides, "unit" should be "meter" instead of "seconds".'] +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "duration": 4, "unit": "seconds"}}'];['2; While the JSON structure has "move" as the correct action and 0.5 as the correct linear_speed, the parameter "duration" is not part of the sample ontology for the "move" action. Instead, the ontology expects a "distance" parameter. Therefore, the natural language command does not perfectly conform to the JSON structure.'] +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['3; The natural language command matches with the "move" action in JSON structure. The "linear_speed" value of 0.5 is also correctly used. However, the "distance" key doesn\'t match the \'4 seconds\' in the command, it should be "time" or similar key to show the duration of the movement. So it\'s partially conforming.'] +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The command is mostly conforming with the provided JSON structure. The "move" action with a "linear_speed" of 0.5 and "unit" as "meter" matches perfectly. The "distance" in this case makes sense to be 2 (0.5 m/s * 4 s = 2 m), assuming the robot continuously moves at the said speed. However, the JSON does not account for a "time span" parameter, which is indirectly calculated from the speed and distance in this case. The "is_forward" parameter is assumed to be true because the command implies forward movement.'] +Turn left and move backward for 2 meters.;['{"action": "move", "params": {"linear_speed": default_value, "distance": 2, "is_forward": false}}'];["3; The action of rotating or turning left isn't represented in the JSON. However, the action of moving with specified direction and distance is correctly represented. Hence, it is partially conform."] +Take a left turn and proceed backwards for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": default_speed, "distance": 2, "is_forward": false}}'];["2; The command includes an action of turning which is not included in the JSON structure. The 'move' action is correctly matched, however, the direction of move ('is_forward': false) and 'distance' are accurately represented, but 'linear_speed' is not specified in the natural language command, still, it's an accepted parameter. The command of 'take a left turn' can be similar to the 'rotate' action, but it has no match in the JSON structure provided."] +Make a left turn and travel in reverse for a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['2; The command refers to two actions -- rotating and moving backwards. However, the JSON structure only maps to the moving part and does not account for the rotation or direction. Furthermore, the command explicitly gives a distance value of 2 meters, and this is correctly represented in the JSON. However, the "is_forward" parameter is incorrectly set to false while the command specifies moving in reverse.'] +Rotate left and proceed in reverse for a total distance of 2 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false, "unit": "meter"}}'];["1; While the natural language command maps to the 'move' action, there are discrepancies between the actual and expected 'params' values in the JSON structure. Furthermore, the command to 'rotate left' is unaccounted for in the provided JSON."] +Shift to the left and move backwards covering a distance of 2 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meters"}}'];["4; The JSON command structure matches the natural language command well as it includes an 'action' of 'move' as well as parameters for 'distance', 'is_forward', and 'unit'. However, the specific command to shift left is not represented in this JSON structure."] +Move forward for 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3.5, "is_forward": true, "unit": "seconds"}}'];['2; The action \'move\' was correctly identified. The \'is_forward\' parameter is also correct. However, the \'distance\' parameter is not compatible with the natural language instruction as "Move forward for 7 seconds" does not dictate a distance. The unit of the \'distance\' parameter should be meters according to the JSON structure. Moreover, there is no \'seconds\' parameter in the given JSON structure, so using it as a unit is not appropriate.'] +Proceed ahead for a duration of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.0, "duration": 7.0, "is_forward": true, "unit": "seconds"}}'];['0; The natural language command requires the robot to move forward for a certain duration, but the matching JSON structure does not contain a key for time or duration. Therefore, it does not conform to the command.'] +Advance for a period of 7 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3.5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command talks about moving for a specific time period, which is not considered in the JSON structure. Although the action "move" is matched, the parameter for time doesn\'t exist in the provided JSON. Also, the "distance" parameter is used in the JSON instead of a "time" parameter.'] +Keep moving forward for 7 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];['3; The command and the JSON structure partially conform. The action \'move\' and parameter \'is_forward: true\' directly match with the natural language command. However, the natural language command mentions the unit of time "seconds", while the JSON specifies the action in terms of distance. The JSON also includes a key for "linear_speed" which is not specified in the command.'] +Continue ahead for a total of 7 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];["1; There is slight conformity between the natural language command and the JSON structure. The command 'Continue ahead for a total of 7 seconds' suggests forward movement, which matches the 'move' action and 'is_forward' key in the JSON. However, the 'linear_speed' and 'distance' keys do not align with the 'total of 7 seconds' command since the 'unit' key is designated as 'seconds' and not 'meter' as shown in the sample. Thus, the 'distance' parameter is incorrectly assigned a time span '7 seconds', instead of a length unit. The command also does not specify a speed which the 'linear_speed' key requires."] +Rotate counterclockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['5; The JSON structure correctly reflects the natural language command. The action "rotate" matches. The parameters also match: "angle" is 30 as stated, "is_clockwise" is false, which corresponds to the counterclockwise direction in the command, "angular_velocity" is not specified in the command, so any value is accepted including 0. The "unit" key does not need to be specified as it is implicit in the "degrees" mentioned in the command.'] +Turn left by an angle of 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['3; The natural language command asks for a rotation action, which is represented correctly in the JSON. However, the "angular_velocity" specified in the JSON structure does not match with the command, as the command does not specify an angular velocity. Also, the "is_clockwise" key in the JSON is set to false which represents turning left correctly. It\'s a partial match.'] +Rotate anticlockwise by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": Default, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4; Mostly conform. The value of the angular_velocity is not specified in the natural language command but a default value is considered acceptable. The parameter "is_clockwise" is correctly interpreted as false for "anticlockwise" rotation. The angle to rotate by is also accurately captured. The only thing that could improve conformity is the specification of the "angular_velocity" in the command.'] +Rotate in the opposite direction by 30 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure matches the ontology(example keys) and the command is correctly translated. However, the value for "angular_velocity" parameter is arbitrary as the command doesn\'t specify it.'] +Make a 30 degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false}}'];['5; Exactly conform. The natural language command perfectly matches with the JSON structure, with the "rotate" action being implemented, the angle set to 30 (which is specified), and is_clockwise set to false as indicated by the direction "counterclockwise". The "angular_velocity" value isn\'t detailed in the command but, any reasonable value in the JSON is acceptable.'] +Move backward at a speed of 1 meter per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The natural language command has been correctly relayed to the JSON structure. However, the sample ontology does not specify an ability to interpret negative linear_speed for backward movement.'] +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false}}'];['5; Exactly conform. The natural language command refers to a movement action at a specific speed for a certain duration, in reverse. This is properly translated in the JSON structure, which has the "move" action, a "linear_speed" of 1, a "distance" of 6 (which can be interpreted as duration in this context), and "is_forward" set to false - indicating reverse movement.'] +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'];['4; The natural language command matches well with the JSON structure in terms of the "move" action and its parameters. However, using "seconds" as the unit for distance is not in line with the sample ontology. Therefore, the command is somewhat conform, but it has some mismatching elements.'] +Travel backwards for 6 seconds at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "second"}}'];['5; The natural language command is perfectly converted into the JSON structure. With "move" action, every parameter is conformed such as "linear_speed" to 1, "distance" to 6 meters, "is_forward" to false indicating backwards, and "unit" to second. The conformity is perfect.'] +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.;['{"action": "move", "params": {"linear_speed": -1, "distance": 6, "is_forward": false, "unit": "meter", "duration": 6, "unit_duration": "seconds"}}'];['4; Most parameters match correctly. However, there is no field for the rate in the JSON structure which correlates to the command\'s mention of \'moving at a rate of 1 meter per second.\' "Duration" and "unit_duration" are not included in the sample ontology.'] +Turn right and move forward for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}, "unit": "degree"}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; The JSON structure(s) capture the natural language command by using the correct action commands and parameters. The rotation action properly identifies a right turn (is_clockwise: false) and the move action signifies a forward distance of 8 meters. The values provided for each parameter are reasonable.'] +Proceed for 8 meters after taking a right turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meters"}}'];['3; The JSON partially matches the command. The move action is represented correctly, including the distance and direction. However, the command\'s request to first take a right turn is not represented in the JSON. There should have been a separate JSON for rotation action before the move action. Also, the actual value of "linear_speed" is not mentioned in the command hence can\'t be fully validated whether it\'s accurately represented or not.'] +Take a right and continue straight ahead for a distance of 8 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; The JSON structures translate the command correctly, but the angular_velocity for the rotate action is given as 0, which is not defined in the natural language command and is not a reasonable value for this specific action.'] +Make a right turn and then proceed ahead for 8 meters.;['{"action": "rotate", "params": {"angular_velocity": DEFAULT_ANGULAR_VELOCITY, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": DEFAULT_LINEAR_SPEED, "distance": 8, "is_forward": true, "unit": "meters"}}'];['5; The natural language command is perfectly matched with the JSON information and its conformity with the keys of the sample ontology. The command of making a right turn corresponds to the first JSON object where action is "rotate" and the angle is 90 with \'is_clockwise\' parameter set to true. And, proceeding ahead for 8 meters corresponds to the second JSON object where action is "move", distance is 8 and \'is_forward\' parameter is set to true. The values for angular_velocity and linear_speed are not specified in the command but are assumed to be default and hence it is perfectly fine.'] +After turning right, cover a distance of 8 meters by moving forward.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 1.0, "distance": 8, "is_forward": true, "unit": "meters"}}'];['4; Mostly conform. The command is correctly represented in the JSON structures. However, the given "angular_velocity" value of 0.0 in the JSON does not match the command\'s request of turning right which would usually require some positive rotation speed. Besides this discrepancy, it matches the moving forward for 8 meters perfectly.'] +Rotate clockwise by 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['4; The "angular_velocity" in the JSON is 0 which does not adequately conform to the natural language command but there is conformity on the "rotate" action and "angle" and "is_clockwise" parameters.'] +Turn 270 degrees to the right.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true}}'];['5; Justification: The natural language command is exactly represented by the JSON structure. The "rotate" action is correctly represented, and the parameters "angle": 270 and "is_clockwise": true are exactly what the command says. Angular velocity is not specified in the command, but any reasonable value is accepted.'] +Turn three-quarters of a full rotation to the right.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 270, "is_clockwise": true}}'];['4.5; The natural language command conforms almost perfectly with the JSON structure, except for the angular_velocity parameter where its value is not specified in the command but any reasonable value is accepted, so it is left as .'] +Perform a clockwise rotation of 270 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command perfectly conforms with its corresponding JSON structure since the action of rotating, the parameters of angular_velocity, angle, is_clockwise, and unit are all correct and exist in the JSON, the given values are also reasonable.'] +Rotate in the clockwise direction, making a 270-degree turn.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; This command refers to the "rotate" action in the sample ontology. All of the parameters are present: "angle" is 270, "is_clockwise" is true, and "unit" is in degrees. Although "angular_velocity" wasn\'t specified in the command, it still matches as the value of 0 in the JSON is considered reasonable.'] +Move forward and then immediately stop.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['4.5; The action "move" and the direction "is_forward" are correctly interpreted, but there\'s no explicit mention of speed or distance in the command, although the JSON correctly suggests a stop, as commands to move and stop immediately. The speed being 0 is questionable as the command mentions to move first, then stop, hence, half point is deducted.'] +Proceed forward and promptly come to a halt.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['3; The natural language command matches with the \'move\' action in the JSON structure, as it indicates that motion is going forward. However, the command doesn\'t specify the \'distance\' or \'linear_speed\', therefore the marked values "0" for the \'distance\' and \'linear_speed\' is inappropriate, even though no specific values were given in the command. According to the ontology, for the \'move\' action, the linear_speed and distance can\'t be 0. The appropriate value should be a positive number.'] +Advance and instantaneously cease movement.;['{"action": "stop", "params": {}}'];["0; The natural command asks to move and immediately stop, however, the provided JSON structure does not match with this command. There's no action: 'stop'."] +Go forward and abruptly pause.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true}}', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['3; The JSON structure partially matches the natural language command. The "move" action is present and "is_forward" parameter is set as true which matches "Go forward" part of command. However, the command doesn\'t specify a "distance" or "linear_speed" which is reflected in the JSON. The "abruptly pause" part of command is not directly represented in the JSON structure. The stopping part is indicated by setting "distance" and "linear_speed" to 0, although it\'s not an abrupt pause as indicated in the command.'] +Move ahead and promptly end motion.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": true}}'];['4; Conform the right action which is "move" and the correct parameter "is_forward": true to denote moving ahead. The linear_speed is not mentioned in the natural language command, so any reasonable value is accepted. But "distance" could not be 0 based on the directive to move ahead, which indicates some distance is to be covered.'] +Turn left and move backward for 4 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['1; The natural language command is asking for two actions: turning left (which constitutes a "rotate" action) and moving backward (which corresponds to the "move" action). However, the provided JSON structure only corresponds to the "move" action, and does not include the rotation. Additionally, the JSON does not specify the direction of the move as being backwards (is_forward": false is missing).'] +Make a left turn and proceed backwards for a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];["2; The provided JSON structure does represent the action of moving a certain distance. However, it lacks rotational information that's specified in the natural language command (left turn). Therefore, the match is partial."] +Go in the opposite direction and turn to the left, covering a distance of 4 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 4, "is_forward": false, "unit": "meter"}}'];["1; The JSON command corresponds to the move action of the robot. However, the direction of movement (forward or backward) is not properly indicated. The 'is_forward' key is set to 'false' which means the robot moves backward, whereas the command talks about going in the 'opposite' direction which is not precisely clear. The command talks about turning which is not represented in the JSON entirely. The mentioned distance is accurately represented in the JSON."] +Rotate to your left and travel in the reverse direction, moving 4 meters behind.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false}} {"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The JSON responses partially match the given command. In the "rotate" action, the "angular_velocity" and "angle" are supposed to have values other than 0, but the exact values are not specified in the command so this is still accepted. In the "move" action, the JSON struct is correct but it lacks "linear_speed" value in which case, a value other than 0 could have been acceptable.'] +Head left and travel in reverse for a total of 4 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['3; The JSON command matches the natural language command for the most part, but it is missing the rotation action that should be performed before moving backwards. The direction (left) is also not defined in the JSON command.'] +Move forward for 10 seconds at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "seconds"}}'];["2; The JSON structure matches the action 'Move' and the speed parameters, but the unit is incorrectly stated as seconds instead of meters. The distance parameter is also extrapolated on its own, as it's not mentioned in the command. The boolean for 'is_forward' matches correctly."] +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The conformity between the natural language command and the JSON representation is high. Action, linear_speed, is_forward and unit keys are correctly used while distance is also correctly calculated but there is no key in the JSON structure to incorporate the time duration mentioned in the command.'] +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3.0, "is_forward": true}}'];['4; Mostly conform. The action matches and the "params" key also exists in the action\'s ontology. "linear_speed" matches and is correct. However, the "distance" was calculated (rate × time = 3 meters), but the command does not explicitly provide this information. The "is_forward" key/value pair was assumed from "proceed ahead". But overall, the ontology and the values do conform to a large extent.'] +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The action and most of the parameters in the JSON match the natural language command. However, the natural language command specifies the duration ("10 seconds") instead of distance. Converting duration to distance using speed is a reasonable assumption, but it\'s not explicit in the natural language command.'] +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.;['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The JSON conforms in that it correctly identifies the action as "move" and sets "is_forward" to true. It also properly sets the "unit" as "meter". However, the "linear_speed" in the JSON is 0.3, which is not mentioned in the command and thus cannot be assumed. Additionally, the "distance" in the JSON is 3, whereas the command specifies "covering a distance for 10 seconds".'] +Rotate counterclockwise by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": -1, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; Mostly conform. The angular_velocity can be any reasonable value, so the -1 value is accepted. However, the "is_clockwise" key value in JSON should correspond with "counterclockwise" in the command, which should be false, not true. Therefore, it mostly conforms but has a minor discrepancy.'] +Turn left by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 60, "is_clockwise": false}}'];['4; The action "rotate" and the parameter "angle" match with the natural language command and JSON with correct values. Since the direction is "left", "is_clockwise" is false, which corresponds to the JSON. However, the "angular_velocity" is not specified in the command and "default" is not a valid value according to the given ontology. If it would have been a valid number, the score would have been 5.'] +Rotate in the opposite direction by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command perfectly matches with the JSON structure. The action "rotate" and parameters "angle" and "is_clockwise" are correctly described, even though "angular_velocity" is not specified in the command, it is reasonably filled in the JSON.'] +Make a counterclockwise rotation of 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['3; The JSON structure partially matches with the command. The "action" and "angle" parameter accurately match the command of making a counterclockwise rotation of 60 degrees. But the "angular_velocity" and "is_clockwise" parameters do not align with the command. The command does not provide information about the angular velocity, thus any value is acceptable. However, the command specifies a counterclockwise rotation, but the JSON displays "is_clockwise: False".'] +Rotate leftwards by 60 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false}}'];['5; The natural language command perfectly conforms to the JSON structure, providing appropriate parameters for action, angle, and direction of rotation (is_clockwise). Even though the "angular_velocity" value wasn\'t specified in the natural language command, its presence in the JSON as 0.0 is accepted as a reasonable value.'] +Move backward and then immediately stop.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": false}}'];['4; The natural language command is correctly translated into the JSON structure based on the ontology provided. However, the "unit" key available in the ontology for the move action is not included in the JSON.'] +Reverse and come to a sudden halt.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0, "is_forward": false}}'];['2; The natural language command partially matches with the JSON structure. The action of moving is captured in the "move" action in the JSON but there are discrepancies in the parameters. Specifically, detail about \'linear_speed\' and \'distance\' are not provided in the command so the values 0.0 and 0 could be acceptable. The important information \'is_forward\': false is missing in the natural language command and it is an important parameter for reversing.', ''] +Go in reverse and abruptly cease.;['{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false}}'];['1; The JSON correctly represents the "move" action however, the natural language command description of "abruptly cease" is not reflected in the JSON structure.'] +Back up and instantly come to a standstill.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];['3; The natural language command implies a movement, which exists in the sample keys. However, a "come to a standstill" action does not exist in the sample keys. Therefore, the JSON conforms to the action "move" but does not fully comply with the command as the stop command is not in the JSON structures.'] +Move backwards and promptly come to a stop.;['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];["4; The action 'move' and the parameter 'is_forward' with value 'false' matches with the command, but the command does not specify a 'linear_speed' or 'distance', so the values of 0 provided in the JSON are arbitrary and don't perfectly match the command. It's also missing 'unit' key."] +Turn right and move forward for 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];["4.5; Almost fully matching with the command. Considering the given sample ontology, the JSON given provides the correct action of rotating (turn right) and moving forward for a certain distance. The angular_velocity for the 'rotate' action in the JSON is '0', while the command doesn't mention it, yet one would expect some form of velocity for the rotation to occur. Therefore, a slight mismatch exists."] +Make a right turn and proceed straight ahead for a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['2; The natural language command somewhat matches the JSON structure given. There is a mention of taking a turn which could match with the "rotate" action in the JSON structure. There is also a specification of a distance to move straight ahead which correlates with the "move" action in the JSON structure. However, specific details such as rotation angle and distance are different or not mentioned in the JSON structures. The direction of turn (right/clockwise) is interpreted correctly. The command also lacks conversion to two separate JSON commands, one for rotation and another for movement.'] +Go to your right and continue moving forward for a total of 6 meters.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Right"}}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];['3; The location value in the first JSON structure "Right" is inconsistent with the ontology, which only accepts "type": "str", "value": "Kitchen". However, the second JSON structure with "action": "move" matches the natural language command well, having all the correct action and parameters. Thus, only partial conformity is achieved.'] +Take a right turn and advance ahead, covering a distance of 6 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 6, "is_forward": true, "unit": "meter"}}'];["4; Almost conform. The JSON structure represents the command quite accurately with the 'rotate' and 'move' actions. However, the angular_velocity and linear_speed values are given as 0.0, which would not allow any movement. These should ideally be a reasonable non-zero value."] +Head towards the right and maintain a straight path for 6 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['4; While the command itself does provide information on moving in a straight path and the distance to be covered, it does not specify the speed, direction (whether it is forward or backward), and it asks to move to the right which corresponds to rotation but no rotation details are included in the JSON. Hence, these unmentioned parameters\' values are accepted in the JSON regardless. However, as per the sample ontology, the command \'move\' does not include right or left movements which would have been covered under "rotate". Hence, a complete match is not present.'] +Rotate clockwise by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": "default", "angle": 120, "is_clockwise": true}}'];["4; The natural language command mostly matches with the JSON structure. However, 'angular_velocity' value is default which is not specified in the natural language command and considered as a reasonable input (as per instruction), but key 'unit' is missing in the JSON structure which has a specified value 'degrees' in the given command."] +Turn 120 degrees in a clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'];['5; Exactly conform. The natural language command exactly corresponds to the JSON action of rotating (with a specified angle and direction), and all key elements are specified. Therefore, it is fully conforming.'] +Move in a clockwise rotation by 120 degrees.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": true}}'];["4; The action is correct and the movement direction is correct. However, the angular velocity is arbitrary as it's not specified in the natural language command, so it can't be determined to be accurate."] +Adjust the rotation by 120 degrees in a clockwise manner.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'];["4; The structure and keys of JSON match with the natural language command, but angular_velocity key's value is 0 in the JSON which contradicts the command implying some degree of rotation speed."] +Execute a 120-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": true}}'];["5; The action 'rotate' is correct and the parameters 'angle', 'is_clockwise' are correctly assigned with the same values as in the natural command. The 'angular_velocity' wasn't specified in the command, however, the value in JSON is accepted as a reasonable value."] +Move forward and then backward for 5 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meters"}}'];["2; While the action 'move' is correct and the parameters 'distance' and 'unit' match, the 'linear_speed' is not specified in the natural language command, but is included in the JSON. The command 'backward' is not translated into JSON, so it isn't a perfect match."] +Proceed ahead and then return in reverse for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 5, "is_forward": true, "unit": "meters"}}'];['1; Both the natural language command and JSON data involve the "move" action. However, the command indicates a return in reverse, which is not reflected in the JSON structure. Furthermore, the JSON\'s linear speed parameter is 0, suggesting no movement, which is incongruous with the command.'] +Advance forward and then retract for a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['3; The command corresponds with the "move" action and some parameters in the JSON structure correctly. The command does not specify linear speed and the direction of movement for the retracing part. Additionally, the command should be split into two separate JSON structures - one for advancing forward and one for retracting.'] +Go straight ahead and then move backward covering a span of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];["3; The natural language command is partially represented in the JSON. The 'go straight ahead' is correctly translated into a 'move' action with a 'is_forward' key set to true, an unspecified 'linear_speed' and the 'unit' is correct. However, the natural language command also mentions a separate action, to 'move backward', which would be another 'move' action with a 'is_forward' key set to false. This is not included in the provided JSON structure."] +Propel forward and then reverse, covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['3; Partially conform. The action is mostly matched, however the command also included the action of reversing (going in reverse direction) which is not reflected in JSON structure.'] +Move forward for 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true}}'];["5; The natural language command perfectly matches the JSON information. It specifies the 'action' as 'move', 'distance' is given as 10, 'is_forward' is true, and although the 'linear_speed' is not mentioned in the command, a reasonable value is included in the JSON. The command corresponds exactly with the JSON structure."] +Proceed straight for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "meters"}}'];['4; The JSON structure is mostly accurate. The "is_forward" key accurately represents the command to "proceed straight." The "distance" key also accurately corresponds to the command to go for a distance of 10 meters. However, the "linear_speed": 1.0 in the JSON doesn\'t have a matching command in the text, which is why the score is not a perfect 5.'] +Advance ahead by 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The JSON matches the natural language command perfectly. The "move" action is used and its parameters are correctly set as described in the command, which asks for the machine to move forward by 10 meters. The "linear_speed" parameter was unspecified in the command, so any reasonable value (like 1) is acceptable in the JSON.'] +Go straight ahead covering a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Travel in a forward direction for 10 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);["4; The given command corresponds mainly to the second JSON structure. The action is 'move' or 'travel' which is similar and the parameters 'is_forward' and 'distance' are mentioned. The 'linear_speed' is not mentioned in the command but is a required value in the JSON structure hence reducing the score."] +Turn left and move forward for 5 meters.;['{"action": "move", "params": {"linear_speed": 0.0, "distance": 0.0, "is_forward": true}}'];['2; The JSON structure matches the "move" action and is correct in terms of direction (forward). However, the command also includes a turn which isn\'t represented in the JSON, and the values for "linear_speed" and "distance" are not consistent with the command (which specifies 5 meters).'] +Make a left turn and proceed ahead for a distance of 5 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['3; The command partially matches with the provided JSON representation. The direction \'left\' is perceived as an anti-clockwise rotation hence "is_clockwise": false is correct. The angle in rotation is not specified in command but it is generally a 90 degrees turn when we say left or right turn. However, the "angular_velocity": 0 in JSON doesn\'t match as for the robot to rotate, it should have some angular_velocity. In the move action, "distance": 5, "is_forward": true, and "unit": "meters" match perfectly with the given command but "linear_speed": 0.5 in JSON doesn\'t match as there is no specification about the linear_speed in the command.'] +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The natural language command indicates two separate actions: a rotation (implied with "rotate towards the left") and movement ("continue moving straight ahead covering a distance of 5 meters"). However, the provided JSON structure only describes the "move" action with correct parameters, but doesn\'t include the initial "rotate" action. Therefore, the conformity is partial.'] +Take a leftward turn and advance for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "meters"}}'];['1; The command asks for a "leftward turn" which corresponds to the "rotate" action, not the "move" action in the JSON structure. The "advance for 5 meters" is partially correct in the JSON provided, but "linear_speed" is set to 1 instead of 0.5, and "is_forward" is indicated as false when it should be true if the command is to "advance". The conformity is limited thus resulting in a low score.'] +Face left and go straight for 5 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];["1; The command includes both rotation and moving forward. However, the provided JSON structure only contains the 'move' action with correct 'distance' parameter. The rotation action and the `is_forward` and `unit` details of 'move' action are not reflected correctly in the JSON structure."] +Rotate counterclockwise by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["4.5; The action command ('rotate') is correctly mentioned, and 'angle' parameter is accurate. However, the 'is_clockwise' parameter is correctly provided as false (as rotation is counterclockwise). The value for 'angular_velocity' is not provided in the natural language command, so any value is acceptable, but 0 make not be a reasonable value in this context. Hence a slight deduction."] +Rotate in an anticlockwise direction by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": default_value, "angle": 90, "is_clockwise": false}}'];['4; The natural language command requires the robot to rotate anti-clockwise, which aligns with the JSON structure given. However, there\'s no specified "angular_velocity" in the command and so the phrase \'default_value\' is used in the JSON statement and is quite vague but acceptable. Also, the "unit" key is not included in the JSON structure but it should be implied as \'degrees\' since we\'re dealing with angles.'] +Perform a 90-degree counterclockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];['4; Angular velocity is set to 0 while in the command it is not specified how fast the rotation should be done, otherwise the command follows exactly the ontology structure.'] +Turn left by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false}}'];["4; The JSON structure corresponds correctly to the action of rotating and an angle of 90 degrees is correctly specified. Although 'left' implies counter-clockwise rotation, which should logically be represented by is_clockwise: False, the angular_velocity is set to 0.0. If angular_velocity was not specified in the command, any reasonable value could be accepted. The angular_velocity 0.0 possibly means there's no rotation happening which contradicts the command."] +Anti-rotate by 90 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false}}'];["4; The JSON structure correctly represents the action of rotating in a anti-clockwise direction (false) by 90 degrees, but the angular_velocity is mentioned as 0 in JSON while it isn't specified in the natural language command, hence the deduction of 1 point."] +Move backward for 3 meters.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; Almost exactly conform. The JSON struct matches the command, although the "linear_speed" value is not mentioned in the command, it is reasonable as per the instructions. However, the direction "backward" is not directly reflected in the "is_forward" key value. It is indirectly implied by assigning the value of "is_forward" as false.'] +Go in reverse for a distance of 3 meters.;['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The command and JSON match in terms of the action and its parameters, however, the direction ("is_forward": false) indicates that the vehicle should go backwards, which might not be strictly considered as \'in reverse\' (as specified in the command). \'In reverse\' suggests that it should go back using reverse gearing or function, not merely moving backwards. Thus, the command and JSON are mostly but not exactly conforming.'] +Retreat by 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4; The action in JSON is 'move' which corresponds to the command of movement. The distance parameter '3' is matched. But the 'is_forward' parameter does not match: it should be 'false' with retreating rather than 'true'. The 'unit' and 'linear_speed' parameters are taken as reasonable values which the natural language command does not specify."] +Step back 3 meters.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The JSON largely conforms to the command, with the action "move" and the distance parameter correctly interpreted. However, the direction is inferred from the "step back" command (\'is_forward\': False), which isn\'t explicitly stated in the natural language command. The "linear_speed" is also an added information and doesn\'t come from the command.'] +Reverse direction and travel 3 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'];['4; The natural language command corresponds to the provided JSON structure. However, the linear speed doesn\'t match the command. Since the command doesn\'t provide any linear speed, any reasonable value could be accepted. Here, linear speed is set to 1 which can be considered as a reasonable value. The command instructs to "reverse direction and travel 3 meters" and in the JSON structure, "is_forward" is set as false indicating reverse direction and distance is mentioned as 3, exactly as per the command.'] +Turn right and move forward at 0.5 m/s for 20 seconds.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meters"}}'];['4; The JSON structures partially match the natural language command. The "rotate" action JSON is fairly accurate, though the angular_velocity value doesn\'t exactly conform to the command. In the "move" action JSON, the distance value doesn\'t conform to the command as it\'s not in the command\'s context.'] +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "seconds"}}'];['3; The JSON structures partially match with the natural language command. The "rotate" action and its parameters in the JSON align with the command for turning right. However, the command\'s mention of proceeding straight for 20 seconds does not entirely conform with the "move" action in the JSON, specifically with the "unit" key. The command implies moving for a set duration (seconds), but the JSON structure interprets it as a distance (which should be in meters), resulting in conceptual mismatches.'] +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true}} ', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "seconds"}}'];['2; The first JSON structure is in accordance with the initial part of the command where a right turn is mentioned. However, the "unit" of "angular_velocity" isn\'t in accordance with the keys of the sample ontology which expects the unit to be "degrees". The second part of the command is not captured in the JSON structure at all. The third JSON structure is in alignment with the second part of the command (moving forward for 20 seconds), but the "distance":20 does not make any sense since the distance is not mentioned in the command. The unit should be \'meter\' as per ontology. The parameter "linear_speed" matches with the command.'] +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['3; The JSON structures correctly recognize the actions of "rotating" and "moving." But, the first JSON has error in "angular_velocity", it should not be 0.5, it is not mentioned in the command, so it can be any reasonable value. For the second JSON structure, "unit" should be "meter" instead of "seconds" and the "distance" is incorrectly set as 10, it should not be included as it is not in the command.'] +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "seconds"}}'];["3; Partial conformity. The JSON structure represents the 'move' action correctly, specifying 'linear_speed' as 0.5 and 'is_forward' as true. However, the 'distance' parameter is inaccurate according to the command (it should be a time period rather than a distance), and the 'unit' is mentioned as 'seconds' which is incorrect according to the ontology. Additionally, the command to 'turn right' is not represented in the JSON.", ''] +Go to the living room and stop.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['3; The action "go_to_goal" and the parameter "location" with a value of "Living Room" matches the natural command. However, the command part "and stop" does not have a representation in the provided JSON structure.'] +Please proceed to the living room and come to a halt.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['4.5; The command is perfectly translated in the JSON structure. However, the "come to a halt" part of the command isn\'t explicitly represented in the JSON structure. Due to absence of any stop or halt action in the given ontology, it can be implicitly understood in the \'go_to_goal\' action, thus the slight deduction in the score.'] +Make your way to the living room and cease movement.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['4; The action and keys match, but the value of "location" ("Living Room") in the JSON does not exactly match the natural language command ("living room"), as there is a difference in capitalization.'] +Head over to the living room and pause.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['4; Although the action "go_to_goal" perfectly aligns with "Head over to" and the location is provided as "Living Room", the action of pausing does not correspond to any action or parameter in the given JSON structures. Therefore, the matching is almost, but not entirely, perfect.'] +Walk into the living room and stand still.;['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];["5; The command 'Walk into the living room and stand still' exactly matches the JSON action 'go_to_goal' with the location parameter being the 'living room'. The action of 'standing still' is inherent once the bot has reached its goal of going to the 'living room'. No additional action is required in JSON. Thus, the conformity is exact."] +Move forward for 2 seconds at a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['3; The action in the natural language command matches with the "move" action in the JSON structure. However, the parameter "distance" in the JSON structure does not match completely with the command "Move forward for 2 seconds," even though the notion of "time" could be indirectly related to distance (distance = speed * time). Furthermore, the "unit" in the JSON structure is "seconds," which does not exist in the sample ontology. As a result, the match is partial.'] +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'];['4; The command specifically maps to the "move" action in JSON. The speed and duration specified in the command correspond to the "linear_speed" and "distance" parameters respectively in JSON. However, while the noun \'second\' is not a part of the ontology, its ideal equivalent, \'distance\', is employed in the JSON, which can affect the robot\'s action execution to quite an extent.'] +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["3; The JSON structure is slightly misfit with the natural language command. In the command, user has asked to move for 2 seconds but in the JSON structure, '2' has been used as a value for distance not time. Similarly, 'unit' in the JSON structure has been converted into 'seconds' which should actually correspond to 'meter' as speed unit in the command is 'meter per second'."] +Move ahead at a rate of 1 meter per second for 2 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["4.5; Almost exactly conform. The command matches closely with the JSON structure in the sample but the unit 'seconds' is not presented in the JSON's format. The unit should be 'meter' according to the sample ontology."] +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The action "move" makes sense for the command but there is a mismatch in parameters. The distance is given in time (2 seconds) not in terms of distance unit like meters. Also, the speed measure unit in the command (meters per second) doesn\'t match with the provided unit in the JSON structure ("seconds").'] +Rotate clockwise by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];["5; The natural language command matches perfectly with the JSON structure. The 'action' is 'rotate', 'angle' is 180 and 'is_clockwise' is true. The 'angular_velocity' is not specified in the command so any reasonable value in the JSON is accepted."] +Perform a clockwise rotation of 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 180, "is_clockwise": true}}'];["4; The JSON structure accurately captures the action required i.e. rotation and the direction which is clockwise. It even includes the angle which is exactly as mentioned in the command. But the angular velocity suggested in the JSON structure doesn't match the command accurately as no velocity is mentioned in the command."] +Rotate 180 degrees in the clockwise direction.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true}}'];['5; The natural language command is in perfect conformity with the JSON structure. The rotation degree and direction are correctly noted.'] +Turn in a clockwise direction and rotate by 180 degrees.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command is perfectly translated into the provided JSON structure. In this case, the action is "rotate" and the parameters are correctly provided: the angular velocity is not specified in the command, thus any value (0 in this case) is accepted, the angle is 180 degrees, the rotation direction is clockwise and the unit is degrees.'] +Execute a 180-degree clockwise rotation.;['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": 180, "is_clockwise": true}}'];['5; Exactly conform.'] +Move forward for 4 meters and then turn left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true}}'];['2; The natural language command partially matches with the JSON structure. The "move" action is correctly interpreted with the "distance" correctly set to 4 and "is_forward" set to True. However, the "rotate" action to turn left is missing in the JSON structure.'] +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON partially conform to the natural language command. The first JSON structure accurately represents the command to proceed straight ahead for 4 meters. However, the second JSON structure fails to fully capture the instruction to make a left turn, as the angle of the turn is not specified in the natural language command and may not necessarily be 90 degrees.'] +Go straight for a distance of 4 meters followed by a left turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The JSON structures perfectly match the natural language command. The distances, directions and units specified in the command are correctly represented in the JSON structures. The JSON for move action has "is_forward" set to True and "distance" set to 4 which align with the "Go straight for a distance of 4 meters" command. For the rotate action, "is_clockwise" is False which signifies a left turn as mentioned in the command.'] +Advance in the forward direction, covering 4 meters, and then make a leftward turn.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["4; The JSON structures match almost perfectly with the command. It correctly captures the details about moving forward and rotating in a counterclockwise direction. However, the angular_velocity value in the JSON was not specified in the command, but any reasonable value can be accepted case if it's not specified."] +Move ahead for 4 meters and then change direction by turning left.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meters"}}'];['4; The natural language command is partially conform to the JSON structure. It perfectly matches the "move" action in terms of direction and distance. However, it fails to mention the linear speed in the natural language command, although it is included in the JSON. The part about changing direction by turning left is not covered by the provided JSON samples.'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The natural language command correctly corresponds to the action "rotate" and "move", and almost all parameters are correctly mentioned except the "angular_velocity" and "linear_speed". Their values are not required to match exactly, but a zero value (0) does not seem reasonable in the context of the provided command.'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; The commands are mostly accurate but the "angular_velocity" and "linear_speed" values are mentioned as 0 in the JSON whereas they aren\'t specified in the natural language command.'] +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; All parameters of the command are correctly captured in the JSON structures with appropriate values and there is a correct match between the natural language command and the JSON information.'] +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform. The natural language command precisely corresponds with the JSON structures. The rotation is anti-clockwise, which correctly translates to "is_clockwise": false in the JSON. The angle and distance are also properly reflected in the JSON. The provided linear_speed in JSON is also logically acceptable.'] +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.0, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4; Most of the elements match but the "angular_velocity" and "linear_speed" values in JSON are 0.0 whereas the natural language command doesn\'t specify these parameters. However, 0.0 might not be a reasonable value for these parameters because it means no rotation or movement will happen.'] +Go to the bedroom and stop.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['1; The natural language command partially matches with the JSON structure. The command "go to the bedroom" is accurately represented by the JSON, but "and stop" does not have a corresponding action in the JSON structures.'] +Proceed to the bedroom and come to a halt.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['5; The command perfectly matches with the JSON structure, with "go_to_goal" as the action and "bedroom" as the location.'] +Make your way to the bedroom and cease your movement.;['{"action": "go_to_goal", "params": {"location": "bedroom"}}'];['1; The action to stop the movement is not represented in the JSON. However, "go_to_goal" is presented correctly with the location correctly set to "bedroom".'] +Head towards the bedroom and come to a standstill.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['4; The command instructs an action to go to a specific location, which is perfectly conform with the first JSON structure, but the location is different ("Bedroom" instead of "Kitchen"). The second part of the command ("come to a standstill") is not represented in the JSON structure.'] +Move to the bedroom and pause.;['{"action": "go_to_goal", "params": {"location": "Bedroom"}}'];['1; The natural language command partially matches the "go_to_goal" action and the "location" parameter. However, it also includes the action "pause", which does not exist in the provided sample keys and is thus not represented in the JSON structure.'] +Move backward for 7 meters at a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure correctly represents the natural language command of moving, the distance and the linear speed. However, it incorrectly assumes the robot is moving forward when the command states the robot should move backward. Therefore, "is_forward" should be false not true.'] +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['5; Both the action and parameters match perfectly with the natural language command. The "move" action is correctly used along with all its parameters: linear_speed (0.8), distance (7), is_forward (false), and unit (meter). The direction "backwards" correctly converts to "is_forward" as false. Therefore, the JSON information accurately represents the command.'] +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.;['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meters"}}'];['5; Exactly conform.'] +Turn left and move forward for 5 meters at a speed of 2 meters per second.;['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];['1; The JSON structure partly represents the "move forward for 5 meters at a speed of 2 meters per second" part of the command with the "action" as "move", "distance" as "5", "is_forward" as True, and "linear_speed" as "2". However, the command to "turn left" is not reflected in the JSON. The unit in the JSON structure is "meters" while in the command, the speed is expressed as "meters per second", which does not align with the JSON structure.'] +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": , "angle": 90, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}'];["4; The natural language command partially conforms with the JSON information. The action and parameters for 'move' are accurately represented in the JSON. However, for the 'rotate' action, the 'angle' element is assumed to be 90 degrees which is not explicitly stated in the command and the 'angular_velocity' is also not specified. Therefore, it does not fully conform to the sample keys because of these omissions."] +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 0.0, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The JSON information mostly matches the natural language command except for the angular velocity during rotation. In the natural language command, it is not specified, so the value 0.0 in the JSON is acceptable, but generally, any value less than or equal to 1 would be more reasonable as it is a rotation action. The distance for moving forward and the linear speed are accurately defined in the second JSON structure which matches the command.'] +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];["4; Although commands to rotate and move are correctly translated, the direction of the rotation is not explicit in the natural language command and the use of 'degree' as unit is not specified in the JSON. The speed of rotation is also given as 0, which doesn't quite match with any reasonable interpretation of the command."] +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.;['{"action": "rotate", "params": {"angular_velocity": 2, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The JSON structures mostly match the natural language command. However, the angular_velocity of the rotation action is misinterpreted as 2 (if it exists in the command at all), it should be left undefined as per the instructions. Additionally, the unit of angle in the \'rotate\' action is not specified in the command, so although "degrees" is a reasonable assumption, it is not a perfect match.'] +Back up for 1 meter and then execute a 90-degree turn to the right.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command correctly translates into the JSON structure, as it includes a "move" action with the specified parameters of 1 meter in distance and a backward direction, as well as a "rotate" action with a 90-degree clockwise turn (which is to the right).'] +Reverse for 1 meter and then make a right turn of 90 degrees.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command mostly conforms to the JSON structure, but the angular_velocity doesn\'t match. In the command, speed of rotation isn\'t specified, whereas in the JSON structure, angular_velocity is given as 10. Also, the right turn means rotation is clockwise which should make "is_clockwise": true in the second JSON.'] +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.;['{"action":"move", "params":{"linear_speed":-1, "distance":1, "is_forward":false, "unit":"meter"}}', '{"action":"rotate", "params":{"angular_velocity":1, "angle":90, "is_clockwise":false, "unit":"degrees"}}'];['4.5; Almost all parameter values from the natural language command match perfectly with those in the JSON. However, the moving action in the first JSON is backwards which is denoted by "is_forward":false. In the natural language command, it\'s not specified whether the robot should move at a certain speed or not, thus "linear_speed":-1 in the JSON is accepted as it\'s a reasonable backwards speed. Similarly, for the rotation action, it\'s not specified at which speed the robot should turn, thus any reasonable speed like "angular_velocity":1 is acceptable. The only point deducted is because the rotations in general are assumed to be clockwise for right turns but in the JSON, it\'s denoted as "is_clockwise":false which contradicts the general assumption.'] +Retreat by 1 meter and then make a right turn of 90 degrees.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["4; The commands in the natural language command are represented in the JSON but the values for 'linear_speed', 'is_forward', 'angular_velocity' and 'is_clockwise' in the JSON do not match with the natural language command. In the 'move' action 'linear_speed' is 1 but a speed is not specified in the natural language command. It also states 'is_forward' is false, indicating a backwards movement, whereas the language command stated a retreat. In the 'rotate' action 'angular_velocity' is 1, which is also not specified in the language command. Additionally, 'is_clockwise' is marked as false in JSON, but in natural language command a right turn which should be clockwise."] +Take a step back for 1 meter and then execute a 90-degree right turn.;['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['5; The JSONs matches the command perfectly. The "move" action is in the correct direction (backwards due to \'is_forward\': false) and for the right distance (\'distance\': 1), and the rotation is in the right direction (\'is_clockwise\': true implies a right turn) and for the correct angle (\'angle\': 90). Linear_speed and angular_velocity values aren\'t specified in the commands, but the values in the JSON are reasonable.'] +Navigate to the specified GPS coordinates and play a pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "coordinates", "value": {"latitude": "latitude_value", "longitude": "longitude_value"}}}}'];['0; The natural language command requests to navigate to GPS coordinates and play a pre-recorded message. However, the JSON structures provided do not contain any keys related to GPS coordinates or playing a pre-recorded message. Therefore, there is no conformity between the natural language command and the JSON structures.'] +Please go to the given GPS coordinates and play the pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "GPS coordinates", "value": "given"}, "play_message": true}}'];['1; The natural language command has two actions: going to a location and playing a message. While the JSON structure has the correct action for going to a location, it does not have the action for playing a message. Additionally, the parameter "play_message" doesn\'t exist in the sample keys. Also, the type for location in the natural language command is "GPS coordinates", which doesn\'t match with the type "str" in the JSON structure.'] +Can you navigate to the provided GPS coordinates and start playing the recorded message?;['{"action": "go_to_goal", "params": {"location": {"type": "GPS_coordinates"}}}'];['0; The given natural language command asks for the action to navigate to provided GPS coordinates and play a recorded message. This does not conform with the provided JSON structures as neither the action of going to the provided GPS coordinates nor playing a recorded message is represented. Furthermore, the provided JSON structure sample does not contain a key for GPS coordinates or for playing a recorded message.'] +Follow the given GPS coordinates and play the message that has been prerecorded.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS_coordinates"}}}'];["0; The command talks about going to a specific location and playing a message, which are not represented in the provided JSON. There's no match between the command and the JSON."] +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.;['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS coordinates"}}}'];['1; The JSON structure partially matches the command. The action \'go_to_goal\' is represented correctly. However, the parameter \'location\' value "GPS coordinates" is not defined in the sample ontology (i.e., Kitchen), and the part about "initiate the playback of the pre-recorded message" is not represented at all.'] +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 10, "is_forward": true, "pattern": "zigzag", "unit": "meter"}}'];["0; The JSON structure does not match the natural language command as there is no keyword or JSON key for 'zigzag' or 'alternating between forward and backward motions'. Hence, the command cannot be represented accurately."] +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": default_linear_speed, "distance": 10, "is_forward": true, "unit": "meters"}}'];['2; The command is only partially represented in the JSON structure. While the "movement" action and "distance" parameter are accounted for, the zigzag pattern and alternating between forward and backward are not featured in the JSON.'] +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; Although the action "move" and parameters such as "distance", "unit", and a potential for "is_forward" are correctly identified in the command and represented in JSON, the command also specifies a "zigzag pattern" with alternating directions that is not represented in any of the provided JSON structure. The JSON does not accommodate complex movement patterns, and as such it does not adequately fulfill the request in the command.'] +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['1; The command sets a zigzag pattern, but the JSON only has instructions to move forward a certain distance. There is no instruction for moving backward (which could be indicated by setting "is_forward": false), nor does the JSON represent the zigzag pattern stated. The distance of 10 meters matches, but the command does not specify a linear speed, thus any speed in JSON is accepted. However, the overall conformity is low.'] +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.;['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];["1; The provided JSON structure partially matches the natural language command. The command of changing the direction is not clearly mentioned in the JSON structure. Also, the movement pattern is not well matched because 'zigzag' is not in the sample keys."] +Spin around in a circle three times and then stop abruptly.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'];['5; The command "Spin around in a circle three times" matches pretty well with the JSON structure provided, where "rotate" action is used along with parameters like angular_velocity, angle (3 times a circle is equal to 1080 degrees), is_clockwise, and unit. The abrupt stop doesn\'t have its equivalent in the available ontology, but it has minor significance in the overall command and thus can be omitted for the conformity score.'] +Rotate in a full circle three times before coming to an abrupt halt.;['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 360, "is_clockwise": true, "unit": "degrees"}}'];['0; The natural language command includes two distinct actions, rotating and halting, but the JSON structure provided only covers the rotating action and does not follow the instructions specifically as it only rotates once as opposed to the three times stated in the command.'] +Perform three complete rotations in a circular motion and then abruptly come to a stop.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true}} ', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['4.5; The commands given were almost perfect matches with the JSON structure(s). The "rotate" action was interpreted very well. However, the "move" action is not exactly matching. In natural language command nothing has been mentioned about moving forward or the unit which is mentioned in the JSON. But still, given the nature of "abruptly come to a stop", it\'s a reasonable interpretation.'] +Turn around in a complete circle three times and then suddenly cease movement.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 1080, "is_clockwise": true}}'];['3.5; The natural language command is partially matched with JSON command. Though the rotation command is utilized correctly, there\'s no JSON structure to represent the halt in the motion as in the "suddenly cease movement" part of the command.'] +Spin in a circle three times and then bring yourself to an immediate halt.;['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['3; The JSON structure partially confirms the command - it covers rotation quite accurately, however the "halt" action can be mismatched with "move" action with zero speed.'] +Move forward at a constant speed of 1 meter per second for 30 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "seconds"}}'];['3; The JSON structure matches with the action and some parameters of the natural language command but the "unit" value in JSON does not conform to the natural language command. In the command, the unit refers to the speed (\'meter per second\') while in JSON, the unit refers to the duration of the action (\'seconds\'). There\'s a mismatch in this context.'] +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "second"}}'];['5; Exactly conform. The natural language command matches exactly with the provided JSON structure. The action "move" with the parameters "linear_speed", "distance", "is_forward", and "unit" (specified as seconds in the command) are all correctly captured in the JSON.'] +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "second"}}'];["4; Partially conform. The natural language command can be matched with the 'move' action in JSON, and the 'linear_speed' parameter matches with the speed specified in the command. The 'distance' parameter in JSON does not exactly match with '30 seconds' time duration specified in the command. The 'is_forward' parameter correctly represents 'moving ahead' direction in the command, and the 'unit' specified in JSON can be reasonably accepted. However, there is no exact match for moving for a specific time duration in the sample ontology."] +Advance for 30 seconds with a consistent velocity of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "seconds"}}'];["4; The JSON structure captures the action of moving forward for a certain distance and the speed command specified in the natural language command. However, the JSON has used 'distance' to capture the duration (30 seconds) mentioned in the natural language command, which isn't fully accurate. The 'unit' too is specified as 'seconds' which doesn't match with the sample ontology where the unit for the 'move' action is 'meter'."] +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.;['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'];['5; The command matches with the JSON structure. Although the time is not a parameter in the JSON, the equivalent distance can be calculated using the given time and speed. It also correctly identifies the action as "move" and the appropriate parameters (linear_speed, distance, is_forward, and unit) with their correct values.'] +Turn right and follow a curved path for 2 meters, then stop and beep.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['1; The command mentions rotation and movement in a curved path which partially matches with the "rotate" and "move" keys in the sample ontology but both of those keys are not completely fulfilled. Also, units for rotation are not specified and "beeping" action after stopping is not respected in the provided JSON.'] +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.;['{"action": "rotate", "params": {"angular_velocity": 0.8, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}', '', '{"action": "beep", "params": {}}'];['4; Some of the commands in the natural language instruction match with the JSON structures but not all. The instructions for turning right and moving a certain distance can be represented by the "rotate" and "move" actions in the JSON. However, the instruction to "come to a halt" can be inferred from the "move" action with a speed of 0, but it is not explicitly stated. The instruction to "emit a beep sound" has no corresponding action in the provided JSON structures.'] +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meters"}} ', '{"action": "pause", "params": {"duration": 1}} ', '{"action": "produce_sound", "params": {"sound_type": "beep"}}'];["1; The JSON structures somewhat match the natural language command as it covers moving and rotating actions. However, the actions 'pause' and 'produce_sound' are not covered in the ontology keys thus they can not be converted into valid JSON structure. Moreover, the command includes a 'serpentine trail' which is not reflected in any of the JSON structures."] +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.;['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}} ', '{"action": "stop_movement"} ', '{"action": "beep"}'];['1; The JSON commands partially match with the given natural language command. The commands for rotation and movement are correctly formatted according to the sample, but the stop_movement and beep commands do not exist in the given sample ontology. Also, the angular_velocity is given as 0 in the JSON which in real world will not result in a turn. Therefore, it provides only a partial match and the score is 1.'] +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["0; The natural language command doesn't contain any specific matching commands in the sample JSON keys. It refers to a rotating move, but there's no matching sample action in the JSON. Additionally, it mentions a 'beeping noise' which isn't included anywhere in the JSON structures."] +Move forward for 5 meters and then reverse for 2 meters, repeating twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command specifies a sequence of actions that are accurately captured by the JSON structures. This includes moving forward and reversing for specific distances, which agree with the action and parameter keys in the ontology. The pattern is correctly repeated twice as instructed.'] +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.;['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The commands given in natural language correctly match with the JSON commands. The movements are correctly captures in the JSON structure using the defined JSON schema.'] +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meters"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meters"}}'];['4; The provided JSON structures match the action and movements described in the natural language command. The JSON structures capture the forward motion, stopping, and backward motion as well as the repetition of the process. However the "unit" in the JSON structures is "meters", but the natural language command does not specify a unit of measurement, and additionally, the natural command does not specify a linear_speed.'] +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 0.5, "is_forward": true, "unit": "second"}}'];['2; The natural language command does not match exactly with the JSON. Although the JSON contains the correct "move" action, it includes parameters unmentioned in the command ("linear_speed" and "unit"). The command mentions for a "random" duration, whereas the JSON specifically states a "0.5" distance. The "is_forward" parameter matches correctly.'] +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.;['{"action": "move", "params": {"linear_speed": 1.0, "distance": 0, "is_forward": true, "duration": 3, "unit": "seconds"}}'];["1; The natural language command partly matches with the JSON structure. The action 'move' is present and the parameter 'is_forward' with value 'true' matches. However, the natural language command specifies for a random time duration, this is not reflected in JSON. Also, the parameters 'linear_speed' and 'distance' are in the JSON but not mentioned in the command. The parameter 'duration' in JSON is not in the sample ontology."] +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": random_distance, "is_forward": true, "unit": "second"}}'];['1; The natural language command partially matches with the JSON structure. While the action is correctly interpreted as "move", there are mismatches with the parameters. The natural language command requests a random duration of movement between 1 to 5 seconds, however, the JSON interprets this as distance. The "unit" in JSON should instead be "seconds". Also, randomness is not defined in the JSON structure.'] +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.;['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];["2; The command loosely asks for a movement of the machine which is presented in the JSON structure under the 'move' action. However, the JSON does not handle randomness or specify time durations, only distance and speed. Therefore, the match is not close."] +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.;['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": true, "duration": 4, "unit": "seconds"}}'];['1; The action "move" in the JSON payload is partially matching with the given command. However, the duration parameter is not part of the given ontology. The direction of movement has not been mentioned in the JSON and parameters like random direction pick and time duration, which are in the command, are not in the JSON payload.'] +Perform a 180-degree turn, then launch a small drone from your back.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["1; The JSON structure only includes the command to perform a 180-degree turn, not the command to launch a small drone from the robot's back."] +Execute a 180-degree rotation and subsequently release a compact drone from your rear.;['{"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true}}'];["1; The natural language command partially matches with the 'rotate' action in JSON. However, the action 'release a compact drone from your rear' is not found in the sample ontology."] +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true}}'];['2; The command "Initiate a 180-degree turn" partially fits with the JSON object for the "rotate" action. However, the "angular_velocity" param in the JSON is not mentioned in the command but it has been assumed to be 10. Additionally, the deployment of a diminutive drone from behind is not represented in the given JSON structures.'] +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.;['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false}}'];['2; Only the "rotate" action partially matches since the action of launching a small aerial drone doesn\'t exist in the sample keys. The "rotate" action also doesn\'t match perfectly since there is no information in the natural language command to match with the is_clockwise parameter.'] +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.;['{"action": "rotate", "params": {"angular_velocity": default_angular_velocity, "angle": 180, "is_clockwise": false}}'];['1; The natural language command partially conforms to the JSON structure. The rotation action is mentioned with a correct angle specification, but the command to "activate the release mechanism to send a small drone flying from your posterior" does not fit into the given JSON actions.'] diff --git a/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v2_SELECTED_5pct_manual_eval-HIST.png b/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v2_SELECTED_5pct_manual_eval-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..c4a04d3bc52152b9e2de4a3ced1fd094d531d950 GIT binary patch literal 47448 zcmeFa30RG5-!{ImZF{o~Ns?qH32j3vjW)?PG?)@9ipo^2N@)(;Mx_jqp@|GpM4_lv zp-EH{l2)yDsia}4rMXt$`CEJ2>+ad#`##5aeBXN<@BjVlIG)F5-QD-KuKOB(zw>vV z=XK0bUvKE(v4dGG*3e&s5$9wbXsd?<>a!>VFzpV zHYfW%c20YCT1<4_;o!K_&UXGB)j2=UnrP$XWbe30Nonuj7tFD9uvSvOdp{aC`O$v4 zi6e_OXA1qV-~OxG&Ma19#;;2kuiGC|&vifXrp2?jscla5mQf=Vo?o37ad^Qo-x+>4 z=C65mR7dLMs-=|+DyJ@vdO7Krdz<#Hi`cNB(8kE`vhceV7sp0_e<*XtRw<>a1C63L 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b/evaluation/evaluations/Ground-Robot/GPT3.5/Evaluated_JSON_commands_Ground_Robot_v2_SELECTED_5pct_manual_eval.txt @@ -0,0 +1,53 @@ +NL command;Generated JSON;Human;GPT4 score;GPT4 Justification +110: Proceed by turning left and maintaining that direction for 10 seconds.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": false}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": false}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} 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{""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}}']";0;['0;" The natural language command ""Proceed by turning left and maintaining that direction for 10 seconds"" has not been correctly translated into the JSON structures. There is no concrete angular_velocity provided in the JSON structure which is needed for the \'rotate\' action, nor time parameter to indicate the 10 seconds mentioned in the command. Moreover, the is_clockwise is set to False where it should be True for a left turn. Additionally, all the structures are repeated and none of them provide meaningful or correct translations to the command. Finally, the repeated use of \'move\' action is excessive and contributes to the mismatch with the actual command.']" +452: Go back 3 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": default_linear_speed, ""distance"": 3, ""is_forward"": false, ""unit"": ""meter""}}']";4;['4;" The command mostly conforms to the ""action"": ""move"" JSON information. The ""is_forward"" parameter is correctly interpreted as false for going back. The ""distance"" mentioned in natural language command and in the JSON structure is a match. However, the ""linear_speed"" is not specified in the natural language command and hence any reasonable value is accepted. The missing specification prevents a perfect score.']" +73: Travel straight ahead at top speed for a duration of 20 seconds.;"['{""action"": ""move"", ""params"": {""linear_speed"": ""top speed"", ""distance"": ""undetermined"", ""is_forward"": true, ""unit"": ""seconds""}}']";2;"[""2";" While the action 'move' and the direction (is_forward: True) match the command, the 'linear_speed' value in JSON structure does not conform exactly with the natural language command. Also, the 'unit' field in the JSON structure is not supposed to be 'seconds'. It should pertain to distance. The duration of the movement isn't accounted for in the defined ontology.""]" +20: Make a leftward turn and advance for 5 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 5, ""is_forward"": true, ""unit"": ""meter""}}']";2.5;['2;" The corresponding JSON structure for advancing (moving) for 5 meters is correct and matches with the command. However, there isn\'t any JSON structure provided that corresponds to the ""make a leftward turn"" part of the command.']" +440: Rotate to the left by 45 degrees.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 45, ""is_clockwise"": false}}']";4;['4;" The JSON structure appropriately captures the action ""rotate"" and the parameter ""angle"". However, the natural language command does not specify the ""angular_velocity"" hence the zero value does not fully match with the command. Also, the rotation direction is correctly interpreted as counterclockwise, translated as ""is_clockwise"": false. It slightly deviates from the command but the important elements are represented.']" +270: Travel forward for 1 meter while maintaining a speed of 1 meter per second.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 1, ""is_forward"": true}}']";4;['5; The natural language command exactly matches with the provided JSON structure with respect to the action and the parameters (distance, linear speed, is_forward).'] +291: Rotate counterclockwise by 60 degrees.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 60, ""is_clockwise"": false}}']";4;"[""5";" The command 'Rotate counterclockwise by 60 degrees' accurately matches the provided JSON structure. Although the 'angular_velocity' is not specified in the natural language command, it is well represented in the JSON structure with a reasonable value of 0. The 'angle' and 'is_clockwise' keys perfectly match with the command.""]" +310: Move in the opposite direction for 3 seconds.;"['{""action"": ""move"", ""params"": {""linear_speed"": -1, ""distance"": 3, ""is_forward"": false, ""unit"": ""seconds""}}']";3;['2;" There are several mismatches: First, duration or time to travel is not a parameter in the ""move"" action, the expected parameter is distance which doesn\'t match the natural language command. Second, there is no parameter for direction control such as ""in the opposite direction"". The JSON structure does recognize a parameter to evaluate if the movement is forward or not, but the natural language command is quite ambiguous and does not directly specify whether the movement should be forward or not.']" +808: Take a right and continue moving ahead for a distance of 10 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}']";2.5;['2;" The JSON structure corresponds to the move action which is mentioned in the text command as \'continue moving ahead for a distance of 10 meters\'. The direction \'right\' was not accounted in JSON structure, neither is there a action ""rotate"" involving right direction in the JSON. Also, the ""linear_speed"" is assigned as 1 in the JSON structure, but speed information isn\'t provided in the text command. Therefore, it isn\'t a perfect match.']" +90: Go to the right and keep moving straight for 4 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 4, ""is_forward"": true, ""unit"": ""meters""}}']";2.5;['5; The JSON structure correctly follows the example ontology and mirrors the natural language command, with all provided parameters properly translated into their equivalent JSON parameters.'] +809: Make a right turn and travel straight ahead for a total of 10 meters.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 90, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}']";3;"[""4";" The natural command is accurately represented by the JSON commands although some parameters values are not specified in the JSON commands, such as 'angular_velocity' and 'linear_speed'.""]" +704: Take a left turn and then advance forward for 2 seconds.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": default_value, ""angle"": default_value, ""is_clockwise"": false}} ', '{""action"": ""move"", ""params"": {""linear_speed"": default_value, ""distance"": 2, ""is_forward"": true, ""unit"": ""seconds""}}']";1;['4;" The commands ""Take a left turn"" and ""advance forward for 2 seconds"" match the structures of the ""rotate"" and ""move"" actions respectively in JSON format. However, the ""rotate"" command\'s parameters\' values aren\'t specified in the natural language command, and the ""unit"" of the ""move"" command should be a unit of distance, not time.']" +402: Turn left by 90 degrees.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 90, ""is_clockwise"": false}}']";4;['4;" The natural language command is mostly conformant with the JSON structure. The action of rotating is correctly identified and the angle is correctly specified as 90 degrees. However, the direction of rotation (""is_clockwise"": false) is inferred from the command rather than explicitly stated, and the angular velocity is set to 0, which doesn\'t specifically align with the user\'s command of ""Turn left by 90 degrees.""']" +256: Rotate counterclockwise by 45 degrees.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 45, ""is_clockwise"": false, ""unit"": ""degrees""}}']";5;['4.5;" Justification: The natural language command provides the correct explicit action for rotation and specifies that it should be counterclockwise, which reflects the correct ""is_clockwise"": false parameter. The angle provided in the command is correctly reflected in the parameter. However, the ""angular_velocity"" in the JSON structure doesn\'t match with any information given in the natural language command, so we cannot say that everything in the JSON format is clarified in the command. Therefore, the score is not a perfect 5.']" +289: Make your way to the dining room and bring yourself to a stop.;"['{""action"": ""go_to_goal"", ""params"": {""location"": ""dining room""}}']";4;['2;" The JSON only covers the ""go_to_goal"" action but not the part of the command requiring a stop.']" +586: Turn left and move forward for 6 seconds.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 6, ""is_forward"": true}}']";1.5;['2;" The JSON structure partially matches with the command. The \'move\' action and \'is_forward\' parameter align with ""move forward"" in the command. However, \'linear_speed\' and \'distance\' parameters do not have corresponding elements in the command. Also, the command mentions ""turn left"" which doesn\'t have a corresponding JSON structure in the provided examples.']" +147: Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 4, ""is_forward"": true, ""unit"": ""second""}}']";4;['4;" The JSON structure command matches the natural language command almost perfectly. However, ""duration"" of the moving action specified in the natural language command is converted as ""distance"" in the JSON structure. Even though these could be considered as interchangeable in this context (as moving 1 m/s for 4 seconds will result in moving for 4 meters), they are not exactly the same. This justifies a score of 4.']" +437: Rotate anti-clockwise by a 45-degree angle.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": default_angular_velocity, ""angle"": 45, ""is_clockwise"": false, ""unit"": ""degrees""}}']";4;"[""4.5";" Justification: The natural language command correctly translates to the JSON structure. However, the angular_velocity is not given in the natural language command, and the JSON has a placeholder (default_angular_velocity) implying that a value should be provided. For full conformity, the natural language command should state the angular_velocity, or the JSON should show it's optional or can be any reasonable value.""]" +207: Move forward for 5 seconds after turning left.;"['{""action"": ""move"", ""params"": {""linear_speed"": default_speed, ""distance"": 5, ""is_forward"": true, ""unit"": ""seconds""}}']";1;['2;" Partially conform. The command matches the move action in the JSON structure but the sample ontology does not provide a structure or information for turning. Moreover, the unit for distance in JSON is reflected as ""meter"" while in the command is mentioned ""seconds"".']" +661: Turn left and move forward for 2 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 2, ""is_forward"": true}}']";1.5;"[""3";" The command includes an action for turning (rotate) which is not reflected in the provided JSON structure. The moving forward action (move) is correctly presented in the JSON structure, though the speed is not explicitly stated in the command (reasonable value used). Due to the missing 'rotate' action, the command and JSON structure only partially conform.""]" +893: Advance ahead by 10 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}']";5;['5;" The JSON matches the natural language command perfectly. The ""move"" action is used and its parameters are correctly set as described in the command, which asks for the machine to move forward by 10 meters. The ""linear_speed"" parameter was unspecified in the command, so any reasonable value (like 1) is acceptable in the JSON.']" +156: Go straight for 8 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1.0, ""distance"": 8, ""is_forward"": true, ""unit"": ""meter""}}']";5;['5;" The natural language command ""Go straight for 8 meters"" perfectly matches with the JSON structure. In the action ""move"", the parameters: ""linear_speed"", ""distance"", ""is_forward"" and ""unit"" have reasonable values which conform to the command.']" +968: Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}']";1.5;['3;" Although the action ""move"" and parameters such as ""distance"", ""unit"", and a potential for ""is_forward"" are correctly identified in the command and represented in JSON, the command also specifies a ""zigzag pattern"" with alternating directions that is not represented in any of the provided JSON structure. The JSON does not accommodate complex movement patterns, and as such it does not adequately fulfill the request in the command.']" +482: Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0.5, ""angle"": 90, ""is_clockwise"": false}}', '{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 5, ""is_forward"": true, ""unit"": ""meters""}}']";5;['2;" The first JSON structure partially matches the natural language command. The action of rotation and the ""angular_velocity"" are correct, however, the ""angle"" and the direction of the turn (being counterclockwise or not) are not mentioned in the natural language command, so this can\'t be assumed. The second JSON structure also partially matches the command in the rotation but incorrectly includes a distance parameter that is not mentioned in the command. Additionally, the unit is slightly incorrect with ""meters"" in the JSON while the command mentions ""meter"". The durations parameter is missing in the JSON.']" +913: After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0.5, ""angle"": 90, ""is_clockwise"": true}} ', '', '{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 20, ""is_forward"": true, ""unit"": ""seconds""}}']";3;['2;" The first JSON structure is in accordance with the initial part of the command where a right turn is mentioned. However, the ""unit"" of ""angular_velocity"" isn\'t in accordance with the keys of the sample ontology which expects the unit to be ""degrees"". The second part of the command is not captured in the JSON structure at all. The third JSON structure is in alignment with the second part of the command (moving forward for 20 seconds), but the ""distance"":20 does not make any sense since the distance is not mentioned in the command. The unit should be \'meter\' as per ontology. The parameter ""linear_speed"" matches with the command.']" +75: Go straight ahead at full throttle for a duration of 20 seconds.;"['{""action"": ""move"", ""params"": {""linear_speed"": ""full_throttle"", ""distance"": 0, ""is_forward"": true, ""duration"": 20, ""unit"": ""seconds""}}']";1;['2;" The action ""move"" matches but the parameters ""linear_speed"", ""is_forward"", and ""duration"" don\'t completely conform. ""Linear_speed"" is mentioned as ""full_throttle"" which doesn\'t provide a precise numerical value. In the JSON, there is no key for ""duration"" and the key for ""distance"" is there but it\'s value is 0 which doesn\'t match with the command.']" +654: Rotate towards the right and continue moving forward for 4 meters.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 0, ""is_clockwise"": false}, ""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}}']";1;"[""2";" Most of the parameters from the natural language command are not present in the corresponding JSON structure. The direction of the rotation (clockwise) and moving forward are specified correctly. However, angular velocity, angle, linear speed, and distance are given a value of 0, which doesn't align with the command which implies some non-zero values for these parameters. Additionally the format of JSON provided is incorrect, two actions are included in a single JSON object whereas they should have been separate.""]" +939: Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 10, ""angle"": 60, ""is_clockwise"": false, ""unit"": ""degrees""}}', '{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 3, ""is_forward"": true, ""unit"": ""meters""}}']";5;['5;" Exactly conform. The natural language command precisely corresponds with the JSON structures. The rotation is anti-clockwise, which correctly translates to ""is_clockwise"": false in the JSON. The angle and distance are also properly reflected in the JSON. The provided linear_speed in JSON is also logically acceptable.']" +585: Travel backwards, covering a distance of 4 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 4, ""is_forward"": false, ""unit"": ""meter""}}']";5;['4;" The JSON structure matches the natural language command pretty well, except for the ""linear_speed"" parameter that did not get specified in the natural language command. It understood the direction, unit of measurement, and the distance to cover properly, hence the score of 4.']" +61: Move backward for 1 meter.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 1, ""is_forward"": false, ""unit"": ""meter""}}']";5;['5;" The JSON exactly matches the command. The ""move"" action is correctly used, and the parameters ""linear_speed"", ""distance"", ""is_forward"" and ""unit"" are all accurately reflected, including ""is_forward"" being false to indicate moving backward and the correct distance of 1 meter.']" +418: Maintain a pace of 2 meters per second for a period of 5 seconds.;"['{""action"": ""move"", ""params"": {""linear_speed"": 2, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}']";5;['4;" Mostly conform. The command does correspond to the ""move"" action, the ""linear_speed"" matches, and the ""is_forward"" boolean makes sense, but the parameter for ""distance"" should not be provided as it was not specified in the command.']" +245: Shift towards the left and travel straight for a distance of 3 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 3, ""is_forward"": true, ""unit"": ""meters""}}']";2.5;"[""2.5";" The command's instruction to rotate or turn (inferred by 'shift towards the left') is missing in the JSON structure. However, the 'move' action with a distance of 3 meters is in conformity with the provided JSON structure.""]" +217: Go back 3 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1.0, ""distance"": 3, ""is_forward"": false, ""unit"": ""meter""}}']";5;"[""4.5";" The natural language command conforms largely to the JSON structure. There is matching action and parameters like distance, is_forward, and unit. However, the linear_speed parameter's value doesn't match, but it's a reasonable value.""]" +991: Randomly select a direction and move forward for a random duration between 1 and 5 seconds.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 0.5, ""is_forward"": true, ""unit"": ""second""}}']";4;['2;" The natural language command does not match exactly with the JSON. Although the JSON contains the correct ""move"" action, it includes parameters unmentioned in the command (""linear_speed"" and ""unit""). The command mentions for a ""random"" duration, whereas the JSON specifically states a ""0.5"" distance. The ""is_forward"" parameter matches correctly.']" +896: Turn left and move forward for 5 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0.0, ""distance"": 0.0, ""is_forward"": true}}']";0.5;['2;" The JSON structure matches the ""move"" action and is correct in terms of direction (forward). However, the command also includes a turn which isn\'t represented in the JSON, and the values for ""linear_speed"" and ""distance"" are not consistent with the command (which specifies 5 meters).']" +261: Turn right and move forward for 4 meters.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 90, ""is_clockwise"": true}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 4, ""is_forward"": true}}']";4.5;"[""4.5";" The JSON structures mostly match the command. The robot is requested to turn (rotate) and then move forward, which corresponds to the 'rotate', and 'move' actions. The direction of rotation is right (clockwise), the distance is specified (4 meters) and movement is forward, aligning with 'is_clockwise', 'distance' and 'is_forward' param keys in the JSONs respectively. However, the angular_velocity in rotation and linear_speed in movement aren't specified in the command. The provided values in JSON are accepted as a reasonable assumption. The scoring is not a complete 5 due to this reason.""]" +47: Proceed ahead by a distance of 2 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1.0, ""distance"": 2, ""is_forward"": true, ""unit"": ""meter""}}']";5;['4;" The natural language command correctly maps to the ""move"" action in the JSON structure, and all parameters such as ""distance"", ""is_forward"", and ""unit"" are correctly matched as well. However, the ""linear_speed"" is not specified in the command, hence there is slight mismatch in terms of completeness.']" +789: After turning left, continue moving forward for 6 seconds.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0.0, ""distance"": 6, ""is_forward"": true}}']";0.5;['3;" The natural language command asks for a left turn initially which isn\'t captured in the JSON structure. The subsequent forward movement is captured correctly with the ""is_forward"" parameter as True. However, the ""distance"" parameter in the JSON seems to be misused in this context: it contains the value 6 which corresponds to the duration (in seconds) mentioned in the natural language command, instead of being a spatial measure. Hence, command and JSON mostly match, but there are significant deviations.']" +835: Make a 30 degree counterclockwise rotation.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 30, ""is_clockwise"": false}}']";4;['5;" Exactly conform. The natural language command perfectly matches with the JSON structure, with the ""rotate"" action being implemented, the angle set to 30 (which is specified), and is_clockwise set to false as indicated by the direction ""counterclockwise"". The ""angular_velocity"" value isn\'t detailed in the command but, any reasonable value in the JSON is acceptable.']" +687: Rotate 120 degrees counterclockwise.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 120, ""is_clockwise"": false}}']";4.5;['5;" Exactly conform. The natural language command perfectly matches the JSON information structure and its keys conform with the sample ontology. The ""rotate"", ""angular_velocity"", ""angle"" and ""is_clockwise"" keys used in the JSON structure match the command ""Rotate 120 degrees counterclockwise."" The command specifies the rotation action, the 120 degrees angle and the counterclockwise direction which is represented in the JSON as ""is_clockwise"": false. The conform score is 5 as there\'s perfect alignment of the command and the structured JSON data.']" +966: Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.;"['{""action"": ""move"", ""params"": {""linear_speed"": default_linear_speed, ""distance"": 10, ""is_forward"": true, ""pattern"": ""zigzag"", ""unit"": ""meter""}}']";2;"[""0";" The JSON structure does not match the natural language command as there is no keyword or JSON key for 'zigzag' or 'alternating between forward and backward motions'. Hence, the command cannot be represented accurately.""]" +69: Turn to the left by an angle of 120 degrees and then move forward for 5 meters.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0.5, ""angle"": 120, ""is_clockwise"": false, ""unit"": ""degrees""}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 5, ""is_forward"": true, ""unit"": ""meters""}}']";5;['5;" The natural language command perfectly matches the JSON structures as the command ""Turn to the left by an angle of 120 degrees"" is correctly translated to the \'rotate\' action in JSON with correct parameters and the command ""move forward for 5 meters"" is accurately reflected in the \'move\' JSON structure with correct parameters.']" +851: Move forward and then immediately stop.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": true}}']";1;['4.5;" The action ""move"" and the direction ""is_forward"" are correctly interpreted, but there\'s no explicit mention of speed or distance in the command, although the JSON correctly suggests a stop, as commands to move and stop immediately. The speed being 0 is questionable as the command mentions to move first, then stop, hence, half point is deducted.']" +927: Perform a clockwise rotation of 180 degrees.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0.0, ""angle"": 180, ""is_clockwise"": true}}']";4;"[""4";" The JSON structure accurately captures the action required i.e. rotation and the direction which is clockwise. It even includes the angle which is exactly as mentioned in the command. But the angular velocity suggested in the JSON structure doesn't match the command accurately as no velocity is mentioned in the command.""]" +178: Proceed straight for 3 meters after making a left turn.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 3, ""is_forward"": true, ""unit"": ""meters""}}']";2.5;['4;" The JSON command correctly captures the \'move\' action existing in the ontology, together with parameters like \'distance\', \'is_forward\', and \'unit\'. However, the instruction ""after making a left turn"" is not captured in the JSON command. A JSON structure directing the entity to rotate is missing.']" +930: Execute a 180-degree clockwise rotation.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": ""undetermined"", ""angle"": 180, ""is_clockwise"": true}}']";4;['5; Exactly conform.'] +238: Perform a 180-degree clockwise rotation.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0, ""angle"": 180, ""is_clockwise"": true, ""unit"": ""degrees""}}']";4;['5; Exactly conform.'] +751: Stop and reverse direction.;"['{""action"": ""move"", ""params"": {""linear_speed"": -1, ""distance"": 0, ""is_forward"": false}}']";0.5;"[""2";" The command corresponds with the JSON structure related to the 'move' action, but 'distance' value should not be 0 if the command is to reverse direction. The 'is_forward' property is correctly set to false and 'linear_speed' is correctly negative. However, the 'unit' attribute is missing in JSON structures and the 'stop' command in the natural language command does not exist in the ontology.""]" +454: Retreat for a distance of 3 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 1.0, ""distance"": 3, ""is_forward"": false, ""unit"": ""meter""}}']";5;['4.5;" The natural language command almost perfectly matches with the JSON structure. The ""move"" action is correctly used in the JSON and the ""distance"" parameter is correctly set to 3 meters. The direction is given as ""Retreat"" which implies backward movement which is represented accurately in JSON as ""is_forward"": false. The only discrepancy comes from the ""linear_speed"" parameter, which is not specified in the natural language command but is given a value of 1.0 in the JSON. The fact that the speed is not specified in the command means any speed value would be considered reasonable, hence the score is close to perfect.']" +94: Go forward a total of 3 meters.;"['{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 3, ""is_forward"": true, ""unit"": ""meters""}}']";5;['5;" Exactly conform. The natural language command was accurately converted to the given JSON structure. All necessary parameters (distance, is_forward, and unit) were provided and correct. The unspecified ""linear_speed"" value is also accepted as compatible with the original request.']" +;;;; +;;3.25;; diff --git a/evaluation/evaluations/Ground-Robot/GPT3.5/Sample_evaluation.txt b/evaluation/evaluations/Ground-Robot/GPT3.5/Sample_evaluation.txt new file mode 100644 index 0000000..283e69d --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/GPT3.5/Sample_evaluation.txt @@ -0,0 +1,2 @@ +482: Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0.5, ""angle"": 90, ""is_clockwise"": false}}', '{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 5, ""is_forward"": true, ""unit"": ""meters""}}']";;['2;" The first JSON structure partially matches the natural language command. The action of rotation and the ""angular_velocity"" are correct, however, the ""angle"" and the direction of the turn (being counterclockwise or not) are not mentioned in the natural language command, so this can\'t be assumed. The second JSON structure also partially matches the command in the rotation but incorrectly includes a distance parameter that is not mentioned in the command. Additionally, the unit is slightly incorrect with ""meters"" in the JSON while the command mentions ""meter"". The durations parameter is missing in the JSON.']" +418: Maintain a pace of 2 meters per second for a period of 5 seconds.;"['{""action"": ""move"", ""params"": {""linear_speed"": 2, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}']";;['4;" Mostly conform. The command does correspond to the ""move"" action, the ""linear_speed"" matches, and the ""is_forward"" boolean makes sense, but the parameter for ""distance"" should not be provided as it was not specified in the command.']" \ No newline at end of file diff --git a/evaluation/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot-GPT4-SCORES-only.txt b/evaluation/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot-GPT4-SCORES-only.txt new file mode 100644 index 0000000..1f981c7 --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot-GPT4-SCORES-only.txt @@ -0,0 +1,1000 @@ +5.0 +4.0 +4.0 +5.0 +5.0 +5.0 +5.0 +4.0 +5.0 +4.0 +4.0 +1.0 +1.0 +3.0 +3.0 +3.5 +4.0 +5.0 +2.0 +1.0 +5.0 +5.0 +5.0 +5.0 +5.0 +4.0 +2.0 +4.0 +3.0 +2.0 +2.0 +3.0 +3.0 +5.0 +2.0 +4.0 +4.0 +3.5 +3.0 +5.0 +4.5 +5.0 +4.0 +5.0 +5.0 +5.0 +5.0 +4.0 +5.0 +4.5 +4.0 +4.0 +4.0 +4.5 +5.0 +2.0 +5.0 +2.0 +0.0 +3.0 +4.0 +5.0 +4.0 +4.0 +5.0 +5.0 +4.5 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b/evaluation/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot.txt new file mode 100644 index 0000000..41aa763 --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot.txt @@ -0,0 +1,1000 @@ +Move forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure. The action is "move", the distance is 1 meter, and the direction is forward, all of which aligns with the values in the structure. The linear speed is not specified in the natural language command, but the presented value (1) in the JSON is accepted as it is a reasonable one.'] +Proceed straight ahead covering a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": null, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command is correctly represented by the JSON structure, but the "linear_speed" key value is null in the JSON structure while it is not specified in the natural language command. According to the instructions, any reasonable value is accepted in the JSON is accepted if it\'s not specified in the command so it\'s not completely conformant.'] +Advance by 1 meter in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON conform to the command structurally, but the "linear_speed" parameter value doesn\'t match because it\'s not specified in the command. Any reasonable value would be acceptable. Here, 1 is used as the value whereas it\'s 0.5 in the ontology. However, rest of the commands and values match perfectly.'] +Take a step forward spanning 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Move ahead for a length of 1 meter.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];["5; Exactly conform. The language command 'Move ahead for a length of 1 meter' is perfectly matched with the JSON structure. The action of 'move' is correctly interpreted, and the parameters such as 'distance', 'is_forward', and 'unit' are accurately extracted from the command."] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate in an anti-clockwise direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command mostly conforms with the JSON structure. The action "rotate" and all parameters present in the JSON ("angular_velocity", "angle", "is_clockwise", "unit") match the command given. However, the specific "angular_velocity" in the command is not specified, and the value of 10 used in the JSON may not be reasonable. Hence, one point has been deducted.'] +Rotate 90 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command exactly matches the action and its parameters in the provided JSON structure.'] +Spin in the opposite direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command is properly represented by the JSON structure for the most part. While the "is_clockwise" key is set to "false", and thus corresponds to "spin in the opposite direction", the "angular_velocity" has a arbitrary value of 1, which is not specified in the natural language command.'] +Move backward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['4; The natural language command is partially matched with the JSON format command. However, the "unit" key in the JSON structure does not align with the sample ontology, where "unit" is described as "meter", not "seconds".'] +Go backwards for a duration of 2 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false}}'];['1; The JSON structure partially matches the command. The direction of motion ("is_forward": false) matches "go backwards", but the command specifies a duration ("for duration of 2 seconds") which is not represented in the JSON structure and vice versa (The JSON has a distance which is not specified in the command). The "linear_speed" key in the JSON is acceptable as it meets the condition of a reasonable unspecified value in the natural language command.'] +Reverse your direction and travel for a span of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command partly matches the JSON structure. The "move" action exists in the ontology but the key "is_forward" is set to False, contradicting the natural language command of "Reverse your direction". Also, the \'distance\' key is incorrectly used as duration (e.g., "travel for a span of 2 seconds"), which is not part of the provided ontology.'] +Retreat for a time frame of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['3; The JSON structure largely matches the command, with "action" being "move" and even including parameters such as "is_forward". However, the parameter "linear_speed" is unknown from the command, and the command\'s \'time frame of 2 seconds\' does not clearly match with the "distance" parameter. Furthermore, the "unit" key in the JSON does not align with the natural language instruction since time ("seconds") is not a unit of distance.'] +Take two seconds to move in the opposite direction.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; Partially conform. The natural language command does not mention the specific unit or distance to be used for the movement, and the "move" action in the JSON structure has the "is_forward" parameter set to false, which matches the "move in the opposite direction" in the command. However, the command does not specify anything about the "linear_speed" or "distance" parameters, which are found in the JSON structure. The two seconds mentioned in the command does not directly translate to any parameter in the JSON structure.'] +Turn left and move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['3.5; The JSON structure matches the "move" command but there is no mention or parameter for the direction "left" in the JSON structure.'] +Move forward for 5 meters, then turn left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The commands in natural language and the JSON structures are similar; however, the JSON structures have some differences with the keys in the sample ontology. First, the linear_speed in "move" action and the angular_velocity in "rotate" action, are not specified in the natural language command. Second, the "unit" in the "move" action is given as "meters" in the JSON structure while it is "meter" in the sample ontology.'] +Proceed for 5 meters, then make a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}},', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command and the JSON structures correspond, indicating movement of a specific distance and then a rotation to the left (counter-clockwise).'] +Take a left turn and continue moving forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meters"}}'];['2; Although the JSON structure captures the part of the command to move forward for a certain distance, it completely omits the instruction to take a left turn which should have been captured in a "rotate" action. The speed in the JSON structure is also not mentioned in the natural language command.'] +Make a leftward turn and advance for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];["1; The given JSON only accounts for the 'move' action of going forward for a certain distance. The 'rotate' action and its parameters such as 'angle', 'is_clockwise', and 'angular_velocity' needed to represent the turn in the command are missing. Moreover, the 'linear_speed' parameter in the given JSON has a value that isn't mentioned in the command, hence its score is reduced."] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command perfectly matches with the JSON structure. The action in the NLP command "Rotate" is the same action in the JSON structure. Each parameter in the JSON (angular_velocity, angle, is_clockwise and unit) also matches and has appropriate values from the command.'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 50, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn in a clockwise direction by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command and the JSON structure are perfectly aligned. The command specifies to rotate in a clockwise direction by a 180-degree angle, which corresponds with "rotate", "angle: 180", "is_clockwise: true", and "unit: degrees" in the JSON. The "angular_velocity" is not mentioned in the command but it\'s given a reasonable value in the JSON.'] +Rotate by 180 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Execute a clockwise rotation of 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural command exactly matches with the provided JSON structure. The rotation action, the clockwise direction, and the angle degree are all correctly represented in the JSON format.'] +Move forward at a velocity of 0.5 meters per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; Although the JSON structure is mostly correct for the action "move", the distance parameter does not accurately match the natural language command since the command asked for a duration (10 seconds) rather than a distance. The JSON structure converts this to a distance of 5 meters, rather than maintaining the commanded time duration.'] +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; While the action "move" and the parameter "linear_speed" and its value match, the parameter "distance" doesn\'t match because duration was specified in the command not distance and the param "is_forward" was not specified in the command.'] +Advance at 0.5 meters per second for a total of 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The action and linear_speed are perfectly matched. However, while the natural language command indicates a time duration, the JSON structure uses a distance as a parameter, not a time duration. This results in a little mismatch.'] +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['3; The natural language command is somewhat conform to the JSON structure. According to the command, the robot should move forward at a speed of 0.5 m/s for 10 seconds. The "distance" parameter in the JSON could be computed as speed*time, and it\'s not instructed in command. So, if we consider the distance as 5 meters (0.5 m/s * 10 s), it matches with the provided JSON. However, the time for which the robot should move isn\'t represented in the JSON, which causes the mismatch.'] +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The linear_speed parameter matches with the natural language command, and also is_forward suitably defaults to true for the "Move ahead" command. However, the natural language command specifies a period of time ("for a period of 10 seconds"), not a distance. Thus, the "distance" parameter, both key and value, doesn\'t match with the command. Additionally, the JSON information does not have a suitable field to capture \'time\'.'] +Turn right and move forward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; Partially conform. The JSON structure has the right action and parameters for "move", however, "rotate" action is not represented in JSON for the "Turn right" command.'] +Proceed forward for a distance of 3 meters after making a right turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['3; The natural command is asking for two actions: a move and a turn. The JSON represented only covers the "move" action but does not provide a JSON for the rotation or "turn" action.'] +After turning right, continue straight for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["3; The natural language command mentions turning right but this isn't represented in the JSON. It however accurately represents the distance to be covered in moving straight."] +Make a right turn and advance for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform.'] +Execute a rightward turn and then travel straight ahead for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["2; The JSON represents the 'move' action correctly, as the natural language command specifies a straight movement for 3 meters. However, the command also includes a rightward turn, which is not represented in the JSON at all. Therefore, it partially conforms to the command."] +Move backward at a velocity of 1 meter per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The natural language command mostly matches with the JSON structure as it specifies to move and provides the necessary details: linear speed of 1 and distance of 4. But it fails to specify the unit of distance from the command. The "is_forward" is set to false to interpret "backward" in the command.'] +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The command mostly conforms to the JSON structure, but the time duration of 4 seconds is not represented in the JSON. Instead, a distance measurement is used.'] +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "second"}}'];["3.5; The command matches the move action by reversing direction and specifying speed. However, the parameter for the period of time(second) is not supported in the example ontology where distance should be parameter instead of time. Hence, the match isn't exact."] +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['3; The natural language command somewhat matches the JSON structure. However, the "distance" key is represented in "seconds" instead of actual distance measurement like "meter" which might not correctly reflect the intended command.'] +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['5; The natural language command perfectly matches the JSON structure. All the parameters (action, linear speed, distance, direction and unit) are mentioned in the command and they all have correct values in the JSON structure.'] +Rotate counterclockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4.5; Except for the "angular_velocity" parameter which is not mentioned in the command and assigned a reasonable value in the JSON, all other parameters match perfectly with the command.'] +Rotate 270 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command clearly states a rotate action with a specification of 270 degree counterclockwise. The provided JSON structure exactly matches this command, with the correct action and parameters. The angular_velocity is not specified in the command, but as it is given a reasonable value in the JSON, it is accepted.'] +Turn left by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure corresponds to the natural language command, but the angular_velocity is set to 0, while the command does not specify the angular velocity, so it could be any reasonable value, not necessarily 0. Thus, one point is deducted.'] +Perform a counterclockwise rotation of 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate in the opposite direction by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The command is needed to rotate in the opposite (anti-clockwise) direction by a specific angle (270 degrees). This is perfectly represented in the JSON structure provided. The "angular_velocity" parameter is not specified in the command, and therefore, any value is acceptable.'] +Move forward for 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; The natural language command correctly matches the JSON structure. The movement action is specified in the command and properly reflected in the JSON. The direction, distance and unit are also mentioned in the both command and the JSON structure.'] +Proceed ahead by a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; The natural language command correctly corresponds to the provided JSON structure. All the necessary parameters are correctly included: the action is "move", the distance is 2 and the direction is forward. The unit is also specified as "meter," and while the linear speed is not explicitly given in the command, the value in the JSON (1) is reasonable.'] +Advance for a span of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure corresponds to the command. However, the value for "linear_speed" is not specified in the command, but is given a value of 1 in the JSON which is a relatively reasonable assumed speed.'] +Travel forward, covering a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The JSON structure perfectly matches the command where the action is moving forward and the distance to be covered is specified as 2 meters. The value of distance in the JSON structure exactly matches the command and the rest of the parameters contain reasonable values which are accepted. The unit of distance specified here is meter which is also mentioned in the command.'] +Move straight ahead, going 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meters"}}'];['4.5; The JSON conforms with the natural language command. However, a discrepancy exists in the values of "linear_speed". The command does not specify a linear speed therefore, the JSON value of 1 is reasonably placed but it may not be accurate since the natural language command does not specify speed.'] +Rotate clockwise by 45 degrees and move forward for 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure conforms largely to the natural language command, but there is a discrepancy in the "angular_velocity" value in the JSON which was not specified in the command. The "rotate" action doesn\'t have an exact match for "angular_velocity" from the command. This discrepancy matters because the "angular_velocity" controls the speed of the rotation, which wasn\'t specified in the command.'] +Move forward for 1 meter while rotating 45 degrees clockwise.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": true, "unit": "degrees"}}'];["4; The JSON structures partially conform to the natural language command. The move action is accurate with correct parameters but for the rotate action, 'angular_velocity' is incorrectly interpreted as 45 instead it should be a reasonable value considering it depicts the speed of rotation and not the angle of rotation which is 45 degrees here."] +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meters"}}'];['4; Most of the JSON structure matches with the commands. The rotation is represented correctly with the angle, direction and unit. The movement action is also correct with the distance and direction. However, the unit of the distance in the movement action is "meter" as per the example but in the JSON it is given as "meters". Hence, a point is deducted.'] +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4.5; The commands in the natural language are accurate and they match with the JSON structures. However, the angular_velocity in the rotate action from the natural language command is not specified, so we can't confirm or deny the exact conformity."] +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": true, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The JSON structures perfectly match the natural language command. The rotation action has the correct angle, direction, and unit parameters, and the move action has the correct direction, distance, and unit parameters. Angular_velocity and linear_speed values are reasonably filled in as they are not specified in the command.'] +Turn left and move forward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command and the JSON partially match. The action "move" and the "is_forward" parameter match. However, the command specifies turning left before moving forward while this is not represented in the JSON structure. Moreover, the "unit" in JSON is "seconds" which could be interpreted as moving for a certain amount of time, while it\'s not clear from the command if the "3 seconds" refers to the time of moving or the time of turning left.'] +Proceed straight for 3 seconds after taking a left turn.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['5; The commands in natural language perfectly conform to the corresponding actions in the JSON structure. The "rotate" command specifies an anticlockwise turns (which is a left turn) and the "move" command describes moving straight for 3 seconds.'] +Take a left turn and continue advancing for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command speaks about taking a "left turn" which relates to the JSON action "rotate", however, no JSON structure is presented for that. The second part of the command "continue advancing for 3 seconds" roughly matches with the presented JSON structure, but the parameters "linear_speed" and "is_forward" are not specified in the command. "Distance" in the JSON structure is misinterpreted as time (seconds), hence part conformation.'] +Make a left turn and proceed forward for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['0; The JSON does not match with the natural language command. The command indicates a turn and forward movement, none of which are represented in the JSON structure. Also, duration of movement is not a suitable substitute for distance in this sample ontology.'] +After turning left, move straight ahead for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];["3; The JSON structure partially matches the natural language command. The rotation action mentioned in the command ('After turning left') is missing in the JSON structure. However, the 'move' action in the command ('move straight ahead for 3 seconds') is represented correctly. The 'linear_speed' parameter is not specified in the natural language command, thus the value '1' in the JSON is accepted."] +Move backward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure correctly interprets 'move', 'distance : 1', and 'unit : meter'. However, 'linear_speed: 1' is not mentioned in the natural language command and 'is_forward: false' is not explicitly stated but it is understood from 'move backward'. The values are merely reasonable assumptions."] +Reverse direction and travel 1 meter.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];["5; The natural language command exactly matches the JSON structure. The 'move' action is represented correctly with parameters 'linear_speed', 'distance', 'is_forward' (set to false for reverse direction as mentioned in the command) and 'unit' matching the command."] +Go back for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; The JSON is mostly conform but the speed of move "linear_speed" is not specified in the command so 1 is assumed. Also, the direction is specified correctly in the command with "go back" which is accurately represented as "is_forward": false in the JSON.'] +Retreat for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; While the JSON structure correctly interprets the "retreat" command as a "move" action with "is_forward" set to false and identifies the "1 meter" distance, it does not necessarily adhere to the natural language command\'s lack of specification for linear speed, which the JSON arbitrarily sets at 1.'] +Take one step backward covering a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command perfectly matches with the parameters of the provided JSON structure. The action "move" is correctly identified, the direction of movement is specified as not forward which translates to backward in the command, the unit of distance is also correct as \'meter\' and the distance to be covered as 1 meter is also in the command. Also, linear speed is not specified in the command; hence any value in the JSON is accepted as mentioned in the guidelines.'] +Rotate counterclockwise by 120 degrees and move forward for 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command accurately instructs to rotate counterclockwise and move forward, which correctly matches with the provided JSON structures, in terms of both action and parameters.'] +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 120, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0, "distance": 5, "is_forward": true, "unit": "meter"}}'];["4.5; Mostly conform. The natural language command matches with the 'move' and 'rotate' actions in the JSON structure but angular_velocity value and linear_speed value are not given in the natural language command. The given 0 value is considered as a reasonable value for both."] +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": null, "distance": 5, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform. The natural language command exactly instructs to rotate and move forward which corresponds perfectly with the given JSON structures. The parameters specified in the command ("angle": 120 in rotate action, "distance": 5 in move action) are also correctly reflected in the JSON. Other parameters\' values are not specified in the command and assumed null, which conforms to guidelines.'] +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4.75; The commands and key parameters match almost perfectly with the JSON structure, with angular_velocity in the rotate action and linear_speed in the move action being the reasonable exception as these parameters were not specified in the natural language command. However, turning to the left is usually counter-clockwise, but the JSON data represents it as clockwise.'] +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The JSON structures accurately capture the movements denoted in the command. The rotation (with specified direction and angle) and linear movement (with the specified direction and distance) are included in the JSON.'] +Move forward at full speed for 20 seconds.,['{"action": "move", "params": {"linear_speed": "full", "distance": 20, "is_forward": true, "unit": "seconds"}}'];['2; The action is correctly identified as "move" and the direction is correctly identified as forward with "is_forward": true. However, \'full\' is not a valid value for linear_speed, it should ideally be a numerical value. \'20\' isn\'t directly interpreted as a distance but rather it seems to be a duration(as per the command instruction - \'for 20 seconds\'), so using it as a value for \'distance\' is not entirely accurate. The \'unit\' provided is \'seconds\' which is not present in the given ontology - the provided unit should be \'meter\'.', ''] +Proceed ahead at maximum velocity for a duration of 20 seconds.,['{"action": "move", "params": {"linear_speed": "maximum", "distance": "undetermined", "is_forward": true, "duration": 20, "unit": "seconds"}}'];["2; The JSON structure has the right action 'move' and 'is_forward' parameter is correct, but there is no parameter for 'duration' in the sample ontology. Furthermore, 'maximum' velocity and 'undetermined' distances are not interpretable within ontology because they are not specific values."] +Travel straight ahead at top speed for a duration of 20 seconds.,['{"action": "move", "params": {"linear_speed": "top", "distance": 20, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure has the correct action type of "move" and the direction "is_forward" is true. However, the "linear_speed": "top" isn\'t a proper numerical value, and the unit of "distance" is misinterpreted as "seconds", whereas it should be a spatial measure like "meters" or "feet". Duration isn\'t covered in the ontology provided.'] +Advance forward with utmost speed for a period of 20 seconds.,['{"action": "move", "params": {"linear_speed": "maximum", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'];["2; The natural language command does indicate movement forward which is somewhat represented in the JSON structure. However, several parameters provided in the JSON are not a match to the command. The command asks for movement 'with utmost speed for a period of 20 seconds' while the JSON structure offers parameters for speed, distance and units in meters, not seconds. Overall, there are elements of conformity but also significant mismatches."] +Go straight ahead at full throttle for a duration of 20 seconds.,['{"action": "move", "params": {"linear_speed": "full_throttle", "distance": 0, "is_forward": true, "duration": 20}}'];['0; The natural language command does not match the JSON structure at all. The JSON includes keys such as "duration" and "full_throttle" which do not exist in the sample ontology. In addition, the "distance" parameter in the JSON does not match what is described in the natural language command.'] +Rotate clockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['4; Although the parameters match, the value of angular_velocity is different from the sample ontology. Therefore, it is not exactly conform.'] +Turn right by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];["4; The action and parameters match well, with proper rotation action and angle degrees in the right/clockwise direction. However, the angular velocity does not match specifically with the natural language command - the command does not specify how fast this rotation should happen. Considering this parameter as unspecified and accepting the value in the JSON, it doesn't bring the score down to 0, but it doesn't make it a perfect match either."] +Perform a clockwise rotation of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The command is asking for a rotation, which is correctly identified in the action key of the JSON. Moreover, the direction of the rotation (clockwise) and the angle (60 degrees) are also correctly identified. Although the angular velocity is not specified in the command, the JSON value does not conflict with the command.'] +Rotate in a clockwise direction, making a 60-degree turn.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];["5; The JSON structure correctly conforms to the natural language command. The 'action' is correctly identified as 'rotate' and the parameters 'angle', 'is_clockwise' and 'unit' are correctly identified and matched with '60', 'true' and 'degrees' respectively. The 'angular_velocity' does not need to be specified in the natural language command, thus any reasonable value in the JSON is accepted."] +Rotate to the right, making a 60-degree angle.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['4.5; The natural language command matches very well with the JSON structure. The JSON information correctly indicates a rotation action. The angle is correctly noted to be 60 degrees, which fits with the command. The is_clockwise parameter is set to true, which fits with the command to "rotate to the right." However, the angular_velocity parameter, given as 1 in the JSON, is not specified in the command and so loses 0.5 on the score.'] +Move backward at a velocity of 0.75 meters per second for 8 seconds.,['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure accurately captures the "move" command, as well as the parameters for linear speed and the direction of movement (backward, hence "is_forward": false). The "unit" parameter also matches. However, the natural language command mentions a duration of 8 seconds, which is not reflected in the JSON structure; instead, there is a "distance" parameter. Despite this discrepancy, the JSON does convey the general intent of the command.'] +Reverse at 0.75 meters per second for a duration of 8 seconds.,['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure accurately represents the action of moving and the direction (is_forward is false which implies reverse), linear speed and unit. However, the param "distance" is calculated from the duration (8 sec) which is not explicitly mentioned in the natural language command, which only specifies the duration but not the distance. So, it\'s a partial match.'] +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.,['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false}}'];['3; Partially Conform. The direction in the natural language command is to go in the opposite direction, this is interpreted correctly as "is_forward": false in the JSON. Also, linear speed conforms as well. However, the parameter of time is mentioned in the command but there is no equivalent in the JSON. Additionally, in the JSON "distance" is referenced but it is not mentioned in the natural language command.'] +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.,['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'];['3; The action and the parameters "linear_speed", "is_forward", and "unit" are correctly stated, but the "distance" value doesn\'t match the given natural language command which only mentions the time duration and not the distance to be traveled.'] +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.,['{"action": "move", "params": {"linear_speed": 0.75, "distance": 6, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure matches the command quite well, but the distance derived from 'for the next 8 seconds' doesn't match the 6 meters specified in the provided JSON. The natural language command suggests that the robot should move in reverse at 0.75 m/s for 8 seconds, which implies a distance of 6 meters not 8."] +Turn right and move forward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];["3; Partial match. The natural language command indicates a movement, which is correctly captured in the JSON structure. However, it also includes a direction ('Turn right') which is not represented in the JSON. The 'rotate' action would have been an appropriate addition to emulate this command."] +Take a right turn and proceed straight ahead for a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];["2; The rotation to the right is missing from the JSON structure, but the movement action is properly represented. However, linear_speed isn't explicitly mentioned in the command, yet included in the JSON."] +Make a right turn and continue moving forward for 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];["4; The natural language command and the JSON structure information match well, but not perfectly. The rotation command in the JSON structure does not specify which direction to rotate in the command, even though it's mentioned in the natural language command to make a right turn. However, the assumption of clockwise rotation for right turn is made in the JSON, which is acceptable but not perfect. Similarly, the linear speed for 'Move' action is 1 in the JSON, which isn't mentioned in the command but it's an acceptable assumption."] +Rotate to the right and advance ahead for a distance of 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches with the given JSON statement. The movement and rotation actions are given with all required parameters ("angular_velocity", "angle", "is_clockwise", "unit" for "rotate"; "linear_speed", "distance", "is_forward", "unit" for "move") and reasonable values are provided in the command.'] +Go to the right and keep moving straight for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];['4; The natural language command has been correctly converted into JSON format with accurate keys and values. However, it lacks the aspect of "going to the right" which would have been nicely captured in a "rotate" action.'] +Move forward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; The command matches perfectly with the JSON structure. It uses the "move" action with a forward movement, a specific distance, and the unit is specified in the command. The only parameter not mentioned in the command is "linear_speed" for which any reasonable value is accepted.'] +Proceed straight ahead for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["5; The natural language command matches the JSON structure, as it specifies the action 'move' and gives a distance parameter. Although no specific linear speed is given in the command, any reasonable speed value is acceptable as specified by the instructions. The direction 'straight ahead' correctly implies a forward movement. The unit 'meters' is also mentioned in both the command and the JSON."] +Advance ahead 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["4; Although the natural language command matches the JSON structure well, it doesn't specify the speed, thus '1' in 'linear_speed' is arbitrary and not specifically defined by the user."] +Go forward a total of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches well to the JSON structure, however, the value of the "linear_speed" key given in the JSON is not specified in the natural language command.'] +Travel straight for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; The natural language command and the JSON structure conform. The action "move" is reflected correctly with the parameters "distance" and "is_forward" also correctly included. Although the "linear_speed" is not specified in the natural language command, 1 is a reasonable value. The specified unit is also correct, as meters is specified in the command. Therefore, the conformity is exact.'] +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 45, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The rotation command is exactly conform with the natural language command, while the move command matches the forward direction but does not properly convert the two seconds into distance (in meters) or speed (in m/s), leading to slight deviation.'] +Turn left 90 degrees and proceed forward for a duration of 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 45, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["4; There is a high level of conformity between the natural language command and the JSON information. The JSON defines two actions, 'rotate' and 'move', both of which are described in the command. In addition, the majority of the parameters specified in the command are correctly reflected in the JSON. ", '', 'However, there are some discrepancies that prevent a perfect score. First, the \'angular_velocity\' parameter in the \'rotate\' JSON is set to 45, but this value isn\'t mentioned in the command. The JSON correctly maps \'left\' to \'\\is_clockwise": false\' and \'90 degrees\' to \'"angle": 90\', but \'angular_velocity\' should likely have been left up to interpretation, as in the example ontology.', '', 'Second, the \'move\' JSON converts \'proceed forward for a duration of 2 seconds\' to \'"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"\'. However, it\'s not clear from the command that the unit of distance should be seconds or that the linear speed should be 1. Additionally, the use of \'distance\' to capture a duration of time in seconds deviates from the example ontology.', '', 'Overall, while the JSON reflects the actions and some of the parameters given in the command, these discrepancies prevent a perfect score.'] +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.,['{"action": "rotate", "params": {"angular_velocity": 45, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "seconds"}}'];['4; The commands partially match the JSON structures. The rotate function is correct, though the angular_velocity wasn\'t specified in the NL command so any value there is acceptable. For the move function in the JSON, it uses distance as a parameter which doesn\'t match the "2-second forward movement" in the NL command. However, if we consider time indirectly proportional to distance, it can be understood in context.'] +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 45, "angle": 90, "is_clockwise": false, "unit": "degrees"}} {"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'];['4; The first part of the command matches well with the given JSON structure, with "rotate", "angle", "is_clockwise", and "unit" keys correctly populated. However, for the "move" action in the second part of the command, the "unit" should be in meters, not seconds. The "distance" value is set to 2 which can be inferred to be 2 meters, considering the duration is not specified in the ontology. The "linear_speed" is set to 1 but its value isn\'t mentioned in the command, so it\'s accepted as plausible.'] +Make a left turn of 90 degrees and proceed forward for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "duration": 2, "is_forward": true, "unit": "seconds"}}'];['4; The commands in natural language almost conform to the JSON structure but there\'s a slight discrepancy in the "move" action where "duration" is used in lieu of "distance" which is stated in the key of the sample ontology. "unit" also expects "meter" as specified in the JSON ontology but it\'s stated as "seconds" in the provided JSON structure.'] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The command \'Move forward for 5 meters\' matches perfectly with the JSON structure, where the action is "move", the direction is forward (is_forward: True), the distance is 5 and the unit is meter. The speed isn\'t specified in the command, but any reasonable value for it is accepted according to the guidelines.'] +Proceed ahead a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; Although the command clearly indicates a `move` action with a `distance` of 5 meters and `is_forward` true, the specified `unit` in the JSON is "meters" instead of the ontology sample\'s "meter". Also, `linear_speed` is not specified in the input, so the JSON value of 1 is reasonable but given without supporting information from the text command.'] +Advance for a total of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The natural language command is equivalent to the JSON command. However, the speed is not mentioned in the natural language command and, thus, it is assumed in JSON which could be any reasonable value. Hence, it is not exactly conform.'] +Travel straight ahead covering a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];["5; The command asks for a forward movement for a specific distance which is perfectly translated in the JSON structure. The speed wasn't specified, but any reasonable value is accepted."] +Go forward a length of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; Mostly conform. The natural language command approximately aligns with the JSON information in describing a forward move action. The distance parameters match perfectly ("5 meters" in the command, and "distance": 5, "unit": "meter" in the JSON). However, the "linear_speed" parameter in the JSON does not have a matching element in the command. But as the command doesn\'t specify it, any reasonable value is acceptable.'] +Turn left and continue for 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["2; The natural language command only partially matches the JSON structure. Although the action 'rotate' could potentially be used to interpret 'Turn left', the parameters provided in the command do not quite match the ones in the JSON (specifically, the time duration is not represented in the JSON). Additionally, the command 'continue for 10 seconds' does not match any of the available actions in the JSON structure."] +Make a left turn and keep going for 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['1; Only partially conforms. The natural language command instructs to turn left and then go for 10 seconds. There is no JSON structure that follows this command as the imitation of moving forward for a certain period of time and "is_clockwise" parameter\'s value isn\'t clearly specified in the natural language command. However, the rotation part is correctly represented in the provided JSON structure.'] +Go left and continue for 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command instructs to "go left" which indicates a direction but not necessarily an action of moving in this given ontology. The JSON structure provided includes "move" but adds parameters that aren\'t indicated or implied in the natural language command - like "is_forward." The "distance" parameter in the JSON structure has a value that is measured in seconds which would be more appropriate for a "time" parameter rather than "distance". Therefore, the conformity is low.'] +Take a left turn and continue for a duration of 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "seconds"}}'];['2; The natural language command instructs a left turn and continue, which partially aligns with the JSON structure for rotation. The parameters "angle" and "is_clockwise" for rotation are accurately represented in the JSON. However, the natural language command further mentions to rotate for a duration of 10 seconds, which isn\'t represented accurately within the JSON structure (angular_velocity is given as 10 instead). The "move" action in the natural language command is totally missing in the JSON structure.'] +Proceed by turning left and maintaining that direction for 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "seconds"}}'];['1; Although the action "rotate" matches, the parameters do not correspond. The natural language command gives a time duration ("10 seconds"), whereas the JSON structure accepts an angle and angular_velocity, not a time duration. Also, the "is_clockwise" has a value false which doesn\'t align with the "turning left" instruction.'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command perfectly conformed with the JSON structure. The action "rotate" was correctly identified, and the parameters "angle", "is_clockwise", and "unit" were correctly assigned, even with an unspecified "angular_velocity".'] +Turn 90 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command "Turn 90 degrees counterclockwise" exactly matches the JSON structure as it correctly identifies the "action" as "rotate" and matches all of the parameters "angle", "is_clockwise", and "unit" with appropriate values. The "angular_velocity" value is accepted as no specific value was provided in the command.'] +Rotate in the opposite direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command perfectly matches the provided JSON structure. The action "rotate" is correctly identified and the parameters "angular_velocity", "angle", "is_clockwise" and "unit" are effectively used and congruent with the command.'] +Perform a counterclockwise rotation of 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4.5; The action and most parameters match correctly, including the unit of measurement and the direction of rotation. However, the "angular_velocity" value does not match because it was not specified in the natural language command.'] +Move in a counterclockwise direction, turning by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; Almost all aspects are matching correctly, but the "angular_velocity" value in the JSON structure doesn\'t match the natural language command as it was not specified in the command. The rest of the JSON keys conform to the command given.'] +Back up 2 meters and stop.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; The natural language command "Back up 2 meters and stop" matches perfectly with the action "move" in the JSON structure. Parameters such as "distance": 2, "is_forward": false, "unit": "meter" are also exactly represented in the JSON structure. Although "linear_speed" is not mentioned in the command, it\'s a reasonable value in the JSON structure and does not affect the overall conformity of the command and the structure.'] +Move back a distance of 2 meters and come to a halt.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure somewhat matches the command. The 'action' key is correct and 'distance', 'is_forward' and 'unit' parameters are correctly acknowledged in the params. However, the 'linear_speed' parameter is not mentioned in the command but it is assumed in the JSON, and the command to 'come to a halt' is not represented in the JSON structure."] +Reverse by 2 meters and come to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; The natural language command is well-represented by the JSON structure, with "Reverse by 2 meters" corresponding to the "move" action, "distance": 2, "is_forward": false, and "unit": "meter". However, the command "and come to a stop" is not directly translated in the JSON structure which might deduct the score by 1 point.'] +Retreat 2 meters and bring yourself to a standstill.,['{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The command "Retreat 2 meters and bring yourself to a standstill" matches perfectly with the JSON structure which represents an action to move with parameters consisting of a distance of 2 units, not moving forward (hence retreating), and coming to a standstill (represented by a linear speed of 0).'] +Step backward 2 meters and cease movement.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The JSON structure matches the command given, with all parameters accurate including "move" as the action, a reasonable linear speed of 1, a distance of 2 meters specified and "is_forward" set to false, indicating backwards movement.'] +Move forward at a speed of 0.5 meters per second for 6 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The natural language command correctly matches the JSON structure in terms of movement and speed. However, it does not directly provide the distance but provides the time and expects to calculate distance from speed and time, hence does not completely conform to the JSON structure. Also, temporal parameter (time) is not included in the given ontology.'] +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; Partially conform. Although the JSON structure correctly represents the action of moving at a specific speed, the natural language command specifies a duration, not a distance. However, the JSON does not have parameter for duration. The assumed distance of 3 meters in JSON is calculated assuming constant speed which may hold in ideal situations but not always.'] +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The action matches correctly in the JSON as "move". The "linear_speed" parameter is exactly given in the command as 0.5. The "unit" is correctly identified as "meter". The only discrepancy is the "distance" parameter, which is not explicitly given in the command and thus the guessed value of 3 is reasonable but it is based on the assumptions made from the speed and time mentioned in the command (0.5m/s for 6 seconds gives a distance of 3 meters) which can be misleading.'] +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];["4; The natural language command partially matches with the JSON structure but the distance has been calculated as the command mentions covering a distance of 0.5 meters in each second for a period of 6 seconds which gives a total distance of 3 meters, but natural language command doesn't specify the total distance explicitly."] +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command asks for a forward movement with a velocity of 0.5 m/s. This information is correctly encapsulated in the JSON structure under the keys: "action" corresponding to "move", "params" with "linear_speed" of 0.5, "is_forward" as true and the "unit" as meter. Though the command specifies, a duration and the JSON has distance, considering the relation of distance= speed x time, it\'s translated correctly to distance with a value of 3.'] +Turn right and move forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["3; The action command 'turn right' is not reflected in the JSON structure which accounts for the missing part of the translation to JSON. However, the 'move forward for 1 meter' part of the command is correctly translated to JSON."] +Make a right turn and proceed ahead for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['2; The JSON command accurately captures the "proceed ahead for a distance of 1 meter" part of the command in "move" action, however, it does not capture the "Make a right turn" part of the command. Thus, only partial conformity with the natural language command.'] +Take a right turn and continue moving straight for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['2; The given JSON structure only covers the "continue moving straight for a distance of 1 meter" part of the command not the "Take a right turn" portion. Therefore, the command partially matches with the provided JSON structure.'] +Head to the right and advance forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The natural language command and the JSON information match correctly as both refer to moving forward a specific distance. The sample ontology keys ("action", "params", "linear_speed", "distance", "is_forward", "unit") are all correctly applied in the JSON representation of the command.'] +Rotate right and proceed ahead for a length of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["5; The natural language command perfectly matches with the JSON information and its keys. The 'rotate' action specifies the direction which is translated to a clockwise rotation in the JSON. Similarly, the 'proceed ahead' command is correctly translated to a forward move over a distance of 1 meter in the JSON."] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn in a clockwise direction until you have rotated 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate 180 degrees in the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["4.5; The provided JSON matches the action (rotate), direction (is_clockwise: true), and angle (angle: 180) stated in the natural language command. However, the given angular_velocity (10) does not match the sample ontology (0.35). Still, this doesn't significantly impact the overall conformity as the natural language command didn't specify the angular_velocity. So, any reasonable value is acceptable."] +Turn to the right until you are facing the opposite direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Move backward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'];['2; The natural language command partially matches the JSON structure. The action "move" and parameter "is_forward" with value false are represented correctly. However, "linear_speed" is arbitrarily set to 1, and "distance" is misinterpreted as time in the natural language command. It\'s crucial to note that the time unit "seconds" does not exist in the sample ontology.'] +Go in reverse for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['3; The JSON structure reflects the action properly - the robot has to move. However, the "distance" key wrongly measures time ("3 seconds") instead of distance. Also, the "linear_speed" value could be relevant, but it is not mentioned in the command, so the default value of 1 is acceptable.'] +Reverse your movement for a total of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "second"}}'];['3; The natural language command instructs the action of moving in reverse for a specific duration (3 seconds), which is well represented in the JSON structure with the "move" action, "linear_speed" of 1 and movement direction of "false" for not moving forward (or reversing). However, the "distance": 3 should have been "time": 3, to be in terms of seconds, as specified in the natural language command. The use of "distance" as a key for time is not accurate.'] +Backtrack for a period of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["2; Only partially conforming. The action and 'is_forward' parameters match correctly, the 'unit' parameter is not present in the sample ontology. The command specification of 'backtrack for a period of 3 seconds' does not implicitly provide information about 'distance' or 'linear_speed'."] +Take a 3-second step backwards.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'];['1; The JSON structure partially matches the command. The action "move" and direction match with "is_forward": false. However, the natural language command doesn\'t specify the distance, but indicates a time period (3 seconds), not directly translatable to the JSON parameters where "distance" is in unspecified unit and "linear_speed" is accounted. No unit of time is accounted in the JSON structure.'] +Turn left and continue for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; The natural language command has no equivalent for "move" in the given JSON structures. The command specifies a rotation not included in the JSON structure and a move command with distance specified, but the direction being forward and not specified as left. Therefore, it doesn\'t fully match with the JSON structure.'] +Take a left turn and proceed straight ahead for a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; There is a mismatch in the natural language command and the provided JSON structure. The command mentions a turn action, while there is no "rotate" action in the JSON. The "move" action is partially matched because the \'distance\' parameter is given in the command, but the \'linear_speed\' value is not mentioned in the command.'] +Make a left turn and keep going for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; The JSON partially matches the command. The move action, distance, is_forward, and unit parameters are correctly interpreted. However, the command of making a left turn which is an action of rotation is not represented in the JSON structure at all.'] +Go left and carry on for a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": false, "unit": "meter"}}'];['4; Almost conform. The natural language command corresponds well to the provided JSON structure. The action of moving is correctly interpreted as "move". The distance parameter also matches with the value of 7 meters. However, the "go left" part of the command isn\'t properly represented in JSON. The movement direction isn\'t simply forward or backward.'] +Head to the left and continue for a length of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'];['4; The natural language command usually specifies moving to the left, which could imply a rotation before moving forward. However, the provided JSON structure only covers the forward movement and does not include the possible rotation action. The structure does correctly capture the distance parameter from the natural language command.'] +Move forward at a speed of 1 meter per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true}}'];['5; The natural language command perfectly matches the provided JSON structure. It has the exact action "move" and it specifies all parameters correctly and these parameters ("linear_speed", "distance" and "is_forward") exist in the JSON structure. The command also establishes a unit ("meter") to indicate speed, but this is not indicated in the JSON structure. However, this does not affect the conformity score since it can still be understood that the unit system used by the system should be "meters".'] +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "second"}}'];['4; While the action and some parameters match, there is no "duration" in the original ontology and also, the unit doesn\'t match, as in the JSON it corresponds to the "distance" key but in the command, it refers to the time.'] +Advance for 4 seconds, maintaining a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['4; Mostly conform. The command mostly matches the JSON structure, but there\'s a discrepancy: the "unit" in the JSON is "seconds", which doesn\'t correspond to a unit of distance in the command ("meter" should be used if taking the distance as 4 meters assuming the robot travels 1 meter per second for 4 seconds). Here, the "unit" seems to pertain to time rather than distance.'] +Travel forward for 4 seconds, moving at a rate of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['5; Exactly conform.'] +For a period of 4 seconds, move ahead at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Rotate counterclockwise by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Change the orientation by 45 degrees in a counterclockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["5; Exactly conform. The natural language command specifies the action 'rotate' which matches with the JSON. It mentions the exact angle of rotation, direction, which are present in the corresponding JSON structure."] +Turn left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["4; The natural language command aligns with the JSON structure but the angular_velocity specified in the JSON structure isn't mentioned in the command. However, it doesn't contradict it."] +Rotate anticlockwise by an angle of 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command matches the JSON structure almost correctly. The angular_velocity value being 10 is accepted as it is not specified in the command, but in the natural language command, the rotation is specified to be anticlockwise, which is not matched in the JSON structure (is_clockwise is true).'] +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4.5; The natural language command matches with the JSON structure except the parameter "angular_velocity" which is not mentioned. But a reasonable value for "angular_velocity" is used in the JSON, which counts for minor deduction.'] +Go straight for 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; The provided natural language command perfectly matches with the JSON structure for moving a specific distance forward, including the type of action and parameters such as distance and the direction (forward). The linear_speed was not specified in the command, but a reasonable value of 1 is included in the JSON.'] +Proceed in a straight line for a distance of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'];['5; The natural language command exactly conforms to the JSON structure. The action "move" corresponds with the "action" key in the JSON, and all parameters ("distance", "is_forward", "unit") are also specified in the command. The "linear_speed" is not specified in the natural language command but a reasonable default value is present in the JSON.'] +Continue in a straight direction for a span of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The command "Continue in a straight direction for a span of 8 meters" perfectly matches the JSON structure with \'move\' action. The parameters like linear_speed and is_forward are not specified in the command, but they are correctly assumed in the JSON. The distance is correctly specified as 8 meters, in accordance with the command.'] +Maintain a straight path for a duration of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches the JSON structure perfectly. The "move" action is invoked in the command as well as in the JSON structure. All parameters ("linear_speed", "distance", "is_forward" and "unit") that exists in the command are also present in the JSON. The directions specified in the command (maintain a straight path) matches with "is_forward": true in the JSON. The distance "8 meters" is exactly indicated in the command and the JSON. Although the command does not specify "linear_speed", it\'s value in JSON is accepted as it is a reasonable speed.'] +Stay on course for a distance of 8 meters ahead.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];["5; The natural language command matches perfectly with the provided JSON information. All parameters are properly assigned, even though the linear_speed is not mentioned in the command, it's given a reasonable value in the JSON so it is acceptable."] +Turn right and move forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'];['2; The natural language command mentions turning right, however, there is no JSON action corresponding to this command in the provided list. The move command matches partially but the distance specified in the command indicates time (seconds), not a distance as required by the JSON format.'] +Proceed straight for 2 seconds after making a right turn.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4.5; Almost a complete match, but the "linear_speed" value is not specified as a speed, but as a time duration in the JSON structure, which doesn\'t match the original command. The rotation matches well with the command.'] +Take a right turn and continue moving ahead for a duration of 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["4; While the commands generally conform to the given JSON structures, there is a discrepancy. The move command in the natural language command specifies a duration (2 seconds) whereas the JSON command specifies a distance parameter. While they could conceivably refer to the same overall action (moving for 2 seconds does imply a certain distance), they are not exactly the same thing. In the provided ontology, time parameter for moving action is not mentioned. Therefore, it doesn't completely match."] +Make a right turn and advance forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["1; The natural language command asks for two specific actions - a right turn and an advancement forward. The provided JSON only includes information about the movement forward, but there's nothing regarding the action of turning right."] +After turning right, keep moving forward for a period of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["2; The JSON structure vaguely corresponds with the natural language command, it describes to 'move' in a certain 'distance' 'forward'. However, it misses the turning right action the command mentions, and the 'distance' here is measured in duration(time) not actual distance."] +Move backward for 4 meters and stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The natural language command asks for a "move" action specifically in a backward direction for a certain distance, which matches well with the corresponding JSON structure. However, there\'s no specification for linear_speed in the natural language command and the command does not specify to "stop" which does not exist in the sample keys. So, the match isn\'t perfect.'] +Reverse for a distance of 4 meters and come to a halt.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['5; The natural language command correctly matches the JSON structure. The command of moving in reverse, represented in the JSON as "is_forward": false, for specified distance of 4 meters is accurately taken from the natural language command. The command of coming to a halt is inferred to be included within the conclusion of the move action.'] +Go back for 4 meters and then come to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meters"}}'];['4; The JSON structure conforms mostly to the natural language command, but the command to "come to a stop" is not represented in the JSON.'] +Take 4 meters in reverse and cease movement.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure closely matches the natural language command as it correctly describes the action of moving and its parameters (unit of measurement, distance, and direction). However, the command to "cease movement" is not represented in the JSON.'] +Travel in the opposite direction for a distance of 4 meters and then pause.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; Almost entirely conforms. The natural language command specifies the action of moving in the opposite direction (implying not forward), for a specific distance of 4 meters. These aspects are fully reflected in the provided JSON structure. The command also includes an action to pause, which is not shown in the JSON and is therefore not fully accounted for. The linear speed is also not specified in the command, but is included in the JSON, albeit with a reasonable value.'] +Rotate clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure. The action \'rotate\' is correctly identified and all parameters from the command (\'angle\': 270, \'is_clockwise\': true, \'unit\': "degrees") are correctly captured in the JSON. The \'angular_velocity\' has not been specified in the command, but a null value in JSON is accepted because its value is not specified in the natural language command.'] +Turn to the right by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command gives details about an action of rotation in a certain direction (right) and by a certain degree (270), which is exactly reflected in the corresponding JSON structure. The JSON also includes an added parameter of "angular_velocity", which wasn\'t provided in the language command but is still reasonable given the context.'] +Move in a clockwise direction, rotating 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command matches closely with the JSON structure. However, "angular_velocity" value isn\'t specified in the given command and yet is assumed as null.'] +Spin in a clockwise manner, completing a 270 degree rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command perfectly matches the provided JSON structure. The "rotate" action, "angular_velocity", "angle", "is_clockwise", and "unit" parameters are present in both the command and the JSON.'] +Rotate by 270 degrees in a clockwise fashion.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn left and continue for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["2; The natural language command requests a turn, but the JSON structure provided does not describe a rotation operation. It only covers the movement operation (for 3 meters forward). The 'rotate' action is missing in the JSON representation."] +Make a left turn and keep going for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The natural language command corresponds to the JSON structures, but the values for "angular_velocity" and "linear_speed" are not specified in the command, so the current values in the JSONs can be arbitrary.'] +Proceed straight for 3 meters after making a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The command slightly conforms with the JSON commands provided. The command implies a "move" action with a distance of 3 meters which is accurately reflected in the JSON structure. However, it also implies a rotate action ("making a left turn") which is not reflected in the provided JSON structure. Additionally, the linear speed value doesn\'t match the natural language command; it is not specified in the command.'] +After turning left, travel straight for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure correctly represents the action "move" with correct parameters "distance", "is_forward" and "unit". However, it lacks the action "rotate" that the initial command suggests ("After turning left"). It also assigns an arbitrary value to "linear_speed", which isn\'t suggested by the given command.'] +Take a left and continue on for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['1; The natural language command indicates that the robot should turn left, which should involve the rotation action instead of a "move" action only. However, in the provided JSON, a rotation action is not indicated. The command to continue a distance of 3 meters is represented correctly in the JSON.'] +Move forward at a speed of 0.3 meters per second for 5 seconds.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];["4; The JSON corresponds to the command of moving forward, with the correct speed specified. However, the distance is inferred based on the duration and speed in the natural language command, which is not in the JSON structure. But this calculation is reasonable in this context. Hence it's not exactly conform but close."] +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];['4; Almost all the parameters provided in the command match with the JSON structure. However, the command specifies the duration while in the JSON, distance is calculated instead.'] +Advance at a rate of 0.3 meters per second for a period of 5 seconds.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];['4; The JSON object correctly represents the command "Advance at a rate of 0.3 meters per second for a period of 5 seconds.", but the calculation of distance should be 0.3 * 5 = 1.5 instead of 2. There are no non-conformities with the keys of the sample ontology, the only problem is with the value of distance key which should be 1.5 not 1.'] +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];['4; The action "move" and all parameters (linear_speed, is_forward, unit) match perfectly. The value for "distance" is not clearly stated in the natural language command but it is reasonably considered as the product of speed and time (0.3 *5). However, the time element of 5 seconds mentioned in the command is not captured in the JSON structure.'] +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}}'];["4; The JSON struct is mostly accurate with regards to the given command. The action 'move' and parameter 'linear_speed' match the command. The command does not specify whether the movement is forward, but 'is_forward': true is a reasonable assumption. However, the command mentions going straight for 5 seconds, not a specific distance. The calculated distance (1.5 meters) is based on the given velocity (0.3 m/s) and time (5 sec), but this calculation is not explicitly mentioned in the command. Thus, the 'distance' parameter should have been formulated as a calculation or equation, or it should be clarified in the command.", ''] +Rotate counterclockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn 60 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command perfectly matches the JSON information, it commands a "rotate" action, specifies the angle as 60, and indicates that the rotation should be counter-clockwise which aligns with "is_clockwise": false. The unit and angular velocity are not specified in the natural language command so any reasonable value for these parameters in the JSON is accepted.'] +Rotate in the opposite direction by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure corresponds well to the command given "Rotate in the opposite direction by 60 degrees.". However, the value of "angular_velocity" being 5 doesn\'t match well with the sample ontology, although it may be a reasonable speed.'] +Rotate to the left by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['3.5; Partially conform. The JSON structure matches the command in action and angle. However, the direction of rotation specified in the command (to the left) isn\'t equivalent to the "is_clockwise" parameter in the JSON structure (false usually signifies right/ clockwise rotation). The "angular_velocity" parameter in the JSON doesn\'t have an equivalent in the command, but any value is accepted since the parameter isn\'t specified in the command.'] +Make a counterclockwise rotation of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command matches perfectly with the JSON information. The action "rotate", parameters such as "angle", "is_clockwise", and "unit" are all correctly represented in the JSON. However, note that the "angular_velocity" in JSON is arbitrarily set as 10, which is reasonable because the natural language command doesn\'t specify it.'] +Go straight for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['4; The action in the JSON structure matches with the natural language command (\'move\') and the \'is_forward\': true implies going straight as commanded. However, in the JSON structure, the "distance" is given as 6 but in the natural language command it\'s mentioned as \'6 seconds\' which corresponds more to time than distance. Our ontology doesn\'t provide a \'time\' parameter for the \'move\' action. Thus, the JSON is somewhat conforming but not exactly.'] +Proceed in a straight line for a duration of 6 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "second"}}'];['4; While it is clear the natural language command corresponds to the "move" action, the lack of information regarding linear speed and distance in the command prevents a perfect match to the JSON structure. Is_forward defaults to true as it is a forward motion that is indicated.'] +Keep moving forward in a straight path for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "second"}}'];['4; There is a partial conformity between the natural language command and the JSON structure. The "action" key matches, and some of the parameters match such as distance and is_forward, but the linear_speed value doesn\'t match with the command and the unit is given as "second" which doesn\'t really make sense for moving in a straight line. It should be a unit of length.'] +Maintain a straight course for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['3; The JSON structure partially matches the command. The "move" action in the JSON corresponds with the command to "Maintain a straight course". However, the "distance" key in the JSON should be time-related (like "duration") rather than spatial-related since the command specifies "for 6 seconds", not a specific distance. Also, the "unit" in the JSON structure is incorrectly set as "seconds" which is a unit of time, it should be a unit of either distance(meters) or speed(m/s) that fits with the "move" and "distance" key. Therefore, the matching is partially correct.'] +Continue in a straight direction for a period of 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['4; Partially conform. The JSON structure correctly represents the action "move" and the direction "forward" in the given natural language command. However, the command mentions the time (6 seconds) and not the distance. The JSON has distance instead of a time attribute which makes it not perfectly conforming.'] +Turn right and move forward for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The JSON command correctly represents the part of moving forward for 7 meters in the natural language command, but does not include the "Turn right" action and does not match with the rotate action from the example JSON structures.'] +Take a right turn and proceed straight ahead for a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['2; The natural language command involves both rotation and movement but the JSON executes only movement action. The rotation part of the command is not represented in the JSON. Hence partial match.'] +Make a right-hand turn and continue moving forward for a length of 7 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Head to the right side and advance for a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'];['2; The natural language command partially conforms to the JSON structure. The action and parameters \'distance\' and \'unit\' match, but \'linear_speed\' and \'is_forward\' are not specified in the natural language command, hence their values are randomly assigned in JSON. The command "Head to the right side" does not have its equivalent in the JSON structure provided.'] +Rotate to the right and travel straight for 7 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'];['4; Partially conform. The natural language command does not specify "angular_velocity" or "linear_speed" in the JSON structure, but the other parameters match appropriately. Also, "unit" for "move" action is \'meter\' in ontology but \'meters\' in provided JSON.'] +Move 2 meters forward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meters"}}'];['4.5; The JSON command structure corresponds to the natural language command, but "linear_speed" value is present in the JSON, which is not mentioned in the natural language command, so there is a small mismatch. Otherwise, the keys and values in the JSON are correctly translated from the natural language command.'] +Proceed straight ahead by a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; The natural language command indicates a forward motion for a specific distance, and it perfectly corresponds to the provided JSON structure. All required parameters (action as "move", distance specified, is_forward as True and unit as "meter") exist in the JSON.'] +Advance 2 meters in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; While the natural language command matches the JSON structure well, the JSON\'s "linear_speed" parameter is not specified in the natural language command, hence the deducted point.'] +Take a step forward for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4.5; The natural language command matches with the JSON action "move" and all parameters like "distance", "is_forward" and "unit" are specified correctly. However, "linear_speed" is not specified in the natural language command, and while the provided value is reasonable, the lack of specificity in the command prompts a slight deduction.'] +Move straight ahead, covering a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command corresponds perfectly to the JSON structure in terms of action, distance, movement direction, and unit used.'] +Turn left and move forward for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['3; The JSON structure somewhat matches the command. The action "move" is referred to in the command and the parameter "is_forward" matches with the command\'s "move forward". However, the command doesn\'t specify linear_speed or unit: "seconds". In the real world context, \'move forward for 5 seconds\' does not necessarily imply a distance or a speed. Also, the command \'Turn left\' is not matched in the JSON.'] +Move forward for 5 seconds after turning left.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['4; The client\'s move command matches the second JSON structure ("action": "move"), so the user\'s intention is correctly interpreted. However, the unit of distance is set as "seconds" in the JSON, which might not be intended as it generally denotes "meters" in a similar context. The rotation command given by the user ("turning left") is correctly interpreted in the first JSON structure ("action": "rotate"). However, the specific angular velocity and angle in the client\'s command are not specified, so any reasonable values are accepted in the JSON structure.'] +After making a left turn, proceed forward for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}}'];["2; The natural language command references making a turn but there is no JSON structure provided for the 'rotate' action. The 'move' action with the 'is_forward' parameter set to true only partially matches the natural language command. The 'distance' parameter in the JSON structure is mismatched as the natural language command specifies a time duration (5 seconds) and not a distance."] +Take a left turn and continue moving forward for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command instructs to "Take a left turn" however, this is not reflected in the given JSON structure. The JSON structure only includes the command for moving forward which is only part of the natural language command. Therefore, the JSON structure does not fully conform to the natural language command.'] +Start moving forward for 5 seconds after making a left turn.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["3; Partial match. The action commands match but some parameters inside the JSON do not match with the natural language command. In the rotation command, 'angular_velocity' is not mentioned in the sentence, in the 'move' command, 'distance' is measured in 'seconds' instead of 'meter'."] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command and the JSON structure in principle match, as it involves a "rotate" action, the direction is counterclockwise (which corresponds to "is_clockwise": false in JSON), and the unit is given as "degrees". The angle also corresponds to the command, being 90 degrees. However, the "angular_velocity" mentioned in JSON is not specified in the command, but it\'s not a necessary parameter in this context -- it can vary, so that\'s not a problem. The score can\'t be a perfect 5 only due to this discrepancy, hence it\'s 4.'] +Rotate 90 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The JSON structure accurately matches the natural language command. It correctly defines the "action" as "rotate" and provides the appropriate parameters - "angular_velocity", "angle", "is_clockwise", and "unit" - with values that conform to the command.'] +Rotate by 90 degrees in the counterclockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command matches well with the JSON structure but the value for "angular_velocity" is not specified in the command, so we cannot compare and confirm whether the natural language command completely conforms with the JSON structure.'] +Turn left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command asking to turn left by 90 degrees perfectly matches with the JSON structure provided in terms of action and parameters concerned with rotation. The only parameter added is "angular_velocity" which is considered as reasonable value.'] +Move 3 meters backward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meters"}}'];['3; The JSON correctly interprets the action of moving and the distance of 3 units. However, the linear speed is arbitrarily set to 1 while there is no such information in the command. Also \'meter\' should have been used in "unit" instead of \'meters\' to match with the example ontology. Lastly, the JSON captures the \'backward\' movement correctly through the \'is_forward\': false key-value pair.'] +Go back 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4.5; Almost correct matching with the 'move' action in the ontology, but the 'linear_speed' value in the command is not mentioned in the Natural Language command, hence the match is not perfect."] +Retreat 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Step 3 meters in reverse.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The JSON structure accurately represents the action of moving a certain distance in reverse which matches with the natural language command mentioned.'] +Travel in the opposite direction for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];["5; Exactly conform. The natural language command matches exactly with the JSON structure. The action is 'move', which is an available action in the ontology. The parameters linear_speed and unit have reasonable values, 'distance' matches exactly with the command '3 meters', and 'is_forward' is set to false indicating 'opposite direction'."] +Turn right and move forward for 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON commands correctly represent the natural language command with the keys from the sample. However, the value for "angular_velocity" does not match exactly with the natural language command as it is not specified in the command.'] +Take a right turn and proceed straight ahead for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["3; The natural language command partially matches the JSON structure. The 'move' action with distance parameter is correctly extracted but the direction ('right turn') from command is ignored."] +Make a right turn and advance ahead for a distance of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Head to the right and continue moving forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure conforms highly to the natural language command, correctly interpreting the action as "move" and assigning the distance to move forward as 1 meter, as suggested in the command. However, the natural language command implies a specific direction ("to the right") that is not captured and represented in the JSON structure. It also assigns a "linear_speed" of 1, which is not specified in the command. Thus, not all details are perfectly captured.'] +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The provided JSON structures accurately represent the natural language command given. The \'rotate\' and \'move\' actions are correctly converted with appropriate parameters - direction of rotation (clockwise), distance, linear speed (an assumed reasonable value), and the direction of movement (forward). The unit for the movement action is "meter" which is also explicit in the instruction.'] +Go to the living room and stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['5; The natural language command is perfectly converted into the JSON structure shown. The command requests an action to "go_to_goal" which matches the JSON action. The specified parameter "location" is set as "Living Room" which is in line with the command\'s desire to go to the living room. The type of the value is correctly identified as a string.'] +Please proceed to the living room and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['4; While the command accurately correlates with the "go_to_goal" action and the location parameter in the first JSON structure, the command to "come to a halt" is not represented in any of the given JSON structures. Therefore, it is not a complete match.'] +Make your way to the living room and cease moving.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living room"}}}'];['5; The natural language command precisely conforms to the JSON structure, as the "go_to_goal" action and the destination "Living room" is correctly defined.'] +Head to the living room and stand still.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['5; Exactly conform. The command accurately asks for the action "go_to_goal" with the parameter "location" set to "Living Room", matching perfectly with the provided JSON structure.'] +Move towards the living room and come to a stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "living room"}}}'];['4; The command and JSON structure match well. The "go_to_goal" action and "location" parameter conform to the sample keys. Though the exact stop action is not specified in JSON, the command to move towards the living room matches well.'] +Move 4 meters forward at a speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure, with all parameters specified accurately in the command.'] +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];["5; Exactly conform. The natural language command specifies an action of moving forward a certain distance with a certain speed, which perfectly matches the JSON structure provided. The parameters 'distance', 'linear_speed', 'is_forward', and 'unit' are also mentioned and their values match with those mentioned in the command."] +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];["5; Exactly conform. The natural language command perfectly matches with the corresponding JSON command where action is 'move', linear speed is 2, distance is 4, the direction is forward and the unit of measurement is meter."] +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["4; The parameters in the provided JSON structure match with the instruction given in the natural language command - to rotate clockwise by 180 degrees. The only parameter that doesn't have a value (angular_velocity) is acceptable to be null according to the instruction provided. A point is deducted because angular_velocity could have been given a reasonable value instead of null."] +Turn 180 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4.5; The action and the parameter keys match the sample ontology and the natural language command completely. The only difference is the value assigned to the key "angular_velocity". But, according to the guidelines, even though the value isn\'t specified in the command, any reasonable value in the JSON is accepted. Hence the deducted -0.5.'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["5; The natural language command completely matches with the JSON structure, including the action 'rotate' and the parameters 'angle', 'is_clockwise', and 'unit'. The value of 'angular_velocity' was not specified in the command, but its presence in the JSON is acceptable as any reasonable value is accepted."] +Rotate by 180 degrees in the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The "angular_velocity" value in the JSON structure deviates from the natural language command which does not specify it. But as per the instruction, because the specific information is not provided in the command, any reasonable input in that field is acceptable. Therefore, there is a high level of accordance, but not complete.'] +Turn in a clockwise fashion, rotating 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn left and move forward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['3; The command does include moving forward, which is correctly represented in the JSON. However, the command to turn left is not reflected in any JSON structure. The "rotate" action would have been more appropriate to reflect the "Turn left" command. The linear_speed value in the JSON is not specified in the natural language command but an accepted reasonable value is used.'] +Make a left turn and proceed straight ahead for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true}}'];["5; Exactly conform. The natural language command perfectly matches with the provided JSON structure. The 'rotate' action is properly encoded in the JSON with appropriate values, indicating a left turn (`is_clockwise: false`, and `angle: 90` degrees). The 'move' action is also correctly represented with the specified distance of 3 meters (`distance: 3` and `is_forward: true`)."] +Take a left and continue moving forward, covering a span of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The natural language command instructs the robot to move forward for 3 meters, which matches the "move" action in the JSON. However, the "rotate" action is implied in the command to "take a left", but is not reflected in the provided JSON. The JSON incorrectly assumes a default "linear_speed" value of 1 which is not specified in the natural language command.'] +Rotate to the left and advance for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4.5; Almost perfect conformity. The angular velocity is not specified in the command, but with a value of 1 in the JSON it is still reasonable. However, the command specifies to "rotate to the left" which typically assumes a 90 degree rotation counter-clockwise, while the JSON provided only indicates a 40 degree rotation. Therefore, the rotation angle in the JSON does not match the natural language command perfectly.'] +Shift towards the left and travel straight for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; The natural language command contains two actions: rotating (shift towards the left) and moving (travel straight for a distance of 3 meters). The provided JSON structure only contains the moving action, with the correct distance parameter. However, it lacks the rotation action, hence the low conformity score.'] +Move 2 meters backward at a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure correctly represents the action "move" specified in the command with the correct parameters "linear_speed", "distance", and "unit". The direction of the movement is correctly inferred ("is_forward": false) from the command instruction of "backward". However, The exact ontology term for the direction of the movement isn\'t specified in the sample keys, so "is_forward" might not be the correct key for all uses.'] +Back up 2 meters with a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false}}'];['5; Exactly conform. The natural language command matches perfectly with the JSON information. The action is moving, the linear speed is 0.5, the distance is 2, and the robot is not moving forward i.e., retreating as specified.'] +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['5; The natural language command perfectly matches with the JSON structure by mentioning the action to be performed, linear speed, distance to be covered, direction of movement, and the unit of measure.'] +Go to the bedroom and stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['3; Partial Conformity. The natural language command corresponds with the JSON structure for the command \'go_to_goal\'. The specified location has been switched from "Kitchen" to "Bedroom". However, the command "stop" does not match any action from the provided JSON structures.'] +Please proceed to the bedroom and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "bedroom"}}}'];['4; The natural language command mostly matches the JSON structure. The "go_to_goal" action is correctly interpreted with the required "location" parameter. However, the command to "come to a halt" is not explicitly converted into a JSON command structure, leading to a small mismatch.'] +Make your way to the bedroom and cease your movement.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];["5; The natural language command perfectly matches the JSON structure, the action 'go_to_goal' is correct and parameter value 'Bedroom' is present in the JSON."] +Head to the bedroom and pause.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];["1; The natural language command is only partially represented in the JSON. The 'go_to_goal' action to the 'Bedroom' location is represented, but the command to 'pause' is not present in the JSON."] +Go to the bedroom and stand still.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['5; The command \'Go to the Bedroom\' perfectly matches the JSON structure given for "go_to_goal". The "location" parameter is correctly identified as "Bedroom". Although the "stand still" part of the command does not correspond to any action or parameter in the JSON structures, it doesn\'t cause any non-conformity, and thus doesn\'t affect the score.'] +Rotate counterclockwise by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command asks for a counter-clockwise rotation by 45 degrees, which matches perfectly with the JSON command that has "rotate" action with parameter "angle" as 45, "is_clockwise" as false, and "unit" as "degrees". Even though the "angular_velocity" is not mentioned in the natural language command, its presence in the JSON doesn\'t affect the conformity score according to the rules.'] +Turn 45 degrees in the counterclockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command exactly matches the JSON information. The rotation action is correctly identified, the angle is correct and the direction is correctly identified as counterclockwise, which corresponds to "is_clockwise": false in the JSON structure. The angular_velocity key is not specified in the command, but it contains a reasonable value in the JSON structure.'] +Rotate anticlockwise at an angle of 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; The command matches the JSON structure but the angular_velocity in the JSON does not match with the natural language command. We cannot determine the angular_velocity from the natural language command. However, the rest of the keys and values match correctly.'] +Rotate left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command is fully represented by the JSON structure. The "action" is correctly set to "rotate" and the "params" have appropriate settings for "angular_velocity", "angle", "is_clockwise" and "unit".'] +Perform a 45-degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; The "action" and "params" keys in the JSON map correctly to the natural language command, but the value for "angular_velocity" doesn\'t match the unspecified speed in the command. The other parameters ("angle", "is_clockwise", "unit") match the natural language command perfectly.'] +Turn right and move forward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['2; The command matches the "move" action and includes most of the necessary parameters (distance, is_forward, unit), but does not match completely because the linear_speed value is set to 1 in the JSON while the natural language command does not suggest a specific speed. The JSON also does not include a "rotate" action to represent the "turn right" part of the command.'] +Proceed forward for a distance of 4 meters after making a right turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure partially matches the command as the move action is correctly represented. The "distance": 4 and "is_forward": True are properly captured. However, the phrase "after making a right turn." signifies a rotate action which is not present in the provided JSON syntax. Therefore, a JSON for rotate action should be also included.'] +Take a right and continue moving ahead for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['2; A part of the command i.e., moving ahead for 4 meters matches the JSON structure. However, the JSON structure does not account for "Taking a right" which is missing from the command.'] +After making a right turn, advance straight for a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; Although the JSON structure matches the intended action of moving in the natural language command, the command also specifies that a right turn should be made. This part is missing from the JSON instruction, hence the slightly lower score.'] +Make a right-hand turn and proceed forward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['3; Only the action to move forward matches but not the action to turn right. The JSON commands lack an action for turning.'] +Move 1 meter forward at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Proceed ahead by 1 meter with a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure. All specified parameters in the command ("linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter") are represented correctly in the JSON.'] +Go one meter ahead, moving at a rate of one meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; Almost all elements conform. However, in the command, the speed is specified as one meter per second, but in the JSON it's given as 0.5 which does not match the command."] +Travel forward for 1 meter while maintaining a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command instructs a forward motion over a distance of 1 meter with a specific speed. This directly translates to the JSON structure provided, with "action" as "move", a "distance" of 1, and a "linear_speed" of 1. This matches exactly with the sample ontology keys.'] +Rotate clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn 270 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["5; The command and the JSON structure match perfectly. The action 'rotate' is correct and all parameters ('angular_velocity', 'angle', 'is_clockwise' and 'unit') are also correct. The parameter 'angle' value is exactly specified in the natural language command, while the 'angular_velocity' value isn't specified but it is accepted as it has a reasonable value. The 'is_clockwise' value in the JSON information matches with the direction specified in the command, and the 'unit' is appropriate for the 'angle' parameter."] +Rotate by 270 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Execute a clockwise rotation of 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Shift the orientation by 270 degrees in a clockwise fashion.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; The JSON exactly matches the natural language command. The action "rotate" is correctly identified, and the parameters "angle" and "is_clockwise" are accurately taken from the command. The "angular_velocity" does not match exactly but is a reasonable value.'] +Turn left and move forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['3; Partially conform. The command asks for a "turn left" action which is not completely addressed in the JSON as there is no "rotate" action included. However, "move" action is correctly parsed with is_forward as true but the "distance" parameter is irrelevant here when the time "2 seconds" is mentioned not the distance itself. In such a case, the parameters would depend on what the unit of linear_speed is representing.'] +Proceed forward for 2 seconds, then make a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['3; Partial match. The "move" action in the command matches with the "move" action in the JSON, as well as "unit" as "second", but the distance isn\'t properly defined because moving forward for two seconds is different from moving a distance of 2 units (there\'s a missing relationship with speed). For the "rotate" action, although mentioned in the command, the actual angle and direction of rotation are not specified in the natural language command and so the JSON does not accurately represent the command.'] +Take a left turn and continue moving straight ahead for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["3; Partial conformity. The JSON for rotation corresponds with taking a left turn, but the 'angular_velocity' value doesn't match the command if considered. The JSON for movement also matches 'continue moving straight ahead', however, the 'distance' should be a measure of length (meters, feet..) and not time ('seconds'). Although, the speed and is_forward values are suitable which was not clearly mentioned in the command which is acceptable as per guidelines."] +Make a left turn and drive forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'];['3; Partial conformity. The "move" action and "is_forward" parameter are correctly represented in the JSON structure. However, the "make a left turn" part of the command is not represented at all in the JSON structure and the interpretation of driving forward for 2 seconds as a distance of 2 in units of seconds is questionable.'] +After turning left, continue moving straight for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['1; The JSON structure includes a move action, which is implied in the "continue moving straight" part of the command. However, the natural language command specifies a duration ("for 2 seconds") rather than a distance, which is what the JSON structure requires, hence the low score. Furthermore, the command to turn left cannot be matched to any action in the JSON structures, causing further inconsistencies.'] +Move 3 meters backward at a speed of 1.5 meters per second.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure mostly matches the natural language command with the correct action "move" and correct parameters such as "linear_speed" as 1.5, "distance" as 3 and "unit" as "meter". However, the natural language command doesn\'t specify if the movement is forward or backward and the JSON structure could have "is_forward": false or "is_forward": true, but the JSON structure has "is_forward": false. Matching is not perfect due to the ambiguity in the natural language command regarding the "is_forward" parameter.'] +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4.5; It is correctly translated to JSON that matches the ontology,vbut the action name should be the same as the sample ontology, "move", not "go".'] +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command perfectly matches with the JSON structure in terms of action (move), linear speed (1.5), distance (3), direction (reverse, hence "is_forward": false), and unit (meter).'] +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];["5; The natural language command exactly matches the JSON structure gives instruction for the action 'move' with specified parameters on linear speed, distance and direction which are represented by the same keys in the JSON structure."] +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Go to the dining room and stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}}}'];['5; Exactly conform.'] +Proceed to the dining room and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "dining room"}}}'];['4; The JSON structure correctly identifies the action "go_to_goal" and the location to go to as "dining room". However, the natural language command also specifies to "come to a halt" which isn\'t represented in the JSON command.'] +Head over to the dining room and pause.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining room"}}}'];['4; The action "go_to_goal" and value of "Dining room" match correctly with the command. However, the command includes "pause" which is not represented in the JSON.'] +Make your way to the dining room and bring yourself to a stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "dining room"}}}'];['4; Subject\'s action hardly matches with the "go_to_goal" action key. However, "bring yourself to a stop" action does not correlate with any JSON structure. Furthermore, "location" is rightly identified as "dining room".'] +Move towards the dining room and cease your motion.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "dining room"}}}'];['2; The JSON structure does correspond to the command of moving to a location, but the location specified ("dining room") does not match with the location in the command ("kitchen"). Furthermore, the JSON structure corresponding to the action of stopping the motion is missing.'] +Rotate counterclockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure matches and includes all the commands and parameters mentioned in the natural language command. However, the value for "angular_velocity" does not match because it wasn\'t specified in the command, yet it\'s given an arbitrary value in the JSON.'] +Turn left by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command specifies a rotation action, which matches the JSON structure provided. Also, the values for the "angle" (60) and the "unit" ("degrees") are stated explicitly in the command, which are correct in the JSON format provided. The direction of rotation ("is_clockwise") is also correctly inferred as false from the command "turn left". "angular_velocity" isn\'t specified in the command, but a reasonable value of 10 is used in the JSON.'] +Rotate in the opposite direction by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; The command correctly identifies the rotation action, the angle to be rotated, the direction of rotation as opposed to clockwise and the unit of measurement in degrees. The JSON also accurately represents this information. The angular_velocity is not mentioned in the natural language command so any value for it in the JSON is acceptable.'] +Execute a 60-degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false}}'];['5; The command perfectly matches with the JSON structure. The action "rotate" is called with acceptable parameters: the "angular_velocity" (any reasonable value is allowed since it\'s not specified in the command), the "angle" is correctly given as 60, and "is_clockwise" is correctly marked as false for a counterclockwise rotation.'] +Rotate anticlockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; There is a mismatch only in the value of \'angular_velocity\' between the command and the JSON. All other parameters match perfectly, including the action "rotate", direction as counterclockwise represented as "is_clockwise": false, the angle of rotation, and the unit as degrees.'] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command asks for a forward movement which is correctly represented in JSON with the action "move" and the parameter "is_forward" set to true. The distance is correctly captured as 5 meters. Linear speed is not mentioned in the command but is reasonably represented in the JSON structure.'] +Proceed ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command gives clear instructions to move ahead (is_forward: True) for 5 meters. This can be translated into the JSON structure provided, except for the linear_speed, which is given a reasonable value of 1 as it is not specified in the command. Therefore, all the keys in the JSON structure conform to the command.'] +Advance straight ahead for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];["4; The action and parameters in the JSON structure align with the command but the 'linear_speed' value in the JSON does not match the command, as the command doesn't specify a speed."] +Travel forward for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command matches perfectly with the provided JSON structure. The "move" action is correctly used along with "distance", "is_forward" and "unit" keys. The values of the mentioned keys in the command also match with that of the sampled ontology.'] +Go in the forward direction for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command gives instructions for a forward motion for a specific distance, these are correctly and precisely translated in the JSON structure. The action "move", direction as "is_forward" and "distance" as 5 meters match perfectly. Even though the linear speed isn\'t specified in the command, it is a reasonable value.'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command accurately matches the JSON structure. The "rotate", "angle", "is_clockwise", and "unit" commands are all present and accurately represented in the JSON. The "angular_velocity" is not specified in the natural language command, but its value in the JSON is reasonable.'] +Turn 90 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The JSON perfectly matches the command. The action "rotate" is present in the JSON and in the command, and the params ("angle": 90 and "is_clockwise": false) are also exactly matching the command of turning 90 degrees counterclockwise. The "angular_velocity": 10 and "unit": "degrees" are reasonable values for the parameters not specified in the command.'] +Rotate anticlockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command asked for a rotation of 90 degrees in an anticlockwise direction which matches the JSON structure\'s "rotate" command. The "angular_velocity" is reasonable as it was not specified in the natural language command.'] +Rotate to the left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["4; The natural language command matches with the JSON command correctly, as it directs to rotate, specifies the angle and the direction. However, the angular_velocity doesn't match perfectly - the natural language command doesn't specify the speed of the rotation while the JSON structure does."] +Change the orientation to the left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["5; The JSON structure matches perfectly with the given command. The action 'rotate' and parameters like 'angle': 90, 'is_clockwise': false and 'unit': 'degrees' are correctly mentioned. Although 'angular_velocity' value doesn't match exactly with the command, any reasonable number is accepted according to the instructions."] +Move backward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['3; The command partially conforms to the JSON structure. The action "move" and the keys ("linear_speed", "distance", "is_forward", "unit") are all correctly used. However, in the command "move backward for 3 seconds", the interpretation of 3 seconds as parts of "distance" is not quite applicable as it should be related to time. Therefore, the natural language command could be misinterpreted in the JSON. Also, "linear_speed" is not specified in the command but appears in the JSON structure.', ''] +Reverse for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": false, "unit": "seconds"}}'];['3; The JSON structure includes the "action" as "move" and the direction is appropriately specified as "is_forward": false which is in line with the "Reverse" command. However, the "distance" key isn\'t supposed to be in this JSON structure as it\'s not mentioned in the natural language command and instead there should be a "duration" key. The "unit" is also correctly mentioned as "seconds" which matches with the natural language command.'] +Go in reverse for a period of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "second"}}'];['4; The JSON structure mostly conforms to the natural language command; however, the "is_forward" key should ideally be false given the command is to go in reverse. The "distance" parameter should also be understood as a duration for moving backwards, not necessarily a physical distance.'] +Travel backwards for a total of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['4; The action "move" does match and most parameters in the JSON match with the command including "linear_speed" and "is_forward". However, the "distance" is not directly specified in the command, rather a duration of the action is mentioned. The unit is "seconds" which does not match with the sample ontology where the unit for the action "move" is given in "meter". However, the instruction does imply a certain interpretation of \'distance\' in terms of time spent moving, which is reasonable but not exact.'] +Move in the opposite direction for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["2; Only partially matching. The natural language command requests a movement for a duration ('3 seconds'), rather than a distance. The JSON structure provided calculates a movement for a distance, not a specific time duration. Furthermore, the value of 'linear_speed' parameter is not mentioned in the natural language command, so its value in the JSON structure ('1') cannot be confirmed as correct or incorrect."] +Turn left and move forward for 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3.5; Partial conformity. The given command instructs to "turn left" before "moving forward". The JSON structure contains the "move" command, however, the corresponding JSON structure for "turn left" command (rotate action) is missing. Thus, partial conformity exists with the given ontology and missing values for linear speed are assumed to be fine.'] +Proceed forward for 2 meters after making a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The natural language command only partially matches with the JSON structure. The "move" action is correctly interpreted and the "distance", "is_forward", and "unit" parameters are correctly defined. However, the "linear_speed" parameter is not mentioned in the natural language command and the command includes a left turn which isn\'t reflected in the provided JSON structure. Therefore, the "rotate" action should have also been included but isn\'t.'] +Make a left turn and advance for 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['1; The natural language command includes two parts: making a left turn and advance for 2 meters. However, the provided JSON structure only includes the action of moving a certain distance, which corresponds to the "advance for 2 meters" part of the command. The "make a left turn" part of the command is not present in the JSON, hence the conformity score is 1.'] +Take a left and continue forward for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure partially matches the command. The command does mention moving forward for a certain distance, which corresponds to the "move" action in the JSON. However, there is no existing JSON command for taking a left turn in the set of provided JSON structures which leaves the command partly unmatched.'] +Move ahead for 2 meters after making a leftward turn.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3; The command partially matches the JSON structure. The action "move" and the params distance, is_forward, and unit match correctly with the specified parameters and their values. However, there is no mention of "linear_speed" in the command nor there is a command to make a leftward turn.'] +Make a U-turn and move in the opposite direction for 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["4; Partially conform. The JSON for 'action': 'rotate' with 180 degrees matches with the command to make a U-turn. However, the natural language command to move in the opposite direction for 10 seconds does not match the JSON as no such action or parameters are described in the given samples."] +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "second"}}'];["4; Partially conform. The commands given are highly related to the JSON structures, however, the values 'angular_velocity' and 'distance' do not comply with the command given. 'Angular_velocity' should not be 180 and 'distance' in moving action should not be dependent on time (10 seconds)."] +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": false, "unit": "degrees"}}'];['3; Partially conform. The natural language command refers to a rotation and travel in the opposite direction. The JSON representation correctly identifies the rotation action, however, the "move" action is missing so it\'s not completely conforming with the command. Also, the provided parameters in JSON for rotation are not specified in the natural command, but they\'re reasonable.'] +Turn around and travel in the opposite direction for a duration of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "seconds"}}'];["2; The natural language command partially matches with the 'move' action in the JSON structures. However, the command specifies the duration of the movement instead of distance. The provided JSON only adresses 'distance', and the parameters 'linear_speed' and 'is_forward' are not mentioned in the command. The 'unit' in JSON structure doesn't conform with the time unit specified in the command."] +Perform a U-turn and move in the opposite direction for 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "second"}}'];['4; The command and the JSON structures are mostly conform, however, in the second JSON structure: "linear_speed" and "distance" values should not be fixed as 1 and 10 in the context of the command. Also, "is_forward" parameter should be true. Seeing that robot performs a U-turn beforehand, moving forward would actually mean moving in the opposite direction as commanded. Lastly, distance is not mentioned in the command, therefore it can\'t be defined as a fixed value. Instead, the unit should be seconds and the value should represent the time (10 sec) the robot should continue this action.'] +Rotate clockwise by 180 degrees and stop.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The command has been accurately converted into JSON format. The action of "rotate" matches correctly, the parameters "angle", "is_clockwise" and "unit" are present and have their appropriate values, although the "angular_velocity" does not match, it was not specified in the natural language command so the given value is accepted.'] +Perform a 180-degree clockwise rotation and then come to a halt.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The command perfectly matches the JSON structure. The "rotate" action with an angle of 180 degrees in a clockwise direction is correctly interpreted. The angular_velocity is not specified in the natural language command, thus any reasonable value is accepted.'] +Execute a clockwise rotation of 180 degrees and then cease movement.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command exactly matches the JSON structure with "action": "rotate" and appropriate parameters including the specified rotation angle of 180 degrees and the direction of rotation as clockwise.'] +Turn right by 180 degrees and then stop.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The JSON structure correctly and completely follows the given command. The "rotate" action is right, with correct angle of 180 degrees and direction (is_clockwise is set to true since it involves a right turn). The use of "unit" key with value "degrees" is also aligned with the command. The "angular_velocity" value is not given in the command, but a reasonable value is assigned.'] +Rotate in a clockwise direction by 180 degrees and then come to a stop.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command correctly matches the JSON schema for the action "rotate". The parameters in the command such as the direction (clockwise) and angle (180 degrees) are present in the JSON structure. Although no "angular_velocity" is specified in the command, it is accepted to have any reasonable value in the JSON.'] +Move diagonally to the right for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['1; The natural language command is only partially implemented in the JSON structure. The "move" and "distance" parameters can be found in the JSON, but not "diagonally to the right".'] +Go right at an angle for a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['3; The JSON structure does not perfectly match the natural language command. Although the "move" action, "distance" and "unit" parameters are correct, the command also includes a directional element "Go right at an angle" which would better align with the "rotate" action in the ontology. The JSON structure does not represent this. Also, it specifies a "linear_speed" that wasn\'t mentioned in the command.'] +Travel in a diagonal direction to the right covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['1; The natural language command instructs to travel in a diagonal direction, which might involve a combined movement and rotation action. However, the provided JSON structure only includes linear movement action and does not account for the specified direction ("to the right"). The \'distance\' parameter matches correctly but the \'linear_speed\' in JSON is assumed, it\'s not mentioned in the command.'] +Proceed at a diagonal towards the right, moving 4 meters.,['{"action": "move", "params": {"linear_speed": null, "distance": 4, "is_forward": true, "unit": "meters"}}'];['1; The JSON structure has the action of "move" which is aligned with the command to move. The "distance" parameter is declared correctly as 4 meters. However, there\'s no information presented in the command or JSON about the linear_speed, so it should have been defined. Also, the command to move specifically in a diagonal to the right is not represented in the JSON structure.'] +Move to the right diagonally, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];["2; The natural language command doesn't completely match with the JSON information. The 'move' action is present but the direction 'right diagonally' is not represented in the JSON and the 'linear_speed' in the JSON is not specified in the natural language command."] +Turn right and move forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["3; Although the natural language command mentions moving forward for 1 meter which is mentioned in the JSON structure, there is no mention of turning right which suggests a rotation action or specifying an angle and direction; hence it's a partial match."] +Make a right turn and proceed one meter forward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['1; The JSON structure partially matches the natural language command. The "move" action and related parameters like "distance" and "is_forward" conform to the part of the command about proceeding one meter forward. However, there is no information provided for making a right turn in the JSON, which is a separate action not incorporated here. Also the value for "linear_speed" is not aligned with the command.'] +Take a right and continue moving ahead for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["1; The natural language command mentions a rotation ('Take a right') which is not represented in the provided JSON structure. While the 'move' action with a distance of 1 meter is represented correctly in the JSON, the lack of an corresponding rotation action in the JSON suggests only partial conformity with the natural language command."] +Rotate to the right and advance straight ahead for 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command asks for a rotation to the right, which is correctly represented in the JSON as a clockwise rotation. It then requests an advancement of 1 meter ahead, which is properly encoded in the JSON with the "move" action and distance of 1 meter.'] +Facing towards the right, progress forward for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; Most of the command is properly converted to JSON. However, the direction of the movement (facing towards the right) is absent in the JSON structure. The action, distance, direction of movement (forward), and unit (meter) are correctly captured. The linear_speed is not specified in the original command but a reasonable value is provided in the JSON structure.'] +Move in a zigzag pattern for 8 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'];['1; Partial match. The command specifies a movement but "zigzag" pattern is not supported in the JSON structure. JSON structure defines tactical movements with defined values like distance, linear speed and direction which do not apply to a "zigzag" pattern. However, the duration of the movement ("8 seconds") could possibly be interpreted as distance or linear speed, but this is a stretch as there\'s no clear correlation.'] +Perform a zigzag movement continuously for a duration of 8 seconds.,['{"action": "move", "params": {"linear_speed": "undefined", "distance": "undefined", "is_forward": true, "unit": "seconds"}}'];['0; The natural language command instructs to perform a \'zigzag\' movement, which is not represented in any of the JSON structures. The provided JSON shows a "move" command with "linear_speed", "distance", "is_forward", and "unit" as parameters. These parameters do not precisely capture the zigzag motion specified in the command. Additionally, in the command, there is a time duration mentioned which is not represented in the JSON structure.'] +Traverse in a serpentine motion for 8 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command poorly matches the JSON structure. Although the action "move" and parameter "is_forward: true" align with the command\'s intent to traverse, the \'serpentine motion\' (suggesting rotation or a non-linear trajectory) isn\'t reflected in the JSON. Furthermore, using "distance" key with "seconds" as a unit is wrong. It\'s also worth noting that a serpentine motion would likely include alternating actions of "move" and "rotate", which isn\'t presented in the given JSON structure.'] +Alternate your path in a zigzagging pattern for the next 8 seconds.,['{"action": "ignore", "params": {}}'];['0; The command mentions an action of "zigzagging" which does not conform to any of the JSON structures provided (go_to_goal, move, rotate). There\'s no JSON structure or equivalent action for "zigzagging" in the provided sample ontology. Therefore, the command cannot be converted to a JSON structure based on the provided samples.'] +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'];["1; The natural language command suggests a more complex movement (zigzag) than what is represented in the JSON command, which only specifies a simple forward movement. Also, there is no clear indication in the natural language command for the parameters such as 'linear_speed', 'distance'. Plus, the 'unit' in the JSON command is wrong as it shows 'seconds' instead of 'meter'. The JSON command should not consider duration (seconds), instead it should use distance metrics (meters). So, there's a slight match but not much."] +Rotate counterclockwise by 45 degrees and move forward for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; The natural language command entirely matches with the corresponding JSON structures. The action "rotate" includes "is_clockwise" set as "false" for counterclockwise rotation, and the "angle" is 45 degrees, which is specified in the command. The action "move" includes "is_forward" as "true" for moving forward and the "distance" is 3 meters, also specified in the command. The values of "angular_velocity" and "linear_speed" are reasonable and align with the command\'s implied urgency. The "unit" for both actions is appropriately set.'] +Turn left by 45 degrees and advance for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command is properly represented by the two JSON structures. The first JSON structure matches the "Turn left by 45 degrees" command with the right "action" as "rotate" and correct "params" including "angle", "is_clockwise" and "unit". The second JSON structure corresponds to the "advance for a distance of 3 meters" command with the "action" as "move" and appropriate "params" including "distance", "is_forward" and "unit".'] +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4.5; The JSON structures describe all the actions of rotation and movement as mentioned in the command, but they do not accurately correspond to the details provided in the natural language command. The angular_velocity and linear_speed values differ from what one might expect based on the command. However, without specific values given for these parameters in the command, the existing values could be considered reasonable.'] +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The JSON structures match the natural language command perfectly. The rotation action, specifically the counterclockwise direction and angle, is properly represented. The move action with the specified distance is also accurately reflected in the respective JSON structure.'] +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["4; The commands in natural language mostly conform to the corresponding JSON structures. For the rotation action, the JSON incorrectly uses 'angular_velocity' as 45 instead of a reasonable arbitrary value as it was not specified in the command. The rotation direction is correctly inferred to be 'is_clockwise': false for turning to the left. For the moving action, the 'distance' matches with the command but the 'linear_speed' was not specified in the command, so any reasonable value should be accepted. The direction of the movement 'is_forward' is correctly set to true."] +Move backward and stop at the nearest obstacle.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": false}}'];['1; The natural language command talks about moving backward until an obstacle is met, but the provided JSON structure lacks a parameter to handle the "stop at nearest obstacle" action. Furthermore, the natural language command does not give specifics about linear speed or distance, although the values provided in the JSON structure are practical and reasonable.'] +Reverse and come to a halt once you reach the closest object in your path.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];["2; The natural language command matches with the 'move' action in the JSON structure. The parameter 'is_forward' is set to false which aligns with the 'reverse' instruction. However, the command specifies stopping near the closest object, which doesn't align with any parameter in the JSON structure. Furthermore, the 'distance' parameter is not specified in the command and '1' in JSON does not necessarily reflect a reasonable value for the scenario in command."] +Back up and cease movement upon reaching the nearest obstruction.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; The command corresponds well to the JSON structure with action as "move" and it identifies that the movement is not "forward", however, the command does not explicitly say how far to back up or what speed to use, so the values for "distance" and "linear_speed" don\'t perfectly match with the natural language command. It also doesn\'t address stopping at the nearest obstruction in the JSON structure.'] +Retreat and come to a stop when you encounter the closest barrier.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['1; The "move" action and the "is_forward" attribute matches the natural language command of retreating. However, the NL command also includes reaching the closest barrier and stopping, which is not represented in the JSON structure. Moreover, the suggested JSON structure suggests a specific linear speed and distance, parameters that are not specified in the NL command.'] +Go in reverse and stop once you reach the nearest obstacle.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; Partially conform. The direction of movement (in reverse) is correctly represented in the JSON structure in "is_forward": false. No reference is made to stopping at the nearest obstacle and distance is simply a reasonable assumed value. Unit and linear_speed are reasonable values, not based on the natural language command.'] +Turn left and move in a curved path for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'];["2; The command to turn left and move in a curved path has been converted to a basic move action in the JSON. There's no mention of the turning or the curved path in the JSON, only the distance is correctly matched. The linear_speed and is_forward params are reasonable values but not specifically stated in the command."] +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];['1; The natural language command refers to a left turn and a curved trajectory which doesn\'t match with the plain "move" action and straight distance in the JSON. Additionally, the directionality and curvature of movement are not captured in the JSON. It only correctly provides the "distance" parameter.'] +Make a leftward turn and proceed along a curving route spanning 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'];['1; The natural language command indicates a specific movement direction ("leftward turn") which is not represented in the given JSON structure. The command also refers to a "curving route", which isn’t reflected in any of the parameters in the JSON structure (where only linear speed and distance are specified). That said, the distance parameter in the natural language command matches with that in the JSON. The "move" action also loosely aligns with the general intent of the natural language command to "proceed".'] +Go left and follow a curved path for a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'];["1; The JSON structure represents a movement action with specified 'linear_speed', 'distance', 'is_forward' and 'unit' parameters. However, the direction of the movement (left) and shape of the movement path (curved) specified in the natural language command don't align with the JSON structure's 'move' action in a straight forward direction. The JSON can't handle 'go left' or 'curved path'."] +Regulate your movement to the left and travel in a curved trajectory for 6 meters.,['{"action": "move", "params": {"linear_speed": null, "distance": 6, "is_forward": true, "unit": "meter"}}'];['2; The natural language command involves a curved trajectory, which implies a combined linear and angular movement. However, the JSON provided only accounts for linear movement in a straightforward direction, and no mention of a change in direction (rotation/curvature) as required by the given command is present in the JSON structure.'] +Move forward at a speed of 1 meter per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['4; The structure of the JSON matches well with the command, and all parameters mentioned in the command are present in the JSON except for "unit". The action is correctly identified as "move", "linear_speed" is correctly set to 1, "distance" to 10, and "is_forward" to true. However, "unit" in the JSON is "seconds" instead of "meter" which is not perfectly conform with the command.'] +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Advance at a rate of 1 meter per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The natural language command perfectly matches the JSON structure. The action "move" is correct and the parameters linear_speed, distance, is_forward and unit are all correctly identified and translated to JSON. The unspecified value of "is_forward" in the natural language command is assumed to be true because the bot is asked to "advance", indicating forward movement.'] +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'];['4; The JSON structure provided partially matches with the command given, it correctly interprets the action to be "move" and properly captures "linear_speed" as 1 and "distance" to be 10. However, the command mentions "for a period of 10 seconds" which can not be translated to "distance" in the JSON structure. Also, "unit" key is missing in the JSON.'] +Travel forward for 10 seconds, covering a distance of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['4; The natural language command mostly matches the JSON information. The action move and params such as linear_speed and is_forward are correctly interpreted. However, the natural language command speaks of movement in terms of time ("for 10 seconds"), while the JSON struct contains a "distance" parameter, not a "time" one. Despite this, the intention of moving forward for a distance (10 seconds * 1 meter/second = 10 meters) can be reasonably inferred.'] +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; The natural language command perfectly matches both JSON structures. The command to rotate is present with an angle of 30 degrees and a clockwise direction which matches the JSON structure. Similarly, the command to move forward for 4 meters is also present and matches the JSON structure.'] +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}, ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}'];["4; The given JSON structures partially match the given command. The action of 'move' and its parameters 'distance' and 'is_forward' as well as 'unit' match with the command. Similarly, the action 'rotate' and its parameters 'angle', 'is_clockwise' and 'unit' are correctly described. However, the values of 'linear_speed' and 'angular_velocity' do not exist in the command. Hence, the command does not exactly conform to the JSON structures."] +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];["5; The two JSON structures correctly represent the natural language command, with the rotation direction, angle, movement direction and distance accurately portrayed. The angular_velocity and linear_speed values don't match exactly since they weren't specified in the command, but the values chosen are reasonable."] +After rotating 30 degrees clockwise, continue moving forward for 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4.5; The JSON structures mostly match the natural language commands. The rotate action, angle, and direction are correctly translated. However, the angular_velocity is arbitrary and not specified in the command. Similarly, for the move action, the distance and direction are correct but the linear_speed is not mentioned in the command.'] +Move in a circular path with a radius of 2 meters for 7 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true, "unit": "meter"}}'];['1; The JSON structure only refers to a "move" action but does not account for the "circular path" or "radius" mentioned in the natural language command. Also, the "7 seconds" duration from the command is not represented in the JSON structure, which signifies the mismatch even though the command can be partially implemented by the move action.'] +Circle around with a radius of 2 meters for a duration of 7 seconds.,['{"action": "rotate", "params": {"angular_velocity": "undetermined", "angle": "undetermined", "is_clockwise": "undetermined"}}'];['1; The command mentions "circle around" which may imply the action "rotate", but without a clear direction, value for "is_clockwise" cannot be determined which is required as per the ontology. Moreover, other parameters like "angular_velocity" and "angle" in the JSON structure do not have corresponding information in the command.'] +Perform circular movement with a radius of 2 meters for 7 seconds.,['This action is not defined in the given ontology, hence it cannot be converted to json.'];["0; The command 'Perform circular movement with a radius of 2 meters for 7 seconds' does not match any of the given JSON structures as there are no keys for such action in the ontology."] +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.,['{"action": "rotate", "params": {"angular_velocity": 2, "angle": 7, "is_clockwise": true, "unit": "seconds"}}'];["1; The 'angle' parameter in the JSON does not conform to the natural language command, which specifies a time duration, not an angle for the rotation. The natural language command also mentions a 'radius', which is not reflected in any of the JSON keys. In addition, the 'unit' is not specified as 'seconds' in the provided ontology."] +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.,['{"action": "move", "params": {"linear_speed": 0.2857142857142857, "distance": 2, "is_forward": true, "unit": "meters"}}'];["2; The JSON structure roughly matches the natural language command as it involves movement and distance. However, it lacks 'duration' parameter, and the 'linear_speed' calculation is not mentioned in the command and it is not related to the 'circular path' mentioned in the command. Also, the unit should be 'meter' according to the sample ontology, not 'meters'."] +Turn right and move forward for 5 seconds, then revert back.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["0; The natural language command (turn right and move forward) seems to indicate 2 actions (rotate and move), but JSON structure only represents the 'move' action and not the 'rotate' action. Furthermore, the JSON structure includes parameters not mentioned in the command (linear_speed) and excludes parameters mentioned in the command (time duration of 5 seconds and the revert back action are not accounted for in the JSON structure)."] +Make a right turn and proceed forward for 5 seconds, then return back.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command does not perfectly match the JSON structures. The movement command in the natural language command aligns with the move action in the JSON structures. However, the specified unit of "seconds" is not appropriate for distance. In addition, there is a missing equivalent for \'return back\' in the JSON structures.'] +Take a right turn and advance ahead for 5 seconds, then go back in reverse.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['2; The first and second JSON structures cover rotation and linear movement which match with "Take a right turn" and "advance ahead for 5 seconds". However, for the "then go back in reverse" part a reverse action is not provided within the action keys of the JSON. Additionally, the "unit" used for "distance" in the JSON is "seconds" which is likely to be a time unit instead of a spatial unit.'] +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.,['{"action": "rotate", "params": {"angular_velocity": "default", "angle": "default", "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": "default", "distance": "default", "is_forward": true, "unit": "seconds"}}, ', '{"action": "move", "params": {"linear_speed": "default", "distance": "default", "is_forward": false, "unit": "seconds"}}'];['2; The command does not specify the values for "angular_velocity", "angle", "linear_speed", and "distance". Moreover, the "unit" in the JSON structures should ideally align more closely with the command — for example, it should be "degrees" for the rotation angle, and "meters" for the distance. However, the actions (\'rotate\' and \'move\') along with parameters like \'is_forward\' and \'is_clockwise\' do align correctly.'] +Change direction to the right and go forward for 5 seconds, then reverse back.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];['1; The provided JSON structures do partially match the command, however, the command cannot be represented accurately as the command mentions changing direction and reversing back, but the JSON does not reflect this and only states the forward movement action. There is no action or parameter related to changing direction or rotation in the JSON structures, hence it partially conforms to the command.'] +Move along the perimeter of the room for 1 minute.,['{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "unit": "minute"}}'];['0; The sample JSON does not align with the natural language command. The "go_to_goal" command does not have "perimeter" or "room" as an option for location, and the "move" command does not have time ("minute") as a unit. Also, there is no specification for moving along a perimeter in the sample JSON structures.'] +Walk around the edges of the room for 1 minute.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "minute"}}'];['0; The natural language command does not match any JSON structures. The action "walk around" and parameter "edges of the room" do not conform with the sample ontology. Also, the time unit "minute" in the JSON structure is also not part of the sample keys.'] +Circulate along the boundary of the room for 1 minute.,['{"action": "move", "params": {"linear_speed": 1, "distance": 60, "is_forward": true, "unit": "minutes"}}'];['1; The command talks about circulating along the boundary of the room for 1 minute, but the JSON structure represents moving forward for 60 minutes at a linear speed. The command and JSON do not align well with each other. In the JSON, "distance" is measured in minutes which doesn\'t conform to typical units of distance. It could be assumed that the robot should move for 60 minutes, but this doesn\'t match the 1 minute from the command. Also, circulating isn\'t the same as straightforward movement. No mention of rotation to make complete circle which should be included for "circulating along the boundary".'] +Patrol the perimeter of the room for 1 minute.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Perimeter of the room"}}}'];['2; The JSON structure partially matches the natural language command. While the location “Perimeter of the room” is correctly inferred from the command, the action "go_to_goal" does not fully capture the intent of the command to "Patrol", which involves constant movement. Furthermore, there is no mapping for the duration of 1 minute in the JSON.'] +Traverse the outer edges of the room for 1 minute.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Outer edges of the room"}}}'];['2; The command "Traverse the outer edges of the room for 1 minute" suggests a complex set of movements, which the given JSON structure, "go_to_goal", may not fully encompass. The parameter value "Outer edges of the room" could be interpreted as a location to move to, but it does not account for the duration specified in the command. Thus, there is a partial but insufficient match.'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform. The natural language command is fully and correctly represented by the JSON structure. The "rotate" action specifies an angle of 60 degrees and movement in a counter-clockwise direction, corresponding to "is_clockwise": false. The "move" action specifies a forward movement, "is_forward": true, for a distance of 3 meters, which matches with the JSON perfectly.'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 60, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The JSON structures mostly conform to the natural language command. The action "rotate" and "move" corresponds correctly, including their parameters. However, the "angular_velocity" is wrongly used as the value is similar to the "angle", while it is supposed to indicate the speed of rotation, not the degree.'] +Rotate anticlockwise by 60 degrees and advance 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 60, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The natural language command is mostly converted correctly into the JSON structures. The "rotate" action is correctly identified with the "is_clockwise" parameter set to false to represent anticlockwise movement, the "angle" to 60 degrees, and the "unit" to degrees. The "move" action too is correctly identified with "distance" set to 3 and "unit" as meter. However, "linear_speed" in the "move" action and "angular_velocity" in the "rotate" action are set to 0 in the JSON, while no such speed constraints were mentioned in the natural language command. This causes a minor mismatch, hence the score of 4.'] +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command was accurately converted to the JSON structure. The "rotate" action correctly captures the counter-clockwise rotation of 60 degrees, and the "move" action correctly determines the parameters of moving forward a distance of 3 meters. Despite values of "angular_velocity" and "linear_speed" are not specified in the natural language command, the provided values in the JSON structure are reasonable.'] +Make a 60-degree left turn and move forward 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The natural language command corresponds to both JSON structures fairly well. The "rotate" command itself, the "angle" value, the "is_clockwise" value (false meaning a left turn), and the "unit" all align properly. For the "move" command, the "distance" and "is_forward" (true indicating moving forward) values conform. However, the natural language command doesn\'t mention linear speed, and the "angular_velocity" value in the JSON structure doesn\'t match the command.'] +Move forward at a variable speed for 10 seconds.,['{"action": "move", "params": {"linear_speed": "variable", "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; While the action "move" and the direction "is_forward" match, "seconds" is not included in the sample ontology for unit in the move action, it has "meter" as unit. Furthermore, "variable" speed is not a reasonable value for linear_speed which expects a numerical value.'] +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.,['{"action": "move", "params": {"linear_speed": "adjustable", "distance": "adjustable based on time and speed", "is_forward": true, "unit": "seconds"}}'];["3; The action 'move' and 'is_forward' parameter matches with the command. However, 'duration' is not a recognized parameter as per the given sample ontology. Also, 'linear_speed' and 'distance' are specified in the JSON but are not explicitly mentioned in the natural language command but are indirectly inferred by 'adjusting the speed as necessary'. Thus, they are not an exact match."] +Advance for a period of 10 seconds, with variable speed.,['{"action": "move", "params": {"linear_speed": "variable", "distance": "undetermined", "is_forward": true, "unit": "seconds"}}'];["1; The action 'move' matches with the natural language command but the parameters are not well-aligned. The given command specifies a time duration, not a distance, and the speed is supposed to be variable, not a specific value like 0.5 in the JSON. The concept of time duration is not defined in the JSON structure's parameters. The 'unit' in the JSON structure is 'meter', not 'seconds'. There is some similarity but overall, it's not a good match."] +Travel forward, varying the speed, for a total of 10 seconds.,['{"action": "move", "params": {"linear_speed": "varies", "distance": "undetermined", "is_forward": true, "unit": "second"}}'];['2.5; Partially conforms. The action of moving forward is adequately captured by the "action": "move" and "is_forward": true in the JSON. However, "linear_speed": "varies" and "distance": "undetermined" are not consistent with the sample ontology or the natural language command, which doesn\'t specify variations in speed or an unknown distance. The "unit": "second" is also inconsistent with the sample ontology, which measures distance in meters, but appropriate for the duration specified in the command.'] +Move ahead for 10 seconds, adjusting the speed accordingly.,['{"action": "move", "params": {"linear_speed": "adjustable", "distance": 10, "is_forward": true, "unit": "seconds"}}'];["3; The JSON structure accurately represents the action given in the command. However, it does not fully match the parameters of the command. The command does not specify the distance, only the time (unit: seconds) the action should be carried out for, which is not a parameter considered in the move action in the sample ontology. The “adjustable” value of the parameter “linear_speed” also seems to be added according to the user's interpretation instead of a direct conversion from the command."] +Move backward and stop 1 meter away from the designated target.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": -1, "is_forward": false, "unit": "meter"}}'];['4; The command and JSON structure match except for "linear_speed" which wasn\'t specified in the command so the value "1.0" in the JSON is a reasonable placeholder. But "distance" is indicated as -1 in JSON while in the command it assumes the robot will stop before reaching the target, not moving back. This should be a positive distance.'] +Reverse direction and come to a halt at a distance of 1 meter from the specified target.,['{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": false}}'];['4; The natural language command mostly conforms with the JSON structure. It correctly identifies the need to move, the presence of a distance and the direction of the movement (is_forward as False). However, it does not specify a linear speed, which is assumed to be 0 in the JSON structure based on the phrase "come to a halt". This might not accurately reflect the action as "come to a halt" might also imply a gradual decrease in speed. Additionally, the natural language command refers to a "specified target", but does not provide a location or goal as in the ontology.'] +Go in the opposite direction and pause when you are 1 meter away from the assigned target.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];["2; The assigned command asks to pause when the entity is 1 meter away from the assigned target. However, the JSON structure doesn't reflect this information. Consequently, while there is a partial match between the command and the JSON structure (which reflects moving in the opposite direction), critical details are missing. The lack of the go_to_goal action further reduces the conformity score."] +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.,['{"action": "move", "params": {"linear_speed": 0.1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; Almost conform. The natural language command asks the system to move to a distance of 1 meter from a target, but it is not clear from the command that this distance is a stop distance. The JSON structure correctly represents this action as a move. However, the command includes "retreat" which suggests a backward motion, but the JSON structure has the "is_forward" parameter set to false, which means the direction isn\'t accurately represented.'] +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; Partial conformity. The "is_forward" key matches perfectly with the text command\'s "reverse motion" and the "unit" and "distance" fields match with the "1 meter" in the command. But there\'s no mention of "linear_speed" in the command, so the \'1\' exact value is a bit of an assumption. Moreover, the phrase "cease motion once you are 1 meter away from the specified target" suggests a goal or target location, which is not represented in the JSON structure.'] +Move forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['3; Partly conforms. The natural language command corresponds to the "move" action and it specifies "is_forward" as true and "distance" as 1 meter. However, the "linear_speed" is not mentioned in the command, but a reasonable value of 1 is assumed in the JSON, which may or may not be accurate. Hence, it\'s not a perfect match.'] +Proceed ahead by 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Advance for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command is mostly matched with the JSON structure. The "action" is "move" which is correct and all parameters are included. The "linear_speed" value is not specified in the natural language command and accepted as a reasonable value, which is 1.0 in the JSON structure. Whereas in the command, the speed is not mentioned. That\'s why it can\'t be rated as a perfect match.'] +Travel in a forward direction for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Go straight for a span of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4.5; The natural command instructs to go straight for a distance of 1 meter. This precisely matches the JSON instruction where the 'action' is 'move' and 'distance' is 1. However, 'linear_speed' in the JSON structure is not specified in the command, though its presence does not contradict anything. Therefore the score is slightly less than 5."] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The command matches perfectly with the JSON structure. "Rotate" is the action, "is_clockwise" parameter is set to false indicating counterclockwise rotation, "angle" is correctly set to 90 and "unit" is correctly set to degrees. Though "angular_velocity" is not mentioned in the command, its value in JSON is accepted as it\'s a reasonable one.'] +Turn left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command perfectly matches the provided JSON structure. The action "rotate" and all of its parameters: "angular_velocity", "angle", "is_clockwise" and "unit" are correctly specified. The given angle of rotation is also mentioned in the command as "90 degrees" and the direction of rotation is indicated as "left" which translates to "is_clockwise: false" in JSON format.'] +Rotate anticlockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate to the left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["5; Exactly conform. The natural language command exactly matches with the JSON structure. The action 'rotate' is correctly applied. All the parameters ('angular_velocity', 'angle', 'is_clockwise', 'unit') are also mentioned. The 'angle' is correctly given as 90 degrees and rotation direction as counterclockwise (is_clockwise = false)."] +Spin counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4.5; The natural language command correctly corresponds to the "rotate" action of the JSON structure, along with the correct selection of "angle" and "is_clockwise" parameters. However, the "angular_velocity" value provided in the JSON (30) doesn\'t match the NLP command, which doesn\'t specify a velocity.'] +Move backward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false}}'];['3; While the action and the keys under "params" in the JSON command generally align with the natural language command, the "distance" key in the JSON structure implies spatial movement rather than temporal duration. The natural language command specifies a time duration ("2 seconds") which doesn\'t exactly correspond with the "distance" key in the JSON command. Furthermore, there is no corresponding key in the JSON structure that would translate to a time duration.'] +Go backward for a duration of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['0; The JSON structure does not match the natural language command at all. The action "move" does not possess a duration property in the ontology, yet the command specifically mentions moving for a certain duration. Furthermore, the "distance" parameter is erroneously assigned the value for duration, and there is no parameters in the JSON structure to represent the direction (backward) indicated in the command.'] +Reverse direction and continue for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'];["4; The JSON structure has the right action command and 'is_forward' key is correctly assigned to false indicating reverse direction. However, the commands 'continue for 2 seconds' is not clearly represented in the JSON. Although 'distance' is set to 2, this seems to imply a distance in meters, not a duration in seconds, so it doesn't align perfectly with the natural language command."] +Retreat for a period of 2 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false}}'];['2; The command for retreating is partially described by the JSON structure as it includes movement and direction (not forward). However, the command specifies a time period for retreat, not a distance, which is not specified in the JSON structure or the sample keys.'] +Take a step back and hold for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "step"}}'];["1; The JSON structure corresponds to the action of moving, however, the 'linear_speed' is not provided in the natural language command so it cannot be confirmed if the 'linear_speed' of 1 is correct. Also, the duration of the movement, mentioned in the command as 'hold for 2 seconds', is not reflected in the JSON structure at all. Therefore, the match is not precise."] +Turn left and move forward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The JSON action is correct as the command is about making a move. However, the "turn left" portion of the command does not appear to be represented anywhere in the JSON. Other parameters, such as distance, is_forward, and unit are correctly represented as per the natural language command. Therefore, the matching is not exact but fairly close.'] +Take a left turn and proceed ahead for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["3; The JSON structure partially matches the command. The 'move' action and the 'distance' parameter in the natural language command match with the JSON, but there is no mention of a 'left turn' in the provided JSON structure.", ''] +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; The natural language command asks for a leftward turn which is correctly represented in the rotate action with is_clockwise set to false and the move action correctly represents the ask for moving straight for a distance of 3 meters. The other parameters in the JSON are not specified in the natural language command but they have reasonable values.'] +Rotate to the left and proceed forward, covering a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["4.5; While the natural language command is properly represented by the two JSON commands present, there is a slight mismatch in the 'angular_velocity' and 'linear_speed' values, which are unspecified in the natural language command and could therefore have any reasonable values."] +Go left and move straight ahead for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['3; The given JSON structure mostly aligns with the given command. The "action" : "move" and "unit" : "meter" match, The "distance" : 3 is also specified in the command. However, "linear_speed": 1 and "is_forward" : true aren\'t explicitly mentioned in the command. Moreover, the command to go left isn\'t accurately represented in the JSON structure.'] +Move at a speed of 2 meters per second for 5 seconds.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches the JSON structure for the "move" action. The "linear_speed" parameter is correctly given as 2. However, the natural language command specifies a duration of movement ("for 5 seconds"), not a "distance." The JSON structure includes a calculated "distance" of 10 meters, which suggests correctly inferring that the robot should move for 5 seconds at 2 meters per second. While the inference is logical, it does not strictly match the natural language command. Hence, the score is not a perfect 5.'] +Travel with a velocity of 2 meters per second for a duration of 5 seconds.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; The natural language command doesn\'t mention if the movement is forward, hence it could be in any direction. Also, the calculated "distance" in JSON according to duration and velocity is 10, which is not mentioned in the natural language command. But, the action name \'move\' and parameter \'linear_speed\' with value 2 conform well to the command. Therefore, partial conformity.'] +Maintain a pace of 2 meters per second for a period of 5 seconds.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meters"}}'];["5; All values given by the natural language command are accurately represented in the JSON structure. The action of 'move' and the details under 'params' all perfectly match."] +Perform movement with a speed of 2 meters per second over a span of 5 seconds.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "seconds"}}'];["4; The command mostly matches the JSON structure but the unit key in the JSON structure uses the value 'seconds', whereas in the ontology structure, 'meter' is mentioned as the unit for distance and not the time. Therefore, there might be a mismatch in interpreting the units."] +Cover a distance at 2 meters per second for a time period of 5 seconds.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command correctly matches with the JSON structure, considering that the keys in the JSON structure are present and their corresponding values in the natural language command are correctly inferred.'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate by 180 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command specifies an action of rotation by 180 degrees in a clockwise direction, and this matches with the JSON structure which specifies the same "rotate" action, with the angle of 180 degrees and rotating clockwise.'] +Perform a clockwise rotation of 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn 180 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command perfectly matches with the JSON information. The action "rotate" is correctly identified with appropriate parameters like "angular_velocity", "angle", "is_clockwise" and "unit" which are in accordance with the given command.'] +Rotate in a clockwise fashion, making a 180-degree turn.,['{"action": "rotate", "params": {"angular_velocity": undefined, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["5; Exactly conform. The natural language command perfectly matches with the JSON structure. The action 'rotate' and parameters 'angle', 'is_clockwise' and 'unit' are all accurately demonstrated. The 'angular_velocity' is not specified in the command, but it is present in the JSON, which is acceptable as per the rules."] +Move forward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command accurately maps to the JSON, with the action of moving, the direction being forward, the distance being 4 and the unit being meter.'] +Proceed straight ahead, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Almost all elements of the command are translated correctly in the JSON. The given command didn\'t specify the linear speed, so "1" is a reasonable value and is accepted in the JSON. The command mentioned moving forward for a certain distance, which perfectly matches "action: move", "distance": 4, "is_forward": true, and "unit": "meter" in JSON.'] +Advance forward, spanning 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command matches the JSON information provided - the command of moving forward, distance, and unit are all included. Even though the speed is not specified in the natural language command, it is a reasonable value.'] +Take 4 steps in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "step"}}'];["2; The JSON structure correctly identifies the action ('move') and the direction of the movement ('is_forward': True). However, the natural language command talks about steps, but the unit in the JSON structure is not mentioned as 'step' and also, there is no parameter for 'linear_speed' mentioned in natural language command."] +Travel a distance of 4 meters, moving in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4.5; The natural language command correctly refers to the action "move" and specifies the "distance", "is_forward" parameter values exactly. The "unit" parameter is also correct. However, the natural language command doesn\'t specify the "linear_speed", which is filled in the JSON structure. Hence, a small deduction in the score.'] +Turn right and move backward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": false, "unit": "meter"}}'];["2; The JSON structure partially matches the natural language command. It covers the movement and direction (backward for 1 meter) and unit is correct ('meter'). However, the action 'turn right' from the command isn't represented in the JSON. The 'linear_speed' doesn't match as the speed isn't specified in the command."] +Rotate to the right and travel in reverse for a distance of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];["4; The natural language command has been translated well into the JSON structures. The rotation command is executed as expected with 'is_clockwise' set to true indicating a right turn. The move command is also executed well in reverse with 'is_forward' set to false. However, the speed parameters 'angular_velocity' in rotation action and 'linear_speed' in move action have been arbitrarily filled, the natural command doesn't specify them."] +Make a right turn and proceed backwards for a length of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; The JSON command correctly accomplishes part of the natural command (moving backwards a certain distance), however, it does not cover making a right turn. The rotation action and correct parameters for turning are not present in the JSON command. Therefore, it is close to the natural language command, but not exactly conforming.'] +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; The natural language command partially matches with the proposed JSON structure. The "move" action and the "distance" and "unit" parameters are correctly specified, but the JSON also includes "linear_speed" which isn\'t specified in the command. Furthermore, the command mentions "Shift to the right" which doesn\'t correspond to anything in the JSON structure.'] +Face right and move backwards, covering a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure correctly applies the natural command to an action of moving. It correctly includes the "distance" set at 1 unit and the "is_forward" set at False to denote the backward movement. However, the instruction to "face right" is not captured in the JSON format. Also, the "linear speed" value set is not explicitly mentioned in the natural language command.'] +Rotate counterclockwise by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; Almost conform. The command matches the JSON information provided with correct "action" and "params" keys for "rotate" operation. However, the "angular_velocity" does not match exactly as it\'s not specified in the command but is set as 1 in the JSON.'] +Rotate anti-clockwise by a 45-degree angle.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["4; The natural language command aligns well with the JSON structure in terms of action and params. However, the 'angular_velocity' value doesn't get specified in the natural language command."] +Turn left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; The command mostly conforms to the JSON. The "rotate" action, "angle", and "unit" values match correctly. But there is ambiguity in "is_clockwise" parameter because turning left is counter clockwise rotation whereas the JSON value is false and "angular_velocity" value in the JSON structure does not match with the natural language command as it is not specified in the command.'] +Rotate in a counterclockwise direction by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["4; The command matches well with the JSON structure, it represents the action 'rotate' correctly and includes the parameters 'angle' and 'is_clockwise'. However, 'angular_velocity' value in the JSON structure is arbitrary, it wasn't specified in the command."] +Rotate to the left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["4; Mostly conform. The action and params of the JSON match the command, but the values of angular_velocity do not match. The value in the command is unspecified hence any reasonable value should be accepted. Thus, a -1 point for correct value not being specified for 'angular_velocity'."] +Move forward for 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command specifies a time duration ("10 seconds") for the action, not a distance. In the provided JSON structure, the unit used for the "move" action\'s "distance" parameter is "meter", not "seconds". Therefore, the JSON does not fully match with the natural language command.'] +Proceed straight ahead for a duration of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "seconds"}}'];["3; The command is partially matched. Although the 'move' action fits, parameters used in the JSON is not completely accurate according to the command. The command speaks about time (seconds) while the JSON structure speaks about distance with a linear speed. Furthermore, 'unit: seconds' doesn't exist in the given sample ontology, it should be 'meters'."] +Advance continuously for a period of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['1; The natural language command and the JSON structure don\'t match sufficiently. In the command, the action is to "Advance for a period of 10 seconds.", while the JSON structure indicates a linear_speed and distance without any mention of time duration. Therefore, the keys in the sample JSON don\'t perfectly conform to the natural language command.'] +Travel forwards for a span of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true}}'];["2; The JSON structure is partially correct. It contains the correct 'action' but the 'distance' parameter is supposed to refer to an actual distance, not a span of time. However, it does correctly interpret 'forwards' to mean 'is_forward': True. The 'unit' key is missing."] +Progress ahead for a time interval of 10 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "seconds"}}'];["2; The action in the JSON structure matches with the natural language command about moving forward. However, the parameters such as linear_speed, distance, is_forward, and unit in the JSON do not match correctly. The time interval mentioned in the natural language command does not translate into distance and the unit seconds isn't applicable in this scenario. Furthermore, the linear_speed is also not mentioned in the natural command but is present in the JSON."] +Turn left and move at a speed of 1 meter per second for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["1; The natural language command asks the robot to turn left and move which implies both rotation and movement. However, the JSON structure only includes the movement part and doesn't obey the action of rotation. Also, in the JSON structure, 'is_forward' is set as true without any such command in the natural language command."] +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["0; The JSON structure does not match the natural language command. It indicates a 'move' action with parameters 'linear_speed', 'distance', 'is_forward', and 'unit' that is potentially in line with 'Proceed forward for 2 seconds at a speed of 1 meter per second', but it does not account for 'after making a left turn', which would require a 'rotate' action in the current keys context. Furthermore, the 'unit' is set to 'seconds', which does not match any given structure, as the unit for moving should be in 'meters'."] +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The command\'s context is about moving forward in a direction, which matches with the action "move" from the JSON structure. The parameters, "linear_speed" (1 in the command) and "distance" (2 in the command) have been correctly identified. But absent are parameters for making a left turn. Hence, the command only partially matches the JSON structure.'] +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['1; The given natural language command describes an initial rotation action before moving forward, but the corresponding JSON structure only includes the "move" action. The rotation action ("Make a left-hand turn") is not represented in the JSON. The JSON does however correctly depict the move action as per the command.'] +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The commands to \'rotate\' and \'move\' are correctly translated to their respective JSON structures, including most parameters. However, the rotation angle and direction is not specified in the natural language command, so the JSON\'s choice of a 90 degrees left rotation seems arbitrary. Similarly, moving "for 2 seconds at a velocity of 1 meter per second" should translate to a distance of 2 meters, not merely 2 units without specifying the type of units.'] +Move backward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; Mostly conform. The natural language command corresponds well to the JSON structure. However, the JSON\'s "linear_speed" parameter is set to 1, while the natural language command does not specify a speed. Also, the command asked for the robot to move backward (is_forward: false) which was correctly interpreted in the JSON structure.'] +Go back 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command specifies an action of movement over a specific distance in the opposite direction (backwards), which aligns perfectly with the JSON structure, noting the direction of movement as "is_forward": false.'] +Reverse your direction and travel 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command asks for a movement in the reverse direction for a distance of 3 meters. This can be interpreted exactly in the given JSON structure, with the action being "move", the distance being 3, is_forward set to false indicating the reverse direction, and the unit of distance being meters. The linear speed isn\'t mentioned in the command and hence any reasonable value is acceptable, here it is 1.'] +Retreat for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['3; The action "move" and the units match perfectly However, the "linear_speed" is not mentioned in the command but it is present in the JSON. The "is_forward" key has a reverse value in JSON to the command with the command saying "retreat" which means moving backward and JSON having the value as "false". It does satisfy backward moving but does not match exactly with the key "is_forward".'] +Take 3 steps backwards.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "steps"}}'];['4; The JSON structure included most of the necessary information. However, the "unit" value in JSON is "steps," which is not mentioned in the sample ontology. If we consider "steps" as a reasonable measure unit, then the score can be 4 due to the correct action (move) and parameters (distance, is_forward). The linear_speed given in JSON does not contradict the command since its value is not specified in the natural language command.'] +Rotate clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command "Rotate clockwise by 270 degrees" corresponds precisely to the provided JSON structure. The "action" key is "rotate", as the command instructs, and the "params" dictionary includes the correct "angle", "is_clockwise" as True, and "unit" keys. The "angular_velocity" key is not specified in the command, but any reasonable value is accepted according to the instructions.'] +Rotate 270 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["3.5; The action and parameters in the natural language command match with the JSON structure but the value of 'angular_velocity' in the JSON does not match with the command. The command does not provide information about the angular velocity."] +Perform a clockwise rotation of 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["5; Exactly conform. The natural language command asks for a clockwise rotation of a specific number of degrees, which directly matches with the provided JSON structure where the 'action' is 'rotate', the 'angle' is specified and 'is_clockwise' is set to 'true'. The 'angular_velocity' isn't specified in the natural command but has a reasonable value given in the JSON, which is acceptable."] +Turn right by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 60, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['4.5; The command is well translated into the JSON structure, however the "angular_velocity" of 60 does not appear in the original command, hence the slight deduction in score. The rest of the information including the rotation, angle, directions and unit are accurately portrayed.'] +Rotate by 270 degrees in the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['4.5; The command is mostly in conformity with JSON structure. The action, angle, rotation direction (is_clockwise) and the measurement unit are all correctly identified and converted into JSON. But the "angular_velocity" is not specified in the command and the value given in JSON is arbitrary, hence the slight reduction of score.'] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The natural language command specifies an action of moving forward for a certain distance, which corresponds to the JSON structure with action "move". The params fields "distance", "is_forward", and "unit" are mentioned in the command and correctly extracted in JSON. However, "linear_speed" that is not mentioned in the command is extracted in the JSON, due to this reason it loses a point.'] +Proceed ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];["5; All elements in the natural language command are present in the JSON structure: the action 'move', parameters 'distance', 'is_forward' and 'unit'. Linear speed's value is unspecified in the command but the given value in JSON is accepted as per instructions."] +Advance 5 meters in the forward direction.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true}}'];['4; The JSON structure correctly identifies the action "move" and the parameter "distance" with correct value 5. It also correctly identifies the "is_forward" parameter as true. However, the "linear_speed" is 1.0 but this was not mentioned in the natural language command.'] +Take 5 meter steps forward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command corresponds exactly to the JSON information. The action of moving (i.e., "Take steps"), the direction ("forward"), and the distance (5 meters) are all included. The linear speed is not specified in the command, but any reasonable value is accepted.'] +Go ahead and travel a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];["4.5; The natural language command corresponds with the 'move' action in the JSON structure. 'distance' and 'unit' are correctly mentioned as 5 and 'meter' respectively. However, although 'is_forward' is correctly identified as True, the 'linear_speed' in the JSON does not correspond to any particular feature in the natural language command, albeit being a reasonable value."] +Turn right and move at a speed of 1.5 meters per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure is partially conforming to the command. The movement action with parameters such as linear_speed, distance, is_forward, and unit are correctly identified from the natural language command. However, the command to "turn right" is not represented in JSON structure, and it would ideally require an \'action\' using \'rotate\' with \'is_clockwise\' set to true. The calculation of distance using the time parameter given in the command "(1.5 m/s * 4 s = 6 m)" shows an additional interpretation step that may not be represented in this context.'] +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meters"}}'];["2; The JSON only adheres to the 'move' action of the command as it contains 'linear_speed' and 'is_forward' keys. The 'duration' parameter in the command is not captured by JSON. Also, the 'rotate' action to make a right turn is not captured in the JSON. The 'unit' specified in the JSON also corresponds to the unit of 'distance' and not 'speed' as mentioned in the command."] +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}, {"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['1; The natural language command does not correspond well with the provided JSON structures. While elements of the \'move\' and \'rotate\' actions are present in the command (rotation, speed), there are discrepancies. Specifically, the direction of rotation is specified in the command but not in the JSON, the specified velocity in the command and estimated distance in the JSON doesn\'t match ("1.5 meters per second for a total of 4 seconds" should result in a distance of 6 meters, but it\'s computed as 60 in the JSON), and the rotation angle in the JSON does not correspond to any details in command.'] +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['2; The command suggests a movement and provides the speed and duration, which are not the keys in JSON structure. However, the command does not specify in which direction the movement must occur (forwards or backwards) and the calculated distance doesn\'t match with the natural language command since in the command there was no explicit talk about it. Besides, there\'s no JSON structure related to the "rightward turn" action in the command.'] +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];['3; The JSON structure partially conforms to the given command. The action and parameters for linear speed and unit are correct, however, the "distance" attribute is derived from multiplying the speed and the time (which is not clearly provided in the command but assumed). The command does not mention moving forward, but it was assumed in the JSON. Also, the command mentioned \'right\' direction, which is not reflected in the JSON structure.'] +Rotate counterclockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn left by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 15, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command and JSON somewhat match. The "rotate" action is properly interpreted, and the "angle" value provided in the command is correctly reflected in the JSON. However, the command doesn\'t specify anything about "angular_velocity", so the JSON\'s "angular_velocity" value isn\'t tied to the language of the command and the natural language doesn\'t specify the direction of rotation so "is_clockwise" is assumed, otherwise it mostly conforms with the provided sample ontologies.'] +Move in an anti-clockwise direction by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command and the JSON information match perfectly. The action "rotate" is present in the command and is correctly represented in the JSON. The parameters, such as "angular_velocity", "angle", "is_clockwise" and "unit" are also appropriately represented. Although the "angular_velocity" value in the JSON command is not specified in the natural language command, it is a reasonable value and therefore accepted.'] +Rotate in the opposite direction by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command matches with the JSON structure, but the angular velocity specified in JSON does not match with the command as it does not specify any velocity.'] +Perform a counterclockwise rotation of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Move forward for 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4.5; The JSON structure is almost perfect for the given natural language command, however, the "linear_speed" value in JSON doesn\'t match the unspecified speed in the command.'] +Proceed straight ahead for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; The natural language command precisely instructs to move forward a certain distance which matches perfectly with the JSON structure provided. The action "move" , "is_forward": true and "unit": "meter" align correctly. The specific distance in the command (2 meters) is also accurately reflected in the JSON structure as "distance": 2. The "linear_speed" is not mentioned in the command, but as per guideline any reasonable value is accepted.'] +Advance onward by 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true}}'];['4.5; The JSON structure is largely matched with the natural language command, it specifies the "move" action, the "distance" parameter is set to the correct value of 2, and "is_forward" is set to true as instructed by "Advance onward". No unit provided in the natural language command, so "meter" in JSON is acceptable. The only difference lies in "linear_speed": it is set to 0.5 in the JSON, but the command does not specify this value. It is a reasonable value, however, and without instruction to the contrary in the command, it can be considered to conform with the intention of the command. Therefore, a small deduction is made.'] +Travel straight ahead, covering a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; The command is accurately reflected in the JSON structure, with the action of moving straight ahead corresponding to the "move" action in the JSON, and the distance of "2 meters" correctly represented. However, the linear_speed is not mentioned in the command, but it is assigned 1 in JSON, which is an accepted reasonable value.'] +Take 2 meters forward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command specifies a distance and direction of "2 meters forward," and the given JSON structure correctly uses these parameters in the "move" action, with "distance" set to 2, "is_forward" set to true, and "unit" set to "meter". Any reasonable value for "linear_speed" is accepted as it is not specified in the natural language command, and in this JSON, the "linear_speed" is appropriately set to 1.'] +Turn left and move at a speed of 0.5 meters per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure correctly represents the "move" action along with the correct parameters "linear_speed", "is_forward" and "unit", but the "distance" parameter is incorrect as it does not match the command of moving for 10 seconds. Additionally, the command to turn left is missed in the JSON structure, thus it only partially matches the natural language command.'] +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['2; There\'s a partial match with the JSON structure. The natural language command specifies a movement with a certain speed, which corresponds to the "move" action in the JSON. However, the JSON includes distance and direction (forward) which aren\'t specified in the command. Additionally, the command refers to a left turn which would correspond to a rotate action in the JSON, but there\'s no such JSON structure.'] +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];["2; The action types match with the commands but the parameters in the JSON structure don't align with values given in the natural language command.", "The 'rotate' action's 'is_clockwise' parameter is correctly identified as false from 'rotate to the left', but 'angular_velocity' and 'angle' don't match any information given in the command. The 'move' action has correctly identified 'linear_speed' as 0.5 from '0.5 meters per second', and 'is_forward' as true from 'proceed forward', but the 'distance' parameter does not match the given distance value 'for a period of 10 seconds'."] +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['1; The given JSON structure has an action of "move" which does match the command\'s instruction to travel. However, the command specifies to "Take a leftward turn" which aligns to the "rotate" action from the sample ontology keys, not present in the supplied JSON. The linear speed and unit do conform, but the command\'s specified time duration ("for 10 seconds") does not align to the distance parameter in the JSON structure. The forward movement is assumed and accepted.'] +Face left and advance at a pace of 0.5 meters per second for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['3; The JSON command provides correct parameters for part of the natural language command: it captures the movement speed and direction (forward), as well as the speed unit (meters). However, the distance is not correctly generated from the statement "for 10 seconds" and the rotation or facing direction mentioned in "Face left" is completely left out. Hence, the match is partial.'] +Move backward for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];["4; The action matches correctly with 'move'. The parameters of 'distance' and 'unit' match with a value of '6' and 'meter' respectively. However, the value for 'is_forward' aligns to 'false' representing moving backwards. The 'linear_speed' value is assumed to be 1 due to lack of specification in command, which is acceptable according to the instructions. The only discrepancy is the direction of movement. The command specifies moving backward, but in the keys there is no backward or reverse key, so is_forward is made false. Although it follows logically, it's not an exact match to the ontology."] +Go back 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; Although the natural language command largely matches with the JSON structure in terms of moving a certain distance, the "linear_speed" field in the JSON does not have a corresponding mention in the command. Thus, the score is deducted by 1.'] +Reverse direction and move 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4.75; Almost all the information in the command matches the JSON structure. But the linear_speed value is not provided in the command, the value in the JSON is accepted as it\'s a reasonable value. However, the change of direction ("Reverse direction") should logically mean a change in "is_forward": False, as the default is assumed to be True, but since this is not made explicit, this results in a slight reduction in score.'] +Retreat for a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4; The command matches the action "move" and the units "meter" correctly. However, the "linear_speed" parameter is not specified in the command but has a value in the JSON structure. Also, though "retreat" does imply the movement is backward, it would be more accurate if "is_forward": false is explicitly stated in the command.'] +Travel in the opposite direction and cover a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command matches perfectly with the JSON information. The "move" action, "distance" and "is_forward" parameters are correctly expressed.'] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The command "Move forward for 5 meters" perfectly matches the JSON structure, with all the respective keys present. The "linear_speed" has a value of 1 which is a reasonable value. Although it\'s not mentioned in the natural language command, it\'s accepted.'] +Proceed straight ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure correctly represents the action ("move") and some of the parameters ("distance", "is_forward", "unit") mentioned in the command. However, the "linear_speed" value in the JSON structure does not match the command since the speed is not specified in the command, but it shows a reasonable value of 1 which is acceptable.'] +Advance by 5 meters in a forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['5; The natural language command accurately describes the action and parameters stated in the JSON structure. It is moving forward (is_forward:true), at any given speed (linear_speed: 1) for a specified distance (distance: 5).'] +Go ahead for a span of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['4; The natural language command matches well with the JSON command as the robot is required to move a certain distance. However, no specific speed is mentioned in the natural language command, so the value of "linear_speed" is assumed as 1, which is subjective and may not exactly conform to the user\'s demand. Therefore, due to this ambiguity, the score is one point less than 5.'] +Cover a distance of 5 meters by moving forward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command correctly translates to the JSON information with the correct information for "action" and "params". The "angular_velocity" in the JSON structure can have any reasonable value since it is not specified in the natural language command.'] +Turn 90 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure almost perfectly aligns with the natural language command. The "rotate" action is correctly identified, and the parameters "angle" and "is_clockwise" are correctly set to "90" and "false" respectively, as requested in the command. However, the "angular_velocity" value of "10" doesn\'t correspond to anything in the natural language command. The command simply doesn\'t specify a certain angular_velocity, so any value would be acceptable. ', 'However, using a high value like "10" could imply a faster turn than what might be inferred from the "Turn 90 degrees counterclockwise" command, which could misrepresent the command\'s intent.'] +Rotate in a counterclockwise direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate anti-clockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Make a 90-degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The command perfectly matches the JSON structure. The action is "rotate" which is clearly defined, and parameters like "angle" (90 degrees), "is_clockwise" (False for counterclockwise) are all included in the JSON, complying with the keys in the sample ontology. The "angular_velocity" is not specified in the natural language command, but it has a reasonable value in JSON and doesn\'t affect the overall conformity of the command to the JSON structure.'] +Stop.,['{"action": "", "params": {}}'];["0; The natural language command 'Stop.' does not match any of the provided JSON structures. The 'action' key in all the JSON structures is either 'go_to_goal', 'move', or 'rotate', none of which corresponds to 'stop'. Moreover, the 'params' keys in the JSON structures do not match anything specified in the command."] +Cease.,['{}'];['0; The natural language command does not correspond to any of the given JSON structures. Even though the JSON structures are blank, the command is not related to any actions or parameters specified in the ontology.'] +Halt.,['{}'];["0; The natural language command 'Halt' is not found in the JSON structures and does not conform to any action in the sample ontology."] +Pause.,['{"action": "", "params": {}}'];['0; The command "Pause" doesn\'t match with any of the provided JSON structures. Hence, no information can be extracted from the command according to the sample keys.'] +Terminate.,['{}'];["0; The natural language command 'Terminate.' does not match with any of the provided JSON structures. The command implies an action of stopping or ending which is not available in the sample keys of the JSON structures."] +Reverse for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];['4; The JSON structure captures the action \'move\' and the direction \'reverse\' is correctly interpreted as \'"is_forward": false\'. The duration is also correctly captured under \'distance\'. However, the \'unit\' should have been \'seconds\', not \'meters\'. This might cause confusion as typically, the \'distance\' parameter would be associated with meters and not time. A more appropriate conversion could be something like \'time\' instead of \'distance\', depending on the sample ontology, which is not disclosed in this case.'] +Reverse for a duration of 2 seconds.,['{"action": "move", "params": {"linear_speed": -1, "distance": 2, "is_forward": false}}'];['2; There is partial conformity in the JSON structure to the natural language command. The `action` key is correctly identified as `move`, however, the use of `duration` in the natural language command is not represented in the JSON structure. Also, the JSON structure includes the `is_forward` parameter to indicate the direction of movement, this is aligned with `reverse` in the natural language command. But the natural language command does not specify the distance or the unit, which is included in the JSON structure. Thus, the JSON does not exactly match with the command.'] +Go back for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];["3; The action 'move' and parameters 'is_forward' and 'unit' match the command 'Go back for 2 seconds'. However, distance cannot be measured in seconds, which is not consistent with the ontology's keys, and linear_speed is present in JSON but not in the natural language command."] +Move in reverse for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "seconds"}}'];["4; The command matches the JSON structure closely, however, the 'unit' key in the provided JSON is for distance not for time."] +Go in the opposite direction for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "second"}}'];["4; Although the command matches the JSON structure well in terms of keys and parameters, the direction is not clearly defined in the JSON data. It only specifies that the movement is not forward ('is_forward': false) which can be inferred as 'opposite direction', but it does not explicitly state this in the value fields."] +Turn left and move forward for 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['0; The natural language command instructs to first turn left, which is not reflected in the JSON command. The JSON command only represents the part of moving 10 meters forward, ignoring the initial rotation command.'] +Proceed forward for a distance of 10 meters after making a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['1; From the command, two actions are inferred: rotate and move. However, the JSON structure contains only the move action and is missing left turn (rotate) action. There is a mismatch of actions between the command and JSON structure.'] +Make a left-hand turn and continue straight ahead for a distance of 10 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The JSON structures correctly convey the command actions of turning and moving straight ahead. However, the values for "angular_velocity" in the first JSON structure and "linear_speed" in the second JSON structure are not mentioned in the natural language command, so it cannot be stated definitively if these values are correct. Moreover, the direction of the turn (left) is also not represented correctly in the is_clockwise param in the first JSON as left should be false (counter clockwise). Therefore, it\'s a pretty close match, but not perfect.'] +After turning left, continue moving straight ahead for a total of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'];["4; While the JSON information is conforming closely to the command, it misses the 'rotate' action in the beginning where the subject should turn left."] +Execute a left turn and then travel forward for a distance of 10 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4.5; The JSON structures generally match the command given. The rotation is correctly interpreted as a left turn and the action to move forward by 10 meters is correctly structured. However, the natural language command did not specify the angular velocity for rotation or the linear speed for forward movement, so the given values in the JSON structures (1 for both) could be any reasonable speed, thus half a point is deducted.'] +Move backward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'];["3; The action and parameters 'is_forward' and 'distance' match the command, but 'linear_speed' and 'unit' have not been specified in the natural language command."] +Go back for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "meters"}}'];['2; The natural language command partially matches with the JSON. In the JSON structure, "move" action correctly correlates with the verbal command "go back". However, it seems that there is a confusion between distance and duration. Although the unit used in the JSON structure is "meters" which signifies distance, the command specifies a duration of "3 seconds", not a specific distance value. In addition, the linear_speed parameter value of "-1" does not directly align with the natural language command.'] +Reverse movement for a period of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false}}'];['3; The natural language command is partially matched with JSON. The "move" action and "is_forward" parameter are correctly captured, but the "distance" in the JSON is not accurate as the command specifies a time period not a distance. Also, the "linear_speed" is not mentioned in the command instead, so any value in JSON would be reasonable, but this missing value lowers the overall conformity.'] +Retreat for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["4; The natural language command mostly conforms with the JSON structure. While the action and parameters match ('move', 'is_forward' set to false), there is a mismatch in the value referred to: the command says 'retreat for 3 seconds' but the JSON structure presents this distance in a unit of 'seconds', which isn't a unit of distance."] +Take a step back for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The natural language command is about moving backwards but in the given JSON, "unit" has a value of "seconds" which does not relate to the distance parameter. Furthermore, the value of "linear_speed" is also specified in terms of duration rather than speed.'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The given command exactly matches the provided JSON structure. The "rotate" action, "angle" parameter, "is_clockwise" orientation, and "unit" are all correctly identified and the values provided in the command are correctly initialized in the JSON structure.'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 15, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["5; The natural language command perfectly matches with the JSON structure. The action 'rotate' is correctly used, the parameters 'angular_velocity', 'angle', 'is_clockwise', and 'unit' exist in the sample keys, and they are used correctly. The parameter values provided in the JSON ('15', '180', 'true', 'degrees') are reasonable for the task of performing a 180-degree clockwise rotation."] +Rotate in a clockwise direction by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["4; The action and parameters match with the sample keys and values are reasonable. However, the 'angular_velocity' value in JSON doesn't match with command, as the command doesn't give information about it."] +Turn right and rotate 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; Although angular_velocity isn\'t given in the natural language command, the JSON\'s value is reasonable. However, the direction of rotation is not specified in the natural language command, for the JSON "is_clockwise" is assumed to be true.'] +Execute a rotation of 180 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4.5; The only non-conformity is the "angular_velocity" value which is not defined in the natural language command. Therefore a reasonable value has been used.'] +Turn right and move forward for 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'];["2; The JSON structure partially conforms to the natural language command. In the command, there is a 'turn right' action which is not represented in the JSON. The 'move' action in the JSON partially matches with the 'move forward for 8 meters' portion of the command. However, the natural language command does not specify the 'linear_speed', so any value for it is accepted. Furthermore, the unit of distance is given as 'meters' instead of 'meter' as specified in the sample ontology."] +Proceed forward for a distance of 8 meters after making a right turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'];['3; Although the action "move" and some of the parameters like "distance", "is_forward" and "unit" are matching with the natural language command, the command also instructs to "make a right turn" which should take place as a "rotate" action, thus this part of the command is not reflected in the given JSON structure.'] +Take a right turn and continue moving straight ahead for a duration of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['3; The JSON structure captures the motion action correctly which is to move forward a distance of 8 meters. However, the part of the command that requires a right turn is not represented in the JSON structure. Hence, it is partially conforming.'] +After making a right-hand turn, advance 8 meters in a forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; Partially conform. The JSON structure correctly matches the "move" portion of the command, with a forward movement of 8 meters. However, it does not include the action of making a right-hand turn described in the natural language command.'] +Rotate to the right, then travel straight ahead for a distance of 8 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; The natural language command perfectly matches the JSON structures. The first command "Rotate to the right" matches with the action "rotate" and correct parameters of angle and clockwise rotation. The second command "travel straight ahead for a distance of 8 meters" matches with the action "move" and appropriate parameters of distance and forward direction. The unspecified values in the natural language command (angular_velocity and linear_speed) are filled with reasonable values in the JSON.'] +Move forward for 1 meter and stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The JSON structure matches correctly with the natural language command. The "move" action is correct and all parameters ("linear_speed", "distance", "is_forward", "unit") are correctly set according to the command.'] +Proceed straight ahead for a distance of 1 meter and come to a halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure corresponds to the command but the "linear_speed" value does not match - it is set to 1 in the JSON while not specified in the command. Any reasonable value should be accepted thus resulting in one point deduction.'] +Advance one meter ahead and then come to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The action and params given in the JSON structure partially match the natural language command. The command 'Advance one meter ahead and then come to a stop' corresponds to the action 'move', and the params, linear_speed, distance, is_forward, unit, are implied. However, the term 'come to a stop' is not represented in the JSON structure."] +Travel in the forward direction for a length of 1 meter and then cease movement.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The command perfectly matches with the JSON structure providing the necessary action ("move") and parameters (linear_speed, distance, is_forward, unit) as per the sample ontology.'] +Move ahead for a distance of 1 meter, and then bring the movement to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure correctly matches the action and the parameters required by the natural language command, but does not include a subsequent action to bring the movement to a stop this is less likely represented in the JSON structure.'] +Rotate counterclockwise by 135 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command and the JSON structure match perfectly. The command "Rotate counterclockwise by 135 degrees" aligns with the "rotate" action defined in the JSON. The "angle" parameter is correctly mentioned as 135 degrees and the "is_clockwise" parameter is correctly identified as false (since the rotation is counterclockwise). The "angular_velocity" value is not specified in the natural language command, but its presence within the JSON is acceptable.'] +Rotate 135 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['4.5; Mostly conform. The action and parameters requested in the natural language command match well with the JSON structure, but the "angular_velocity" in the JSON structure does not entirely conform as its value was not specified in the natural language command. However, it still falls within the acceptable range as any reasonable value is accepted when not specified.'] +Turn 135 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];["4; The natural language command matches the JSON structure partially. The action type and the value for rotation angle in degrees are accurate. However, the rotation direction (counterclockwise) is not correctly matched in JSON structure ('false' should be 'true' as rotation is counterclockwise). The angular velocity is not mentioned in the command but a reasonable arbitrary value is given."] +Rotate anticlockwise by 135 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Perform a 135 degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 135, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Move backward for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['4.5; Almost exactly conformed. The command indicated the direction correctly, but it didn\'t specify the "linear_speed" value, which has been accepted in JSON as it understands the necessity of speed while moving.'] +Go in reverse for a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; The natural language command accurately describes the action and parameters provided in the JSON block. The action of moving in reverse (represented as "is_forward": false) and the specified distance of 6 meters are both clearly indicated. Although the linear speed is not specified in the command, the given value in the JSON is acceptable.'] +Take 6 steps back.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "steps"}}'];['5; Exactly conform.'] +Retreat 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; The natural language command perfectly matches with the JSON structure regarding the "move" action. The command of retreating states a backward motion, which is indicated as "is_forward": false in JSON. The distance of retreat is also correctly reflected as 6 meters in the JSON. A linear_speed is provided in the JSON, though it is not stated in the command, this is acceptable as per guidelines. The unit of distance "meter" is also consistent. '] +Travel 6 meters in the opposite direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];["5; Exactly conform. The natural language command's specifications of moving, distance, opposite direction, and unit of measure are correctly represented by the JSON structure. The unspecified speed is also properly filled with a reasonable value."] +Turn left and move forward for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'];["2; The JSON structure provided corresponds to the 'move' action in the ontology, and the 'is_forward' parameter correctly matches with the command to 'move forward'. However, the parameter 'linear_speed' is not present in the command and the 'distance' parameter in the JSON is not appropriate for representing the duration of 4 seconds mentioned in the command. Moreover, the command to 'Turn left' does not match with any action or parameters in the JSON structure."] +Take a left turn and proceed straight ahead for a duration of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['3; Partial match. The JSON instruction is correct in directing a "move" action with parameters indicating forward movement. However, there is no JSON structure included that corresponds to the "Take a left turn" part of the command. The unit of distance too is not properly matched to the command, which mentions a time duration rather than a distance.'] +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "second"}}'];["0; The natural language command asks for a left turn and movement forward, but the JSON structure only accounts for forward movement with no rotation action mentioned. The commands aren't matching."] +Pivot to the left and advance forward for a period of 4 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "seconds"}}'];['3; The action "move" is represented correctly in the JSON, as well as parameters like "is_forward". However, the natural language command includes an operation of "pivot to left" which is not represented in the JSON structured command. Additionally, the distance parameter is tied to a "period of 4 seconds" in the natural language command, which is interpreted as a distance in the JSON, and there\'s no key in the JSON that suggests a duration or time period. The unit should be "meter" instead of "seconds".', ''] +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false}}', '{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "duration": 4, "unit": "seconds"}}'];["2; Some keys from the JSON structure match with the natural language command such as the rotation action and movement action but the 'duration' key for movement does not exist in the JSON structure. In addition, the parameters for angular_velocity in the rotation action and linear_speed and distance in the movement action are not mentioned in the command."] +Rotate clockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['4; Mostly conform. The command matches the "action": "rotate" structure from the JSON list, and the values are reasonably close. However, the natural language command does not specify the "angular_velocity", so any value would be considered acceptable. The JSON for the "angle" is also slightly off – the command mentions rotating 60 degrees while the JSON mentions 40 degrees, which isn\'t a major discrepancy but does differ from the original command.'] +Turn 60 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command exactly matches the JSON structure in terms of action ("rotate") and parameters ("angular_velocity", "angle", "is_clockwise", "unit") are present with the requested values.'] +Rotate the object by 60 degrees in the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['4.8; While the JSON structure matches the command quite well, using the "rotate" action and the appropriate parameters, the angular_velocity value given in JSON does not match with the natural language command. As it\'s not specified in the command, it should not affect the score significantly.'] +Move in a clockwise direction, making a 60 degree turn.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command accurately represents the "rotate" action in the provided JSON structure with an angle of 60 degrees in a clockwise direction. Although the "angular_velocity" value isn\'t specified in the natural language command, the suggested value in the JSON is accepted.'] +Rotate 60 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 5, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Move forward for 7 meters and stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];["5; The natural language command matches perfectly with the JSON structure. The action 'move' is specified with the direction ('is_forward': true), distance ('distance': 7), speed ('linear_speed': 1), and the 'unit' of measurement is explicitly mentioned as 'meter'. The action to 'stop' isn't in the JSON because it is probably done automatically after moving the specified distance."] +Proceed straight for a distance of 7 meters and come to a halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['5; The natural language command aligns with the JSON structure. The command for moving a certain distance is clearly translated into the JSON especially "linear_speed", "distance", "is_forward" parameters being correctly defined in "move" action.'] +Advance ahead covering a distance of 7 meters and then cease movement.,['{"action": "move", "params": {"distance": 7, "is_forward": true, "linear_speed": 1, "unit": "meter"}}'];['4.5; The natural language command exactly conforms to the JSON structure in the ontology. But it doesn\'t specify the "linear_speed" so the JSON structure with "linear_speed": 1 is considered a reasonable value as per the instructions. The reduction in score is due to the absence of the exact \'linear_speed\' in the natural language command.'] +Go forward 7 meters and then come to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure correctly represents the command to move forward, with a reasonable speed not specified in the command, a correct forward direction and the exact distance. However, the command to stop mentioned in the natural language command is not presented in the JSON code.'] +Move straight ahead, covering a distance of 7 meters, and then halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['5; The natural language command perfectly matches with the JSON information. All the parameters are correctly mentioned in the command; the action is to move, direction is forward, the distance is 7 meters and no specific speed mentioned therefore any speed value in JSON is acceptable.'] +Reverse for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "seconds"}}'];["2; The `move` action and 'is_forward': false parameters match, however, the JSON structure is not consistent with the command in terms of the parameter values. The `unit` is expected to measure 'distance' or 'linear_speed', not time (seconds in this case). The 'distance' or 'linear_speed' in the natural language command is not specified so a reasonable value is accepted, however, it is not clear why the distance is assigned as 5."] +Reverse for a duration of 5 seconds.,['{"action": "move", "params": {"linear_speed": 0.2, "distance": 1, "is_forward": false, "unit": "seconds"}}'];['2; The action in the JSON structure aligns with the natural language command as both of them involve movement. However, the parameters in the JSON structure do not fully match with the command. The "duration" mentioned in the command is not being addressed in the JSON structure. Instead, "distance" and "unit" as "seconds" which is not clear, is provided in the JSON structure.'] +Perform a 5-second reverse.,['{"action": "move", "params": {"linear_speed": 0.2, "distance": 1, "is_forward": false}}'];['5; Nearly exact conform, the action is correctly identified as "move" and the "is_forward" parameter is correctly identified as false for a reverse. The "linear_speed" and "distance" parameters are not specified in the natural language command, but the given values are reasonable. The "unit" parameter is missing in the JSON structure but this is a minor discrepancy.'] +Execute a reverse motion for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false}}'];["2; The JSON structure partially matches the natural language command. The action 'move' and parameter 'is_forward': false concept is present, but there is discrepancy with the 'distance' parameter mentioned in the JSON structure, as the command indicates a time duration 'for 5 seconds', not a distance. Additionally, linear_speed parameter is also not mentioned in the command."] +Go backwards for a period of 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false}}'];['2; The JSON structure has the correct action ("move") and "is_forward" parameter set to false, which matches the "Go backwards" command. However, the command specifies a period of time (5 seconds), not a distance. The JSON distance parameter does not match the command and the structure doesn\'t include a time parameter.'] +Turn right and move forward for 9 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'];['2; The command specifies both rotation and movement, but the JSON only contains the "move" action. The "rotate" action is completely missing.'] +Move forward for 9 meters after turning right.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 9, "is_forward": true, "unit": "meter"}}'];['4; The JSON structures generally conform to the natural language command given, but the specific value of "angular_velocity" is not provided in the natural language command, so its value in the JSON cannot be confirmed. Other than that, "90" for rotation (right), "true" for "is_clockwise", "9" for "distance", and "true" for "is_forward" are correctly interpreted and provided in the JSON structures.'] +After turning right, proceed ahead for a distance of 9 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'];["3; The move command matches properly with the natural language command, with the linear speed and direction being correct, as well as the distance of 9 matching the command of proceeding ahead for 9 meters. However, the rotation or turn command is not included in the JSON structure, thus it's incomplete."] +Take a right turn, then continue moving straight for a distance of 9 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'];['5; The JSON structures correctly represent the given natural language command. The command for rotation with the angle (90 degrees) and direction (is_clockwise) parameters align with the first JSON. Similarly, the move command with a specified distance (9 meters) and direction (is_forward) is appropriately captured in the second JSON. Linear speed and angular velocity parameters are not specified in the command, but contain reasonable values in the JSON.'] +Make a right turn and travel forward for 9 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Move forward for 2 seconds and stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true}}'];["1; Both the natural language command and the JSON structure refer to a movement action, but the specifics don't match. The command tells the object to move forward for a certain amount of time, while the JSON structure specifies a distance to move forward. Also, the command mentions no parameters or indication for stopping, unlike what is provided in the JSON structure."] +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'];['1; The JSON structure correctly represents the action "move", but the "distance" key and "unit" do not match with the natural language command. In the command, there\'s a mention of time (duration of 2 seconds) instead of "distance" and "second" instead of "meter". Additionally, the command mentions stopping after moving which is not represented in the JSON.'] +Go ahead for 2 seconds and then halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["2; The natural language command partially matches with the 'move' JSON structure. However, there is no matching command for 'halt' in the given sample keys. Moreover, it's also unclear how the system is supposed to convert the time 'for 2 seconds' into the parameters in the given JSON structure."] +Advance for a period of 2 seconds and then cease movement.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'];['1; The JSON structure includes correct action "move" and "is_forward" parameter, but it does not contain "linear_speed" or "unit" parameters that match with the natural language command. Also, the command talks about a "period of 2 seconds", but it\'s incorrectly represented as "distance" in the JSON structure, causing confusion.'] +Travel forward for 2 seconds before stopping.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["1; The natural language command partially matches the JSON structure but not exactly as the key 'linear_speed' is not specified in the natural language command. The other keys 'distance', 'is_forward', and 'unit' match the command."] +Rotate counterclockwise by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];["4; The JSON structure matches the natural language command well, with the action being 'rotate' and the parameters specifying the angle, direction, and unit of rotation. However, the 'angular_velocity' value is not specified in the command, but it's accepted since any reasonable value is fine. The reason for the score of 4 and not 5 is because of the provided 'angular_velocity' value of 10 which seems too high for a rotation action and therefore might not be considered reasonable by all."] +Turn 30 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate in the anticlockwise direction by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4.5; The justification for this score is that the natural language command correctly corresponds to the JSON action "rotate" and also correctly assigns the "angle", "is_clockwise", and "unit" parameters, however the "angular_velocity" is not specified in the command, but it is correctly assumed in the JSON configuration. Although close to exact, it\'s not fully conform because of this missing information.'] +Rotate to the left by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4; JSON structure mostly aligns with natural language command. Action "rotate" and angle with unit are matched correctly. But the "angular_velocity" value is not mentioned in the command, the provided 1 in JSON is arbitrary. The is_clockwise parameter is inferred opposite as in typical conventions, "rotate to the left" refers to counterclockwise rotation which means is_clockwise should be false but since directional sense may vary with context, this discrepancy is tolerable.'] +Rotate in a counterclockwise direction, making a 30-degree turn.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4; Mostly conform. The "angular_velocity" is not specified in the natural language command. However, it has a reasonable value in the JSON. All other parameters match perfectly.'] +Reverse for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The command \'Reverse for 4 meters.\' is perfectly represented in the JSON structure. The "action" key correctly represents "move", the "distance" key correctly represents "4", the "is_forward" is rightly marked as false indicating backward motion, and the "unit" is accurately noted as "meter". Although the "linear_speed" is not specified in the original command, it is reasonably set as 1 in the JSON object, which is acceptable according to the rules.'] +Move back for a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];["5; Exactly conform. The natural language command accurately corresponds with the JSON structure. The action 'move' is reflected, the distance is correctly specified as '4', 'is_forward' is set to false indicating moving back, and the 'unit' is correctly stated as 'meter'. Even though 'linear_speed' is not specified in the natural language command, it is reasonably assumed to have any value and in this case is '1'."] +Go in reverse for a span of 4 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}}'];['5; The natural language command perfectly corresponds to the provided JSON structure as all the parameters such as reverse movement (is_forward: false), distance of 4 meters are exactly represented in the JSON object.'] +Retreat 4 meters in the opposite direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];["5; The natural language command precisely matches the JSON information. The action is 'move', the direction is opposite and 'is_forward' equals false, the distance is 4 units (meters) and the linear_speed has a reasonable value of 1."] +Travel backwards, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The JSON structure perfectly matches the natural language command. It defines the \'move\' action which is equivalent to \'travel\', the direction is specified as \'backwards\' which aligns with "is_forward": false and the \'distance\' is correctly set as 4 meters.'] +Turn left and move forward for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['2; The JSON partially matches the natural language command. The "move" action and "is_forward" parameter are correctly represented. However, the natural command asks for a left turn which is not represented in the JSON, and the "distance" parameter does not fit the command. The command specifies a duration of 6 seconds, not a distance.'] +Proceed forward for 6 seconds after making a left turn.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['4; The natural language command and JSON structures partially conform. The action "rotate" and parameters like "angle", "is_clockwise", "unit" match perfectly, though "angular_velocity" wasn\'t specified in the command, so any value should be accepted. But, for the "move" action, the distance is wrongly interpreted as 6 seconds according to the JSON against the correct interpretation of move for 6 seconds. This may cause confusion as \'distance\' usually implies spatial measurement, not temporal. The "linear_speed" is also not specified in the command.'] +Make a left turn and advance for 6 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['4; The natural language command is correctly translated in the JSON structures, but the value for the "angle" key is not explicitly specified in the command and the "unit" key in the second JSON structure should be "meter" as there\'s no information in the ontology for it to be "seconds".'] +Move ahead for 6 seconds after turning to the left.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['4; The JSON command correctly captures the two distinct actions conveyed by the natural language command ("turning to the left" and "move ahead for 6 seconds"). However, the angular_velocity, linear_speed are populated with values not specified in the command, so there is a minor mismatch. Also rotation unit is given as \'degrees\' instead of direction as left or right, same for linear motion, unit is given as \'meter\' but in command it\'s specified as \'seconds\'. Hence, the score isn\'t perfect.'] +After veering left, continue straight for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];["1; While the natural language command suggests a movement, the exact parameters such as distance or speed are not specified unlike the JSON structure that follows. And there's no mention of 'veering left' in the JSON command, it's only indicating a forward movement."] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meters"}}'];['5; The natural language command exactly conforms to the JSON structure. The "move" action is present with all required parameters specified. The direction of movement ("is_forward": true) and distance to be moved ("distance": 5, "unit": "meters") match the command, and a reasonable value is provided for "linear_speed".'] +Proceed ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The natural language command accurately matches with the JSON structure with the "move" action and relevant parameters such as "distance", "is_forward", and "unit". However, the "linear_speed" parameter value is not specified in the natural language command. Thus, although the given default value in the JSON structure is acceptable a point is deducted as the exact conformity is not 100%.'] +Advance straight on and cover a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];["4; Almost perfect match, but the 'linear_speed' key's value was not specified in the natural language command yet was included in the JSON with a value of 1."] +Head forward and travel 5 meters in that direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches the JSON structure in terms of moving forward and the distance to be traveled. Although the speed isn\'t mentioned in the command the default speed in the JSON object is deemed acceptable. However, the JSON structure explicitly specifies "linear_speed" as 1, While there is no mention or implication of speed in the command. Hence, it\'s not a exactly matching.'] +Move straight ahead and go a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The JSON structure perfectly matches the natural language command. The action "move" is correctly interpreted, along with the parameters such as "distance" "is_forward", and "unit" which are all correctly provided in the command. The "linear_speed" is a reasonable value and was not specified in the command, which is acceptable.'] +Turn left and move forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['1; The command instructs the system to move forward after turning left, but the JSON structure only covers the movement part, missing the instruction for the rotation.'] +Move ahead for 2 seconds after turning left.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The JSON structures somewhat match the natural language command. The command states to move forward for 2 seconds after turning left which is translated in the provided JSON structures. The rotation action has an anticlockwise direction as required and the movement action is forward as required. However, it assumes certain parameters like angular_velocity and linear_speed which were not mentioned in the command. The parameter "unit" in the move action json structure is "seconds" which doesn\'t exist in the sample keys.'] +After turning to the left, proceed forward for a duration of 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure corresponds to the action of moving forward, which is mentioned in the natural language command. However, the command also includes rotation which is not reflected in the JSON. Furthermore, the "unit" value is "seconds" in the JSON, but the command speaks of duration, not specific distance.'] +Take a left turn and then proceed straight for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}}'];["3; The JSON structures partially match the natural language command. The command instructs to take a left turn which corresponds to rotation action in the JSON but it doesn't quite match since the direction of rotation is not clearly defined. The command to proceed straight for 2 seconds could theoretically match with the movement action, however, there is discrepancy in units - the command mentions seconds whereas the JSON structure uses meters."] +Make a left turn and continue moving forward for a duration of 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["4; The JSON commands partially conform to the natural language command. The rotation is correctly described as being anti-clockwise, though the specific angle and angular velocity are not specified in the language command, and so the precise values don't necessarily match. The movement forward is correctly identified, however, in the language command it specifies a duration (time), rather than a distance. This may or may not be the same depending on the speed of movement."] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn in the opposite direction by an angle of 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure and the natural language command align in the action ("rotate") and the "angle" parameter, but the "angular_velocity" values (0.35 in JSON vs. 10 in command) do not match. The "is_clockwise" parameter complies with "opposite direction" in the command, implying counter-clockwise rotation. However, the conforming JSON structure would be: \'{"action": "rotate", "params": {"angular_velocity": 0.35, "angle": 90, "is_clockwise": false, "unit": "degrees"}}\'.'] +Rotate anticlockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["5; Exactly conform. The command 'Rotate anticlockwise by 90 degrees.' is perfectly reflected in the given JSON. The `action` is set to `rotate` which matches the command. The `angle` is correctly captured as `90`, the `unit` is mentioned as `degrees` which matches the command and `is_clockwise` is set to `false` which correctly represents 'anticlockwise'. The `angular_velocity` does not have a specified value in the command, but it's a reasonable value, hence accepted."] +Spin to the left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Twist counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command exactly fits the JSON structure. The action \'rotate\' is present and all parameters (\'angular velocity\', \'angle\', \'is_clockwise\', \'unit\') are correctly given. The direction \'counterclockwise\' correctly translates to "is_clockwise": false in the JSON and the angle of rotation is also specified correctly.'] +Move backward for 3 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; The command is perfectly converted into JSON using the sample given, with all keys and values present. The only difference is the "is_forward" value, which is False in the JSON, correctly corresponding to the "move backward" command.'] +Go in reverse for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The command partially matches the JSON structure. The action "move" and the parameters "distance", "is_forward", and "unit" align correctly with the natural language command. However, the natural language command does not specify a "linear_speed", so the score cannot be a 5. The assumed speed of 1 may be reasonable but not explicitly stated in the command.'] +Travel three meters in the opposite direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Retreat for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure matches the command in terms of moving a certain distance, however it does not match in terms of the direction of movement. The command specifies to retreat, which implies moving backwards, but the JSON structure has "is_forward": true. The specified distance in the command and JSON structure matches. The speed is not specified in the command so the value 0.5 in the JSON is acceptable.'] +Reverse your movement and cover a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; All the action and parameters map correctly with the JSON command, however the value for "linear_speed" is not specified in the command so it doesn\'t perfectly conform.'] +Turn right and move forward for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command partially matches the JSON information. The command mentions moving forward for a certain distance, which matches the "move" action JSON structure. However, there is no JSON representation for the action "turn right" in this sample ontology, hence no full conformity.'] +Proceed forward for 1 meter after turning to the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['1; The natural language command partially matches the JSON structure. The \'move\' action is correctly translated with the \'linear_speed\', \'distance\', \'is_forward\', and \'unit\' parameters. However, the command also implies a rotation ("turning to the right") which is not represented in the given JSON structure.'] +Take a right turn and continue moving straight ahead for a distance of 1 meter.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 1, "is_forward": true, "unit": "meter"}}'];['1; The provided JSON structure partially matches the natural language command. However, the JSON lacks the "rotate" action required to execute the "Take a right turn" command. The JSON only includes the "move" action, which corresponds to the "continue moving straight ahead for a distance of 1 meter" command. The "rotate" action is missing.'] +After making a right turn, proceed ahead for 1 meter.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure matches the natural language command partially. The \'move\' action is correctly represented in JSON, including the \'distance\', \'is_forward\', and \'unit\' keys. However, there is no \'rotate\' action in the given JSON which is needed to represent the "right turn" in the command. The \'linear_speed\' parameter in JSON is also not mentioned in the command, but its value is reasonable.'] +Rotate to the right and then advance for a distance of 1 meter.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON structures conform to the commands given but there are minor discrepancies with the values. For instance, the angular_velocity is set at 1 in the JSON when it isn\'t specified in the command and could be any reasonable number such as the sample 0.35. Similarly, a specific linear_speed isn\'t provided in the command, so it shouldn\'t necessarily be set at 1 in the JSON as per this ontology. The "rotate" and "move" actions and their parameters are accurately represented by the keys, however.', ''] +Move forward at a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches the JSON structure well as both refer to a "move" action happening in a forward direction at a particular speed. However, a conformity point is deducted as the command didn\'t specify a distance, and the JSON has arbitrarily assigned a value of 1.'] +Proceed ahead with a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Advance with a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The natural language command fits exactly to the JSON structure. The action "move" and the linear_speed of 0.5 is specified in both the command and the JSON. The "distance" parameter was not specified in the natural language command but a value of 1 is reasonable and an addition of is_forward = True and the unit being in \'meters\' match with the command.'] +Go forward at a rate of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; Partially conform. The natural language command is correctly translated to the "move" action in the JSON. The specified "linear_speed" of 0.5 in the command matches the value in the JSON. However, "distance" isn\'t mentioned in the command but is present in the JSON.'] +Travel in a forward direction at a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}'];['5; The command is perfectly in accordance with the given JSON structure. The action is "move", the linear_speed is 0.5, is_forward is true, and the unit is "meter". The unspecified "distance" parameter is filled in with a reasonable default value of 1, which is in line with the scoring guidelines.'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["5; Exactly conform. The natural language command 'Rotate clockwise by 180 degrees' perfectly matches with the action 'rotate' and the parameter 'is_clockwise' as true in the JSON structure. The 'angle' parameter value in JSON (180) also is compliant with the 'by 180 degrees' in the natural language command."] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn by 180 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The "action" and all the "params" keys are correct. The angular_velocity value is reasonable although not specified in the natural language command. However, the angular_velocity value is too high for a normal turn.'] +Rotate in a clockwise manner, completing a 180-degree turn.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Execute a clockwise rotation, rotating by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4.5; In the natural language command, there is no specification for the "angular_velocity" key. In the JSON structure, it has a reasonable value of 10. The value for the "angle" key is 180, which matches exactly with the JSON\'s "angle" key value. And the boolean "is_clockwise" key is set to true, correctly reflecting the command\'s "clockwise rotation". The "unit" key is "degrees" in both the command and the JSON structure. The action in the JSON structure is "rotate", which correctly reflects the natural language command "Execute a clockwise rotation". The only discrepancy is the not specified angular_velocity in the natural language command.'] +Move forward for 10 meters at a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The JSON structure accurately represents the command to move forward at a specified speed and distance. All values are specified correctly.'] +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The JSON structure perfectly matches the natural language command as the specified action is "move" with the required parameters linear_speed, distance and is_forward having the exact specified values in the command, and unit "meter" is also correctly deployed.'] +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];["5; Exactly conform. The natural language command perfectly matches to the JSON structure. All parameters in the JSON structure are provided in the command including action which is 'move' and parameters linear_speed, distance, is_forward and unit."] +Go ahead for 10 meters, moving at a pace of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The provided natural language command perfectly matches the given JSON structure. The command of moving forward a distance of 10 meters at a speed of 2 meters per second is properly translated into the JSON action of "move" with the correct parameters {\'linear_speed\': 2, \'distance\': 10, \'is_forward\': true, \'unit\': \'meter\'}.'] +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure matches the command, however "is_forward" parameter value is not mentioned in the natural language command but it\'s assumed to be true.'] +Turn left and move forward for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}}'];['1; Partial match. The "move" action in the JSON structure correctly matches with the command "move forward for 5 seconds". However, the direction of \'turn left\' is not represented in the provided JSON structure. Moreover, it\'s not clear if the "distance" parameter in the JSON structure is intended to represent time duration.'] +Make a left turn and proceed straight ahead for a duration of 5 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['4; The JSON structures correctly capture the main actions specified in the command - rotating (turning left) and moving (proceeding straight). However, the parameters specified for the \'rotate\' action are inaccurate: the direction of rotation should be \'is_clockwise\': false (for a left turn), and no specific \'angle\' or \'angular_velocity\' is mentioned in the command. For the \'move\' action, the \'distance\' is inaccurately given as 5 - the command specifies a "duration of 5 seconds", not a distance. This likely should refer to duration if we have \'unit\': "seconds" in our ontology.', ''] +Take a left and advance in a forward direction for a span of 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true}}'];['2; The natural language command partially conforms to the JSON structure. While it is indicative of movement in the forward direction, which matches with the action "move" and the parameter "is_forward" in the JSON, it doesn\'t specify the linear_speed and the unit itself is incorrectly mentioned as seconds whereas the JSON structure accepts only distance in meters.'] +Rotate to the left and proceed ahead for a duration of 5 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}} {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];["2; The action 'rotate' matches with the natural language command. However, the parameters 'angular_velocity' and 'angle' are not mentioned in the command. The 'is_clockwise' parameter is correctly represented as 'false' for 'rotate to the left'. For the 'move' action, the parameters 'linear_speed' and 'distance' are not mentioned in the command. Rather a 'duration' is mentioned which does not conform to the given JSON structure. The direction of movement as 'forward' is correctly represented."] +Veer left and move forward for an interval of 5 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2.5, "is_forward": true, "unit": "second"}}'];['2; The natural language command is not matched well with the JSON structures. The command of veering left is not represented in the JSON. Although "move forward" is represented in the action "move" with "is_forward": true, the command\'s parameter of moving for a specific interval of time ("5 seconds") is not reflected in the JSON structures at all. The JSON uses a distance parameter whereas the command uses time interval.'] +Move backward at a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; The natural language command and JSON have near perfect conformity. The scoring is not a perfect 5 because the natural language command does not specify the distance to move backward, while the JSON assumes a distance of 1. If the natural language command had specified a distance, the match would be perfect.'] +Go in reverse at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": false, "unit": "meter"}}'];['4; The natural language command matches the JSON structure quite well. The "action" "move" and "linear_speed" are correct. However, the "distance" key is not specified in the command, but it is present in the JSON. Also, the "is_forward" key matches well as the command specifies to go backward (thus false). However, the distance value in the JSON structure should not be necessarily zero. It accepts any reasonable value as per the instructions. Therefore, the score is not a perfect 5.'] +Travel backwards with a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['2; The mentioned natural language command partially matches with the move action in the JSON structure. Although the "move" action and "linear_speed" parameter match, the "is_forward" key\'s value is correctly specified as False in the JSON, however, the "distance" parameter is not mentioned in the natural language command but it appears in the JSON structure.'] +Move in the opposite direction at a rate of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure almost perfectly matches the natural language command - the 'move' action and 'linear_speed' parameter are correctly represented. Additionally, the 'is_forward' parameter is correctly inferred to be false, indicating backward movement. However, the command doesn't specify a 'distance' and the JSON suggests a distance of 1 meter which is an assumption. Therefore the score is 4 instead of 5."] +Go backward at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "is_forward": false, "unit": "meter"}}'];["4; The JSON correctly interprets the action of moving and the linear speed of 1. However, the direction of movement isn't defined as 'backwards', but as 'not forward'. While in a binary system, not forward does mean backward, it's not explicitly stated in the JSON."] +Rotate counterclockwise by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4.5; The action in the JSON structure matches the natural language command. Moreover, parameters like "angle", "is_clockwise", and "unit" also match exactly. However, the "angular_velocity" value given in the JSON object is not specified in the command, but falls under "a reasonable value" according to guidelines. Overall, it is almost a perfect match, just lacking the explicit speed instruction in the command.'] +Rotate 45 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command corresponds to the JSON Structure perfectly with the action of rotating at a certain angle in a counterclockwise direction. The "angle" value even matches, and the "is_clockwise": false correctly interprets "counterclockwise". Even though the "angular_velocity" was not specified in the command, it is acceptable as any reasonable value is accepted.'] +Turn left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command specifies a rotation action, which is correctly identified in the JSON. The rotation angle is clearly defined as 45 degrees in both the command and the JSON. The direction of rotation (left) accurately translates to "is_clockwise: false" in JSON. The parameter values are also perfectly valid under the provided ontology.'] +Rotate in an anticlockwise direction by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["4; The action and parameters conform with the keys in the sample ontology. However, 'angular_velocity' is null because no information was given in the natural language command, hence the loss of one point."] +Rotate to the left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4.75; Most part of the JSON is conforming to the intent of the natural language command however, the angular_velocity used in the JSON which is 1 does not exist in the natural language command.'] +Move forward for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];["4; The JSON structure correctly includes the 'action' as 'move' and 'is_forward' as true as specified in the command. The units of movement as 'meter' is also correctly included in the JSON structure, as well as the distance '7'. However, the command 'Move forward for 7 meters' does not specify a 'linear_speed', so although the key is correct, the value '1' in the 'linear_speed' parameter is an assumption and not specified in the command."] +Proceed ahead for a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches exactly with the provided JSON structure. The action is "move", and the parameters such as "distance", "is_forward" and "unit" are correctly specified. Though the "linear_speed" is not specified in the command, it is approximated reasonably in the JSON.'] +Advance 7 meters in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];["5; The natural language command corresponds exactly to the JSON structure. The action 'move' is specified along with the parameters 'distance', 'is_forward' and 'unit' that are consistent with the natural language command. The 'linear_speed' is not mentioned in the command but still a reasonable value is provided in the JSON which is also permissible."] +Travel straight ahead for a length of 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];["5; The action 'move' with parameters 'distance' 'is_forward' & 'unit' matches exactly with the natural language command asked. Even if the 'linear_speed' is not specified, it is presented in the JSON with a reasonable value."] +Go straight for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['4.5; The command conforms well with the JSON structure. However, the "linear_speed" is not specified in the natural language command, so the value (1) given in the JSON is acceptable but not perfect match to the command.'] +Turn right and move forward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['3; The JSON structure accurately represents the "move forward for 4 meters" part of the command but it doesn\'t capture the "turn right" action requested in the natural language command. The command in the JSON also inaccurately sets "linear_speed" to 1, even though the natural language command doesn\'t specify a speed.'] +Take a right turn and proceed ahead for a distance of 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command instructions are accurately translated into the given JSON information. The \'rotate\' action in JSON matches the "Take a right turn" while the \'move\' action corresponds to the "proceed ahead for 4 meters" command.'] +Make a right turn and advance straight ahead covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];["2; The provided JSON structure only covers the 'move' action mentioned in the command. The 'rotate' action (right turn) from the command is not reflected in the JSON."] +Rotate towards the right and continue moving forward for 4 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4.5; The command matches well with the corresponding JSON structures. The "rotate" command with parameters "angular_velocity", "angle", "is_clockwise" and "unit" are sufficiently covered. The "move" command parameters "distance", "is_forward" and "unit" are also accurately represented. However, the "linear_speed" parameter value in the move action JSON is not specified in the natural language command, this value is reasonable but it is not explicit in the command, hence, points are reduced.'] +Go right and travel straight ahead, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches partially with the JSON structure. The command to go straight and cover a distance of 4 meters is correctly represented, however the command to "Go right" is not represented in the given JSON.'] +Move forward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'];["3; The JSON information only partially matches the natural language command. The action 'move' and parameter 'is_forward' are correctly interpreted, however, the command specifies '3 seconds', a unit of time, as distance, which does not match with the 'distance' key in the JSON, which represents a physical distance. So there is lack of conformity in the interpretation of distance. The input of 'linear_speed' as 1 could possibly be a reasonable default value and thus moderately acceptable."] +Go straight ahead for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true}}'];['2; The command partially conforms to the JSON structure. The "move" action is correct and the direction "is_forward" is also inferred correctly. However, the duration is not a parameter in the JSON structure and neither linear_speed nor distance are specified in the command.'] +Proceed in a forward direction for a span of 3 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance": "undetermined", "is_forward": true}}'];['2; The JSON structure partially fits the natural language command as the action \'move\' and parameter \'is_forward\' are correct. However, the command talks about moving forward for a span of time (3 seconds), not a particular distance or speed which is represented in the JSON structure. Therefore, "linear_speed" and "distance" cannot be accurately extracted from the command. No specification of \'unit\' in the command as well.'] +Advance ahead for a period of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The "distance" key-value pair in the JSON structure is not fully aligned with the natural language command as "distance" is not described in the command. The "unit" key is set to "seconds" which is a unit of time, not distance or speed. The natural language command \'advance ahead\' does match with the "action" key as "move" and "is_forward" as true, hence partial conformity.'] +Travel forward for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true}}'];["2; The natural language command uses time (seconds) to describe movement, whereas the JSON structure describes movement in distance. The term 'duration' in the command should correspond to distance and not to time in the JSON structure. However, the 'move' action with the 'is_forward' parameter in the JSON structure is matched correctly in the command."] +Turn left and move forward for 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3; The command "Turn left" hasn\'t been included in the JSON, but the "move" action is correctly represented with correct parameters.'] +Proceed straight for a distance of 2 meters after making a left turn.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];["3; The natural language command matches partially with JSON structure. The 'move' action with distance and unit parameters are correctly defined in JSON structure, but the natural command also mentions a left turn (which relates to the 'rotate' action in JSON), that part is not represented in the JSON."] +For a span of 2 meters, continue moving forward after taking a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; Only the move action and its parameters correctly match the natural language command. The command of taking a left turn which should technically result in the formation of a "rotate" action in JSON, isn\'t translated to the appropriate JSON structure.'] +Make a left turn and advance ahead for 2 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meters"}}'];['5; Both the rotation action and the move action information in the JSON objects completely correspond to the natural language command.'] +After turning left, go straight for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];["2; The JSON structure represents the part of the command about going straight for a distance of 2 meters. However, the given command also includes a turning action, which isn't represented in the JSON. Also, linear speed value is given as 1 in the JSON structure which isn't specified in the natural language command and may not be a reasonable assumption."] +Rotate clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["4.75; The natural language command corresponds almost precisely to the provided JSON structure. The action 'rotate' and 'is_clockwise' set to true correctly reflect the command's intent for a clockwise rotation. The 'angle' value also matches with the 270 degrees specified. The 'unit' of 'degrees' is also correct. The only inconsistency lies in the 'angular_velocity' parameter, which, while not explicitly specified in the command, might not be realistically set to 10."] +Turn to the right by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command precisely corresponds to the JSON structure. All keys in the JSON are also contained in the command: the action is to rotate, and the parameters include the angle (270 degrees) and the direction (right, which corresponds to "is_clockwise": true). The "angular_velocity" parameter isn\'t specified in the natural language command, but is filled with a reasonable value.'] +Rotate in a clockwise direction by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];["4.5; The JSON matches with the command perfectly, the 'angular_velocity' value is reasonable although it is not specified in the natural language command. The only reason the score isn't a solid 5, is due to the significant difference in angular velocity, which may not be practical for some applications."] +Perform a 270-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command and JSON information match perfectly. The action is "rotate", the angle is specified as 270 degrees, the rotation is specified as clockwise, and the optional parameter, "angular_velocity", has been given a reasonable value. The "unit" is also correctly mentioning "degrees".'] +Rotate by 270 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command perfectly matches the JSON structure. The action is "rotate" and the parameters include "angle" as 270, "is_clockwise" as true, and "unit" as degrees. "angular_velocity" is not specified in the command but a null value is acceptable according to the instructions.'] +Move backward for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command correctly matches the JSON structure. The "action" is identified as "move", and all the necessary parameters are provided: a reasonable "linear_speed", the specific "distance" of 6 meters, the direction "is_forward" is set to false for backward, and the "unit" is set as "meter".'] +Reverse direction and travel a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The natural language command correctly translates into the JSON structure. The action "move" is correctly determined, the "distance" set to 6, the "is_forward" attribute correctly set to false to indicate reverse direction, and the "unit" is correctly set to "meter". The "linear_speed" parameter, while not provided in the natural language command, has been reasonably set at a value of 1, which is acceptable.'] +Go back 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];["4; The command 'Go back 6 meters' corresponds to the JSON structure however, the linear_speed is not specified in the natural language command and is injected as 1 in the JSON which may not be a reasonable default speed though acceptable, hence slightly reducing the conformity score."] +Retreat for a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The JSON perfectly matches the natural language command. The "move" action is correct, and all parameters like "linear_speed", "unit", and "distance" are also correctly mentioned. The "is_forward" parameter has been set to false as the command specifies retreating (moving backward).'] +Move in the opposite direction for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meters"}}'];["4.5; The JSON structure matches well with the command, it correctly identifies the action as 'move' and includes the correct 'distance' and 'is_forward' parameters. However, the linear_speed parameter in the command isn't mentioned, and the unit mentioned in the JSON Structure is 'meters' while in the sample ontology is 'meter'."] +Turn right and move forward for 5 seconds.,['{"action": "move", "params": {"linear_speed": "unspecified", "distance": "unspecified", "is_forward": true, "unit": "seconds"}}'];['2; The natural language command instructs to \'turn right\' and \'move forward\' simultaneously which corresponds to two different actions in JSON - \'rotate\' and \'move\'. However, in the provided JSON, only the "move" action is accounted for. There\'s no \'rotate\' action present in the JSON. The parameters mentioned in the \'move\' action JSON also do not correctly align with the natural language command, as no specific \'linear_speed\' or \'distance\' is mentioned in the command, yet \'distance\' has been included in the JSON. Furthermore, \'unit\' parameter in the JSON structure should not contain \'seconds\' value because \'seconds\' cannot be converted to \'meters\' by just multiplying or dividing by a constant. Hence, it significantly deviates from the sample ontology. Therefore, due to these errors and mismatches, the connection between the command and its corresponding JSON is weak.'] +Take a right turn and proceed ahead for a duration of 5 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2.5; The JSON structures partially match the command. The "rotate" JSON structure corresponds to the "Take a right turn" command. However, the command asks for a duration of movement, not a distance as stated in the "move" JSON structure. Because the units don\'t match, the conformity isn\'t perfect.'] +Make a right turn and continue moving straight for 5 seconds.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['4; The JSON structures almost perfectly match the command. The rotation is specified correctly with the appropriate parameters. However, in the move action, the distance parameter is measured in time (seconds) which is not exactly compatible with the ontology provided. The natural language command does not specify a speed, thus "1" is an acceptable arbitrary speed value.'] +Go right and advance for a period of 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "seconds"}}'];['2; While the command implies movement, which is consistent with the JSON structure\'s action "move", parameters used in the command such as "go right" and "for a period of 5 seconds" are not reflected in the sample keys of the ontology. The "unit" has been incorrectly given as "seconds" rather than a measure of distance. Thus, it only partially matches with the JSON structure.'] +Shift to the right and travel in a forward direction for 5 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}}'];['3; The action and direction of movement match with the JSON structure, but the time unit "seconds" is not in the sample ontology and distance is not correctly represented in the command or structure.'] +Move forward at a velocity of 0.3 meters per second for 10 meters.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The command almost perfectly matches with the JSON. However, "velocity" was interpreted as "linear_speed" hence the slight discrepancy.'] +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The JSON structure exactly matches with the natural language command, with all parameters being mentioned and their values correctly noted.'] +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command perfectly matches with the JSON structure, all required parameters are provided and the command falls within the example keys.'] +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];["5; The JSON command matches the natural language command perfectly with 'move' action and the right parameters of 'linear_speed', 'distance', 'is_forward' and 'unit'."] +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +Rotate counterclockwise by 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON structure correctly represents the "rotate" action with the correct parameters of angle and clockwise direction. However, the "angular_velocity" value doesn\'t match the command, but it\'s acceptable as the value wasn\'t specified in the command.'] +Rotate 120 degrees counterclockwise.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'];["5; The command 'Rotate 120 degrees counterclockwise' matches exactly with the provided JSON structure. The information in the JSON is conforming with the ontology and the command. 'rotate' is the action being performed, '120' is the correct 'angle' value, 'is_clockwise' is correctly set to 'false' for a counterclockwise rotation, and the 'unit' of the rotation angle is correctly specified as 'degrees'. Although 'angular_velocity' value is not specified in the command, the given value is acceptable. Therefore, the conformity score is 5."] +Perform a counterclockwise rotation of 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'];['5; The command exactly corresponds to the provided JSON structure - "rotate" action is correctly used, "angle" is specified to be 120 degrees and "is_clockwise" is correctly set to false indicating a counterclockwise rotation. The "angular_velocity" parameter, though not specified in the command, has a reasonable placeholder value in the JSON.'] +Turn left by 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command asks for a rotation (turn) operation. The JSON action is "rotate", which matches. The direction of rotation is left, which corresponds to a counter-clockwise direction, so "is_clockwise: false" is correct. The natural language command specifies an angle of 120 degrees, matching the JSON "angle": 120. The angular velocity is not specified in the natural language command, but it is given a reasonable value of 30. The unit is correctly given as degrees.'] +Rotate in the opposite direction by 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command matches the JSON structure for the most part. The "rotate" action and "angle" parameter is correctly interpreted. However, the "angular_velocity" parameter in the JSON doesn\'t match with the natural language command, as the speed of rotation is not specified in the command. While it is a reasonable value, it was not explicitly given in the command. Additionally, "opposite direction" isn\'t explicitly stated to be clockwise or counter-clockwise in the command, however, it\'s reasonable to assume that it means counter-clockwise, hence "is_clockwise" is false which is correct.'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command correctly matches the provided JSON structure. Although the "angular_velocity" value does not match, any reasonable JSON value is accepted if not specified in the command, according to the guidelines. Therefore, the conformity is exact.'] +Turn left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["4.5; The natural language command and the JSON structure match with the correct 'rotate' action and 'angle' parameter, but the 'angular_velocity' isn't mentioned in the command so although it's a reasonable value, it isn't a perfect match."] +Rotate anti-clockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command is almost completely matched with the JSON structure, with the exception of the "angular_velocity". The given command does not provide any information about the angular velocity, but since the JSON contains a plausible value (10), the JSON does theoretically convey the intent of the command. However, since it\'s not specified in the command, one point is deducted.'] +Rotate in the opposite direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command \'Rotate in the opposite direction by 90 degrees\' matches completely with the provided JSON structure. The command type "rotate" is present, "angle" is exactly 90 and "is_clockwise": false indicates the opposite direction of rotation as asked in the command. The \'angular_velocity\' and \'unit\' value are reasonable and fit within the context.'] +Rotate counter to the clockwise direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["5; The natural language command specifies an action and all corresponding parameters that match perfectly with the JSON structure. The action 'rotate' is correctly identified, and parameters 'angle' (90 degrees), 'is_clockwise' (false), and 'unit' (degrees) are explicitly mentioned. The undefined 'angular_velocity' in the natural language command is correctly substituted with a reasonable value (10). Therefore, JSON is exactly conforming to the command."] +Move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure matches the command "Move forward for 5 meters" for the most part, but the "linear_speed" parameter does not exactly conform to the natural language command, which doesn\'t specify a speed. The JSON is otherwise complete and correct, with "action" set to "move", "distance" set to 5, "is_forward" set to true, and "unit" set to "meter".'] +Proceed straight ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The natural language command perfectly matches with the JSON structure, all the parameters stated in the command (proceed straight ahead for a distance of 5 meters) are correctly implemented in the JSON command and the values also match. Even the linear speed parameter not mentioned in the natural command is correctly assumed as 1 in the JSON command which is a reasonable value.'] +Advance ahead by 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; The command is well represented in the JSON structure. The action of moving forward is specified as "move" with "is_forward" as true, and the distance to be covered is specified as 5 meters, both of which align with the natural language command. Although the linear speed is not mentioned in the natural language command, it\'s value in the JSON is reasonable.'] +Travel in a forward direction, covering a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];["5; The JSON perfectly matches the user's command. Every detail from the natural language command is appropriately captured in the JSON structure. The action is 'move', the direction is captured in 'is_forward' as true, the distance is captured as 5, and 'unit' as 'meter'."] +Move straight ahead and travel a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure matches the natural language command, however, the "linear_speed" parameter is not specified in the natural language command. The value "1" is reasonable but not specified, which costs a point.'] +Turn left and move forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure partially matches with the command. The action "move" and parameter "is_forward": true are correctly captured. However, the command "turn left" is not captured and "distance": 2 is misrepresented. The "distance" in JSON should correspond to actual distance, not time.'] +Proceed forward for 2 seconds after turning left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}} ', '{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["2; The natural language command indicates a rotate action (turning left) should occur first, however, in the provided JSON structures the move action is first. Additionally, the unit for the move action in the JSON structure is specified as seconds which doesn't conform with the usual distance units like meters in the sample ontology. The parameters angular_velocity and angle for the rotate action in JSON don't match the command as their exact values are not mentioned."] +After making a left turn, continue straight ahead for 2 seconds.,['{"action": "move", "params": {"linear_speed": "default", "distance": "default", "is_forward": true, "unit": "second"}}'];['1; The natural language command involves both rotation and movement actions. However, the provided JSON structure only implements the move action. The rotation or the "left turn" action is not represented in the JSON structure.'] +Take a left turn and then advance forward for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['1; The provided JSON structure does not match the natural language command because the command specifies a turn and a movement action while the JSON only represents a movement action. The JSON does not contain a direction (left or right) which is specified in the command. Therefore, the conformity score is low.'] +Rotate to the left and travel straight for 2 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];["3; The natural language command partially matches with the JSON structures. The 'rotate' action is present, and the direction ('is_clockwise': false) is correctly interpreted. However, the actual rotation angle is not specified. The 'move' action is present too, but in the JSON structure, the unit of 'distance' is interpreted as 'seconds', which doesn't make sense. There should be another parameter to indicate duration."] +Stop and wait.,['{"action": "", "params": {}}'];["0; The natural language command 'Stop and wait' cannot be translated to any of the provided JSON structures because none of them contains the required keys to perform this action."] +Cease and remain still.,['{}'];['0; The JSON structures provided primarily consist of movement and rotation commands. The natural language command to "Cease and remain still" does not have any corresponding action in the given JSON structures.'] +Halt and stay put.,[''];['0; The command does not correspond to any actions or parameters in the provided JSON structures.'] +Pause and remain stationary.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'];['0; The natural language command asks the robot to pause and remain stationary. However, the JSON structure is notifying the robot to move with a linear speed of 0 meters, which does not match with the command. The key "move" does not align with the command of remaining stationary.'] +Desist and await further instruction.,['{}'];['0; The natural language command does not match any JSON structure because it is requesting the action to cease and wait, which does not correspond to "go_to_goal", "move", or "rotate".'] +Move backward for 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'];['4; The provided JSON correctly executes the action "move" with appropriate parameters, including distance and unit. However, the "linear_speed" value in the JSON does not match exactly with the natural language command, which does not specify speed. Despite this discrepancy, the overall command and action structure fits the sample ontology, so the score is high but not perfect.'] +Go back a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false}}'];['4; The command somewhat matches the JSON structure, with the correct action being \'move\' and \'distance\' being 10. However, the command states to "go back" implying \'is_forward\': false, which is correctly given in the JSON, but \'linear_speed\' is not specified in the command, so it is assumed to be 1 in the JSON.'] +Retreat for a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Reverse your direction and travel 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'];['5; The JSON structure accurately represents the command given. The "move" action is used with "is_forward" set to false indicating a reversal of direction. The distance to travel is also indicated correctly as 10 meters.'] +Take 10 steps backward.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "steps"}}'];['4.5; The parameters are conform with the ontology and the values are reasonable, but the unit of distance ("steps") does not match the ontology\'s unit ("meter").'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 60, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4; The action type and parameters match. However, the "angular_velocity" value does not conform, as it is not mentioned in the natural language command and its value in JSON format seems unrealistically high for a rotation command.'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The command and the JSON structure exactly match. The action "rotate" and all parameters "angular_velocity", "angle", "is_clockwise", and "unit" are included and their values match the information provided in the command.'] +Rotate in a clockwise direction by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["4.5; The natural language command matches the JSON structure well, with all specified parameters ('rotate', 'clockwise', '180 degrees') clearly present in the JSON. However, the angular velocity is not mentioned in the command, hence the arbitrary value of 1 in the 'angular_velocity' in the JSON, although reasonable, results in a minor deviation from a perfect match."] +Turn by 180 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4.5; The natural language command matches the JSON apart from the "angular_velocity" key. The command does not specify the "angular_velocity", so the provided value in the JSON structure is accepted. However, given the "rotate" action being specified, the value is relatively high which could potentially influence the scoring.'] +Execute a clockwise rotation of 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['4.5; The action "rotate" is correctly used and the parameter "angle" and "is_clockwise" are correctly denoted in the JSON structure. Reduced half point because the angular velocity was specified in JSON but not in the natural language command.'] +Turn right and move forward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure partially matches the natural language command. The command "Turn right" is not reflected in the JSON and the command "move forward for 3 seconds" is represented, but the "linear_speed": 1 doesn\'t accurately reflect how far the movement will be in the specific time of 3 seconds.'] +Make a right turn and proceed forward for a duration of 3 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "is_forward": true, "duration": 3, "unit": "seconds"}}'];["3; The JSON structures partially match the natural language command. The rotate action is conform and correct but the move command in the natural language command does not specify the distance but uses time for motion's duration which is not present in the JSON command. Therefore, the duration parameter does not conform with the JSON structure."] +Take a right and continue moving straight ahead for a total of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command does not exactly match with the JSON command structure. The "rotate" action with "is_clockwise": true and "angle": 90(assuming a right turn to be 90 degrees) is missing in the JSON command, and it is also assuming the linear speed to be 1 without it being specified in the natural language command.'] +Rotate to the right and advance for a period of 3 seconds.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "seconds"}}'];["3; The natural language command mostly matches the JSON structure. However, the angular velocity for the rotation action isn't specified in the command and while there's an implied forward movement, the distance isn't mentioned in meters or marked as a unit in the JSON. The unit in JSON is given as 'seconds' which doesn't directly map with the sample ontology."] +Face towards the right and travel forward for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": "undetermined", "distance":"undetermined", "is_forward": true, "duration": 3, "orientation": "right"}}'];['0; The JSON structure does not match the sample ontology provided. The keys "duration" and "orientation" are not found in the sample ontology.'] +Go to the living room and stop.,['{"action": "go_to_goal", "params": {"location": "Living room"}}'];['4; The action in the JSON structure matches with command, but the command includes an additional action (stop) which is not accounted for in the JSON structure.'] +Proceed to the living room and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living room"}}}'];["5; Exactly conform. The command 'Proceed to the living room and come to a halt' matches exactly with the JSON structure provided where 'Action'= 'go_to_goal' and the 'location'= 'Living room'."] +Move to the living room and cease all movement.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];["4; The JSON structure represents the first part of the command 'move to the living room' well. However, the second part of the command 'cease all movement' is not represented in JSON format."] +Make your way to the living room and stand still.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living room"}}}'];['5; The command "Make your way to the living room and stand still." perfectly maps to the JSON structure {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living room"}}}. The "location"\'s value "Living room" in the JSON corresponds to "living room" in the command, and the action "go_to_goal" corresponds to "Make your way". The standing still part doesn\'t need a command because doing nothing is basically \'stand still\'.'] +Head to the living room and remain stationary.,['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];["5; The command perfectly matches with the JSON instruction to move to a specific location. In this case, the living room replaces kitchen as per the natural language command. So, the conformity is absolute. The stationary aspect of the command is a default state of the agent unless instructed otherwise and doesn't require a JSON statement."] +Move 2 meters to the left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['2; The movement action and the distance referenced in the command align with the JSON structure. However, the direction "to the left" is not reflected in the JSON, as it only indicates "is_forward", not a lateral direction. Additionally, the "linear_speed" value doesn\'t exist in the natural language command.'] +Shift your position by 2 meters towards the left.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": false, "unit": "meters"}}'];['1; Key parameters from the natural language command, such as turning or changing direction towards the left, are missing or mismatched in the JSON structure, although it correctly got the information about moving action and distance. However, "is_forward" is incorrectly mentioned as false where the command doesn\'t specify the direction as backward.'] +Change your location by 2 meters in a leftward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];["2; The direction of the movement is not captured accurately in the JSON command. The is_forward-key in 'move'-action does not specify left or right direction, it just signals about moving forward or backwards which is not requested in the natural language command. Also, linear_speed is mentioned as 1 in JSON, but according to the sample ontology should be 0.5. The distance and unit parameters match with the natural language command."] +Relocate yourself 2 meters to the left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['1; The direction \'left\' in the command can\'t be directly related to \'is_forward\' in the JSON structure. Instead, a "rotate" action could be inferred but no such action is explicitly requested in the command. The \'distance\' is correct though.'] +Move to the left by a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['3; Partially conform. The action \'move\' and the parameter \'distance\' with a value of 2 conform to the natural language command. However, the provided natural language command mentions a direction of movement - \'to the left\' - that is not represented in the JSON. Furthermore, the natural language command doesn\'t specify the linear speed for the movement, but there is a value for it in the JSON. Last, the command specifically says to "move to the left", however in the JSON, the "is_forward" is false, which may not necessarily mean moving to the left. Therefore, there is a conformity but it is partial.'] +Rotate counterclockwise by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4.5; Almost perfect conformity. The given natural language command correctly translates to the JSON structure provided. Objects such as action is "rotate", angle is 45 and unit is "degrees". However, \'angular_velocity\' is not specified in the natural command, and while it does accept any reasonable values, the "10" in this scenario may be a little too high for a normal rotational velocity. Therefore, it doesn\'t perfectly conform.'] +Turn left by 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command is perfectly matched with the JSON information; action is "rotate", angle is 45 and the unit is in "degrees". Though the angular_velocity is not specified in the natural language command it\'s mentioned as a reasonable value. The parameter is_clockwise\'s value is false which means a left rotation.'] +Execute a counterclockwise rotation of 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate anticlockwise by an angle of 45 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];["4; Almost conform. The natural language command matches the JSON structure, actions and parameters are correct. However, the value given for 'angular_velocity' in JSON is different from the unspecified value in the natural language command."] +Perform a 45-degree rotation in the counterclockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}}'];['4; The JSON mostly conforms to the command except for the angular_velocity which is not mentioned in the command. However, given the absence of this specific information, a reasonable angular velocity is provided.'] +Move forward at a speed of 0.5 meters per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The natural language command and the JSON information partially match. The command asks to move forward at a speed of 0.5 meters per second for 4 seconds, however, in the JSON information, instead of time, distance (2 meters) is used. The speed matches and the direction ("is_forward": true) is also implied in the natural language command, but the measure of how far to move (time vs distance) does not match the JSON information.'] +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];["5; The natural language command precisely corresponds with the JSON structure. It defines an action to 'move' with a velocity of 0.5 meters per second (it is also specified in JSON structure as 'linear_speed'). The forward direction is implicit in proceeding 'ahead', equivalent to 'is_forward':true. The duration of the move is not directly specified in the JSON structures so it is inferred from providing velocity and distance."] +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The command matches the "move" action from the keys but there is a slight mismatch in the parameters. The value of "distance" parameter in the JSON command is calculated as speed * time, while in natural language command, no explicit distance is mentioned. Also, the "unit" is incorrectly mentioned as "seconds" in JSON, it should be "meter".'] +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['3.5; The action and most of the parameters match with the natural language command, where "move", "linear speed", "is forward" and "unit" match with the command\'s action and request. However, the command mentions the time period while JSON has a "distance" parameter, calculating from speed and time mentioned in a command. So, this mismatch results in a partial conformity.'] +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];["4; The natural language command expresses a forward movement at a certain speed, which does match the action and linear_speed key in the JSON. But the command addresses neither 'distance' nor 'is_forward' in the natural language. It mentions time but it's not a parameter in the ontology."] +Turn left and move forward for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];["4; Partial conformity. The JSON representation matches the action of moving forward for a distance specified in the natural language command. However, the 'rotate' action commanded as 'Turn left' in the natural language command is not represented in JSON. The JSON only represents the 'move' action."] +Make a left turn and proceed straight ahead covering a distance of 7 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}}'];["3; While the JSON partially matches the command, specifically the moving part, the command's request of a left turn is not reflected in the JSON. In the ontology provided, a turn would be expressed with the 'rotate' action, but this is not included in the returned JSON. So, the command only partially matches the JSON information."] +Take a left turn and continue moving ahead, advancing 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}}'];['3; The JSON command corresponds to the action of moving forward for a certain distance which matches the natural language command. However, the natural language command also specifies a rotation (turning left) that does not have a corresponding JSON command. Additionally, the "linear_speed" value is mentioned in JSON while absent in natural language command.'] +Head to the left and travel straight for 7 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meters"}}'];['4; The natural language command "Head to the left and travel straight for 7 meters" partially matches JSON structure in terms of movement for a certain distance. The "move" action is present in the JSON and "distance" is correctly translated to "7 meters". However, part of the command, "head to the left", does not explicitly correspond to any key within the ontology.'] +Rotate in the left direction and proceed forward, covering a distance of 7 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meters"}}'];["4.5; The natural language command mostly conforms to the JSON structures provided. The 'rotate' action is present in the command and JSON, however, the 'angular_velocity' and 'angle' are differently evaluated. The 'move' action is also correctly interpreted, with all parameters accurately translated into the JSON. A slight deduction is made due to the discrepancy in the 'angular_velocity' and 'angle' parameters in the 'rotate' action."] +Stop and reverse direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; The natural language command is mostly aligned with the JSON structure. It commands to "Stop and reverse direction", which could imply stopping a forward motion ("is_forward": false) and then initiating a movement. However, the "move" action is not ideal as it doesn\'t specify \'stop\' before reversing. If there could be a "stop" action in the sample ontology, it will be a perfect match. Therefore, the score is 4 because the command is inferred rather than explicitly stated.'] +Come to a halt and begin moving in the opposite direction.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}}'];['2; The JSON structure correctly signals a movement action being invoked. However, the natural language command stipulates halting before moving in the opposite direction. The JSON representation only includes the latter part of this command so it is a partial match. Furthermore, the distance parameter should not be 0 as it implies no movement.'] +Cease forward motion and start moving backwards.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['4; The natural language command is well represented by the JSON structure. But there is no indication of the distance or speed at which the command should be executed in the natural language command. It is assumed to be 1 meter at a speed of 1.'] +Bring yourself to a stop and change your direction to the opposite way.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];['1; The JSON structure correctly interprets the "bring yourself to a stop" part of the command by using \'move\' as an action and setting \'linear_speed\' and \'distance\' to 0. However, it doesn\'t fully capture the "change your direction to the opposite way" portion of the command as there is no indication to show a change of direction in the JSON structure. A \'rotate\' action with an angle of 180 degrees could have been used but it isn\'t as there are no \'rotate\' action elements in the JSON.'] +Halt your movement and proceed in the opposite direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['5; The command refers to stopping the current action and moving in the opposite direction, i.e., not-forward. This is correctly specified in the given JSON structure - the motion\'s direction is given by "is_forward": false. The speed and distance parameters have been guessed as reasonable values since they weren\'t specified in the command, which is acceptable as per the instructions.'] +Move 3 meters to the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['3; The action matches but the command to "move to the right" does not translate exactly to "is_forward" in the JSON. Also, the "linear_speed" is not mentioned in the command but present in the JSON.'] +Shift 3 meters towards the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['2; The action in the natural language command is partially matched with the JSON structure. The distance parameter "3 meters" is correctly captured in the JSON. However, moving "towards the right" would more closely match with a rotation action, not just a linear movement. The "is_forward" parameter doesn\'t match with the command information. Task of converting direction to right or left into forward or backward is quite complex and possibly incorrect in many contexts.'] +Go 3 meters horizontally in the right direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The command corresponds almost exactly to the JSON structure. The command instructs to move a certain distance, which matches with the "action": "move" key. The specified distance is also matched. However, the direction ("right") in the command doesn\'t have a direct equivalent in the JSON structure where only "is_forward" key is present.'] +Change your position by moving 3 meters to the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['2; Partially conform. The natural language command instructs to "move 3 meters to the right" which match with the action "move" and the distance of 3 meters in the JSON. However, there is no specification about the direction of the movement (to the right) in the JSON structure.'] +Traverse a distance of 3 meters towards the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["2; The natural language command talks about moving in a particular direction (right) which is not translated into the JSON structure. Also, it doesn't specify the linear speed, however the JSON structure has a specific value for it."] +Rotate clockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];["4; Parameters in JSON are mostly matching the command and the 'angular_velocity' key is not mentioned in the natural language command but a reasonable value is accepted. However, the given value for 'angular_velocity' seems unrealistic given the small rotation of 60 degrees."] +Perform a clockwise rotation of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The command is asking for a clockwise rotation of 60 degrees, which directly matches with the JSON information. "angular_velocity" doesn\'t need a specific value in the command, so 1 is accepted.'] +Rotate 60 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command asks the system to rotate 60 degrees in a clockwise direction which matches with the JSON structure. However, in the JSON structure, the "angular_velocity" value is 1, which is not mentioned in the command. Despite this, the JSON structure carries out the given command effectively so the score would be 4.'] +Turn to the right by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];['4; The action and parameters match the command in terms of rotation, angle, unit, and direction. However, the "angular_velocity" is not specified in the command and the given value in the JSON (1) is thus arbitrary, which results in one point deduction.'] +Rotate to the right by an angle of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 60, "is_clockwise": true, "unit": "degrees"}}'];["4; The JSON structure correctly represents the requested action to rotate and it signifies the correct direction (right=clockwise) and the correct angle (60 degrees). But the given angular_velocity of 1.0 does not match to natural language command, as the command didn't specify the angular velocity."] +Turn right and move forward for 1 second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}}'];['2; The JSON partially conforms to the natural language command. The "move" action and "is_forward" key are correctly represented in the JSON. However, the natural language command specifies a rotation (turn right) that is not represented in the JSON. The "unit" is also incorrectly represented as "second" in the JSON as the original command does not specify any units for the move action.'] +Take a right turn and proceed straight ahead for 1 second.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['2; Partial match. The "rotate" action in the JSON object aligns with the command to "Take a right turn", and the fact that the rotation is specified as clockwise is correct. However, the value for "angle" should be 90 for a right turn, not 40. The "move" action is mentioned in the command "proceed straight ahead" and "is_forward" set to true conforms to this command. However, the command specifies "for 1 second", but this might not necessarily translate into a "distance" parameter in the JSON object, and "linear_speed", which wasn\'t mentioned in the command, has an arbitrary value of 1. The "unit" given in both JSON objects doesn\'t match with anything specified in the command.'] +Make a right turn and advance for 1 second.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "seconds"}}'];['5; Exactly conform. The commands correctly execute a right turn using the rotate action with an angle of 90 degrees clockwise, then advance straight ahead by moving with specified distance and speed in forward direction. The units are also appropriately designated.'] +Rotate to the right and move forward for 1 second.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "second"}}', '{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}}'];["3; Partially conform. The natural language command's rotation direction and movement is correctly represented in the JSON structures. However, the units of rotation are specified in the JSON as degrees while the command asks for a rotation in seconds. Additionally, the command does not specify the distance to move forward nor the linear speed, so the applied parameters don't strictly conform to the command."] +Go right and continue moving forward for 1 second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}}'];['3; The action "move" and parameters "is_forward" and "unit" match the natural language command. However, the values of "linear_speed" and "distance" don\'t correspond to the command, and the direction "right" from the command is not represented in the JSON structure.'] +Go to the bedroom and stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['3; The command "Go to the bedroom" fully matches with the first JSON structure, correctly specifying the action "go_to_goal" and parameter "location" with the value "Bedroom". However, "stop" is not represented in the JSON structures, hence, it cannot be verified.'] +Head to the bedroom and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['5; Exactly conform. The command \'Head to the bedroom\' corresponds perfectly with the JSON structure "go_to_goal" to location "Bedroom".'] +Make your way to the bedroom and cease all movement.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];["4; The command in natural language matches with the first JSON structure where the action is to 'go_to_goal' and the location is the 'Bedroom'. However, 'cease all movement' action does not exist in the sample keys. Hence, perfect conformity cannot be attained."] +Proceed to the bedroom and pause.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['3; Partially conform. The JSON structure correctly represents the action of moving towards a specific location (bedroom), however, there\'s no key or parameter that corresponds to the "pause" action mentioned in the natural language command.'] +Go to the bedroom and stand still.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['5; This natural language command exactly matches the JSON structure, where the action is to go to a certain location and the location specified is the "Bedroom".'] +Move backward for 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'];['4; Partially conform. The natural language command is correctly translated into the JSON structure, but the "linear_speed" value is not mentioned in the command and therefore should not be assumed as 1.'] +Go 8 meters in reverse.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The instruction in natural language perfectly matches the JSON information. The action "move" is accurately translated, and all parameters (linear_speed, distance, is_forward, unit) are correctly included and their values correctly set according to the instruction.'] +Travel 8 meters in the opposite direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'];["4.5; The natural language command closely conforms to the JSON structure. All elements are mentioned but the linear_speed value isn't specified in the natural language command."] +Retreat for a distance of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'];['4.5; The command almost matches completely with the provided JSON. There is only small difference as the linear_speed in the JSON is 1 and it is not mentioned in the command.'] +Reverse 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": false, "unit": "meter"}}'];['5; The natural language command perfectly matches the JSON structure. The action "move" is specified and also parameters such as "distance" and "is_forward" are also provided which align well with the sample JSON structure. The "linear_speed" value is not provided in the command but it has been assumed in the JSON which is acceptable as per the instructions.'] +Rotate counterclockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];["4.5; The JSON structure correctly mirrors the command to rotate in an anti-clockwise direction by 270 degrees. However, an angular velocity of 10 isn't provided in the natural language command, meaning the score cannot be perfect."] +Turn left by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['5; All action and parameter fields match correctly with the natural language command.'] +Rotate anti-clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4; Mostly conform. The action, angle, unit and direction of rotation match, however angular velocity value in the command is not specified, therefore any reasonable value in the JSON could be accepted. Here angular_velocity is set to 10 which is a reasonable value.'] +Rotate in the opposite direction by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];['4; The natural language command instructs to rotate in the opposite direction by 270 degrees which corresponds with the JSON structure for rotating: the action "rotate" matches, the "angle" matches with 270 and "unit" is correctly in "degrees". However, the "angular_velocity" in the JSON structure is specified as 10, but there\'s no information about it in the natural language command, hence the point deduction. The "is_clockwise" is correctly interpreted as false, as opposite direction typically means anti-clockwise.'] +Perform a 270-degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 90, "angle": 270, "is_clockwise": false, "unit": "degrees"}}'];["5; Exactly conform. The natural language command exactly matches the JSON structure, which details a counterclockwise rotation action of 270 degrees. The angular_velocity value doesn't need to match exactly as the natural language command does not specify it."] +Turn left and move forward for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure partially matches the command. The \'rotate\' action missing from the JSON while it is present in the command, as the command denotes a "turn left" before moving forward. \'Move\' action and \'is_forward\' parameter are correctly captured, but the \'distance\' value in JSON does not match with command. Here, duration (6 seconds) is confused with distance.', ''] +Go forward for 6 seconds after turning left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['2; The given JSON structure partially matches the natural language command. Although the action "move" and params like "is_forward" match the command of \'Go forward\', the parameters used do not correlate directly with the descriptor \'for 6 seconds\' mentioned in the command. Also, the command mentions \'turning left\' which signifies rotation but there is no JSON structure given for the rotation action.'] +Take a left turn and proceed straight for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['1; The JSON structure includes movement, which is mentioned in the command, but it entirely misses the left turn action. Furthermore, the command mentions the time duration ("6 seconds") of the movement, not the distance. But the JSON incorrectly interprets this as distance. The speed is also not mentioned in the command but is included in the JSON structure.'] +After turning left, continue moving forward for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "second"}}'];['4; The JSON partially conforms to the natural language command. The "move" action and the "is_forward" and "unit" parameters are accurately represented. However, the command\'s mention of "turning left" is not captured in the JSON structure, and the "distance" parameter\'s value is represented as a duration (6 seconds) rather than a spatial distance. Additionally, the "linear_speed" parameter is not specified in the command and is therefore arbitrary.'] +Make a left turn and move ahead for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "seconds"}}'];['3; The command corresponds to the "move" action in the sample keys and includes the correct parameters such as "linear_speed", "distance", "is_forward", and "unit". However, it does not encode the instruction to "Make a left turn" which should be mapped to the "rotate" action, with "is_clockwise" set to False. Therefore, the JSON partially matches the command.'] +Turn left and move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['3; The "move" action is correctly identified, but the JSON structure is missing the "rotate" action to capture the "Turn left" part of the command. Also, the assumed linear_speed value of 1 doesn\'t come from the original command. In addition, the rotation direction (left) is missing from the JSON. The distance and direction of movement is well captured.'] +Take a left turn and proceed ahead covering a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure is for the command to move forward a certain distance. However, the natural language command also asked to take a left turn, which is not represented in the JSON at all.'] +Make a left turn and continue moving straight, covering a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['1; The JSON command correctly has the action as \'move\', the \'is_forward\' param as True and the \'distance\' param as 5. However, the command to make a left turn is not present in the JSON, and "linear_speed" in JSON is 1 but not specified in the natural language command.'] +Go left and advance forward, traveling a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];['5; The natural language command matches perfectly with the JSON structure and all parameters were provided. The action is "move" with "is_forward" as true and a "distance" of 5 meters, which aligns with the command to "advance forward, traveling a distance of 5 meters". Although the "linear_speed" is not specified in the natural language command, a reasonable value of 1 is accepted in the JSON structure.'] +Execute a left turn and proceed straight, ensuring a distance of 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}', '', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2.5; The "rotate" JSON structure corresponds partially with the given command - the direction of rotation is specified as left in the command, which translates to "is_clockwise": false in the JSON structure. However, the angular velocity and angle in JSON don\'t have corresponding information on the command. On \'move\' action, the distance parameter matches the \'ensuring a distance of 5 meters\' part of the command, but the \'proceed straight\' does not specify a \'linear_speed" or \'is_forward\'. Therefore, the score is not full.'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command correctly corresponds to the "rotate" action in the JSON structure. The parameter "is_clockwise" is set to false because the command specifies a counterclockwise rotation. The "angle" parameter is accurately set to 90 degrees, as specified in the command.'] +Turn 90 degrees in the counterclockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command is about rotation and the JSON structure contains the exact action "rotate" with the parameters "angle" as 90, "is_clockwise" as false, and "unit" as "degrees". The "angular_velocity" is not specified in the command, but a reasonable value of 0 is accepted.'] +Rotate anti-clockwise at a 90-degree angle.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command and the JSON structure correspond nearly perfectly. The "rotate" action, "angle", "is_clockwise" and "unit" keys all fit the sample ontology. Any reasonable value for "angular_velocity" is acceptable so including 10 in the JSON is valid.'] +Spin to the left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["4.5; The JSON structure mostly matches with the natural language command. The angular_velocity is not specified in the natural language command so here any reasonable value in JSON is accepted (which is 1 in the given JSON). The only minor discrepancy is the 'spin' verb in the command is not exactly 'rotate' in JSON action but they mean the same in this context."] +Rotate in the counterclockwise direction, making a 90-degree turn.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4.5; The natural language command is almost exactly represented in the JSON structure. However, the "angular_velocity" is null in the JSON but not specified in the command, which has a minor impact on the conformity score.'] +Move backward for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "second"}}'];['3; The natural language command roughly matches the given JSON structure. However, the "move" action in the JSON script doesn\'t specify the direction of the movement (backward/forward), so it\'s slightly diverging from the natural language command. The unit in the natural language command is in time (seconds), not distance. So, the values are not perfectly matched as well.'] +Go in reverse for a duration of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['1; The JSON structure somewhat matches the command, as it involves a move action. However, "duration" of 3 seconds in the command does not directly correspond with "distance": 3 in the JSON structure. Also, the unit of "seconds" is not appropriate for distance.'] +Take a step back and continue for a total of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['4.5; The JSON structure conforms with the command, but the unit of "distance" is specified as "seconds" which is incorrect because "distance" should be measured in a spatial unit, not a temporal one. The "linear_speed" value was not specified in the natural language command, but the given value in JSON is reasonable.'] +Reverse your movement and maintain it for 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];["2; The natural language command is partially addressed in the JSON response - the 'is_forward' field is correctly set to 'false' to indicate reverse movement. However, the 'distance' field is incorrectly set to 3 seconds, this is an issue because the 'distance' and 'unit' fields are mismatched. The natural language command does not specify distance or linear_speed."] +Retreat for a period of 3 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "seconds"}}'];['2; The JSON structure correctly translates the command into a movement action and correctly interprets the direction as "not forward" (or backward). However, the translation of "3 seconds" into a distance parameter of "3" is incorrect as these are two different measurements - time vs distance. Therefore, the given JSON structure does not fully conform to the given command.'] +Turn right and move forward for 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'];['2; The JSON instruction carries out the "move forward for 10 meters" command correctly. However, it does not perform the "turn right" action from the original natural language command. Also, the "linear_speed" value is assumed, which is acceptable, but not the optimal situation. Therefore, the match between the command and the JSON structure is partial.'] +Proceed forward for 10 meters after making a right turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];["2; The JSON structure considers the command about moving forward but doesn't include the action of making a right turn before proceeding forward as mentioned in the natural language command. Therefore, it is only partially conforming to the original command."] +Take a right and continue moving ahead for a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];["4; The command to move ahead for a certain distance is well represented in the JSON structure. However, the part of natural command stating 'Take a right' corresponds to a rotation action, which has not been represented in the JSON. Thus, it is not fully conforming."] +Make a right turn and travel straight ahead for a total of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure partially matches with the natural language command. Though the command asks for a right turn, the corresponding JSON action and parameters for rotation ("action": "rotate") are not included in the JSON output. Only the "go straight for 10 meters" part of the command matches with the "action": "move" JSON structure.'] +After turning right, advance forward and cover a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meters"}}'];['3; The JSON structure partially matches with the natural language command. However, the "rotate" action mentioned in the natural language command ("turning right") is not represented in the JSON. The "move" action and its parameters in the JSON correctly represent the "advance forward and cover a distance of 10 meters" part of the command.'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Perform a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command accurately describes a "rotate" action with a 180-degree clockwise rotation, which matches exactly with the JSON structure provided, including the action type, angle of rotation, rotational direction, and the unit of measurement.'] +Turn in a clockwise direction by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": undefined, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Execute a rotation of 180 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 30, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["5; The natural language command exactly conforms to the provided JSON structure. The action is correctly identified as 'rotate' and the parameters - angle, is_clockwise, and unit - are correctly identified and valued. Although the angular_velocity value is not mentioned in the natural language command, its presence in the JSON structure doesn't affect the conformity score, as any reasonable value is accepted if the parameter value is not specified in the command."] +Rotate by 180 degrees, following the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The JSON structure matches perfectly with the provided natural language command of rotating in the clockwise direction. The parameters such as angle, unit and is_clockwise which were specified in the command are included in the corresponding JSON structure. Though the angular_velocity was not specified in the command, the value given in the JSON is accepted as it is a reasonable value.'] +Move forward at a speed of 0.5 meters per second for 4 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The natural language command is partially matching with the given JSON. The action "move" is correctly matched, and the parameters "linear_speed" and "unit" are correctly interpreted as 0.5 and "meter" respectively. However, the command "for 4 seconds" is not captured in the JSON structure. "distance" parameter doesn\'t match with the instruction but it could be computed from speed and time if time was in the ontology. Plus, the "is_forward" parameter is correct but not explicitly stated in the natural language command.'] +Go ahead for 4 seconds at a velocity of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The natural language command matches very well with the JSON structure, with every aspect of the command being represented in the JSON command. The only detail missing is the time of 4 seconds, which is not explicitly represented in the JSON structure. Besides, the distance calculated is reasonnable.'] +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The command is specifying a linear speed which accurately matches the "linear_speed" key in the JSON structure. However, the requirement for the move action in JSON structure has "distance" parameter instead of duration. The assistant provided a reasonable estimation of the "distance" parameter by multiplying the speed and time. Although technically correct, it\'s not a perfect match with the natural language command.'] +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];['4; The natural language command is correctly converted to the JSON structure. The values of parameters such as linear_speed and is_forward match exactly, and the calculated distance (speed*time = 0.5*4 = 2 meters) is reasonable. However, as the command does not specify units for speed or distance, these are assumed to be "meter", which does conform with the ontology. It\'s only not exactly correct because units are inferred, not explicitly stated.'] +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];["5; Exactly conform. The natural language command information precisely matches the given JSON structure. The linear speed is correctly identified as 0.5, the direction is forward by default, and the unit is meter. The distance couldn't be defined in the command but '2' (0.5 m/s * 4 s) can be assumed as it describes a 4 second move with the speed of 0.5 m/s."] +Turn left and move backward for 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meters"}}'];['2; The given JSON structure only partially matches the command. While the command to "move" and the information related to "distance", "is_forward", and "unit" is present, the command to "rotate" or "turn left" isn\'t represented in the given JSON structure.'] +Take a left turn and proceed backwards for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['2; Although the JSON structure incorporates the correct action of \'move\' and includes parameters such as \'distance\':2, \'is_forward\': False, \'unit\': \'meter\', the parameter \'linear_speed\': 1 does not exist in the natural language command. Additionally, the JSON structure does not represent the command "Take a left turn" mentioned in the natural language command. Consequently, the JSON information does not entirely match the natural language command.'] +Make a left turn and travel in reverse for a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['1; The natural language command mentions a "left turn" which corresponds to the "rotate" action in ontology, however, the provided JSON only interprets the "move" action and ignores the "rotate" action.'] +Rotate left and proceed in reverse for a total distance of 2 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meters"}}'];['4; Mostly conform. The command is correctly translated into two JSON structures corresponding to the "rotate" and "move" actions. The values for "angular_velocity" and "linear_speed" in the JSON don\'t match with the command, but no exact values are specified in the command, so any reasonable value is accepted. The value for "angle" in the rotation action JSON is 90, which implies a right turn, not left. However, "is_clockwise" is set to false, which could compensate for this misunderstanding by implying a counter-clockwise, or left, rotation.'] +Shift to the left and move backwards covering a distance of 2 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4; The JSON structure matches the natural language command, including the "move" action and related parameters such as "distance" but "is_forward" is not correct, as the command suggests moving "backwards" which would indicate a false value. Also, the command \'Shift to the left\' is not represented in the provided JSON structure.'] +Move forward for 7 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];['2; The natural language command mentions moving forward for a time duration (7 seconds) while JSON command describes a structured move command including speed, distance, direction, and unit. But in the JSON structure, unit refers to a spatial measurement (meter), not a time measurement (second). There is a partial match, but the specific directive (time duration) is not perfectly aligned with JSON information.'] +Proceed ahead for a duration of 7 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];["2; The action in the JSON structure matches the command, but the parameters in the JSON structure do not correspond perfectly with the natural language command. the natural language is referring to time in seconds, not distance, which doesn't align with the keys in the JSON structure."] +Advance for a period of 7 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];['2; Although the command is about moving, the parameters do not match accurately. The given JSON structure requires parameters such as "distance", "linear_speed" and "is_forward" for movement. Here, the command mentions about moving for a specific time (7 seconds) which doesn\'t align correctly with "distance" or "linear_speed". Therefore, using a "unit" of "seconds" is not conforming to the \'distance\' parameter expected in the JSON structure which is usually in spatial units not temporal.'] +Keep moving forward for 7 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];["3; Although the natural language command talks about moving forward for a certain time duration, and the JSON structure also describes a move action, the parameters don't completely match. In the command, the duration of movement is specified, but in the JSON, it's the distance to be covered and the unit used is distance-based (meter) not time-based (seconds). So the command partially conforms to the JSON structure."] +Continue ahead for a total of 7 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "seconds"}}'];['1; The JSON structure does depict a "move" action, however, the parameters do not match the attributes mentioned in the natural language command. The command talks about moving ahead for 7 seconds, but JSON structure defines a distance rather than a time duration, and it uses incorrect unit of measurement which should be \'second\' not \'seconds\'.'] +Rotate counterclockwise by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4; The command is correctly represented by the JSON structure although the "angular_velocity" value is not explicitly specified in the command.'] +Turn left by an angle of 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 0, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4.5; Almost exact match. The command has been aptly understood and converted to JSON. However, the "angular_velocity" value is set to 0 in the JSON structure and should ideally have been any value given the omission in the natural language command.'] +Rotate anticlockwise by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];["4; The natural language command matches with the JSON command in terms of action and all parameters. However, the angular velocity value in JSON (10) is arbitrary as the natural language command doesn't specify it. The score is not a 5 because while the JSON does have a plausible value for the parameter, it doesn't exactly conform to the command."] +Rotate in the opposite direction by 30 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4; The command "Rotate in the opposite direction by 30 degrees" conforms with the JSON structure provided. The action "rotate", the angle of 30 and unit "degree" are all clearly specified. The sample indicates a precedence for boolean values in setting rotation direction and conform to this by interpreting "opposite direction" as "is_clockwise": false. However, the specific angular_velocity parameter isn\'t stated in the natural language command, hence the lower score.'] +Make a 30 degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}}'];['4.5; Almost all keys match to the sample ontology but the "angular_velocity" value makes less sense in the given command.'] +Move backward at a speed of 1 meter per second for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'];['4; The command partially matches the JSON structure. Although the direction as "backward" is incorrectly represented as "is_forward": false (it should be -1), the action "move" matches and parameters "linear_speed" and "unit" also match. The term "seconds" as a unit isn\'t in the keys of the ontology.'] +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}}'];['5; The command perfectly matches with the JSON structure. The action "move" is correct, "linear_speed" is given as 1, "distance" is 6, "is_forward" is correctly identified as false and "unit" is "meter".'] +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'];['5; The natural language command is perfectly translated into the JSON structure. The action "move" aligns well and all parameters "linear_speed", "distance", "is_forward", and "unit" hold consistent values. Going in the opposite direction implies not going forward, hence "is_forward" is rightly set to false.'] +Travel backwards for 6 seconds at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'];["4; The JSON structure matches the natural language command partially. The 'distance' field in the JSON is set to 6, however in the context of the command this is likely referring to 'time' and not 'distance'. There also isn't a key in the sample ontology for specifying the direction of travel (backwards/forwards), since the 'is_forward' key is not in the sample set and is inferred from the natural language command. This makes the command partial conforming."] +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "seconds"}}'];["4; The natural language command matches with the JSON structure but there's a mismatch in 'unit'. The command specifies the duration of movement in seconds, but 'unit' is given as 'meter' in the JSON structure. It should be 'seconds' to match the command."] +Turn right and move forward for 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'];['2; The JSON structure includes the key for the action "move" which matches the command "move forward for 8 meters" but does not include the action "rotate" which is indicated by the command "turn right". Therefore, only a part of the command is represented in the JSON structure.'] +Proceed for 8 meters after taking a right turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meters"}}'];['2; The JSON structure partially conforms to the natural language command. The command involves both moving and rotating, the JSON structure only describes the move command, while missing the rotation (turn) command. The commands are present in the sample ontology, but are not fully represented in the provided JSON.'] +Take a right and continue straight ahead for a distance of 8 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}}'];['4; The action and parameters partially conform. The "move" action and distance parameters are clearly stated in the natural language command. However, the specific direction of turning right mentioned in the command is not represented in the JSON structure. The JSON also added an arbitrary "linear_speed" parameter that wasn\'t mentioned in the command.'] +Make a right turn and then proceed ahead for 8 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform.'] +After turning right, cover a distance of 8 meters by moving forward.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meters"}}'];["4; The action 'move' and parameters 'distance', 'is_forward', and 'unit' from the natural language command match the JSON's keys and values. However, the command 'After turning right' is not expressed in the JSON command."] +Rotate clockwise by 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Turn 270 degrees to the right.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The text command correctly specifies to perform a rotation action, with the degree of rotation and the direction matching the provided JSON structure. The angular_velocity parameter is implicitly allowed to take any value and there are no contradictory or missing key-value pairs.'] +Turn three-quarters of a full rotation to the right.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Perform a clockwise rotation of 270 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['4.75; The natural language command translates to the JSON structure accurately except the "angular_velocity". The natural language command does not specify the "angular_velocity", however, the JSON structure has a value for it which is acceptable. But the value of 10 seems a bit unreasonable for angular velocity, hence the slight deduction, otherwise it\'s a near-perfect match.'] +Rotate in the clockwise direction, making a 270-degree turn.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": true, "unit": "degrees"}}'];['5; The JSON structure exactly conforms to the natural language command. The action "rotate" and all the parameters including "angular_velocity", "angle", "is_clockwise", and "unit" are properly mentioned and the values provided in the JSON are reasonable with respect to the command "Rotate in the clockwise direction, making a 270-degree turn".'] +Move forward and then immediately stop.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}}'];['4; There is a matching "move" action in the natural language command and the "move" action in the JSON structure. The "is_forward" key is matching the forward command. However, the word \'immediately\' should mean that distance is very minimal and not zero, and the same for linear_speed. Therefore, it\'s mostly but not exactly conforming.'] +Proceed forward and promptly come to a halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The command is mostly conform to the given JSON structure. The action of moving forward is considered and parameters for "move" action are present. But The command does not specify how promptly should the halt be, so it is not clear how "promptly" translates into the given JSON parameters.'] +Advance and instantaneously cease movement.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true}}'];['4; Although the command "Advance and instantaneously cease movement." corresponds to the action of moving with the parameters, the distance and linear_speed values in the JSON are not precisely correct as they do not translate the element of momentarily moving before ceasing. However, the action is still depicted, hence the score of 4.'] +Go forward and abruptly pause.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];["4; The command 'Go forward and abruptly pause.' is partially converted into the provided JSON structure. The 'move' action and parameters 'linear_speed', 'distance', 'is_forward', and 'unit' match with the action and params given in the JSON. However, 'abruptly pause' is not represented in the structure."] +Move ahead and promptly end motion.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}'];['4; The JSON correctly represents the action "move" from the command, and it is correctly formatted with a "linear_speed", "distance", a boolean for "is_forward", and a "unit" of "meter". However, the natural language command does not specifically mention these parameters and their values, hence a perfect match can\'t be identified. "Promptly end motion" also isn\'t specifically represented in the JSON.'] +Turn left and move backward for 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['2; The natural language command includes instructions to turn (rotate), which are not represented in the JSON structure. Additionally, the linear_speed in the JSON does not have a corresponding value mentioned in the natural language command; however, it still conforms due to the instruction for a reasonable value.'] +Make a left turn and proceed backwards for a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['2; The JSON structure only includes the "move" action but does not include the "rotate" action required to make the left turn specified in the natural language command. The aspects of the "move" action are correct with the direction being backwards and the distance being 4 meters. However, the JSON structure has a "linear_speed" of 1 which is not specified in the command.'] +Go in the opposite direction and turn to the left, covering a distance of 4 meters.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 4, "is_forward": false, "unit": "meters"}}'];['3; The natural language command to move in the opposite direction accurately matches the JSON structure for the "move" action, with the parameters "distance" and "is_forward" being accurately represented. However, the command to "turn to the left" isn\'t converted to a "rotate" action in JSON, which should be included for a higher conformity score. Also, the "linear_speed" parameter in JSON is an arbitrary value, it is not mentioned in the natural language command.'] +Rotate to your left and travel in the reverse direction, moving 4 meters behind.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": false, "unit":"degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meters"}}'];["4; The natural language command is almost perfectly represented in the two JSON structures. The only detail unspecified in the command is 'angular_velocity', and any reasonable value for that is accepted. So, the conformity score is 4 as the JSON is almost exactly conforming."] +Head left and travel in reverse for a total of 4 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}}'];['4; The command is perfectly matched with the \'move\' action in JSON, but the "Head left" part points to a rotation action which is missing in provided JSON structure.'] +Move forward for 10 seconds at a speed of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];['1; The natural language command to "Move forward for 10 seconds at a speed of 0.3 meters per second" partially matches with the provided JSON structure. The "action": "move" and "params":"linear_speed" match, as well as the "is_forward": true (implicitly derived from \'move forward\' in command). However, there is no parameter in the JSON structure that can express the time intervals mentioned in the command and the "distance" parameter does not match with the provided JSON as its value has been arbitrarily assigned as 3, while no specific distance is mentioned in the command.'] +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; Most keys and values match correctly, but time duration is not translated into a distance parameter in the JSON structure, instead, a fixed value is given as distance.'] +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];['4; The JSON structure mostly matches with the natural language command. However, the calculation for distance is not explicitly mentioned in the natural language command but has been reasonably assumed in the JSON structure as the product of speed and time (0.3m/s * 10s = 3m). Therefore, it is not an exact match but a very close one.'] +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "seconds"}}'];['2; The action "move" and "linear_speed" parameter match, but the "distance" should be equivalent to the speed multiplied by time and "unit" is mentioned as "seconds" not "meter" in JSON. Moreover, the parameter "is_forward" is true by default but not mentioned in the command.'] +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.,['{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}}'];["2; Although the command and the JSON structure both are about moving, the values in the JSON do not match with the command. The distance is not given as 10 seconds in the command, it's about speed and time where speed is 0.3 m/s for a duration of 10 seconds. It's not straightforward to relate it to the JSON without an explicit conversion. Moreover, the 'duration' parameter is absent in the JSON structure."] +Rotate counterclockwise by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['4.5; The JSON matches mostly with the command - The action is correct ("rotate") as well as "angle" and "unit" parameters. However, "is_clockwise" parameter correctly represents the command as false for counterclockwise rotation. Angular velocity is 0.35 according to the sample ontology, but in JSON its 10 which isn\'t specified in the command and considered as a reasonable value. Therefore, there is a slight mismatch.'] +Turn left by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform.'] +Rotate in the opposite direction by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];["4; The natural language command matches the JSON structure very well. However, the 'angular_velocity' value is not specified in the natural language command, but it is specified as '10' in the JSON. This mismatch in the values for 'angular_velocity' is the cause of the missing point."] +Make a counterclockwise rotation of 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];['5; The command requires a counterclockwise rotation with an angle of 60 degrees. In the JSON message, the action is correctly mentioned as "rotate" and the "params" key correctly includes the "angle" of 60. "is_clockwise" is set as false, which is the inverse of counterclockwise. Therefore it perfectly matches with the command. Angular velocity is not specified in the sentence, so any reasonable value in the JSON like 10 is accepted.'] +Rotate leftwards by 60 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}'];["5; Even though the angular_velocity value doesn't match exactly, it is not specified in the natural language command therefore any reasonable value in the JSON is accepted. The action is correctly classified as rotate, and the angle is correctly identified, as well as the direction (false represents leftward/counter-clockwise rotation)."] +Move backward and then immediately stop.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];["3; The provided JSON structure has partial conformity with the natural language command 'Move backward and then immediately stop.'. The action type 'move' and parameter 'is_forward' set to false correspond well to the 'move backward' portion of the command. However, the natural language command's 'stop' action is not represented in the JSON structure."] +Reverse and come to a sudden halt.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; Partially Conform. The command \'reverse\' was translated perfectly into the corresponding JSON command with "action": "move" and "is_forward": false which implies moving backwards or reversing. However, \'come to a sudden halt\' was not captured in the JSON structure, hence, it does not fully conform to the given natural language command.'] +Go in reverse and abruptly cease.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3.5; The JSON structure correctly interprets the command to move in reverse, but it does not account for the command to "abruptly cease."'] +Back up and instantly come to a standstill.,['{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false}}'];['2; The natural language command implies moving backwards (`"is_forward": false`) but the JSON structure includes both a stopping action (`"linear_speed": 0`) and unspecified distance (`"distance": 0`). However, the natural language command does not specify any distance to be backed up, which doesn\'t fully correspond to the JSON. Also, "instantly come to a standstill" would require an action that\'s missing from this JSON.'] +Move backwards and promptly come to a stop.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}'];['3; Partial conformity. Although the natural command implies a movement, the direction "backwards" and the action "stop" are not clearly described in the JSON structure. However, the "move" action and "is_forward": false attribute is correctly understood. The distance and linear speed parameters are also not specified in the natural language command, but they are accepted as reasonable values.'] +Turn right and move forward for 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'];['3; The JSON structure partially matches the natural language command. It correctly represents the moving forward for 6 meters part but ignores the "Turn right" command.'] +Make a right turn and proceed straight ahead for a distance of 6 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit":"meter"}}'];['5; The natural language command perfectly corresponds with the obtained JSON structures. The action "rotate" is represented with a justified "is_clockwise" set to True indicating a right turn; "angle" doesn\'t specify the value in command so value in JSON is fine too. The action "move" is represented with "distance" as 6 and "is_forward" as True which represents the movement straight ahead for a distance. The "linear_speed" in the command isn\'t specified so the value in JSON is acceptable.'] +Go to your right and continue moving forward for a total of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'];['1; The command calls for both a rotation (turning to the right) and a movement (going forward for 6 meters), but the JSON structure only includes the "move" action and does not include the "rotate" action. The direction of the movement (forward) and the distance (6 meters) does matches the JSON, but the "linear_speed" parameter does not match the command, as no specific speed was requested.'] +Take a right turn and advance ahead, covering a distance of 6 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure captures the command to move forward, but does not include an action to take a right turn as indicated in the natural language command.'] +Head towards the right and maintain a straight path for 6 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}'];["4; The direction 'right' from the original command is not represented in the JSON structure, but all other details are correctly translated with acceptable values."] +Rotate clockwise by 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command exactly matches the JSON information and its conformity with the keys of the sample ontology since all the keys are correctly used and the parameter values in the JSON structure are reasonable.'] +Turn 120 degrees in a clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Move in a clockwise rotation by 120 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 120, "is_clockwise": true, "unit": "degrees"}}'];['4.5; The command matches the action "rotate" and parameters like "angle", "is_clockwise" and "unit". However, "angular_velocity" value isn\'t specified in the command, although its presence in the JSON with some value doesn\'t violate the rules.'] +Adjust the rotation by 120 degrees in a clockwise manner.,['{"action": "rotate", "params": {"angular_velocity": 120, "angle": 120, "is_clockwise": true, "unit": "degrees"}}'];["4; The JSON is mostly conforming to the natural language command. However, the value of the angular_velocity shouldn't necessarily match with the angle's value. Other than that, values and keys fit perfectly to the command."] +Execute a 120-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": true, "unit": "degrees"}}'];["5; The natural language command and JSON structure are matching perfectly. The 'angle' and 'is_clockwise' parameters are correctly provided and since the 'angular_velocity' is unspecified in the command, it can take any reasonable value in the JSON."] +Move forward and then backward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "meter"}}'];['4.5; The natural language command is matched with the JSON information as the JSON structures provide commands for moving forward and backward. However, the "linear_speed" parameter value is not specified in the natural language command. The value 1 has been added by assumption, which is reasonable. Hence, the conformity score is 4.5.'] +Proceed ahead and then return in reverse for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "meter"}}'];['3; The natural language command indicates a forward movement first, but the JSON structure only includes the reverse movement. The distance specified and units match correctly in the command and JSON.'] +Advance forward and then retract for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];["2; Partially conform. The JSON structure captures the action of moving (advance forward) from the command. The distance of 5 meters is also captured correctly. However, the action of 'retract' in the command is not represented in the JSON structure. The linear_speed is also not specified in the natural language command, so the value provided in the JSON is acceptable."] +Go straight ahead and then move backward covering a span of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": false, "unit": "meter"}}'];['4; The command requires the robot to "Go straight ahead" initially which is not accounted for in the JSON structure. However, the command to "move backward covering a span of 5 meters" is accurately represented in the given JSON structure.'] +Propel forward and then reverse, covering a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The command corresponds to the structure of the JSON, the "action" is to move and the "params" keys match. However, the JSON structure does not include reversing or an is_forward key value set to false which is requested in the command.'] +Move forward for 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The natural language command exactly matches and conforms with the JSON structure, all values are specified and are properly reflected in the JSON.'] +Proceed straight for a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command \'Proceed straight for a distance of 10 meters.\' is perfectly expressed in the JSON structure. The action "move" is mentioned with the parameters showing that the unit is in "meter", the distance is 10, and the direction is forward is marked as True. Even though the linear_speed value was not specified, it has a reasonable value assigned in the JSON which makes this scoring perfectly conforming.'] +Advance ahead by 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The natural language command exactly matches the JSON structure. The action "move" is correctly used and all the parameters ("linear_speed", "distance", "is_forward", "unit") are provided and their values are reasonable.'] +Go straight ahead covering a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": null, "distance": 10, "is_forward": true, "unit": "meter"}}'];['5; The JSON structure perfectly matches the natural language command with the "action" set as "move", "is_forward" is true implying going straight, "distance" is 10, and "unit" as "meter". The "linear_speed" is not specified in the command, but is set to null in the JSON, which is an acceptable value.'] +Travel in a forward direction for 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['4; The values for "linear_speed" and "is_forward" keys are not specified in the natural language command, but the provided values in JSON are reasonable. The "distance" value and "action" value match perfectly with the command.'] +Turn left and move forward for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}}'];["2; The movement action is partially conform but the direction of turning is not included in the JSON, which should have been included as part of a 'rotate' action."] +Make a left turn and proceed ahead for a distance of 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];["2; Justification: The natural language command involves both rotation (turning left) and linear movement (proceed ahead), but the provided JSON string only represents the 'move' action. The 'rotate' action with 'is_clockwise': False (indicating a left turn) is missing in the JSON, hence the relatively low score."] +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The JSON structures perfectly corresponds to the natural language command. The rotation command involves "left" rotation which is correctly represented as `is_clockwise: false` and then the "move" straight ahead for 5 meters is also accurately represented in the JSON.'] +Take a leftward turn and advance for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['2; The natural language command involves two actions, a turn and a movement, but only the movement has been represented in the provided JSON structure. Even if incomplete, the "move" action JSON is well represented with valid parameters.'] +Face left and go straight for 5 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}'];['1; The JSON structure includes the expected action "move" and parameters such as "distance", "is_forward", and "unit". However, the natural language command also includes directional information ("Face left") that isn\'t represented in the JSON structure. Morever, "linear_speed" value is different than expected from the natural language command.'] +Rotate counterclockwise by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command specifies an "rotate" action which matches with the JSON provided. The direction of rotation, the angle and the units ("degrees") are also consistent between the command and the JSON. Although the angular_velocity isn\'t specified in the command, as per guidelines, any reasonable value in the JSON is accepted hence 10 is acceptable. Therefore, the natural language command and the JSON structure conform exactly.'] +Rotate in an anticlockwise direction by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The natural language command perfectly matches with the JSON structure. The action ("rotate") and the parameters ("angle" = 90, "is_clockwise" = false, "unit" = "degrees") match up. There\'s no exact match for "angular_velocity" but the given value conforms to the requirements.'] +Perform a 90-degree counterclockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command wants a 90 degrees counterclockwise rotation which matches exactly with the JSON structure\'s action of rotation with an angle of 90, and "is_clockwise" set to false (indicating a counterclockwise rotation). The "angular_velocity" value doesn\'t need to match exactly as per the guidance.'] +Turn left by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["5; Exactly conform. The natural language command exactly matches the JSON structure. The action 'rotate' and parameters 'angle' with value 90, 'is_clockwise' with value false, 'unit' with value 'degrees' match perfectly. The 'angular_velocity' doesn't have a specific value in the command, but the value provided in the JSON is reasonable."] +Anti-rotate by 90 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; The command can be interpreted as asking for a rotation action, which is exactly what is reflected in the JSON structure. The direction (anti-clockwise), angle (90 degrees) and unit (degrees) all match with the command. Although the "angular_velocity" value is different, it\'s not specified in the natural language command, so this is an acceptable value.'] +Move backward for 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];['4; Almost conform. Although the command "Move backward for 3 meters" was well interpreted in the JSON in terms of distance, direction and unit, the "linear_speed" was set to 1 not 0.5 (from the sample), and it is not mentioned in the natural language command, which reduces the conformity score.'] +Go in reverse for a distance of 3 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; All items of the natural language command have been represented in the JSON structure. The forwarding movement being false indicates a reverse move, and 3 meters has been accounted for as well.'] +Retreat by 3 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4; The action and parameters mostly match the natural language command, but it is not specified in the command whether the robot is to move at a linear speed of 0.5. The robot is accurately moving backwards, as opposed to forwards, hence it is a 'retreat'. But this could be a little subjective without the natural text explicitly mentioning moving 'slowly' or using a speed reference."] +Step back 3 meters.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform. The command matches the action "move" which is present in the JSON structure. All parameters ("linear_speed", "distance", "is_forward", "unit") are provided in the command or can be reasonably inferred (as in the case of "linear_speed"). The direction specified in the command "step back" correctly corresponds to "is_forward": false in the JSON.'] +Reverse direction and travel 3 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": false, "unit": "meter"}}'];["4; The natural language command nearly conforms to the JSON structure. The action of reversing and moving is correctly interpreted in the JSON output, although the exact 'linear_speed' is not specified in the command, its selection as 1 is reasonable. However, since the direction of motion is specified as reverse, the 'is_forward' parameter should ideally be set to false. The 'distance' and 'unit' parameters correctly follow the command."] +Turn right and move forward at 0.5 m/s for 20 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true}}'];['3; The natural language command matches with the action type "move" and "linear_speed" of 0.5 in the JSON structure. However, the duration (20 seconds) mentioned in the command does not match with any parameter in the JSON. The distance value and the parameter "is_forward" was correct. The "rotate" action was not represented in the provided JSON.'] +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];['2; The natural language command includes actions for both moving and turning, however the JSON structure only represents the moving action. Additionally, the distance parameter in the JSON does not match with the command which specifies the movement in terms of time not distance.'] +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}'];['3; The natural language command includes an action ("travel forward") and parameters ("velocity of 0.5 m/s" and "for 20 seconds") that are present in the "move" JSON structure, but the parameter "distance: 10" in the JSON does not match the instruction "for 20 seconds" in the natural language command. Also, the natural language command includes "After making a right turn" but there is no corresponding "rotate" JSON.'] +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meters"}}'];["4; The natural language command partially matches with the JSON structures in terms of actions (rotate and move). However, the rotation parameters and moving distance do not completely match. In the command, the specific degrees of rotation isn't mentioned, a standard 90 degrees for a right turn is assumed in the JSON which is acceptable. The move action in the command specifies the duration (20 seconds) but in JSON, it is represented with distance. It is clear that the command wants the entity to move forward, and although a specific distance isn't mentioned, an estimation is used in the JSON structure which is reasonable."] +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure partially matches the natural language command. The "move" action, "linear_speed", "is_forward", and "unit" keys are correctly represented. However, the "distance" key in JSON doesn\'t match the command. Also, there is no JSON representation for the turning action mentioned in the command.'] +Go to the living room and stop.,['{"action": "go_to_goal", "params": {"location": "Living Room"}}'];['5; The natural language command perfectly matches the JSON structure. The action of "go_to_goal" and the location parameter of "Living Room" align correctly with the given command to go to the Living Room. The command to stop doesn\'t have a corresponding JSON structure, but doesn\'t detract from the matching conformity.'] +Please proceed to the living room and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['5; The natural language command matches exactly with the JSON structure. The action "go_to_goal" and location value "Living Room" are accurately represented in the JSON ontology.'] +Make your way to the living room and cease movement.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];['4; The action "go_to_goal" and the type "str" match the command structure. The value "Living Room" correctly conforms with the content of the command. However, there\'s no direct representation of "cease movement" in the provided JSON structure which may need a separate action key-value pair.'] +Head over to the living room and pause.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "living room"}}}'];['2; The natural language command is somewhat consistent with the JSON structure. The action "go_to_goal" and the location "living room" matches with the provided command. However, the command also includes an additional task "pause" which is not represented in the JSON structure.'] +Walk into the living room and stand still.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}}}'];["5; Exactly conform. The natural language command specifies going to a location (into the living room) which matches perfectly with the JSON's action and parameters (going to a specific location, in this case, the living room)."] +Move forward for 2 seconds at a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The command mostly matches with the JSON instruction. However, the "unit" in JSON is described in "seconds", which is not suited for a "distance" parameter, it should be in meters. The linear speed has the correct value, and the move action is executed as forward, which completely fits the command.'] +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The JSON structure matches the natural language command well with correct action and parameters. However, it doesn\'t perfectly conform to the sample ontology because the unit for distance parameter in the command is specified as "seconds" instead of "meter".'] +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];["4; The JSON structure correctly captures the action 'move' and its parameters 'linear_speed' and 'is_forward'. However, the 'distance' in the command refers to time (seconds), which does not match the unit in the JSON structure ('meter')."] +Move ahead at a rate of 1 meter per second for 2 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['5; The natural language command requires the robot to move forward and specifies the speed as well as the duration for which the motion should be sustained. These details are perfectly mirrored in the given JSON structure that specifies the action to be performed as "move", the speed of the movement, the duration for which the action should be performed, and the direction of movement as forward. The fact that the distance is calculated in the JSON by using the time duration doesn\'t affect the score because the end result is the same: the robot moves forward for a specific time at a specified speed.'] +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "seconds"}}'];['4; The values and action in the JSON object match with the ones from the command, however the distance parameter in this context does not align with JSON structure as it should represent spatial length (for example meters), not time (seconds). Furthermore, the unit value should be "meter" instead of "seconds".'] +Rotate clockwise by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command perfectly corresponds to the JSON structure. The action "rotate" is accurately indicated, the parameters such as "angle", "is_clockwise", and "unit" are also correctly specified. The "angular_velocity" value isn\'t stated in the natural language command, but the given value in the JSON structure is acceptable.'] +Perform a clockwise rotation of 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The JSON structure correctly interprets the natural language command of a clockwise rotation of 180 degrees. The keys match those found in the sample ontology, and a reasonable angular velocity value is given.'] +Rotate 180 degrees in the clockwise direction.,['{"action": "rotate", "params": {"angular_velocity": 15, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["4.5; The natural language command matches well with the JSON information. It outlines a rotation action, angle and rotation direction which clearly exist in the JSON. A small discrepancy lies in the angular velocity, it's not specified in the command. However, in the JSON, a reasonable value of 15 is given which is acceptable."] +Turn in a clockwise direction and rotate by 180 degrees.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command directs the system to rotate in a clockwise direction by 180 degrees, which is accurately represented in the JSON structure. The specific values for "angular_velocity" and "is_clockwise" are correct according to the command and the "angle" parameter exactly matches the required 180 degrees. The "unit" is also correctly given as "degrees".'] +Execute a 180-degree clockwise rotation.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform.'] +Move forward for 4 meters and then turn left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['5; Exactly conform. The natural language command perfectly matches the actions and the parameters defined in the JSON structures. Both the "move" and "rotate" actions are used correctly with appropriate parameters. The direction of rotation is not explicitly specified in the command but turning left is generally assumed to be counter-clockwise which matches with "is_clockwise": false.'] +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}'];['4; The command "Proceed straight ahead, covering a distance of 4 meters" matches the JSON structure well and finds accurate mapping in the "move" action. However, the second part of the command "subsequently make a left turn" does not match any of the available JSON structures and can\'t be mapped in the given ontology. Thus, it\'s partially conforming.'] +Go straight for a distance of 4 meters followed by a left turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];["4; The natural language command asks for a specific set of movements, and these are reflected in the JSON structures provided. However, it doesn't specify the speed of the move action or the angular velocity of the rotation, so those values are assigned in the JSON arbitrarily, which is why the score isn't a perfect 5."] +Advance in the forward direction, covering 4 meters, and then make a leftward turn.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meters"}}'];['4; The natural language command is partially converted into JSON. The \'move\' action and its relevant parameters (\'distance\', \'is_forward\', \'unit\') are correctly represented. However, the \'rotate\' action (implied in the command "make a leftward turn") is not captured in the given JSON. Additionally, \'linear_speed\' accepts any reasonable value and therefore 1 is accepted in this context.'] +Move ahead for 4 meters and then change direction by turning left.,['{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}} ', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}}'];['4; The first JSON structure matches the "Move ahead for 4 meters" part of the command, specifying the correct action and parameters. The second JSON structure matches the "turning left" part of the command as a rotation to the left is generally considered as anti-clockwise. However, the linear_speed and angular_velocity values were not specified in the command but are included in the JSON, hence the score of 4 instead of 5.'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches with the provided JSON structure. The action "rotate" with a counterclockwise ("is_clockwise": false) parameter and an angle of 60 degrees is correctly mapped to the JSON command. The second part of the command "move forward for 3 meters" is also correctly converted into the action "move" with the "is_forward": true and "distance": 3 parameters in the JSON. Furthermore, all the keys from the given commands are present in the sample ontology.'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['4.5; The structs mainly conform to the NL command, with the actions "rotate" and "move" correctly parsed, as well as the "angle", "distance", "is_forward", and "unit" parameters. However, the alignment is not perfect due to the "angular_velocity" value being set to 10 in the JSON, while the velocity is not mentioned in the command.'] +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}, {"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meters"}}'];['5; Exactly conform. The natural language command perfectly matches with the JSON structures. The \'rotate\' action specifies a counter-clockwise rotation, which is reflected in the "is_clockwise": false, along with the correct rotation unit, angle, and an arbitrary accepted value for angular_velocity. The \'move\' command correctly identifies forward movement (is_forward: true), with correct distance and unit, and an accepted value for linear_speed.'] +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];['5; The commands in the natural language input exactly match the JSON structures provided. The "rotate" action is correctly interpreted with "angular_velocity", "angle", "is_clockwise", and "unit" params. The expected "is_clockwise" boolean value is correctly set to "false" for anti-clockwise rotation and the angle is correct. Similarly, the "move" action is correctly defined with "linear_speed", "distance", "is_forward", and "unit" params. The "distance" of 3 meters correctly corresponds to the "advance 3 meters" instruction in the natural language command.'] +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}}'];["5; Exactly conform. The commands in natural language exactly match the corresponding JSON structures. The 'rotate' and 'move' actions align with the given ontology, as do the specified parameters like 'angle', 'is_clockwise', 'distance', and 'is_forward'."] +Go to the bedroom and stop.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['3; The natural language command conforms to the JSON structure for the action of going to a specific goal, but it does not include the command of stopping. Hence, the score is 3 as there is a partial match.'] +Proceed to the bedroom and come to a halt.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['3; The natural language command describes an action which is partially represented by the given JSON structure. The "go_to_goal" part is indeed reflected in the JSON, but there is no key for action to come to halt or stop in the JSON structures, so it\'s not fully represented.'] +Make your way to the bedroom and cease your movement.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];["4; The command is mostly conforming to the JSON structure provided. The action of going to a location (the bedroom, in this case) is correctly represented in the JSON structure, However, the 'cease your movement' part of the command is not represented in the JSON. The ontology does not have a matching action for ceasing/stopping."] +Head towards the bedroom and come to a standstill.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['5; Exactly conform. The natural language command correctly translates into the JSON command to go to a specific location ("Bedroom"), which is in conformity with the given JSON structures.'] +Move to the bedroom and pause.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}}}'];['2; The action in the natural language command and JSON is move/go_to_goal which matches with each other, but the pause command does not have its corresponding JSON structure. Moreover, the room "bedroom" also matches with the JSON structure.'] +Move backward for 7 meters at a speed of 0.8 meters per second.,['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.,['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.,['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['5; The command conform with the JSON structure perfectly, containing "action": "move" and including all the required parameters ("linear_speed", "distance", "is_forward", "unit"), even with the optional "is_forward", which is deduced to be false from the "Go backward" instruction in the command.'] +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.,['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];['5; Exactly conform.'] +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.,['{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}}'];["4; The JSON structure correctly captures almost all aspects of the command. The 'move' action and distance, 'is_forward' and 'unit' values match, but the natural language command specifies receding 7 meters at a specific speed of 0.8 m/s, while the JSON structure directly converts this to a linear speed instead of specifying it is a reverse motion speed."] +Turn left and move forward for 5 meters at a speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}'];["2; The JSON structure does capture the 'move' action correctly with all its parameters and values matching the natural language command. However, the command of 'turn left', translating into a rotation action, is not represented in the provided JSON."] +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];['2; The JSON structure correctly interprets the portion of the command instructing to "proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.". However, it does not address or represent the instruction of "Take a left turn" from the natural language command.'] +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meters"}}'];['2; The linear movement action and its parameters are correctly represented in JSON structure. However, the left turn action mentioned in the natural language command is not reflected at all in the JSON structure, resulting in an incomplete representation.'] +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}'];['5; Exactly conform. The natural language command precisely matches the JSON information. It accurately dictates a rotation (left turn) and the subsequent movement, including the direction (ahead/forward), distance (5 meters), and speed (2 meters per second). All of these parameters are correctly included in the structured JSON.'] +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.,['{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}'];['3; The move action with specified parameters matches the command partially but the command to change direction which would use the rotate action is not present in the JSON structure.'] +Back up for 1 meter and then execute a 90-degree turn to the right.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['4; Almost all commands matched perfectly with the JSON structures. The "move" action was correctly translated with all parameters, including "is_forward" being set to false to signify backing up. The "rotate" action was also correctly translated. The only issue is with the "angular_velocity" parameter, the value is not specified in the natural language command and although any reasonable value is accepted, the given value of 10 might not be reasonable considering the other value was 0.35 in the previous example.'] +Reverse for 1 meter and then make a right turn of 90 degrees.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}, ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. The natural language command perfectly matches the provided JSON structures. The robot\'s reversing action is represented with "move" action and "is_forward": false. The right turn command is depicted with the "rotate" action and "is_clockwise": true. The values in the command (1 meter and 90 degrees) match with the values provided in the JSON structures.'] +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}', '{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];["4; The JSON structures match the command in terms of action and parameters such as direction, distance, unit and angle. But the specific values for linear speed, angular velocity are not mentioned in the natural language command, so the values in the JSON (1 for both) can't be confirmed as correct. Thus, a point is deducted."] +Retreat by 1 meter and then make a right turn of 90 degrees.,['{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}}, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command matches perfectly with provided JSON structures. The "retreat by 1 meter" part corresponds to the "move" action with "is_forward" as false and "distance" as 1. The "make a right turn of 90 degrees" part corresponds to the "rotate" action with "is_clockwise" as true and "angle" as 90. The units (meter, degrees) also fit well. The angular_velocity and linear_speed parameters aren\'t specified in the command, but reasonable values are in the JSON.'] +Take a step back for 1 meter and then execute a 90-degree right turn.,['{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}}, ', '{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}}'];['5; Exactly conform. Both the move and rotate actions are detailed accurately in the JSON structure to match the natural language command.'] +Navigate to the specified GPS coordinates and play a pre-recorded message.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "specified GPS coordinates"}}}'];['0; The action of playing a pre-recorded message is not present in the sample keys. Additionally, the type of location in the JSON structure is "str", but the command refers to a GPS location which is usually represented as coordinates, not a string.'] +Please go to the given GPS coordinates and play the pre-recorded message.,['{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS coordinates"}}}'];['2; The JSON structure partially matches with the command. The "go_to_goal" command is correctly implemented in the JSON, but the command of playing a pre-recorded message is not represented in the JSON at all.'] +Can you navigate to the provided GPS coordinates and start playing the recorded message?,['{}'];['0; The command references an action of navigating to GPS coordinates and playing a recorded message, neither of which are represented in any of the provided JSON structures.'] +Follow the given GPS coordinates and play the message that has been prerecorded.,['{}'];["0; The natural language command does not match with any of the JSON structures provided as there is no 'follow GPS coordinates' or 'play message' action, neither any related parameters."] +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.,['{}'];['0; The natural language command mentioned navigating to a specific GPS coordinate and playing a pre-recorded message, neither of these actions or any related parameters can be found in the provided JSON structures.'] +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.,['{"action": "move", "params": {"linear_speed": 1.0, "distance": 10, "is_forward": true, "unit": "meter"}}'];['1; Although the provided JSON structure contains the "action": "move" and is partially in line with the natural language command, it is inadequate to capture the nuances of the command. It does not include an alternating pattern between forward and backward motions, which is a key aspect of the command, and it assumes a linear speed of 1.0 which is not specified in the command.'] +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": false, "unit": "meter"}}'];['3; While the JSON structure aligns with the sample ontology keys and values, it does not encapsulate the "zigzag pattern" element of the natural language command. The command suggests an alternating pattern of movement rather than two distinct forward and backward movements. This is a complex movement that might not be fully covered by the provided ontology.'] +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['1; The natural language command indicates a movement in a "zigzag pattern, alternating between forward and backward movements", however this is not reflected in the JSON structure. The JSON simply describes moving forward for a distance of 10 meters. There\'s a lack of information in the JSON to fully realize the command hence the low score.'] +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['1; The natural language command mentions movement in a "zigzag pattern" and also "moving backward", which isn\'t captured in the JSON command. Furthermore, a zigzag pattern isn\'t simply moving forward, it would likely involve rotation as well. Hence, although some parameters like unit, distance, and moving forward match, the commands don\'t completely align, so they partially conform.'] +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.,['{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}'];['1; The JSON command captures the elements of movement and distance in the natural language command but misses the aspect of switching between forward and backward motions and moving in a zigzag pattern. The natural language command is more complex than what the JSON command can express.'] +Spin around in a circle three times and then stop abruptly.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command is mostly conform to the JSON. The spin is correctly interpreted as a rotation action and three times around a circle is correctly translated into 1080 degrees. However there is no direct equivalent in the JSON for the "stop abruptly" part of the command, therefore it is not perfectly conform.'] +Rotate in a full circle three times before coming to an abrupt halt.,['{"action": "rotate", "params": {"angular_velocity": null, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'];['3; The natural language command is translating to the JSON structure but with some missing information. The JSON structure matches the \'rotate\' action and even the \'angle\' is correctly interpreted (360 degrees * 3 = 1080 degrees). However, \'angular_velocity\', although acceptable as null, is not inferred from the command "coming to an abrupt halt". \'is_clockwise\' isn\'t specified in the command either.'] +Perform three complete rotations in a circular motion and then abruptly come to a stop.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'];['4; The natural language command mostly matches the JSON structure. The \'rotate\' command is used correctly. The angles for three full rotations (360*3=1080 degrees) is correctly calculated. However, the "abruptly come to a stop" part is not clearly represented in the JSON and there is no key in this sample ontology to represent the abrupt stop. Also, the angular_velocity is arbitrarily given as 1, which can be accepted as a reasonable value as it\'s not mentioned in the command.'] +Turn around in a complete circle three times and then suddenly cease movement.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'];['5; The natural language command corresponds accurately to the JSON structure. The rotate action exemplified in the JSON fits well with the command of turning around in a circle three times (1080 degrees = 360 degrees * 3). The "suddenly cease movement" part can be inferred from the end of the rotation action.'] +Spin in a circle three times and then bring yourself to an immediate halt.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 1080, "is_clockwise": true, "unit": "degrees"}}'];['4; The JSON structure accurately represents the "spin in a circle three times" command, even though a specific angular velocity is not mentioned in the natural language command but is given a reasonable value in the JSON. However, the command "bring yourself to an immediate halt" isn\'t represented in the JSON.'] +Move forward at a constant speed of 1 meter per second for 30 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'];["2; The natural language command and the JSON structure do have some matching elements such as the action 'move' and the parameter 'is_forward'. However, the natural language command mentioned moving for 30 seconds at a certain speed, whereas the JSON structure is describing a distance to be traveled rather than a duration of time. The 'linear_speed' value is correct, but the 'distance' value in the JSON does not correspond to the natural language command."] +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.,['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'];["4; Mostly conform. The 'distance' value in the JSON structure uses time (in seconds) rather than a distance metric, which does not conform perfectly with the expected values for a 'distance' key. However, the rest of the command converts neatly into the provided JSON structure, and the expected movement action and direction ('is_forward': true) are correctly identified."] +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure provided does not fully conform with the natural language command. The command provides a "time" (30 seconds) and a "speed" (1 meter per second), which suggests distance should be calculated as 30 meters instead of the provided 30 seconds. However, the key "time" does not exist in the sample key. The "is_forward" parameter correctly matches with the "Continue moving ahead" command. The unit of the speed ("meter") correctly matches as well.'] +Advance for 30 seconds with a consistent velocity of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'];['5; The natural language command matches perfectly with the JSON structure. All parameters including action, linear_speed, distance, is_forward, and unit are present and match correctly.'] +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.,['{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}}'];['5; The command perfectly matches the provided JSON structure. The action is "move", which corresponds to the command "travel straight ahead". The parameter "linear_speed" with the value 1 matches "with an unchanging speed of 1 meter per second." The parameter "distance" with the value 30 matches "for a period of 30 seconds" since the robot is moving at 1 meter per second. The parameter "is_forward" set to true matches "straight ahead". Finally, the unit is correctly specified as "meter".'] +Turn right and follow a curved path for 2 meters, then stop and beep.,['{"action": "move", "params": {"linear_speed": 0.2, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The JSON structure includes "move" action and covers distance and units, but it is missing information about turning right and does not have suitable keys to represent "follow a curved path" and "beep" action from the natural language command.'] +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];['2; The "move" action matches, but the parameters mentioned in the natural language command do not match exactly to the JSON. The "emit a beep sound" command does not exist in the sample keys and the turn command is not represented in the JSON.'] +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": true, "unit": "degrees"}},', '{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}'];["2; Partial conformity. Although the commands 'rotate' and 'move' are present in the text and JSON structure, the JSON structure includes an 'angular_velocity' of 10 which is not specified in the natural language command. Moreover, the command to 'pause and produce a beeping sound' does not exist in the provided sample keys and was not converted to JSON."] +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meters"}}'];['1; The JSON structure describes a forward motion for specified distance and speed, adhering to the distance command in the natural language command ("navigate along a curving route for a distance of 2 meters"). However, the command to "execute a rightward turn" (rotation) is not reflected in the JSON. Additionally, the action to "cease movement and emit a beep" is not captured. The unit of distance ("meter") incorrectly stated as "meters". Therefore, the command and the JSON structure partially match.'] +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.,['{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}'];["0; The natural language command is not represented adequately in the given JSON structure. The statements 'Alter your direction towards the right', 'travel along a winding pathway', 'come to a stop' and 'produce a beeping noise' are completely missing in the JSON structure."] +Move forward for 5 meters and then reverse for 2 meters, repeating twice.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];["5; Exactly conform. The natural language command instructs the action to 'Move' which is correctly identified in the JSON, the distance specified for each move in the natural language command (5m forward, 2m backward) is also correctly identified in the JSON structure. The direction of the 'move' is correctly identified as 'is_forward' for forward movement and 'false' for backward movement. The repetition of the sequence is correctly represented in the JSON as the sequence is repeated twice. There is a missing key for 'repeat' in the sample keys, but in this case it is represented by the repeated JSON structures. Therefore, it is fully conform."] +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}}, ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['4.5; The JSON structures match the natural language command almost exactly. However, the command does not specify the "linear_speed" value, so while the JSON\'s value of 1 is reasonable, it\'s not directly mentioned in the command.'] +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}}'];['0; The JSON structures provided correspond to the command of moving forward and backwards. However, there is nothing in the JSON structures that indicates the repetition of this pattern twice as stated in the command. Therefore, the conformity score is 0.'] +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meters"}}'];['5; Exactly conform. The commands "move ahead for 5 meters" and "then go in reverse for 2 meters", correctly translate to the corresponding JSON structures that depict the action "move", distance, direction and units accordingly. The repetition part is not specified in the JSON, but as for the conformity with the sample keys, both commands given in the natural language translate accurately.'] +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.,['{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meters"}} ', '{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meters"}}'];["4; Although the repeat command does not exist in the sample keys, the JSON structure correctly represents the natural language command's actions to move forward and back with corresponding parameters. A point is deducted because the repeatability of the actions isn't represented in the provided JSON structures."] +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.,['{"action": "move", "params": {"linear_speed": "random", "distance": "random", "is_forward": true, "unit": "seconds"}}'];["2; Although natural language command asks a random move to be performed, it does not specify where to move and what speed to use. Also unit of distance in JSON structure doesn't match with the command. Command refers to time (seconds) and JSON structure has distance (meters)."] +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.,['{"action": "move", "params": {"linear_speed": "random", "distance": "random", "is_forward": true, "unit": "seconds"}}'];['2; Although the action of moving forward is correct and unit is set to second. The parameters "linear_speed" and "distance" do not match with the random choice described in the natural language command. Plus, the direction parameter is missing.'] +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.,['{"action": "move", "params": {"linear_speed": "random", "distance": "random", "is_forward": true, "unit": "seconds"}}'];['1; The command asks for a random direction and a random period of time, but the JSON structure does not represent selecting a direction or a time duration. The keys \'linear_speed\' and \'distance\' are assigned "random" as a value which doesn\'t provide a proper correspondence. Additionally, the \'unit\' in the JSON structure is incorrectly labeled as \'seconds\' instead of \'meter\'.'] +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.,['{"action": "move", "params": {"linear_speed": "random", "distance": "random", "is_forward": true, "unit": "seconds"}}'];['2; The JSON structure partly matches with the natural language command as it includes moving forward, which is mentioned in the command. However, the command also specifies selecting a random direction which can\'t be represented with the given JSON structure. Moreover, the unit in the JSON is given as "seconds" which is not a unit of distance.'] +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.,['{"action": "move", "params": {"linear_speed": "random", "distance": "random", "is_forward": true, "unit": "seconds"}}'];['2; The natural language command partially matches with the JSON structure. The action "move" and parameter "is_forward" are correct. However, the JSON structure\'s keys in the "params" field like "linear_speed" and "distance" have values marked as "random" which is not clearly defined in the command. Also, the unit \'seconds\' does not align well with the \'move\' action as \'seconds\' have no meaning in context. The command also includes the aspect of picking a direction which cannot be gathered from the provided JSON.'] +Perform a 180-degree turn, then launch a small drone from your back.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['2; The JSON information partially matches the natural language command. The rotation command and its parameters (‘angle’, ‘unit’) are correctly represented in the JSON. However, the command to "launch a small drone from your back" isn\'t represented at all in the JSON structure, resulting in incomplete conformity. Also the \'angular_velocity\' and \'is_clockwise\' parameters weren\'t mentioned in the natural language command, but their values in the JSON structure are acceptable.'] +Execute a 180-degree rotation and subsequently release a compact drone from your rear.,['{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['1; The natural language command partially matches with the "rotate" JSON structure. There is no JSON structure for releasing a drone in the given sample keys.'] +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['1; The JSON structure partially matches the command given. The rotation action and angle parameter aligns but "angular_velocity" and "is_clockwise" parameters were unspecified in the command. Given the context, assuming a reasonable velocity and clockwise rotation is acceptable. However, "deployment of a diminutive drone" does not exist in the sample ontology which lowers the compliance score.'] +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];["1; The JSON correctly describes the rotation action, however, the command to launch a drone does not exist in the JSON structure provided nor in the sample ontology. As a result, the conformity isn't complete."] +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.,['{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}}'];['1; Only the rotation portion of the command is represented in the provided JSON. The action of releasing a drone is not included in the sample ontology.'] diff --git a/evaluation/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot_SELECTED_5pct_for_manual_eval-HIST.png b/evaluation/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot_SELECTED_5pct_for_manual_eval-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..63a3651201faabcf4b84bb3cb9c0934b02b7d790 GIT binary patch literal 50421 zcmeFa2UwKnwl+L!)I?)f5EU^RyFw79NHr?Nir5gOL{N%I8H#{ZHHj$A#Da7Jc2Pu7 zK$?j(m1+SL7zhZ1f-}MZL+88Km}Fk}KIiQJ{NMLo=lb_A*R_+dnR&}o*0a{V?scz| z+qUYA8#7}Ji^UqZ;k$L)S*)?CEY`^C&qv|^xug5g3jb1ZUcbkAhrNZf>psT=tS$ST z9S+$$AF?)^bNGOxleN8_f~>OaH_PT&IXgQzt(KFs{rdy5_Kucvs}k?tz(u}r_|CwI z#gd&z{~P9ZN%Js^m1DMH-I|?l5v|qk5!0MAyN86!>Xcjk{J#49%g^ohPoBRhZ0wk@ zs$Cx2;=S9kxX_`gFh7(l(3~AD?D6D`9uVX%zIx-vjj?!|zkaMNek{uT>lga>y3ebJ ziGTm@hX>N)-+aIR_>adv{gL(Er$J!-i$VC7?Ig!a+iqYWm1J2m*b?p0`F5JeySw@d 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0 HcmV?d00001 diff --git a/evaluation/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot_SELECTED_5pct_for_manual_eval.txt b/evaluation/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot_SELECTED_5pct_for_manual_eval.txt new file mode 100644 index 0000000..662f435 --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/GPT4/Evaluated_JSON_commands_GPT4_Ground_Robot_SELECTED_5pct_for_manual_eval.txt @@ -0,0 +1,53 @@ +;GPT;Human;; +"364: After rotating 30 degrees clockwise, continue moving forward for 4 meters.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 10, ""angle"": 30, ""is_clockwise"": true, ""unit"": ""degrees""}}, {""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 4, ""is_forward"": true, ""unit"": ""meter""}}']";['5;5; Exactly conform.']; +"852: Proceed forward and promptly come to a halt.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""}}']";['4;5;" The command is mostly conform to the given JSON structure. The action of moving forward is considered and parameters for ""move"" action are present. But The command does not specify how promptly should the halt be, so it is not clear how ""promptly"" translates into the given JSON parameters.']"; +"65: Take one step backward covering a distance of 1 meter.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 1, ""is_forward"": false, ""unit"": ""meter""}}']";['5;5;" Exactly conform. The natural language command perfectly matches with the parameters of the provided JSON structure. The action ""move"" is correctly identified, the direction of movement is specified as not forward which translates to backward in the command, the unit of distance is also correct as \'meter\' and the distance to be covered as 1 meter is also in the command. Also, linear speed is not specified in the command"; hence any value in the JSON is accepted as mentioned in the guidelines.'] +"919: Head over to the living room and pause.,['{""action"": ""go_to_goal"", ""params"": {""location"": {""type"": ""str"", ""value"": ""living room""}}}']";['2;5;" The natural language command is somewhat consistent with the JSON structure. The action ""go_to_goal"" and the location ""living room"" matches with the provided command. However, the command also includes an additional task ""pause"" which is not represented in the JSON structure.']"; +"551: Rotate clockwise by 60 degrees.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 60, ""is_clockwise"": true, ""unit"": ""degrees""}}']";['4;5;" Mostly conform. The command matches the ""action"": ""rotate"" structure from the JSON list, and the values are reasonably close. However, the natural language command does not specify the ""angular_velocity"", so any value would be considered acceptable. The JSON for the ""angle"" is also slightly off – the command mentions rotating 60 degrees while the JSON mentions 40 degrees, which isn\'t a major discrepancy but does differ from the original command.']"; +"103: Advance for a total of 5 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 5, ""is_forward"": true, ""unit"": ""meter""}}']";['4;5; The natural language command is equivalent to the JSON command. However, the speed is not mentioned in the natural language command and, thus, it is assumed in JSON which could be any reasonable value. Hence, it is not exactly conform.']; +"415: Go left and move straight ahead for 3 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 3, ""is_forward"": true, ""unit"": ""meter""}}']";['3;2.5;" The given JSON structure mostly aligns with the given command. The ""action"" : ""move"" and ""unit"" : ""meter"" match, The ""distance"" : 3 is also specified in the command. However, ""linear_speed"": 1 and ""is_forward"" : true aren\'t explicitly mentioned in the command. Moreover, the command to go left isn\'t accurately represented in the JSON structure.']"; +"333: Take a right and continue moving ahead for a distance of 1 meter.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""}}']";"[""1";2.5;" The natural language command mentions a rotation ('Take a right') which is not represented in the provided JSON structure. While the 'move' action with a distance of 1 meter is represented correctly in the JSON, the lack of an corresponding rotation action in the JSON suggests only partial conformity with the natural language command.""]"; +"702: Proceed forward for 2 seconds after turning left.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 2, ""is_forward"": true, ""unit"": ""seconds""}} ', '{""action"": ""rotate"", ""params"": {""angular_velocity"": 90, ""angle"": 90, ""is_clockwise"": false, ""unit"": ""degrees""}}']";"[""2";2;" The natural language command indicates a rotate action (turning left) should occur first, however, in the provided JSON structures the move action is first. Additionally, the unit for the move action in the JSON structure is specified as seconds which doesn't conform with the usual distance units like meters in the sample ontology. The parameters angular_velocity and angle for the rotate action in JSON don't match the command as their exact values are not mentioned.""]"; +"340: Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.,['{""action"": ""move"", ""params"": {""linear_speed"": ""undetermined"", ""distance"": ""undetermined"", ""is_forward"": true, ""unit"": ""seconds""}}']";"[""1";0.5;" The natural language command suggests a more complex movement (zigzag) than what is represented in the JSON command, which only specifies a simple forward movement. Also, there is no clear indication in the natural language command for the parameters such as 'linear_speed', 'distance'. Plus, the 'unit' in the JSON command is wrong as it shows 'seconds' instead of 'meter'. The JSON command should not consider duration (seconds), instead it should use distance metrics (meters). So, there's a slight match but not much.""]"; +"132: Turn in a clockwise direction until you have rotated 180 degrees.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 180, ""is_clockwise"": true, ""unit"": ""degrees""}}']";['5;5; Exactly conform.']; +"120: Step backward 2 meters and cease movement.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 2, ""is_forward"": false, ""unit"": ""meter""}}']";['5;5;" Exactly conform. The JSON structure matches the command given, with all parameters accurate including ""move"" as the action, a reasonable linear speed of 1, a distance of 2 meters specified and ""is_forward"" set to false, indicating backwards movement.']"; +"734: Relocate yourself 2 meters to the left.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 2, ""is_forward"": false, ""unit"": ""meter""}}']";['1;2.5;" The direction \'left\' in the command can\'t be directly related to \'is_forward\' in the JSON structure. Instead, a ""rotate"" action could be inferred but no such action is explicitly requested in the command. The \'distance\' is correct though.']"; +"309: Travel backwards for a total of 3 seconds.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 3, ""is_forward"": false, ""unit"": ""seconds""}}']";['4;4;" The action ""move"" does match and most parameters in the JSON match with the command including ""linear_speed"" and ""is_forward"". However, the ""distance"" is not directly specified in the command, rather a duration of the action is mentioned. The unit is ""seconds"" which does not match with the sample ontology where the unit for the action ""move"" is given in ""meter"". However, the instruction does imply a certain interpretation of \'distance\' in terms of time spent moving, which is reasonable but not exact.']"; +"993: Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.,['{""action"": ""move"", ""params"": {""linear_speed"": ""random"", ""distance"": ""random"", ""is_forward"": true, ""unit"": ""seconds""}}']";['1;2;" The command asks for a random direction and a random period of time, but the JSON structure does not represent selecting a direction or a time duration. The keys \'linear_speed\' and \'distance\' are assigned ""random"" as a value which doesn\'t provide a proper correspondence. Additionally, the \'unit\' in the JSON structure is incorrectly labeled as \'seconds\' instead of \'meter\'.']"; +"671: Move backward for 6 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 6, ""is_forward"": false, ""unit"": ""meter""}}']";['5;5;" Exactly conform. The natural language command correctly matches the JSON structure. The ""action"" is identified as ""move"", and all the necessary parameters are provided: a reasonable ""linear_speed"", the specific ""distance"" of 6 meters, the direction ""is_forward"" is set to false for backward, and the ""unit"" is set as ""meter"".']"; +"743: Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.,['{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 2, ""is_forward"": true, ""unit"": ""seconds""}}']";['4;4;" The command matches the ""move"" action from the keys but there is a slight mismatch in the parameters. The value of ""distance"" parameter in the JSON command is calculated as speed * time, while in natural language command, no explicit distance is mentioned. Also, the ""unit"" is incorrectly mentioned as ""seconds"" in JSON, it should be ""meter"".']"; +"684: Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.,['{""action"": ""move"", ""params"": {""linear_speed"": 0.3, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}']";"[""5";5;" The JSON command matches the natural language command perfectly with 'move' action and the right parameters of 'linear_speed', 'distance', 'is_forward' and 'unit'.""]"; +"722: Make a right turn and proceed forward for a duration of 3 seconds.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 90, ""is_clockwise"": true, ""unit"": ""degrees""}}, ', '{""action"": ""move"", ""params"": {""linear_speed"": 1, ""is_forward"": true, ""duration"": 3, ""unit"": ""seconds""}}']";"[""3";3;" The JSON structures partially match the natural language command. The rotate action is conform and correct but the move command in the natural language command does not specify the distance but uses time for motion's duration which is not present in the JSON command. Therefore, the duration parameter does not conform with the JSON structure.""]"; +"776: Move backward for 8 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 8, ""is_forward"": false, ""unit"": ""meter""}}']";['4;5;" Partially conform. The natural language command is correctly translated into the JSON structure, but the ""linear_speed"" value is not mentioned in the command and therefore should not be assumed as 1.']"; +"942: Proceed to the bedroom and come to a halt.,['{""action"": ""go_to_goal"", ""params"": {""location"": {""type"": ""str"", ""value"": ""Bedroom""}}}']";['3;5;" The natural language command describes an action which is partially represented by the given JSON structure. The ""go_to_goal"" part is indeed reflected in the JSON, but there is no key for action to come to halt or stop in the JSON structures, so it\'s not fully represented.']"; +"173: Move in a clockwise direction, rotating 270 degrees.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 270, ""is_clockwise"": true, ""unit"": ""degrees""}}']";['4;4;" The natural language command matches closely with the JSON structure. However, ""angular_velocity"" value isn\'t specified in the given command and yet is assumed as null.']"; +"130: Rotate right and proceed ahead for a length of 1 meter.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 90, ""is_clockwise"": true, ""unit"": ""degrees""}}, {""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""}}']";"[""5";5;" The natural language command perfectly matches with the JSON information and its keys. The 'rotate' action specifies the direction which is translated to a clockwise rotation in the JSON. Similarly, the 'proceed ahead' command is correctly translated to a forward move over a distance of 1 meter in the JSON.""]"; +"946: Move backward for 7 meters at a speed of 0.8 meters per second.,['{""action"": ""move"", ""params"": {""linear_speed"": 0.8, ""distance"": 7, ""is_forward"": false, ""unit"": ""meter""}}']";['5;5; Exactly conform.']; +"834: Rotate in the opposite direction by 30 degrees.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 10, ""angle"": 30, ""is_clockwise"": false, ""unit"": ""degrees""}}']";['4;5;" The command ""Rotate in the opposite direction by 30 degrees"" conforms with the JSON structure provided. The action ""rotate"", the angle of 30 and unit ""degree"" are all clearly specified. The sample indicates a precedence for boolean values in setting rotation direction and conform to this by interpreting ""opposite direction"" as ""is_clockwise"": false. However, the specific angular_velocity parameter isn\'t stated in the natural language command, hence the lower score.']"; +"624: Rotate in a clockwise manner, completing a 180-degree turn.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 180, ""is_clockwise"": true, ""unit"": ""degrees""}}']";['5;5; Exactly conform.']; +"663: For a span of 2 meters, continue moving forward after taking a left turn.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 2, ""is_forward"": true, ""unit"": ""meter""}}']";['2;2.5;" Only the move action and its parameters correctly match the natural language command. The command of taking a left turn which should technically result in the formation of a ""rotate"" action in JSON, isn\'t translated to the appropriate JSON structure.']"; +"160: Stay on course for a distance of 8 meters ahead.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 8, ""is_forward"": true, ""unit"": ""meter""}}']";"[""5";5;" The natural language command matches perfectly with the provided JSON information. All parameters are properly assigned, even though the linear_speed is not mentioned in the command, it's given a reasonable value in the JSON so it is acceptable.""]"; +"589: Move ahead for 6 seconds after turning to the left.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 90, ""is_clockwise"": false, ""unit"": ""degrees""}}, ', '{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 6, ""is_forward"": true, ""unit"": ""seconds""}}']";['4;4;" The JSON command correctly captures the two distinct actions conveyed by the natural language command (""turning to the left"" and ""move ahead for 6 seconds""). However, the angular_velocity, linear_speed are populated with values not specified in the command, so there is a minor mismatch. Also rotation unit is given as \'degrees\' instead of direction as left or right, same for linear motion, unit is given as \'meter\' but in command it\'s specified as \'seconds\'. Hence, the score isn\'t perfect.']"; +"492: Proceed straight ahead for a distance of 5 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 5, ""is_forward"": true, ""unit"": ""meter""}}']";['4;5;" The JSON structure correctly represents the action (""move"") and some of the parameters (""distance"", ""is_forward"", ""unit"") mentioned in the command. However, the ""linear_speed"" value in the JSON structure does not match the command since the speed is not specified in the command, but it shows a reasonable value of 1 which is acceptable.']"; +"868: Rotate in the opposite direction by 60 degrees.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 10, ""angle"": 60, ""is_clockwise"": false, ""unit"": ""degrees""}}']";"[""4";5;" The natural language command matches the JSON structure very well. However, the 'angular_velocity' value is not specified in the natural language command, but it is specified as '10' in the JSON. This mismatch in the values for 'angular_velocity' is the cause of the missing point.""]"; +"251: Go to the bedroom and stop.,['{""action"": ""go_to_goal"", ""params"": {""location"": {""type"": ""str"", ""value"": ""Bedroom""}}}']";['3;5;" Partial Conformity. The natural language command corresponds with the JSON structure for the command \'go_to_goal\'. The specified location has been switched from ""Kitchen"" to ""Bedroom"". However, the command ""stop"" does not match any action from the provided JSON structures.']"; +"700: Move straight ahead and travel a distance of 5 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 5, ""is_forward"": true, ""unit"": ""meter""}}']";['4;5;" The JSON structure matches the natural language command, however, the ""linear_speed"" parameter is not specified in the natural language command. The value ""1"" is reasonable but not specified, which costs a point.']"; +"530: Rotate to the right, then travel straight ahead for a distance of 8 meters.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 90, ""is_clockwise"": true, ""unit"": ""degrees""}}, ', '{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 8, ""is_forward"": true, ""unit"": ""meter""}}']";['5;5;" The natural language command perfectly matches the JSON structures. The first command ""Rotate to the right"" matches with the action ""rotate"" and correct parameters of angle and clockwise rotation. The second command ""travel straight ahead for a distance of 8 meters"" matches with the action ""move"" and appropriate parameters of distance and forward direction. The unspecified values in the natural language command (angular_velocity and linear_speed) are filled with reasonable values in the JSON.']"; +"809: Make a right turn and travel straight ahead for a total of 10 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}']";['2;2.5;" The JSON structure partially matches with the natural language command. Though the command asks for a right turn, the corresponding JSON action and parameters for rotation (""action"": ""rotate"") are not included in the JSON output. Only the ""go straight for 10 meters"" part of the command matches with the ""action"": ""move"" JSON structure.']"; +"409: Retreat for a period of 2 seconds.,['{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 1, ""is_forward"": false}}']";['2;4; The command for retreating is partially described by the JSON structure as it includes movement and direction (not forward). However, the command specifies a time period for retreat, not a distance, which is not specified in the JSON structure or the sample keys.']; +"87: Take a right turn and proceed straight ahead for a distance of 4 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 4, ""is_forward"": true, ""unit"": ""meters""}}']";"[""2";2.5;" The rotation to the right is missing from the JSON structure, but the movement action is properly represented. However, linear_speed isn't explicitly mentioned in the command, yet included in the JSON.""]"; +"185: Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.,['{""action"": ""move"", ""params"": {""linear_speed"": 0.3, ""distance"": 1.5, ""is_forward"": true, ""unit"": ""meter""}}']";"[""4";5;" The JSON struct is mostly accurate with regards to the given command. The action 'move' and parameter 'linear_speed' match the command. The command does not specify whether the movement is forward, but 'is_forward': true is a reasonable assumption. However, the command mentions going straight for 5 seconds, not a specific distance. The calculated distance (1.5 meters) is based on the given velocity (0.3 m/s) and time (5 sec), but this calculation is not explicitly mentioned in the command. Thus, the 'distance' parameter should have been formulated as a calculation or equation, or it should be clarified in the command."", '']"; +"718: Rotate in a clockwise direction by 180 degrees.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 180, ""is_clockwise"": true, ""unit"": ""degrees""}}']";"[""4.5";5;" The natural language command matches the JSON structure well, with all specified parameters ('rotate', 'clockwise', '180 degrees') clearly present in the JSON. However, the angular velocity is not mentioned in the command, hence the arbitrary value of 1 in the 'angular_velocity' in the JSON, although reasonable, results in a minor deviation from a perfect match.""]"; +"272: Turn 270 degrees in a clockwise direction.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 10, ""angle"": 270, ""is_clockwise"": true, ""unit"": ""degrees""}}']";"[""5";5;" The command and the JSON structure match perfectly. The action 'rotate' is correct and all parameters ('angular_velocity', 'angle', 'is_clockwise' and 'unit') are also correct. The parameter 'angle' value is exactly specified in the natural language command, while the 'angular_velocity' value isn't specified but it is accepted as it has a reasonable value. The 'is_clockwise' value in the JSON information matches with the direction specified in the command, and the 'unit' is appropriate for the 'angle' parameter.""]"; +"891: Move forward for 10 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}']";['5;5; The natural language command exactly matches and conforms with the JSON structure, all values are specified and are properly reflected in the JSON.']; +"288: Head over to the dining room and pause.,['{""action"": ""go_to_goal"", ""params"": {""location"": {""type"": ""str"", ""value"": ""Dining room""}}}']";['4;5;" The action ""go_to_goal"" and value of ""Dining room"" match correctly with the command. However, the command includes ""pause"" which is not represented in the JSON.']"; +"854: Go forward and abruptly pause.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""}}']";"[""4";5;" The command 'Go forward and abruptly pause.' is partially converted into the provided JSON structure. The 'move' action and parameters 'linear_speed', 'distance', 'is_forward', and 'unit' match with the action and params given in the JSON. However, 'abruptly pause' is not represented in the structure.""]"; +"119: Retreat 2 meters and bring yourself to a standstill.,['{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 2, ""is_forward"": false, ""unit"": ""meter""}}']";['5;4;" Exactly conform. The command ""Retreat 2 meters and bring yourself to a standstill"" matches perfectly with the JSON structure which represents an action to move with parameters consisting of a distance of 2 units, not moving forward (hence retreating), and coming to a standstill (represented by a linear speed of 0).']"; +"476: Move forward for 2 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 2, ""is_forward"": true, ""unit"": ""meter""}}']";['4.5;5;" The JSON structure is almost perfect for the given natural language command, however, the ""linear_speed"" value in JSON doesn\'t match the unspecified speed in the command.']"; +"939: Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 10, ""angle"": 60, ""is_clockwise"": false, ""unit"": ""degrees""}} ', '{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 3, ""is_forward"": true, ""unit"": ""meter""}}']";['5;5;" The commands in the natural language input exactly match the JSON structures provided. The ""rotate"" action is correctly interpreted with ""angular_velocity"", ""angle"", ""is_clockwise"", and ""unit"" params. The expected ""is_clockwise"" boolean value is correctly set to ""false"" for anti-clockwise rotation and the angle is correct. Similarly, the ""move"" action is correctly defined with ""linear_speed"", ""distance"", ""is_forward"", and ""unit"" params. The ""distance"" of 3 meters correctly corresponds to the ""advance 3 meters"" instruction in the natural language command.']"; +"115: Move in a counterclockwise direction, turning by 90 degrees.,['{""action"": ""rotate"", ""params"": {""angular_velocity"": 10, ""angle"": 90, ""is_clockwise"": false, ""unit"": ""degrees""}}']";['4;5;" Almost all aspects are matching correctly, but the ""angular_velocity"" value in the JSON structure doesn\'t match the natural language command as it was not specified in the command. The rest of the JSON keys conform to the command given.']"; +"313: Make a left turn and advance for 2 meters.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 2, ""is_forward"": true, ""unit"": ""meter""}}']";['1;2.5;" The natural language command includes two parts: making a left turn and advance for 2 meters. However, the provided JSON structure only includes the action of moving a certain distance, which corresponds to the ""advance for 2 meters"" part of the command. The ""make a left turn"" part of the command is not present in the JSON, hence the conformity score is 1.']"; +"83: Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.,['{""action"": ""move"", ""params"": {""linear_speed"": 0.75, ""distance"": 6, ""is_forward"": false}}']";['3;5;" Partially Conform. The direction in the natural language command is to go in the opposite direction, this is interpreted correctly as ""is_forward"": false in the JSON. Also, linear speed conforms as well. However, the parameter of time is mentioned in the command but there is no equivalent in the JSON. Additionally, in the JSON ""distance"" is referenced but it is not mentioned in the natural language command.']"; +"751: Stop and reverse direction.,['{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 1, ""is_forward"": false, ""unit"": ""meter""}}']";['4;5;" The natural language command is mostly aligned with the JSON structure. It commands to ""Stop and reverse direction"", which could imply stopping a forward motion (""is_forward"": false) and then initiating a movement. However, the ""move"" action is not ideal as it doesn\'t specify \'stop\' before reversing. If there could be a ""stop"" action in the sample ontology, it will be a perfect match. 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a/evaluation/evaluations/Ground-Robot/LLaMA-7b/Evaluated_JSON_commands_LLaMA7b_Ground_Robot.txt b/evaluation/evaluations/Ground-Robot/LLaMA-7b/Evaluated_JSON_commands_LLaMA7b_Ground_Robot.txt new file mode 100644 index 0000000..002544c --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/LLaMA-7b/Evaluated_JSON_commands_LLaMA7b_Ground_Robot.txt @@ -0,0 +1,1006 @@ +Move forward for 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};["5; Exactly conform. The natural language command exactly matches the JSON structure, including the action and the parameters. The parameter's value in the natural language command (1 meter) also matches the given value in the JSON structure."] +Proceed straight ahead covering a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";["4.75; The natural language command exactly matches the action and parameters in the JSON structure but the value for 'linear_speed' is not specified in the command although the example JSON quotes it as 0.5. Thus, the 'linear_speed' parameter value is assumed correct."] +Advance by 1 meter in the forward direction.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['4; The natural language command corresponds most closely to the second JSON structure. It involves a "move" action with a specific distance and orientation ("is_forward": True). However, the given natural language command doesn\'t mention the parameter "linear_speed", but the JSON structure has a value for it (0.5), which is an acceptable discrepancy. The value of distance in the command is also not specified in numeric form in the JSON. That\'s why the score is 4.'] +Take a step forward spanning 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Move ahead for a length of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure has some conformity with the natural language command. The action "rotate" and the parameter "is_clockwise" with a value of false are correctly provided. However, the "angular_velocity" value should not be set to 90 in this case, it should be a value representing speed (which is not specified in the command). Also, the "angle" value is incorrectly mentioned as 0, it should be 90 as specified in the command.'] +Rotate in an anti-clockwise direction by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The action "rotate" matches correctly and the "is_clockwise": false value correctly represents the anti-clockwise direction. However, the "angular_velocity" is incorrectly stated as 90, the "angular_velocity" should indicate the speed of rotation not the degree of rotation. The "angle" also doesn\'t match the angle specified in the natural language command (90 degrees) it is set to 0.'] +Turn left by 90 degrees.,The response is, "Turn left by 90 degrees.";["2; The command 'Turn left' is similar to the 'rotate' action in the JSON structure, but it does not specify 'is_clockwise' and the angle given in the command does not match with the angle given in the JSON structure."] +Rotate 90 degrees counterclockwise.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command mostly conforms with the JSON structure, but the parameter "angular_velocity" is not defined correctly according to the command. The angular velocity is a speed of rotation and it\'s not defined in the command. The command only specifies the rotation angle (90 degrees). So it shouldn\'t be set to 90, it should have any reasonable value instead.'] +Spin in the opposite direction by 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": -10, "angle": 180, "is_clockwise": false, "unit": "degrees"}}";['1; The "action" in the JSON is mentioned correctly as "rotate". However, the "angular_velocity" value doesn\'t match with the natural language command. Also the "angle" value in the JSON is 180 whereas the command mentions 90 degrees. The "is_clockwise" key in the JSON contradicts the command\'s mention to spin in the opposite direction.'] +Move backward for 2 seconds.,The response is, "Move backward for 2 seconds.";['0; The natural language command mentions an action (move backward) and a duration (2 seconds), neither of which are represented in any of the JSON structures. The JSON structures available only account for movements defined by space (distance in meters, locations, degrees of rotation), not time.'] +Go backwards for a duration of 2 seconds.,The response is, {"action": "go_back", "params": {"duration": 2}};["0; The natural language command requests to 'go backwards for a duration of 2 seconds' which does not match with any of the provided JSON structures. The closest action 'move' in JSON does not contain a parameter for 'duration' and also lacks a direction specifier (forwards/backwards). Also, there is no 'go_back' command in JSON structures."] +Reverse your direction and travel for a span of 2 seconds.,Reverse your direction and travel for a span of 2 seconds.;['0; The natural language command does not correspond to any of the JSON structures provided, as there are no keys pertaining to reversing direction or a travel duration in seconds in the sample ontology.'] +Retreat for a time frame of 2 seconds.,The response is, "Retreat for a time frame of 2 seconds.";['0; The given command does not match with any of the JSON structures provided. The command refers to moving back for a certain time which is not represented in the JSON structures.'] +Take two seconds to move in the opposite direction.,The response is, "Move backward for 2 seconds at a speed of 0.5 meters per second.";["1; The natural language command does talk about moving, which is present in the JSON structure. However, neither the direction of the movement (which could be linked with 'is_forward') nor the duration of the movement are parameters found in the JSON structures. As a result, the command given only partially matches with the sample ontology provided."] +Turn left and move forward for 5 meters.,The response is, "Turn left and move forward for 5 meters.";['1; The command "Turn left and move forward for 5 meters" partially matches with the JSON structure. The \'move\' section of the JSON correctly translates the \'move forward for 5 meters\' part of the command, assuming the direction is forward by default. However, there is no information to correctly represent the \'Turn left\' command as there is no specification for the direction of rotation (whether it is clockwise or anti-clockwise) in the JSON. The \'rotate\' section of the JSON requires a Boolean value for the \'is_clockwise\' key, which is not clear from the natural language command. Hence, the score is given as 1.'] +Move forward for 5 meters, then turn left.,The response is, "Move forward for 5 meters, then turn left.";['4; The first half of the command perfectly aligns with the \'move\' action JSON structure, but the second half command "turn left" isn\'t explicitly specified in the \'rotate\' action JSON structure. Although an implied counter-clockwise rotation could align with "turn left", the direction of rotation isn\'t clearly defined in the JSON structure and the degree of rotation isn\'t specified in the command.'] +Proceed for 5 meters, then make a left turn.,The response is, "Proceed for 5 meters, then make a left turn.";['3; The commands are partially compatible with the existing ontology. The "move" action exists, and the "distance" parameter can be inferred from "Proceed for 5 meters.". However, "make a left turn" does not have a direct equivalent in the current ontology, making it a partial match. Also, the "linear_speed" parameter value is not mentioned in the command and the "is_forward" field is ambiguously defined. The "rotate" action could be inferred from "then make a left turn.", but no values for "angular_velocity" or "angle" are given. Hence only a partial match can be given.'] +Take a left turn and continue moving forward for 5 meters.,The response is, "Move forward for 5 meters at a speed of 0.5 meters per second.";['4; The natural language command and the JSON structures partially conform as the "move" action with parameters such as linear_speed, distance, is_forward, and unit are correctly expressed and match with the natural language command. However, the rotate action which is indicated by "Take a left turn" is not represented in the command response.'] +Make a leftward turn and advance for 5 meters.,The response would be, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}";['2; The natural language command asks to "make a leftward turn and advance for 5 meters". The provided JSON structure only caters to the movement part of the command, but it does not cater to the "leftward turn". Therefore, it\'s only partially matching the natural language command.'] +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; Partially conform. The command aligns with the JSON structure, however, the "angular_velocity" value isn\'t explicitly stated in the command, but it is properly inferred as a reasonable value.'] +Perform a 180-degree clockwise rotation.,The response is 180.;['4; The JSON structure mostly matches the command "Perform a 180-degree clockwise rotation." The action "rotate" and parameter "angle" : 180 match perfectly. However, "is_clockwise" : true is implied but not explicitly stated in the command. The JSON structure therefore corresponds quite well but not perfectly.'] +Turn in a clockwise direction by 180 degrees.,The response is, "Turn in a clockwise direction by 180 degrees.";["4; The natural language command 'Turn in a clockwise direction by 180 degrees' corresponds closely to the 'rotate' action in the JSON structure. The parameter values 'angle': 180 and 'is_clockwise': True can be inferred from the command. However, the command does not specify the 'angular_velocity', hence a score of 4 instead of 5 due to not all parameters being explicitly mentioned."] +Rotate by 180 degrees in a clockwise manner.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; The natural language command matches the action in the JSON structure but the "angular_velocity" value is not correct as there is no context in the command for a specific speed, so many reasonable values would be acceptable. The angle, rotation direction and unit are all correct according to the information in the command.'] +Execute a clockwise rotation of 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";["3; The action in the command matches with the JSON action, 'rotate'. The parameters 'angle', 'is_clockwise', and 'unit' are also correct. However, 'angular_velocity' value (180) does not match the command. It should correspond to the rate of rotation, not the angle of rotation."] +Move forward at a velocity of 0.5 meters per second for 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}};['3; The given JSON structure represents correctly the movement action, forward direction and the speed given in the natural language command. However, the distance parameter in the JSON structure should represent a distance (in meters) not time (in seconds) and there is no equivalent for "time period of 10 seconds" in our given keys. Therefore, it\'s partially matching.'] +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}.;['2; The command expects the robot to move forward at a speed of 0.5 meters per second for 10 seconds, which represents action and linear_speed correctly in the JSON structure. However, the distance in the JSON is 1 while it should be calculated with speed*time, which gives 5 meters if we consider that each second the robot moves 0.5 meters. In addition, the duration is not represented in the JSON structure.'] +Advance at 0.5 meters per second for a total of 10 seconds.,The response above.;['1; The natural language command seems to suggest a "move" action similar to the second JSON structure. However, the natural language command specifies duration (10 seconds), and the JSON structure has a "distance" parameter, not a duration. So the natural language command does not fully conform to any of the provided JSON structures.'] +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}.;['4; The natural language command mostly matches with the JSON structure. The command talks about "travel forward" which correctly corresponds with "move", "linear_speed": 0.5 (meters per second) matches with "velocity of 0.5 meters per second". The "is_forward": true is correctly converted from "forward". However, the command gives "for 10 seconds" but in JSON structure, it is mentioned as "distance": 10 which is not equivalent. The distance should be calculated by multiplying speed with time, but here it has taken the time value as distance. Hence, not exactly conform so the score is 4.'] +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}};['2; The natural language command asks for a time period (10 seconds) rather than a specific distance. However, the JSON command details about moving with a speed for a specific distance which is not in conformity with the natural language command.'] +Turn right and move forward for 3 meters.,The response is, "Turn right and move forward for 3 meters.";['3; The natural language command instructs two actions: rotation ("Turn right"), and movement ("move forward for 3 meters"). The sample ontology does have the keys for these actions ("rotate" and "move" respectively) but JSONs provided lack information like the angle for turn (rotation) and speed for moving forward. The JSON structure partially conforms to the natural language command.', ''] +Proceed forward for a distance of 3 meters after making a right turn.,The response is, "Make a right turn and proceed forward for a distance of 3 meters.";['4; The direction for rotation ("Make a right turn") and the move action ("proceed forward for a distance of 3 meters") are both represented correctly in the JSON structure. However, the natural language command does not specify the angular velocity for rotation and the linear speed for moving forward. This missing information results in a slight mismatch between the command and the JSON structure.'] +After turning right, continue straight for 3 meters.,The response is, "Continue straight for 3 meters.";['1; The command is asking to turn right which aligns to "rotate" action but doesn\'t provide the required parameters in the given format. Further, it tells to continue straight which seems to be the action "move", but does not mention the speed. Hence, the command doesn\'t match completely with the JSON structure.', ''] +Make a right turn and advance for a distance of 3 meters.,The response is, "Make a right turn and advance for a distance of 3 meters.";['3; The natural language command includes a rotation ("Make a right turn") and a movement ("advance for a distance of 3 meters"). Both of these actions are covered in the sample ontology JSON structures. But, the JSON for these actions is not provided, hence the score is 3 not 5.'] +Execute a rightward turn and then travel straight ahead for 3 meters.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}.";['2; The natural language command talks about two actions - a rotation and a movement in a straight line. However, the JSON only defines the rotation action and does not include the \'move\' action. Moreover, the "angular_velocity" and "angle" values given in the JSON don\'t match with the natural language command as their specific values aren\'t mentioned in the command.'] +Move backward at a velocity of 1 meter per second for 4 seconds.,The response is, "Move backward at a velocity of 1 meter per second for 4 seconds.";['0; The provided natural language command does not conform to any of the provided JSON structures. The natural language command suggests a backward movement, which does not match with the \'is_forward\':True in the \'move\' JSON structure. Additionally, the command refers to moving "for 4 seconds" which is a duration, not a distance. Thus, the command does not conform to the provided ontology.'] +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.,The response is, "{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}";['1; The command indicates that the action to be carried out is to move in reverse at a certain speed for a certain duration. However, the JSON response represents an action to go a specific goal (Kitchen). Even though they both represent actions of movement, they specify different kinds of movements and are therefore not perfectly aligned.'] +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.,Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.;['0; The natural language command refers to reversing direction and moving at a certain speed for a certain time, but none of the JSON structures refer to reversing direction or moving for a set period of time. Furthermore, the second JSON structure refers to moving a certain distance, not for a certain time as specified in the command. Therefore, none of the JSON structures match the command.'] +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.,The response is, "{"action": "move", "params": {"linear_speed": 1, "distance": -4, "is_forward": false, "unit": "meter"}}";['4; The natural language command is accurately converted to the proposed JSON structure, but the parameter "distance" would be better represented as "time" since the command specifies "for 4 seconds". The parameters "linear_speed", "is_forward", and "unit" are correctly inferred and represented. The only issue is that the command demands motion in terms of time, not distance.'] +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.,The response is, "Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.";['0; The provided natural language command does not correspond to any of the provided JSON structures. The command suggests reversing an action, but none of the JSON structures have a parameter for direction reversal. Also, the speed and time parameters in the command do not match with any parameters in the JSON structures.'] +Rotate counterclockwise by 270 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 270, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; There is partial conformity between the natural language command and the JSON structure. The "action" key matches, however, the "angular_velocity" does not correspond correctly to the command. Angular velocity refers to the speed of rotation, not the degrees in rotation. The "angle" key should be set to 270 instead, following the natural language command of "Rotate counterclockwise by 270 degrees." The "is_clockwise" key is set correctly to false, corresponding to the command\'s "counterclockwise" directive.'] +Rotate 270 degrees counterclockwise.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 270, "is_clockwise": false, "unit": "degrees"}}";["3; Some keys are not conforming. The 'angular_velocity' is not correctly represented - in the command, it is not specified and was expected to be a reasonable value, but 180 degrees per second might be too high for most use cases. Also, it's not specified in the natural language command to use degrees as 'unit' but it's acceptably inferred. The other keys match correctly with the command."] +Turn left by 270 degrees.,The response is, "Turn left by 270 degrees.";["1; The natural language command instructs to rotate but does not specify the angular velocity and whether the rotation is clockwise or not. However, the JSON structure includes the keys for 'rotate' action but the value of 'angle' does not match with the command. The JSON structure has an angle of 40 while the command instructs to turn left by 270 degrees."] +Perform a counterclockwise rotation of 270 degrees.,The response is 270.;['4; The command partially conforms to the JSON structure for the "rotate" action: the direction of rotation (counterclockwise) and the angle (270 degrees) are provided, but the angular velocity is not mentioned in the command. A score of 4 is given because the command fits the expected format of the sample keys but is missing a value.'] +Rotate in the opposite direction by 270 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command asks for a rotation in the opposite direction by 270 degrees. This has been mapped correctly to the "rotate" action and the "angle" parameter has the correct value of 270 in the JSON. However, the direction of rotation has been signified by a negative angular velocity (-10) which has not been directly specified in the command. The "is_clockwise" parameter has been set correctly to "false" as "opposite direction" suggests a counter clockwise rotation. Also, the value of \'angular_velocity\' has not been mentioned in the command, but it\'s acceptable as per the instructions.'] +Move forward for 2 meters.,The response is, {"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}};['4; The command "Move forward for 2 meters" matches the structure of the JSON provided. However, in JSON response, "linear_speed" is given as 2 which is not mentioned in the command but some reasonable value is accepted in JSON if not specified in the command, so it can be considered as nearly conform.'] +Proceed ahead by a distance of 2 meters.,The response would be, "Proceed ahead by a distance of 2 meters.";['5; The natural language command "Proceed ahead by a distance of 2 meters" matches perfectly with the JSON structure for the move action. The distance parameter is specified directly in the command (2 meters), and the action "move" and "is_forward": True implicitly align with the command to "proceed ahead". The linear speed is not mentioned in the command but as per the instructions, any reasonable value can be accepted for this parameter. Hence the score is 5.'] +Advance for a span of 2 meters.,The answer is 2.;['5; Although the natural command is not specific about linear speed, it is specific about moving forward for a certain distance, which matches well with the JSON structure for the action: "move" and parameters: "distance" and "is_forward". The lack of specification in speed is not an issue because the scoring instructions allow for reasonable default values.'] +Travel forward, covering a distance of 2 meters.,The response is, "Move forward for 2 meters at a speed of 0.5 meters per second.";['5; All necessary information from the command is correctly represented in the JSON structure. The action to be taken is move, and the necessary parameters, such as linear speed, distance, is_forward and unit are correctly represented.'] +Move straight ahead, going 2 meters.,The response is, {"action": "move", "params": {"linear_speed": 2, "distance": 0, "is_forward": true, "unit": "meter"}};["3; The JSON structure is partially correct, but there is a mismatch in parameters, namely 'linear_speed' and 'distance'. The command asks for a move of 2 meters while 'distance' parameter is set to 0 in the JSON and a speed of 2 m/s is assigned which wasn't specified in the command."] +Rotate clockwise by 45 degrees and move forward for 1 meter.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": true, "unit": "degrees"}};['3; The command partially matches the JSON structures. The "rotate" action matches well, but the value for the "angular_velocity" parameter is incorrect. Angular velocity refers to the speed of the rotation, not the extent of the rotation. The "move" function isn\'t included in the JSON response at all, which it should be as per the command.'] +Move forward for 1 meter while rotating 45 degrees clockwise.,The response is, "Move forward for 1 meter while rotating 45 degrees clockwise.";["4; The commands align with both the 'move' and 'rotate' actions, however, the rotation action in the JSON doesn't exactly conform because the given angle is 40 degrees while the command mentions 45 degrees. Also, there's no explicit mention of the linear_speed and angular_velocity parameter values in the natural language command, thus any reasonable JSON values are accepted."] +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.,The response would be,{ "action": "rotate", "params": { "angular_velocity": 45, "angle": 0, "is_clockwise": true, "unit": "degree" } }{ "action": "move", "params": { "linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter" } };['4; The generated JSON scripts partially conform to the natural language command. There are a couple of inaccuracies. The angular_velocity should not be set to 45 as this parameter generally refers to speed of rotation, not the rotation angle. The rotation angle is correctly defined in the "angle" key as 45 degrees in the first JSON. Next the value of linear speed in the second JSON should not be set to 1 based on the English command, as no specific speed was mentioned for forward movement.'] +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure is almost exactly conforming to the natural language command, but the "angular_velocity" value should not be 45. This value indicates a speed, not an angle. The value itself is not specified in the command, so it should be a reasonable default value (like 0.35 based on the given ontology).'] +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 1, "is_clockwise": true, "unit": "degree"}};['2; The JSON structure doesn\'t completely match the natural language command. The "action": "rotate" part matches with the command to "rotate 45 degrees clockwise", and "is_clockwise": true part is correct. However, the "angular_velocity" key should have some value associated with rotation speed, not the angle of rotation - so this seems to be mismatched. There\'s also no JSON structure provided for the second part of the command, which was to "move forwards 1 meter". This part of the command isn\'t accounted for in the JSON structure given.'] +Turn left and move forward for 3 seconds.,The response is, "Turn left and move forward for 3 seconds.";['0; Neither "turn left" nor "move forward for 3 seconds" commands match any of the JSON structure\'s keys provided in the sample ontology. The JSON command for moving is based on linear speed and distance, not time, and the command for rotation is based on angular velocity and angle, not directions like left or right.'] +Proceed straight for 3 seconds after taking a left turn.,The response is, "Proceed straight for 3 seconds after taking a left turn.";['0; The natural language command does not conform to the sample ontology keys provided in the JSON structures. There are no keys for the actions "proceed straight" and "take a left turn".'] +Take a left turn and continue advancing for 3 seconds.,The response would be, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}}";["2; The command does not clearly conform to the provided JSON structure. The user commanded to make a left turn and continue advancing, but the JSON structure only reflects moving forward. There's no component of rotation mentioned in the JSON. However, the part about advancing or moving forward is correctly interpreted in the JSON structure but there isn't enough information to consider the time of 3 seconds mentioned in the command as it might not necessarily translate to distance."] +Make a left turn and proceed forward for a duration of 3 seconds.,The response is, "Make a left turn and proceed forward for a duration of 3 seconds.";['0; The command includes actions that are not reflected in any of the provided JSON structures. The implied actions "turn" and "proceed forward for a duration" do not match with the "go_to_goal", "move", or "rotate" actions of the sample keys. Therefore, this command could not be converted to JSON using the given ontology.'] +After turning left, move straight ahead for 3 seconds.,The response is, "After turning left, move straight ahead for 3 seconds.";["0; The natural language command mentions the actions 'turning left' and 'moving straight ahead for 3 seconds', however, there are no corresponding JSON structures provided for these commands in the sample ontology. The ontology provided includes 'go_to_goal', 'move', and 'rotate' commands neither of which adequately capture the actions mentioned in the given command. Therefore, there is no match between the natural language command and the JSON structures."] +Move backward for 1 meter.,The response is, "Move backward for 1 meter.";['0; The natural language command doesn\'t match any of the JSON structures. "Move backward for 1 meter" would imply an action of "move" with a distance of 1 and is_forward as false, but none of the JSON structures provided include a reverse direction or an interpretation of "backward".'] +Reverse direction and travel 1 meter.,Reverse direction and travel 1 meter.;['2; The command indicates some kind of movement. However, in the provided JSON structures, there isn\'t a clear definition of what "reverse direction" translates to in terms of the keys given. The command "travel 1 meter" could be referring to the "move" action, but there\'s no "is_reverse" or equivalent parameter in its structure, and also it lacks the specification of "linear_speed". Therefore, the match is not exact.'] +Go back for a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['2; The natural language command mentions about going backwards while the JSON structure only contains the action "move" which is described as moving forward. The conformity is not complete but the parameters including distance and linear_speed are correctly interpreted in the command.'] +Retreat for 1 meter.,The response is, "Retreat for 1 meter.";['1; The command \'Retreat for 1 meter\' can be only partly matched to the JSON action "move". Specifically, the "distance" and "unit" fields can be matched to magnitude and unit of the requested movement. However, the "is_forward" field in the JSON structure implies movement in the forward direction while the command implies moving backwards (\'retreat\'). So, this does not match. Rotation or going to a specified goal (the other JSON actions) do not apply to this command.'] +Take one step backward covering a distance of 1 meter.,The response is, "The action is 'move' and the params are 'linear_speed' = 1, 'distance' = 1, 'is_forward' = true, 'unit' = 'meter'.";["2; The natural language command is partially matched with the JSON structure(s). The 'distance' and 'unit' are correctly matched, however, the 'is_forward' parameter in the JSON is set to true while the command dictates a backward movement. The 'linear_speed' doesn't have a specified value in the command but it's acceptable since any reasonable value can be used. However, given the discrepancy with the direction of movement, the overall matching is not accurate."] +Rotate counterclockwise by 120 degrees and move forward for 5 meters.,The response is,;['5; The rotation and the movement command conform to the respective JSON structures. The appropriate parameters/values are mentioned, such as: "rotate", "angle: 120", "is_clockwise: false", "move", "distance: 5 meters", "is_forward: true".'] +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.,The response would be,{ "action": "rotate", "params": { "angular_velocity": 120, "angle": 120, "is_clockwise": false, "unit": "degrees" } },{ "action": "move", "params": { "linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter" } };['5; The commands perfectly match with the JSON structure. Both the values and actions in the sentence match those in the JSON, with the rotation being counterclockwise (is_clockwise = false) and the movement being forward (is_forward = true). The units are also correctly stated as degrees and meters respectively.'] +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 120, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['1; The JSON structure partially matches with the command, however, the "angular_velocity" should not be 120 but could be any reasonable value as it is not specified in the command. The "angle" is mentioned as 180 in the JSON while it is 120 degrees in the command. The command also mentions moving forward for 5 meters which is not represented in the JSON.'] +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.,The response is, "Turn to the left by an angle of 120 degrees and then move forward for 5 meters.";['5; Both natural language commands "Turn to the left by an angle of 120 degrees" and "move forward for 5 meters" fit perfectly with the sample ontologies given for "rotate" and "move" actions respectively. For "rotate", an angle value of "120" is specified and it\'s assumed that the rotation would be performed at any reasonable angular_velocity. Similarly, for "move", "is_forward" is specified as True and a "distance" of "5 meters" is inferred, while "linear_speed" can be any.'] +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.,The response is, "{"action": "rotate", "params": {"angular_velocity": 120, "angle": 0, "is_clockwise": false, "unit": "degrees"}}.";['2; The JSON structure somewhat matches the command. The "rotate" action is correctly identified and the "is_clockwise" parameter is correctly set to false, indicating a counterclockwise rotation. However, the "angular_velocity" parameter incorrectly holds the value of the rotation angle, as per the natural language command. The rotation angle should be 120 degrees but this information is absent from the JSON structure. The "move" command and details about starting condition or direction are absent from the natural language command but they are a part of the JSON structure.'] +Move forward at full speed for 20 seconds.,The response is, "Move forward at full speed for 20 seconds.";['0; The natural language command does not correspond to any of the provided JSON structures. The action "move forward at full speed for 20 seconds" is not described in the sample keys of the ontology. Additionally, the command does not provide parameters like "linear_speed", "distance", "is_forward", and "unit", which are specified in the JSON structure for the "move" action.'] +Proceed ahead at maximum velocity for a duration of 20 seconds.,The response is, "Proceed ahead at maximum velocity for a duration of 20 seconds.";["0; The given natural language command does not match any of the provided JSON structures. There is no 'move' action with 'time' as a parameter and there is no defined 'maximum velocity' in the JSON structures."] +Travel straight ahead at top speed for a duration of 20 seconds.,The response is, "Move forward for 20 seconds at top speed.";['0; None of the JSON structures matches with the natural language command. The JSON commands do not contain keys related to "duration" or "top speed", so it\'s not possible to map this command to the provided JSON structures.'] +Advance forward with utmost speed for a period of 20 seconds.,The answer is 20.;['0; Neither of the JSON structures provided matches with the natural language command. It doesn\'t correspond to any action ("advance forward with utmost speed for a period of 20 seconds") in the provided structures.'] +Go straight ahead at full throttle for a duration of 20 seconds.,The answer is 20.;["0; Neither the natural language commands nor the JSON structures reference the same actions or parameters. The command suggests a time-based movement at maximum speed, but the JSON structures contain location-based movement, linear speed movement with specific distance, and rotation with a specific angle - none of which match the user's command."] +Rotate clockwise by 60 degrees.,The response above.;['4; The command matches the "rotate" action, although the rotation angle is different, 60 degrees instead of 40. Also, the "is_clockwise" parameter is set to true, which matches the natural language command to rotate clockwise. The "angular_velocity" in JSON isn\'t mentioned in the natural language command, but it\'s accepted since it\'s not mentioned. However, the minor deviation of rotation parameter results in the score of 4, not 5.'] +Turn right by 60 degrees.,The response is, "Turn right by 60 degrees.";['4; The command matches the JSON structure for the "rotate" action with acceptable values provided for "angle" and an implicit value for "is_clockwise", but no direction for "angular_velocity" is provided in the command.'] +Perform a clockwise rotation of 60 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}".;['4; The action and parameters defined in the command match with the JSON structure keys. However, the value of "angular_velocity" is not provided in the command and a random value (10) is chosen which is acceptable according to the given instructions.'] +Rotate in a clockwise direction, making a 60-degree turn.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['4.5; The JSON structure matches the command for the most part, with the correct "action" of "rotate" and the correct "params" values for "angle", "is_clockwise" and "unit". However, the "angular_velocity" value in the JSON is not mentioned in the command, therefore it can\'t be judged whether this is the right value.'] +Rotate to the right, making a 60-degree angle.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The JSON structure corresponds exactly to the command. The action "rotate" is correct, the rotation parameters like "angle" and "is_clockwise" are correctly provided. Also, the "angular_velocity" is reasonable and there\'s the correct use of the "unit" as "degrees".'] +Move backward at a velocity of 0.75 meters per second for 8 seconds.,The response is, "Move backward at a velocity of 0.75 meters per second for 8 seconds.";['0; The given natural language command cannot be accurately translated into a matching JSON structure based on the provided sample ontology. The command involves moving backward at a specific velocity for a given duration, however, the ontology only supports actions related to moving forward, rotation, and reaching a goal location. There are no keys in the ontology for moving backward or controlling the duration of movement.'] +Reverse at 0.75 meters per second for a duration of 8 seconds.,The response is, "Reverse at 0.75 meters per second for a duration of 8 seconds.";['0; None of provided JSON structures match the natural language command. The command instructs to reverse at a specific speed for a certain duration, but the JSON structures provided do not have an action for reversing or a parameter for duration. Therefore, the command cannot be converted to match these JSON structures.'] +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.,The response is, "Move backward for 8 seconds at a speed of 0.75 meters per second.";['2; The natural language command partially aligns with the JSON structure for both "move" and "rotate" actions, but it does not completely align with either. It matches the "move" action in terms of specifying a direction (opposite, which could be interpreted as moving backward), a speed (0.75 meters per second), but it specifies time instead of distance. The JSON structure, on the other hand, requires a distance, not time.'] +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.,The response is, "Move backward for 8 seconds at a velocity of 0.75 meters per second.";['0; The natural language command suggests different action and parameters than the provided JSON structures. It talks about moving backwards for a certain period whereas the JSON structures denote "go to location", "move in a specific direction for a certain distance", and "rotate to a specific angle at a certain velocity". Therefore, the command doesn’t fall under any JSON structure and no parameters in the sample ontology match with the parameters given in the command.'] +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.,The response is, "Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.";['0; The natural language command does not conform to any of the JSON structures provided as it implies movement in reverse, while the ontology only supports forward movement. Additionally, it specifies time duration which is not supported by the ontology which works with distance.'] +Turn right and move forward for 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}}";['2.5; The natural language command describes performing two actions - rotating (turning) and moving. However, the provided JSON structure only accounts for the moving action and does not represent the rotation. Furthermore, "linear_speed" is set to "4" in the JSON, which does not conform to the command - it should describe the speed of movement, not the distance to be traveled. The distance is correctly set to "4" in the JSON which matches the command. The "is_forward" parameter correctly matches the "move forward" direction in the command. The "unit" is correctly set to "meter" in the JSON, conforming to the command.'] +Take a right turn and proceed straight ahead for a distance of 4 meters.,The response would be, "Move forward for 4 meters at a speed of 1 meter per second.";["2; The given natural language command partially matches with the move and rotate actions in the JSON structures. However, the command doesn't mention the speed of movement and the angle to turn which are present in the JSON structures."] +Make a right turn and continue moving forward for 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}";['1; The JSON command provided partially matches the natural language command but lacks the "rotate" action. While it correctly converts the part about moving forward for 4 meters, it doesn\'t specify the right turn action from the natural language command.'] +Rotate to the right and advance ahead for a distance of 4 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['3; The natural language command is partially matched with the JSON structure. The action "rotate" was rightly detected. However, the actual angle of rotation and angular speed were not mentioned in the command and the JSON does mention values that haven\'t been specified in the command. The "move" action present in the command is not represented in the JSON structure at all.'] +Go to the right and keep moving straight for 4 meters.,The response is, "Go to the right and keep moving straight for 4 meters.";["1; The natural language command mentions an action of moving straight for a certain distance, however the direction 'right' does not fit into the provided JSON structures. In the 'move' action only linear speed and moving forward are mentioned but not a specific direction. The 'rotate' action does not match as the rotation angle and whether it's clockwise are not specified in the natural language command."] +Move forward for 3 meters.,The response is, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}};["2; The linear speed and distance parameters in the JSON structure are 0.5 and distance respectively, which does not conform fully with the natural language command's instruction to move 3 meters forward. This should have matched the distance param value in the JSON, but linear speed doesn't match the given JSON prototype."] +Proceed straight ahead for a distance of 3 meters.,The response is, "Move forward for 3 meters at a speed of 3 meters per second.";["2; The JSON structure provided partially matches the natural language command. The command specifies linear movement for a certain distance which is reflected in the 'move' action of the JSON. However, there is discrepancy with the linear_speed value specified as the command does not provide information regarding speed. Meanwhile, the direction (forward) is implied in the command but not explicitly mentioned."] +Advance ahead 3 meters.,The response is, "The advance ahead 3 meters.";['4; The natural language command indicates that the action to be taken is to move forward a certain distance.This matches the "move" action in the provided JSON structure. However, the provided JSON does not specify the distance to be covered. Therefore, the match is not perfect, hence the score of 4.'] +Go forward a total of 3 meters.,The response is, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}};['4; The JSON structure corresponds with the natural language command, but the "linear_speed" isn\'t mentioned in the command and its value of 0.5 would have been a more reasonable default than 3, as is presented in the JSON.'] +Travel straight for a distance of 3 meters.,The response above is acceptable.;['4; The command corresponds vaguely to the move action in JSON. It includes the parameter for distance, but lacks the linear speed and direction (is_forward). But as per instructions, these can be reasonably filled in. The command doesn\'t explicitly specify the action "move" but "Travel straight" can be interpreted as such.'] +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};["2; The JSON structure partially matches the initial part of the natural language command regarding rotating counterclockwise by 90 degrees. However, the value of the angle is incorrect, it should be 90 degrees instead of 0, and the angular_velocity value is incorrect. Additionally, there's no JSON command to address the second part of the command - moving forward for 2 seconds."] +Turn left 90 degrees and proceed forward for a duration of 2 seconds.,The response is, "Turn left 90 degrees and proceed forward for a duration of 2 seconds.";['0; The command does specify actions that could be interpreted as "rotate" and "move", but it does not align with the JSON structure for either action. Rotations in the JSON structure are defined in terms of angular velocity and angle, not direction (left/right). Movement in the JSON is defined in terms of linear speed and distance, not duration of time.'] +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.,The response would be,{ "action": "rotate", "params": { "angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees" } }{ "action": "move", "params": { "linear_speed": 2, "distance": 0, "is_forward": true, "unit": "meter" } };['2; The angular velocity is confused with the angle in the first JSON. The "distance" and "velocity" params in the second JSON are given arbitrary values of 0 and 2 respectively, which don\'t match the command.'] +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure partially matches the natural language command. The "rotate" action matches, and the "is_clockwise" parameter is correctly false for anti-clockwise rotation. However, the "angular_velocity" should not have the value 90, instead the "angle" should be 90 for rotation of 90 degrees. Also "angle" should not be 0. The \'move\' command and its parameters are not captured in the JSON at all so that part of the command is totally ignored.'] +Make a left turn of 90 degrees and proceed forward for 2 seconds.,The response is, "Make a left turn of 90 degrees and proceed forward for 2 seconds.";["0; The given command refers to actions of rotation and moving but there's no corresponding JSON structure provided for the same. The command doesn't match with the sample keys in the JSON structures and hence, cannot be converted into JSON."] +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}};["5; The natural language command perfectly matches the JSON information. Even though the linear_speed value isn't mentioned in the command, it is allowed to have any reasonable value in the JSON."] +Proceed ahead a distance of 5 meters.,The response is, "The distance traveled is 5 meters.";['3; The natural language command only partially matches with the JSON structure. The action "move" and parameter "distance" correspond with the command, however, the command doesn\'t specify "linear_speed", "is_forward", and "unit".'] +Advance for a total of 5 meters.,The answer is 5.;['3; The natural language command refers to a action that might be included in the "move" action of the JSON structure. It specifies a distance which is a parameter in the JSON, but does not give an indication of linear_speed or direction (is_forward). Therefore, it partially conforms to the JSON structure.'] +Travel straight ahead covering a distance of 5 meters.,The response is, "{"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}}";['4; Almost conform. The "linear_speed" is not mentioned in the command, yet it is present in the Json with a value of 5 which does not correspond with the given natural language command. The rest of the JSON structure like action, distance, is_forward and unit values do match with the command.'] +Go forward a length of 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}};['4; The structure of the JSON fits the command, but the "linear_speed" key value doesn\'t correspond with the command. The linear speed refers to the speed of movement, not the distance. The correct "linear_speed" could be any reasonable number, but it\'s not specified in the command.'] +Turn left and continue for 10 seconds.,The response is, "Turn left and continue for 10 seconds.";['0; The natural language command "Turn left and continue for 10 seconds." doesn\'t match any of the provided JSON structures as there are no corresponding action or parameters present in the command that can be corresponded to the sample ontology.'] +Make a left turn and keep going for 10 seconds.,The response is, "Make a left turn and keep going for 10 seconds.";["0; Neither the action of 'turning' nor a time duration parameter are present in the provided sample ontology JSON structures."] +Go left and continue for 10 seconds.,The response is, "Go left and continue for 10 seconds.";['0; None of the three JSON structures matches the command "Go left and continue for 10 seconds." It does not contain any reference to the actions "go_to_goal", "move" or "rotate" nor do they contain parameters related to time duration.'] +Take a left turn and continue for a duration of 10 seconds.,The response would be, "Take a left turn and continue for a duration of 10 seconds.";["0; The natural language command refers to a left turn and a duration of movement, however, the provided JSON structures don't have such keys or parameters to represent this specific command. Hence, it can't be converted into any of the given JSON structures."] +Proceed by turning left and maintaining that direction for 10 seconds.,The response is, "Turn left for 10 seconds.";["0; The given command includes action of 'proceeding by turning left and maintaining it for 10 seconds' in the given natural language command which is not clearly defined in the sample ontology of JSON commands as it lacks the time criteria for rotation action. Thus there's no conformity."] +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The "angle" in the JSON should be 90 as inferred from the command, but it is wrongly set as 0, whereas "angular_velocity" even when not specified in the command should be a reasonable value, preferably not equal to "angle", currently set as 90. Additionally, "is_clockwise" correctly matches the command.'] +Turn 90 degrees counterclockwise.,The response is, "Turn 90 degrees counterclockwise.";['4; The natural language command matches with the "rotate" action in the JSON structure but it doesn\'t specify the "angular_velocity". Other parameters match correctly as "angle" is 90 and "is_clockwise" is false (since it is counterclockwise).'] +Rotate in the opposite direction by 90 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['3; Partial conformity. The action and parameters used in terminal command are aligned with the keys in the sample ontology, however the values are not matching correctly. For instance, the instruction specifies a 90-degree rotation while the JSON structure indicates a 180-degree rotation. Similarly, the speed of rotation (angular_velocity) is not mentioned in the instruction but specified in JSON.'] +Perform a counterclockwise rotation of 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}".;['4.5; Although the natural language command matches well with the JSON structure, the angular_velocity cannot be 90 as it refers to the speed of rotation, not the angle itself. The value given for the "angle" parameter is correct.'] +Move in a counterclockwise direction, turning by 90 degrees.,The response is, "Move in a counterclockwise direction, turning by 90 degrees.";['4; The JSON structure has the same action as the command, which is to rotate. However, the value of "angle" is different. The command specifies 90 degrees and the JSON has 40 degrees. Also, the "is_clockwise" parameter in the JSON is not specified in the command but can be inferred to be False because the command states "counterclockwise".'] +Back up 2 meters and stop.,The response is, "Back up 2 meters and stop.";['0; The natural language command does not conform to any of the JSON structures provided. The command "Back up 2 meters and stop" would require actions of "move" and "stop", neither of which are described in the JSON structures. Additionally, the "move" JSON structure lacks a "direction" parameter to specify the backwards movement in the command.'] +Move back a distance of 2 meters and come to a halt.,The response is, "Move back a distance of 2 meters and come to a halt.";["2; The command has the action 'move' and parameter 'distance' mentioned in the JSON structure, but the JSON format does not contain any key for directing the direction of movement (i.e., backward or forward). Additionally, there is no key to denote the 'halt' action conveyed in the command."] +Reverse by 2 meters and come to a stop.,Reverse by 2 meters and come to a stop.;["0; The natural language command does not correspond to any of the provided JSON structures. The action 'Reverse' and 'come to a stop' are not present in the sample keys."] +Retreat 2 meters and bring yourself to a standstill.,The response is, "Retreat 2 meters and bring yourself to a standstill.";['0; The natural language command refers to moving a certain distance backwards and then stopping, but the associated JSON structures do not reflect this. The JSON structures are predefined actions for "go_to_goal", "move" and "rotate", none of which matches the command. Plus, neither mentions "retreat" or stopping.'] +Step backward 2 meters and cease movement.,The response is, "{"action": "move", "params": {"linear_speed": -2, "distance": 0, "is_forward": false, "unit": "meter"}}";['4; The command and the JSON structure mostly conform with each other but the "linear_speed" key shouldn\'t have a value of -2 as it should represent speed which can\'t be negative. The "distance" also should have a value of 2 as it\'s the distance travelled, while the "is_forward" key correctly indicates that the movement is in opposite direction.'] +Move forward at a speed of 0.5 meters per second for 6 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}};['4; The natural language command mostly matches the JSON instruction. However, the natural language command specifies a duration ("for 6 seconds"), rather than a distance, so it\'s not a perfect match as the JSON structure requires a "distance" parameter not a duration.'] +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.,The response is, "Proceed ahead for 6 seconds at a velocity of 0.5 meters per second.";['2; The natural language command gives instructions related to moving forward at a certain speed (an \'action\' of \'move\' relevant to the second JSON structure), but it uses time as a parameter rather than \'distance\', hence it isn\'t a perfect match with the given JSON structures. The speed ("linear_speed") does match up with the JSON structures correctly.'] +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.,The response is, "Move forward for 6 seconds at a speed of 0.5 meters per second.";['2; The natural language command partially matches with the move action in the JSON ontology. However, the duration (6 seconds) for the movement is not captured by the JSON ontology which only specify linear speed, distance, direction, and unit.'] +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.,The response is, "Move forward for 6 seconds, covering a distance of 0.5 meters in each second.";['4; The natural language command mostly conforms to the JSON structure. The JSON structure "action": "move" corresponds with "Travel forward", and "linear_speed": 0.5 matches "covering a distance of 0.5 meters in each second". However, the time period is not represented in the sample JSON structures provided.'] +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}}".;['4; The natural language command is largely compliant with the JSON information. The command calls for a forward movement with a speed of 0.5 meters per second which matches with the "move" action and "linear_speed" parameter in the JSON. However, the command mentions a duration while the JSON structure uses distance as a parameter instead.'] +Turn right and move forward for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['4; The JSON structure for the command "move forward for 1 meter" partially matches the natural language command. However, the command "turn right" is not represented in the JSON structure. In the "move" action JSON, the "distance" is a placeholder and the provided value "1 meter" matches with it. Also, the "is_forward" is set to True which matches the "move forward" command. However, the lack of the rotation command in the JSON leads to the deduction of the score from 5 to 4.'] +Make a right turn and proceed ahead for a distance of 1 meter.,The response would be, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['2; The natural language command includes the action "rotate" but the provided JSON only represents the action "move". There is partial conformity with the "move" action parameters, but the "rotate" part is missing in the JSON command.'] +Take a right turn and continue moving straight for a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['2; The command and JSON structure partially match. The natural language command includes a direction (right turn), which may imply rotation, but the exact parameters (angle, clockwise/counterclockwise orientation) are not specified. Similarly, the command implies moving forward for a certain distance which matches the "move" action but the linear speed or \'is_forward\' is not referred to in the command. So, the command neither fully conforms to the \'move\' action nor the \'rotate\' action in the JSON structures.'] +Head to the right and advance forward for 1 meter.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}";['5; The natural language command corresponds exactly with the provided JSON structure. The values within the JSON structure match with the natural language command ("advance forward for 1 meter" corresponds to "distance": 1, "is_forward": true, "unit": "meter"). However, the direction "head to the right" is not represented in the JSON, but it can be considered part of the movement action.'] +Rotate right and proceed ahead for a length of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};["2; The 'rotate' action mentioned in the natural language command is not reflected in the JSON. However, the 'move' action with the specified distance in meters partially matches with the command."] +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; The command "Rotate clockwise by 180 degrees" almost matches perfectly with the given JSON structure, except for the mismatch in "angular_velocity". In the command, it is inferred that the robot should rotate at an unspecified angular velocity, not specifically 180. The JSON wrongly assigned the "angle" value (180) to "angular_velocity".'] +Turn in a clockwise direction until you have rotated 180 degrees.,The response is 180.;['4; The command matches with the "rotate" action in JSON structure. The "is_clockwise" parameter in the JSON can be inferred as True from the natural language command. However, the "angular_velocity" parameter is not specified in the command and is therefore assumed to be a reasonable default value.'] +Perform a 180-degree clockwise rotation.,The response is 180.;["4; The natural language command aligns pretty well with the JSON structure, although the required angular velocity is not specified in the command. The 'rotate' action takes place as specified in the command, while the 'angle' matches too. However, the 'angular_velocity' value is missing in the command."] +Rotate 180 degrees in the clockwise direction.,The response is 180 degrees in the clockwise direction.;['5; Exactly conform.', '', 'Explanation: The natural language command perfectly matches with the JSON structure of the rotate action. It accurately specifies the angle (180 degrees) and direction of rotation (clockwise), which aligns with the parameters specified in the JSON.'] +Turn to the right until you are facing the opposite direction.,The response is, "Turn to the right until you are facing the opposite direction.";['1; The natural language command implies an action of rotation, but the exact degree of rotation and the angular velocity aren\'t clear from using "facing the opposite direction", therefore, fitting onto the given JSON structure for rotation partially.'] +Move backward for 3 seconds.,The response is, "Move backward for 3 seconds.";['0; The natural language command cannot be converted into a JSON structure using the sample ontology as it does not contain keys for moving in a backward direction or for executing any action for a specified duration in seconds.'] +Go in reverse for a duration of 3 seconds.,The response is, {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}.;["0; The command has asked for a reverse movement and this does not match 'go_to_goal' action detailed in the JSON structure. The 'location' in the JSON object is also entirely unrelated to the command."] +Reverse your movement for a total of 3 seconds.,Reverse your movement for a total of 3 seconds. The answer is 3.;['0; The natural language command does not match any of the JSON structures.'] +Backtrack for a period of 3 seconds.,The answer is 3.;['0; The command instructs to "backtrack for a period of 3 seconds", this action or its parameters (such as time or direction of movement) are not represented in the provided JSON structures. Therefore, there is no conformity between the natural language command and the JSON structures.'] +Take a 3-second step backwards.,The answer is 3.;['0; The command is asking for a 3-second step backwards but none of the JSON structures provide a `time` parameter or a "backwards" movement option. Hence, it does not conform to the sample ontology.'] +Turn left and continue for 7 meters.,The response is, "Turn left and continue for 7 meters.";['0; The provided JSON structures do not match the natural language command. The command specifies a rotation (turn left) and a specified distance for movement, however the rotation direction is not defined in the JSON structures and the movement action does not involve specifying a distance. The "rotate" action does not have a parameter for direction (left or right) and the "move" action does not have a parameter for a specified distance.'] +Take a left turn and proceed straight ahead for a distance of 7 meters.,The response would be, "Move forward for 7 meters at a speed of 0.5 meters per second.";["2; The natural language command requests a left turn and a movement, but the matching JSON structure provided is just for movement. The 'action' key correlates with 'Move' and the 'distance' key with '7 meters'. However, there is no mention of the turning action in the JSON structure. Also, the command does not specify line_speed in its text but it is considered conform since the parameter's value is not specified. For the complete conformity, the command needs to explicitly ask to move a specific distance at a specific speed without mentioning an unmatched action such as 'take a left turn'."] +Make a left turn and keep going for 7 meters.,The response is, "Make a left turn and keep going for 7 meters.";['1; The natural command requires two actions, "rotate" and "move". The "rotate" command doesn\'t specify an angle, and the "move" command correctly gives the distance, but the JSON structures only allow for one action at a time.'] +Go left and carry on for a distance of 7 meters.,The response is, "Go left and carry on for a distance of 7 meters.";['0; The natural language command instructs the system to move (specifically, go left) but there\'s no reference to the "rotate" action in the JSON structure that might handle direction (left). Also, information given in the command doesn\'t match precisely with parameters in the "move" action, which mentions linear speed but not direction.'] +Head to the left and continue for a length of 7 meters.,The response is, "Head to the left and continue for a length of 7 meters.";['0; The command \'Head to the left and continue for a length of 7 meters\' includes movement instructions, but the types of action and parameters don\'t match any of the given JSON structures. The available actions in the JSON structures are "go_to_goal", "move", and "rotate", but none of these correctly encapsulate the specific instruction of heading to the left. Additionally, there\'s no parameter in the JSON structures that determines direction (e.g., "left"). Therefore the command doesn\'t conform to the JSON structures.'] +Move forward at a speed of 1 meter per second for 4 seconds.,The response is, "Move forward for 4 seconds at a speed of 1 meter per second.";["2; The natural language command is to move forward with a specific speed and time, suggesting a distance to be covered. The provided JSON structure supports moving with a specific linear speed and distance, but does not specify time. So, while the elements of linear motion are present, they don't fully match the language command."] +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.,The response is 4 seconds.;['0; The provided natural language command does not correspond to any of the provided JSON structures. The command suggests a certain movement speed and time duration which don\'t match with predefined keys as "location" for "go_to_goal", "linear_speed", "distance", "is_forward" and "unit" for "move" as well as "angular_velocity", "angle", "is_clockwise" and "unit" for "rotate".'] +Advance for 4 seconds, maintaining a speed of 1 meter per second.,The response is, "Move forward for 4 seconds at a speed of 1 meter per second.";['2; The command refers to a movement with a specified speed, but it does not conform to the provided JSON structure since parameters such as "time" and an explicit "forward" direction are not available in the sample ontology. Moreover, the "move" action in the JSON expects parameters like "distance" and "is_forward", which are not specified in the given command.'] +Travel forward for 4 seconds, moving at a rate of 1 meter per second.,The response is, "{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}";['4; The JSON structure matches the instruction to "move" with a "linear_speed" of 1 and a "distance" of 4 and "is_forward" set as true. But the "distance" in the command is mentioned as "4 seconds" which is actually a time reference not distance. However, since command also mentions a rate of "1 meter per second", it\'s inferred that the robot should move 4 meters. So, the command is correct but it could be more clearly specified in meters for accuracy.'] +For a period of 4 seconds, move ahead at a speed of 1 meter per second.,The response would be, "{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}";['5; The natural language command "For a period of 4 seconds, move ahead at a speed of 1 meter per second" correctly translates to the provided JSON structure "{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}}". All the information is matched correctly.'] +Rotate counterclockwise by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; Partially conform. The "angular_velocity" and "angle" are swapped, "angular_velocity" should be a speed not an angle which is not clearly defined in the command. The "is_clockwise" boolean is correct and "unit" is correctly identified as "degrees".'] +Change the orientation by 45 degrees in a counterclockwise direction.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}}";['4; The JSON structure accurately represents the task of rotating counterclockwise by 45 degrees. However, the angular_velocity value in the JSON does not match with the natural command as it was not specified.'] +Turn left by 45 degrees.,The response is, "Turn left by 45 degrees.";['3; Partial conformity. The natural language command asks for a rotation action to the left, which can be interpreted as a counter clockwise rotation, however, the value for "is_clockwise" is not provided in the sample keys. Moreover, the exact angle of rotation is not specified in the JSON but can be inferred to be 45 degrees from the natural language command hence is accepted. The "angle" key in the JSON structure has a value of 40 instead of 45.'] +Rotate anticlockwise by an angle of 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": false, "unit": "degrees"}}";['4; The command matches the action "rotate" and the keys "angle", "is_clockwise" and "unit" are correctly used, but the value of "angular_velocity" should represent rate of rotation not the angle of rotation. So, there is slight discrepancy.'] +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.,The response is, "The position has been adjusted by rotating in the counterclockwise direction with an angle of 45 degrees.";["4; The command partially matches with the 'rotate' action in JSON. The angular speed is not specified in the natural language command, but a reasonable value is given in the JSON. However, the natural language command specifies counterclockwise rotation which contradicts with the 'is_clockwise' key in the JSON, which by default value shown would suggest a clockwise rotation. Hence, the score is slightly reduced."] +Go straight for 8 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['5; The command "Go straight for 8 meters" completely matches with the JSON structure that shows \'move\' action with \'distance\' as 8 and \'is_forward\' as True. The \'linear speed\' isn\'t specified in the command, but its value in the JSON structure can be reasonably accepted.'] +Proceed in a straight line for a distance of 8 meters.,The response is, "The person proceeded in a straight line for a distance of 8 meters.";['4; The natural language command aligns well with the "move" action in the JSON structure. However, the value for "is_forward" is not specified in the command, so we can assume it is True. Also, the "linear_speed" is not mentioned but any reasonable value is accepted.'] +Continue in a straight direction for a span of 8 meters.,The response is, "Move forward for 8 meters at a speed of 1 meter per second.";['3; Partially conform. The natural language command asks to move in a straight direction for a span of 8 meters. This corresponds to the "move" action in the JSON structures, but the natural language command gives no specification about the linear_speed, therefore the value provided in the JSON example can be considered valid. However, the JSON structure includes an extra command ("is_forward": True) that is not explicitly stated in the natural language command, but it can be inferred.'] +Maintain a straight path for a duration of 8 meters.,The response is, "Maintain a straight path for a duration of 8 meters.";['4; The command can be interpreted to match the JSON structure of moving forward a certain distance but there is no key in the provided ontology to specify that the path should be straight. This leads to a slight mismatch in the translation.'] +Stay on course for a distance of 8 meters ahead.,The response is, "The distance ahead is 8 meters.";['4; The natural language command matches mostly with the "move" action JSON structure. The "distance" parameter is clearly mentioned to be 8 meters, but the "linear_speed" isn\'t specified in the command (which is acceptable). The specified "is_forward" value matches as the command says to move "ahead". The term "Stay on course" could indicate "move" action, but it is not a direct match, hence, the deduction of a point.'] +Turn right and move forward for 2 seconds.,The response is, "Turn right and move forward for 2 seconds.";["0; The provided natural language command doesn't match with any of the provided JSON structures as it involves rotation and movement, parameters of which isn't defined in the Arabic command."] +Proceed straight for 2 seconds after making a right turn.,The response is, "Proceed straight for 2 seconds after making a right turn.";['0; The command itself cannot be converted to JSON because the ontology in the command ("Proceed straight for 2 seconds after making a right turn") does not exist in the given sample keys. Therefore, it is not conformant.'] +Take a right turn and continue moving ahead for a duration of 2 seconds.,The response would be, {"action": "move", "params": {"linear_speed": 2, "distance": 0, "is_forward": true, "unit": "second"}};['1; The command instructs to take a right turn first, which is not represented in the JSON output. The move action is correctly used but the duration or time of movement in seconds is not represented correctly in the JSON. There is no key for "duration" or "time" in the sample ontology. Additionally, the JSON output specifically states a linear speed of "2" which is not commanded in the natural language command, thus not any reasonable value. Distance is given value "0" when the command specifies "continue moving ahead". Lastly, "is_forward" is correct.'] +Make a right turn and advance forward for 2 seconds.,The response is, "Make a right turn and advance forward for 2 seconds.";["0; The natural language command doesn't match any of the JSON structures provided. The command suggests a rotation and a forward movement, but specific parameters like speed, distance or angle are not provided in the natural language command so we can't match it with 'move' or 'rotate' actions."] +After turning right, keep moving forward for a period of 2 seconds.,The answer is 2.;['0; Natural language command does not match any of the provided JSON structures. The command refers to duration (time), which is not a parameter or action found in the sample keys.'] +Move backward for 4 meters and stop.,The response is, "Move backward for 4 meters and stop.";['2; The command includes moving, a distance, and a direction (backward), which are included in the JSON structures for the "move" action. However, it does not specify a speed, and the "stop" command is not specified in the ontology.'] +Reverse for a distance of 4 meters and come to a halt.,Reverse for a distance of 4 meters and come to a halt.;['2; The JSON structure for moving just by specifying linear_distance, distance and direction is given, but the direction is forward, not reverse as indicated in the natural language command and therefore does not fully conform. Also, the command to halt is not existing in the JSON structures.'] +Go back for 4 meters and then come to a stop.,The response is, "Go back for 4 meters and then come to a stop.";['1; The command instructs to move back a distance, which isn\'t precisely existing in the given JSON structures. However, it somewhat corresponds with the "move" action key but lacks other parameters such as linear_speed and is_forward. The known parameters aren\'t entirely correspondent to the ontology keys.'] +Take 4 meters in reverse and cease movement.,The response is, "Move backward for 4 meters and cease movement.";['2; The natural language command partially matches with the "move" action and its parameters in JSON structure, but does not match entirely. It does not specify the speed of the movement and the cease command doesn\'t exist in the sample JSON structures.'] +Travel in the opposite direction for a distance of 4 meters and then pause.,The response is, "Move backward for a distance of 4 meters and then pause.";['2; The command asks to travel backwards for a distance of 4 meters. The JSON structure "move" would correspond with this, but the specific direction (i.e., backward vs. forward) is not present in the JSON parameters. Furthermore, the command to "pause" does not align with any JSON structure.'] +Rotate clockwise by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";['2; The JSON structure partially matches the command. The action and is_clockwise parameter match perfectly. However, there is a miscalculation in the angular_velocity parameter. It should not be 270 but a smaller value denoting the speed of rotation instead of the angle of rotation. The angle parameter is correctly assigned to 270 degrees.'] +Turn to the right by 270 degrees.,The response is, "Turn to the right by 270 degrees.";["4; The natural language command refers to the rotation action and the rotation angle is specified, which matches with the keys of the sample ontology. The direction of the rotation (clockwise or anticlockwise) can also be inferred from the command, but the angular velocity isn't specified in the command."] +Move in a clockwise direction, rotating 270 degrees.,The response is, "Move in a clockwise direction, rotating 270 degrees.";['4; The JSON structure for the action "rotate" matches quite well with the natural language command, "Move in a clockwise direction, rotating 270 degrees". However, the value of the "angle" parameter in the JSON should be 270 (not 40) to perfectly match the command. Additionally, "is_clockwise" should be set to True to match the "clockwise" direction mentioned in the command.'] +Spin in a clockwise manner, completing a 270 degree rotation.,The answer is 270.;['4.8; The JSON structure correctly corresponds to the command "Spin in a clockwise manner, completing a 270 degree rotation" but the value provided for the "angle" key is 40 which doesn\'t match the degrees specified in the command (270 degrees). Nevertheless, in the general sense, the JSON structure does correctly implement the \'rotate\' action with the \'is_clockwise\' parameter as True, hence the high score.'] +Rotate by 270 degrees in a clockwise fashion.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";['4; The JSON structure matches the natural language command well. However, the value of the "angular_velocity" does not represent the speed of rotation in the command, hence it not completely accurate.'] +Turn left and continue for 3 meters.,The response is, "Turn left and continue for 3 meters.";['0; The natural language command includes requests for turning and moving actions. Either these cannot be represented in JSON according to the provided sample ontology, or they require multiple separate JSON commands. A single JSON structure cannot accommodate the commands given.'] +Make a left turn and keep going for a distance of 3 meters.,The response is, "Make a left turn and keep going for a distance of 3 meters.";['2; The natural language command includes instructions to \'rotate\' (make a left turn) and \'move\' (keep going). However, the JSON structures provided do not perfectly match the command as parameters like \'angle\' for rotation action and \'is_forward\' for moving action are not specified in the command. Also, "Make a left turn" does not specify whether it is clockwise or anticlockwise. While some aspects align, it\'s not a complete match, hence the 2.'] +Proceed straight for 3 meters after making a left turn.,The response is, "Proceed straight for 3 meters after making a left turn.";['1; The natural language command talks about two separate actions, that is rotating (making a left turn) and moving (Proceed straight for 3 meters). However, both these actions are not reflected together in any of the provided JSON structures. The JSON structure for the action "move" is correct, but the "rotate" structure is missing information as there is no mention of direction of rotation in the command (clockwise or anti-clockwise) hence can not be reflected accurately. Moreover, the \'go_to_goal\' JSON does not apply to the command at all.'] +After turning left, travel straight for 3 meters.,The response is, "After turning left, travel straight for 3 meters.";['1; The command suggests two actions: rotate and move. However, the "rotate" command isn\'t specifying the required parameters and there are no details for the direction (left) to construct a fully conforming JSON structure. The command "travel straight for 3 meters" could be related to the "move" action in JSON, but the command doesn\'t specify the necessary "linear_speed" and "is_forward" parameter which makes it not fully conforming.'] +Take a left and continue on for a distance of 3 meters.,The response is, "Take a left and continue on for a distance of 3 meters.";['0; The commands do not match with any of the provided JSON structures. The command "Take a left and continue on for a distance of 3 meters" implies a rotation (likely) and movement, but there is no matching in the keys "rotate" or "move" in the ontology\'s JSON representations.'] +Move forward at a speed of 0.3 meters per second for 5 seconds.,The response is, "Move forward for 5 seconds at a speed of 0.3 meters per second.";['2; The action "move" and the parameter "is_forward" match in the command and JSON. The parameter "linear_speed" mentioned in the command doesn\'t match the JSON\'s corresponding "linear_speed" as the command is requesting to move for a certain time duration, not a specific distance or at a specific speed as indicated in the JSON. So, a strict mapping cannot be established.'] +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.,The response is, "Proceed ahead for 5 seconds at a velocity of 0.3 meters per second.";["0; The natural language command refers to moving ahead for a certain duration at a specific linear speed, but none of the provided JSON structures correspond to this command. There's no JSON structure provided that includes parameters for time duration or linear speed together."] +Advance at a rate of 0.3 meters per second for a period of 5 seconds.,The response is 0.3 * 5 = 1.5 meters.;['1; The natural language command implies a "move" action with a certain "linear_speed" and "distance". But the distance is calculated based on time which does not exist in the JSON structure. The conversion to JSON is not entirely accurate. Moreover, "unit" is defined as "second" in command for time, which is not present in the JSON structure.', ''] +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.,The response is, "Move forward for 5 seconds at a speed of 0.3 meters per second.";['1; The natural language command talks about moving forward at a specific speed for a certain duration which somewhat matches with the move action in the JSON structures; however, it is also introducing the concept of timing which is not catered to within the available JSON structures. Also, the provided speed ("0.3") doesn\'t match with the speed given in the JSON structure here ("0.5").'] +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 0.3, "distance": 5, "is_forward": true, "unit": "meter"}}";['5; Exactly conform.'] +Rotate counterclockwise by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The angular_velocity given in the JSON is not matching with the natural language command. Natural language command says to rotate by 60 degrees which should ideally be the value of "angle", not "angular_velocity". "angle" should be 60 and "angular_velocity" can be any reasonable value.'] +Turn 60 degrees counterclockwise.,The response is 60 degrees counterclockwise.;['4; The command "Turn 60 degrees counterclockwise" matches the third JSON object, but doesn\'t entirely conform to the data structure. The angular velocity is not stated in the command and should be left out from the JSON structure for a perfect match. The command gives a clear indication that it is not a clockwise rotation hence the value for is_clockwise should be False.'] +Rotate in the opposite direction by 60 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": -60, "is_clockwise": false, "unit": "degrees"}};['4; The conformity is high but the "angular_velocity" mentioned in the JSON structure does not logically match the natural language command as there is no mention of the speed of rotation in the original command. The "is_clockwise": false and "angle": -60 does match the \'rotate in the opposite direction by 60 degrees\' in the natural language command. The "unit": "degrees" is understood without being explicitly mentioned.'] +Rotate to the left by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure has the correct action ("rotate") but the fields within the "params" key are not aligned with the natural language command. The "angular_velocity" is listed as 60 which is incorrect, this should probably be the "angle". The "angle" is listed as 0 in the JSON, but according to the command it should be 60. "is_clockwise" is set to false, which actually matches the command ("Rotate to the left"). The "unit" is correctly listed as "degrees".'] +Make a counterclockwise rotation of 60 degrees.,The response is, "Make a counterclockwise rotation of 60 degrees.";["4; The natural language command partially conforms to the JSON structure. The action 'rotate' and parameter 'angle' match with the given command. However, the direction 'counterclockwise' is inconsistent with the 'is_clockwise' parameter in the JSON structure, which would be false in the given command. Also, 'angular_velocity' parameter is not specified in the given command but it is accepted as a reasonable value can be assigned in the JSON structure."] +Go straight for 6 seconds.,The answer is 6.;['0; The natural language command does not match any of the provided JSON structures. The command "Go straight for 6 seconds" implies moving forward for a certain time, which isn\'t a parameter value in the sample ontology.'] +Proceed in a straight line for a duration of 6 seconds.,The answer is 6.;['0; The natural language command does not match any of the provided JSON structures. Movement is mentioned but none of the parameters (linear speed, distance, direction) or action type ("move") required by the corresponding JSON structure are specified. Also, the keyword "seconds" which is a unit of time is not found in the sample JSON schemas.'] +Keep moving forward in a straight path for 6 seconds.,The answer is 6.;['1; The natural language command asks to "move forward in a straight path for 6 seconds," which partially aligns with the "action" : "move" JSON structure. However, the JSON parameters like "linear_speed", "distance", "is_forward", "unit" don\'t have corresponding information in the natural language command. Moreover, time duration isn\'t considered in the JSON structures whereas it\'s mentioned in the command.'] +Maintain a straight course for 6 seconds.,The answer is 6.;['0; The provided command talks about maintaining a straight course for a particular time which does not exactly match any of the provided JSON structures. The JSON structures talks about going to a certain location, moving with a certain speed, and rotating for a certain angle but not maintaining a straight course for a particular time.'] +Continue in a straight direction for a period of 6 seconds.,The answer is 6.;['0; The natural language command does not conform to any of the JSON structures provided in the sample keys. It mentions a time period, and none of the JSON keys available have a parameter for time.'] +Turn right and move forward for 7 meters.,The response is, "Turn right and move forward for 7 meters.";['2; The commands "Turn right" and "move forward for 7 meters" could correspond to the "rotate" and "move" actions in the JSON structures, but there are no specified values for the rotation and movement in the natural language command. Therefore, we cannot fully confirm the alignment between the two.'] +Take a right turn and proceed straight ahead for a distance of 7 meters.,The response would be, "Move forward for 7 meters at a speed of 0.5 meters per second.";["2; The natural language command somewhat matches with the JSON structure but it's not exact. It implies a rotation action first which isn't indicated in any provided JSON structure and also, the specific angle for the turn is not specified. Then, a move action is mentioned which aligns with the second JSON structure, but the exact speed isn't specified in the natural language command. Thus it can't be considered a perfect or high match."] +Make a right-hand turn and continue moving forward for a length of 7 meters.,The response is, "Make a right-hand turn and continue moving forward for a length of 7 meters.";['4; The natural command corresponds partially to the JSON structure. It matches the "move" action since the command specifies moving forward for a certain distance. The "rotate" action also seems to be referred as while asking for a right-hand turn. However, it lacks information about values - angular velocity for "rotate" and linear speed for "move". It also lacks the distinction between the two actions, they are combined together in the command.'] +Head to the right side and advance for a distance of 7 meters.,The response is, "{"action": "move", "params": {"linear_speed": 7, "distance": 7, "is_forward": true, "unit": "meter"}}";['3; The natural language command partially matches with the JSON structure. The action "move" and parameters such as "distance", "is_forward", and "unit" are correctly represented in the JSON. However, the direction towards which the entity is supposed to move (right) is not represented in the JSON. Additionally, the "linear_speed" parameter in the JSON doesn\'t match with the natural language command.'] +Rotate to the right and travel straight for 7 meters.,The response is, "{"action": "rotate", "params": {"angular_velocity": 7, "angle": 0, "is_clockwise": false, "unit": "meter"}}";['1; The JSON structure isn\'t aligned with the natural language command very well. The "rotate" action has been interpreted correctly, but the the angular_velocity value in the JSON structure does not seem to match with the natural language command, and it lacks the \'is_clockwise\' parameter. Moreover, the command of moving straight for a certain distance is missing in the JSON structure.'] +Move 2 meters forward.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['5; The natural language command "Move 2 meters forward." matches perfectly with the given JSON structure where the action is "move", the distance is 2, is_forward is True, and the unit is "meter".'] +Proceed straight ahead by a distance of 2 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['4; The natural language command translates to a "move" action in the JSON with "linear_speed" and "is_forward" parameters. The "distance" parameter is also provided in the command, but the command does not specify a "linear_speed", so any reasonable value is accepted. The "unit" parameter is specified as meters in the command and correctly represented in the JSON. However, the command does not perfectly conform to the JSON, hence a 4 instead of a 5.'] +Advance 2 meters in the forward direction.,The response is, "Move forward for 2 meters at a speed of 0.5 meters per second.";['4; The natural language command matches with the "move" action in JSON, but it doesn\'t specify the speed, so the 0.5 speed in the JSON is acceptable. However, the natural language command doesn\'t completely match with the JSON command provided, as it doesn\'t have the "linear_speed" and "is_forward" parameters mentioned.'] +Take a step forward for a distance of 2 meters.,The response would be, {"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}};['4; The action in the JSON structure matches with the command but the "linear_speed" key needs to have a reasonable value, and it should not be equivalent to "distance".'] +Move straight ahead, covering a distance of 2 meters.,The response is, "{"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}}";['4.5; The JSON format matches the command for direction, distance and unit. However, the "linear_speed" parameter in JSON is provided as 2, which is not specified in the natural language command. It\'s still a good match since linear speed is not strictly specified in the command and 2 is a reasonable value.'] +Turn left and move forward for 5 seconds.,The response is, "Turn left and move forward for 5 seconds.";ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Move forward for 5 seconds after turning left.,The response is, "Move forward for 5 seconds after turning left.";['0; The natural language command instructs to first turn left and then move forward for a certain amount of time. However, the provided JSON structures do not contain any parameters for time-based movement or rotation. The command is not conforming with the given JSON structures.'] +After making a left turn, proceed forward for 5 seconds.,The answer is 5.;['0; The natural language command mentions the actions of turning and moving, but does not specify details such as the angle of rotation or the speed and distance of the movement. Consequently, it does not conform to the sample JSON structures, which require such details to be specified for both the "move" and "rotate" actions.'] +Take a left turn and continue moving forward for 5 seconds.,The response would be, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "second"}}";["2; The natural language command suggests turning left before moving however, the provided JSON structure only covers forward movement action. The JSON doesn't totally matches the command."] +Start moving forward for 5 seconds after making a left turn.,The response is, "Start moving forward for 5 seconds after making a left turn.";['0; None of the JSON structures match the natural language command. The command involves a time-duration which is not represented in the JSON structures and also there are no parameters related to turning directions in the structures.'] +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure contains the action "rotate" as mentioned in the command but there are mismatches in the parameters. While the command says to "Rotate counterclockwise by 90 degrees", the given JSON structure has "angular_velocity" set as 90 instead of the "angle". Also, "angle" is given a value of 0 which is incorrect. However, the "is_clockwise" parameter correctly reflects \'false\' for counterclockwise rotation as mentioned in the command.', ''] +Rotate 90 degrees counterclockwise.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The action and parameters generally align correctly with the natural language command, but the value for "angular_velocity" doesn\'t match with the command given. "Angular_velocity" usually refers to the speed of the rotation, not the degree of the rotation. Despite this minor discrepancy, the overall structure and most values are in conformity with the command.'] +Perform a counterclockwise rotation of 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}}".;['4; Almost conform. The natural language command matches to the JSON structure. However, the angular_velocity should be rotation speed, not angle degree. The value provided (90) seems to be misplaced.'] +Rotate by 90 degrees in the counterclockwise direction.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; Partially conform. The action is correct and most of the parameters are correct except the "angular_velocity" which implies rate of rotation and not the angle of rotation. The value for this should not match with the angle.'] +Turn left by 90 degrees.,The response is, "Turn left by 90 degrees.";['1; The natural language command is about rotation which exists in the ontology keys, but the direction (left: is_counter_clockwise) is not specified in the JSON, nor is the angle of rotation (90 degrees). The action type ("rotate") and the units ("degrees") match correctly, but the parameters don\'t perfectly align with the ones in the natural language command.'] +Move 3 meters backward.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['4; The JSON structure of moving matches with the command as both involve moving at a distance. The values of parameters match the command as well. However, the direction of movement (backward) is not specified in the JSON.'] +Go back 3 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['2; The natural language command requests the robot to move back 3 meters. While the "move" action JSON structure does include "distance" and "unit" keys that could handle this, the "is_forward" key value is set to True, which would represent moving forward, not backward as requested in the command. Therefore, the command partially but not fully conforms to the JSON structures.'] +Retreat 3 meters.,The response is, "Retreat 3 meters.";['2; The command specifies a movement action, however it indicates a backward movement ("Retreat") whilst the JSON structure only outlines forward movement ("is_forward": True). As well, it specifies a distance of 3 meters which matches the JSON structure ontology but not the value as it\'s not specifically set. There\'s only reference to \'distance\'.'] +Step 3 meters in reverse.,The answer is 3.;['4; The command partially conforms to the JSON structure. The action "move" and parameters "distance", "is_forward", and "unit" can be identified. However, the command does not provide details on "linear_speed".'] +Travel in the opposite direction for 3 meters.,The response is, "Move backward for 3 meters.";['2; The JSON structure exposes the ability to move with "action": "move" but there are no keys to indicate movement in the opposite or backward direction. There\'s a distance key "distance": distance which matches with "3 meters" in the command, so partial conformity is there.'] +Turn right and move forward for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['4.5; The command includes an action that involves moving forward for a distance which is well-represented in the JSON structure. However, the "turn right" action is not clearly represented as the \'is_clockwise\' parameter could represent either right or left depending on the initial orientation.'] +Take a right turn and proceed straight ahead for a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['1; The natural language command indirectly describes a rotation and a move action, but the direction of the rotation (right) is not recognized in the provided ontology. The move action is partially described, but the parameters described (distance) is not well-matched, and the speed attribute is completely missing.'] +Make a right turn and advance ahead for a distance of 1 meter.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['3.5; The provided command in natural language does mention the "move" action correctly with proper parameters including linear speed, distance, is_forward, and unit. However, it also mentions a "right turn" which refers to the "rotate" action in the ontology. This latter part of the command is not reflected in the supplied JSON hence the not perfect score.'] +Head to the right and continue moving forward for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['2; The natural language command partially matches with the JSON structure for the "move" action. The movement distance of 1 meter is mentioned and the forward direction is implied, but the rotation to the right is not represented in any structure and the speed is not mentioned in the command.'] +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['4; The command "Rotate to the right and proceed in a forward motion covering a distance of 1 meter" suggests two actions: rotation and movement. The provided JSON structure covers the action of moving forward for 1 meter correctly. However, the command regarding rotation is not reflected in the JSON structure. So it partially conforms but requires an additional JSON structure for the rotation action.'] +Go to the living room and stop.,The response is, "Go to the living room and stop.";['1; The natural language command partially matches with the first JSON structure. However, it doesn\'t specify "action" as "go_to_goal" and "params" -> "location" -> "value" as "living room". The command \'stop\' doesn\'t match with any of the given JSON structures.'] +Please proceed to the living room and come to a halt.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['1; The natural command specifies an action of going to a location (living room), but the exact action ("go_to_goal") in the provided JSON structures is not the correct action ("action": "move") and the parameter ("location": {"type": "str", "value": "Kitchen"}) does not match ("location": {"type": "str", "value": "Living Room"}).'] +Make your way to the living room and cease moving.,The response is, "Make your way to the living room and cease moving.";['1; The command instructs a movement to a specific location ("living room"), which partially conforms to the "go_to_goal" action structure. However the phrase "cease moving" doesn\'t have a corresponding JSON structure, given the sample ontology. Additionally, the specified location ("living room") differs from the "Kitchen" value in the provided JSON structure.'] +Head to the living room and stand still.,The response is, "Head to the living room and stand still.";["0; The natural language command is requesting to move to a location (the living room), but no corresponding JSON structure to represent this action is provided in the command. The command also asks for the device to 'stand still', an action which does not correspond to any of the provided JSON structures. Therefore, there is no conformity between the command and JSON structures."] +Move towards the living room and come to a stop.,The response is, "Move towards the living room and come to a stop.";['1; The natural language command instructs to move towards a location (living room), but there is no JSON structure that represents a command to move towards a specific location. The \'go_to_goal\' action could potentially represent this action, but the location given in the JSON structure is "Kitchen", not "living room". The "move" action doesn\'t include a location parameter, so it can\'t exactly match the command either.'] +Move 4 meters forward at a speed of 2 meters per second.,The response is, "Move 4 meters forward at a speed of 2 meters per second.";['4; The natural language command corresponds partially with the JSON structure. The "action" key is slightly different with "move" instead of "go_to_goal", but the "params" key is almost correct, matching "distance", "linear_speed", and "is_forward". However, it lacks the value for the "distance" although we can assume \'4 meters\' from the command. The command doesn\'t mention anything which can be input as a value for "unit" in the JSON structure, but since it is a reasonable default, it\'s not a total misalignment.'] +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.,The response is, "Proceed ahead by 4 meters while maintaining a velocity of 2 meters per second.";['3; The natural language command partially matches the "move" action JSON structure. It includes the "distance" and "linear_speed" keys with appropriate values. However, the JSON also includes details on whether the movement should be forward or not which isn\'t specified in the natural language command. So, the JSON does not completely conform with the natural language command, but the available information is accurately represented.'] +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.,The response is, "Move forward for 4 meters with a constant speed of 2 meters per second.";['4; The natural language command matches fairly well with the JSON structure of "action": "move". The keys "linear_speed", "distance", "is_forward" and "unit" match. But the provided speed of 2 meters per second is not equal to the speed in JSON (0.5) and the command doesn\'t specify \'unit\' which is in JSON.'] +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.,The response would be, "Move forward for 4 meters at a velocity of 2 meters per second.";['2; The natural language command is similar but not exactly conforming to the "move" JSON structure. The JSON structure has "linear_speed" while the natural language command specifies "velocity of 2 meters per second". "Distance" also conforms, although the specific value is not accurately reflected in the JSON. The "is_forward" parameter is assumed True from the command but is not specified. The "unit" key in JSON also doesn\'t match with the command.'] +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.,The response is, "Move forward for 4 meters at a rate of 2 meters per second.";['4; The natural language command corresponds closely with the "move" JSON structure, but the linear speed in the command is 2 m/s while in the JSON it\'s 0.5. However, the command does not specify whether it should move forward, which the JSON structure marks as "True".'] +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; The natural language command corresponds to the "rotate" action in the JSON. However, the "angular_velocity" value is not matched properly, it can\'t be 180 according to the natural command, a reasonable value would be expected, as the natural language command does not specify it. The "angle", "is_clockwise", and "unit" parameters match exactly.'] +Turn 180 degrees in a clockwise direction.,The response is 180.;["4; While the overall command is properly represented in the JSON structure, the language command gives a specific angle (180 degrees) to turn, whereas the JSON example only generally indicates an angle of 40 degrees. Other than that, the other keys and value 'is_clockwise' match."] +Perform a 180-degree clockwise rotation.,The response is 180.;['4; The command could match the JSON structure of the "rotate" action because the action of rotation, the direction (clockwise), and the angle\'s amount (180 degrees) were specified. The angular_velocity is not stated in the command but it falls within the rule that a reasonable value in the JSON is accepted. However, the response of 180 is not a valid translation into JSON and does not conform at all. So, one point is subtracted for this issue.'] +Rotate by 180 degrees in the clockwise direction.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; The action and parameters match well with the command but the value of "angular_velocity" in JSON does not match the command. Angular velocity is about the speed of rotation, not the degree of rotation.'] +Turn in a clockwise fashion, rotating 180 degrees.,The response is, "Turn in a clockwise fashion, rotating 180 degrees.";['4; The action and params match the command quite well though the "is_clockwise" parameter is missing in the command still it can be assumed from the context that it is true. The value of the angle is also correct. However, the "angular_velocity" value key is not specified in the command.'] +Turn left and move forward for 3 meters.,The response is, "Turn left and move forward for 3 meters.";['2; The natural language command includes movement but not in a very direct match to the JSON structure given. It states to "move forward for 3 meters" which can be related to the "move" action and "distance" parameter in the second JSON structure but it doesn\'t specify linear_speed. It also includes a "turn left" command which can be somehow related to the "rotate" action in the third JSON structure (with "is_clockwise": false and "angle": 90) but it doesn\'t specify angular_velocity. The JSON structures do not fully capture the details of the natural command.'] +Make a left turn and proceed straight ahead for a distance of 3 meters.,The response is, "Make a left turn and proceed straight ahead for a distance of 3 meters.";["2; The command involves actions corresponding to 'rotate' and 'move'. However, specific parameters such as 'angular_velocity' for 'rotate' and 'linear_speed' for 'move' are not specified in the command. The specified distance for 'move' matches with the command. The 'rotate' command lacks detail for 'is_clockwise'."] +Take a left and continue moving forward, covering a span of 3 meters.,The response would be, "Move forward for 3 meters at a speed of 0.5 meters per second.";['2; The given natural language command partially conforms to the JSON structures. The command can be mapped to the "action": "move" structure but lacks specification for the direction of the movement (left) in the JSON examples. Also, the provided JSON for moving does not include a direction parameter. The command also specifies a distance of 3 meters which does align with the "distance" key in the "move" JSON, but it does not mention a speed, which is a parameter in the JSON. Therefore, the conformity is partial and not exact.'] +Rotate to the left and advance for 3 meters.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": true, "unit": "degrees"}}";['1; Only the "rotate" action is covered correctly in the JSON structure, with a reasonable angular velocity. But this action seems to be described as going to the right (clockwise), not to the left as in the natural language command. Furthermore, there is no JSON for the movement action indicated by "advance for 3 meters".'] +Shift towards the left and travel straight for a distance of 3 meters.,The response is, "Move forward for 3 meters at a speed of 3 meters per second.";['1; The natural language command specifies a linear movement, but the provided JSON structures don\'t match it well. The \'move\' action could potentially apply, but it doesn\'t contain any param for the direction such as "left" or "right". Also, the natural language command does not specify a speed.'] +Move 2 meters backward at a speed of 0.5 meters per second.,The response is, "Move 2 meters backward at a speed of 0.5 meters per second.";['4; The command matches well with the "move" action JSON structure, but it lacks the "is_forward" parameter which should be False as the command is to move backward. The "linear_speed" and "distance" parameters match the command perfectly.'] +Back up 2 meters with a velocity of 0.5 meters per second.,The response is, "Move forward for 2 meters at a velocity of 0.5 meters per second.";["4; The action in the natural language command matches with the 'move' action in the JSON structure. However, since the command asks to 'back up' and not 'move forward', it slightly mismatches with the JSON structure where is_forward is set to true. Although the distance and linear_speed are correctly mentioned, the direction of movement is different."] +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.,The response is, "Move backward for a distance of 2 meters at a rate of 0.5 meters per second.";['4; The command is partially conforming to the JSON structure "move". The "linear_speed" and "distance" are correctly mentioned as 0.5 and 2 respectively in command and JSON. But is_forward key is not mentioned in command, so it is assumed as False. So, it is not entirely conforming to the JSON structure.'] +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.,The response is, "Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.";['3; The natural language command is partly conforming since the command is about moving which is an existing action in JSON. However, the parameter "is_forward" is not specified in the natural command, but it should be set to False since the command is to retreat.'] +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.,The response is, "Move backward for 2 meters at a speed of 0.5 meters per second.";['4; The natural language command almost directly matches with the JSON information. However, as the direction of movement (is_forward: False) is not explicitly specified in the JSON structure, one point has been deducted.'] +Go to the bedroom and stop.,The response is, "Go to the bedroom and stop.";["0; Neither bedroom nor command 'stop' exist in the sample ontology. Therefore, the natural language command cannot be converted to the JSON."] +Please proceed to the bedroom and come to a halt.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['0; The natural language command doesn\'t match any of the given JSON structures. While there\'s an implicit "go_to_goal" action in the command "Please proceed to the bedroom", the location specified in JSON information is "Kitchen", not "Bedroom". Additionally, "come to a halt" doesn\'t match any actions or parameters in the provided JSON structures.'] +Make your way to the bedroom and cease your movement.,The response is, "Make your way to the bedroom and cease your movement.";['0; There is no JSON structure corresponding to the natural language command. The command instructs to go to a location ("bedroom") but the provided JSON structures do not include any information about going to a location, and also there is no action for \'cease movement\'.'] +Head to the bedroom and pause.,The response is, "Head to the bedroom and pause.";['0; The natural language command asks to go to the bedroom and pause, however this is not reflected in any of the provided JSON structures. "Go to" corresponds to the action "go_to_goal" but the location "bedroom" is not specified in the JSON structure. Additionally, "pause" is not an action specified in the sample ontology.'] +Go to the bedroom and stand still.,The response is, "Go to the bedroom and stand still.";['0; The natural language command gives an action of going to a "Bedroom," instead of going to a "Kitchen" as demonstrated in the sample keys. The command also seems to be lacking the "stand still" action.'] +Rotate counterclockwise by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The command "Rotate counterclockwise by 45 degrees" does correspond to the "rotate" action in the JSON but the parameters do not match perfectly. The "angular_velocity" should not have been set to 45 (it\'s more related to speed of rotation) - instead, the "angle" should have been set to 45. Also, there\'s no information in the command about "angular_velocity" which is present in JSON. Therefore, even though the general action and direction match, the specifics are not aligned well enough.'] +Turn 45 degrees in the counterclockwise direction.,The response is, "Turn 45 degrees in the counterclockwise direction.";['4; The command matches the "rotate" action in the JSON structure but the direction of rotation (is_clockwise) used in the natural language command ("counterclockwise") is opposite to that in the sample ontology (is_clockwise). However, since "is_clockwise" is output dependent, it is acceptable. The angle is also correctly specified.'] +Rotate anticlockwise at an angle of 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": false, "unit": "degrees"}}";['4; Extremely close to being an exact match. The action and parameters match correctly. However, "angular_velocity" is meant to represent the speed of the rotation, not the angle of rotation. "angle": 45 and "is_clockwise": false is correct, but "angular_velocity": 45 is not valid as per this natural command.'] +Rotate left by 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}}";["3; The action 'rotate' matches, and the unit 'degrees' is correct. However, the 'angular_velocity' has been incorrectly set as the angle in the JSON structure, and 'is_clockwise' should be false for a left rotation. Lastly, the 'angle' should be 45 as per the command, but is incorrectly set as 0."] +Perform a 45-degree counterclockwise rotation.,The response is 45.;['4; The natural language command roughly matches with the \'rotate\' action in JSON. It gives a clear direction for a counterclockwise rotation, which can be interpreted as "is_clockwise": False in JSON. However, the \'angle\' is specified as 45 in the command, instead of 40 as in the JSON. The exact value may vary in different situations. Therefore, not a perfect match, but mostly conform.'] +Turn right and move forward for 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}}";['2; The action in the natural language command involves both \'rotate\' and \'move\' operations, while the provided JSON defines "move" action only. However, the \'distance\' parameter aligns with the command, even though the \'linear_speed\' parameter doesn\'t make sense in this context - speed should not be taken as 4. The parameters \'is_forward\' and \'unit\' based on the command are correct.'] +Proceed forward for a distance of 4 meters after making a right turn.,The response is, "Make a right turn and proceed forward for a distance of 4 meters.";['4; The natural language command includes actions that correspond to the "move" and "rotate" actions in the JSON samples provided. However, the JSON structure is not explicitly defined for combining these two actions and the command doesn\'t specify the linear speed for forward movement, the angular velocity for right turn, or whether the turn is clockwise or not. Therefore, though the elements are present, it\'s not a perfect match.'] +Take a right and continue moving ahead for 4 meters.,The response is, "Move forward for 4 meters at a speed of 0.5 meters per second.";['1; The only potentially matching JSON structure is the one with "action" : "move". However, the natural language command has additional information like "take a right" which doesn\'t correspond to any JSON structure provided. The requirement for the \'distance\' key in the \'move\' action is met by "4 meters" in the command but no \'linear_speed\' is specified in the command.'] +After making a right turn, advance straight for a distance of 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}}";['4; The command\'s conversion to JSON is almost perfect. The "move" action and "is_forward": true, "unit": "meter", and "distance": 4 parameters match the instruction. However, the "linear_speed" should not have been set to 4 as the speed was not specified in the provided command and the action of making a right turn is not represented in the JSON.'] +Make a right-hand turn and proceed forward for 4 meters.,The response is, "Make a right-hand turn and proceed forward for 4 meters.";['2; The natural language command indicates two actions - rotating (making a right hand turn) and moving forward. However, the provided JSON structures separate rotation and movement into two distinct actions - "rotate" and "move". Additionally, specifics like the degree of rotation and linear speed of moving forward are not provided in the natural language command but are present in the JSON structures. Although the command partially aligns with the JSON, it doesn\'t conform fully due to the lack of details and the dual-action requirement.'] +Move 1 meter forward at a speed of 1 meter per second.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['5; The command perfectly matches with the provided JSON structure. All the parameters including action, distance, linear_speed, is_forward and unit from the natural language command are present and their values are correctly extracted in the JSON.'] +Proceed ahead by 1 meter with a velocity of 1 meter per second.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;["4; The natural language command mostly matches with the 'move' action in the JSON structures. However, the provided linear_speed in the command is different from the one in the JSON structure, hence not an exact match."] +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.,The response is,;['4; The command closely matches the "move" action in the JSON structure with parameters for linear speed and distance specified. The is_forward parameter is implied by the \'Advance forward\' in the command but the unit isn\'t specified in the command but since the value is reasonable, it is still acceptable. However, the speed specified in the command and the value in JSON structure don\'t match, hence the score is 4 instead of 5.'] +Go one meter ahead, moving at a rate of one meter per second.,The response is, "{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}";['5; Exactly conform. The command specifies an action of moving forward, with the distance and speed mentioned precisely matching with the JSON provided.'] +Travel forward for 1 meter while maintaining a speed of 1 meter per second.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}}.;['4; Though the natural language command matches mostly with the JSON structure provided and is correctly formatted, the included linear_speed value does not match the originally provided value of 0.5 in JSON.'] +Rotate clockwise by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";["4; The angular velocity can't match the angle. This is incorrect because angular velocity refers to the speed of rotation, not the rotational distance. This should probably be set to a constant or not be present in the response if there is not one prescribed in the command."] +Turn 270 degrees in a clockwise direction.,The response is 270 degrees.;['5; Exactly conform. The command exactly matches the "rotate" action in the JSON structure, with "angle" 270 and "is_clockwise" true.'] +Rotate by 270 degrees in a clockwise manner.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";["2; The JSON command action corresponds with the natural language command and the 'is_clockwise' key is correctly set to 'true' based on the natural language command. However, the angular_velocity should not be 270 and instead be a reasonable value (e.g., 0.35) as mentioned in the JSON structure above. The angle key-value pair is correctly interpreted from the natural language command."] +Execute a clockwise rotation of 270 degrees.,The response is 270.;['4; The JSON structure correctly represents the action ("rotate") and most parameters ("angle" and "is_clockwise") specified in the command. However, it misses to specify the direction of rotation as \'clockwise\' and just puts it as a variable, not as the true value. Hence the score 4 instead of 5.'] +Shift the orientation by 270 degrees in a clockwise fashion.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";['5; Exactly conform.'] +Turn left and move forward for 2 seconds.,The response is, "Turn left and move forward for 2 seconds.";["0; The natural language command refers to rotation and linear movement, but the duration for the move action is not covered in the JSON structures. Also, there's no matching JSON structure as the values are not correctly represented."] +Proceed forward for 2 seconds, then make a left turn.,The response is, "Proceed forward for 2 seconds, then make a left turn.";["0; Neither the action of moving forward for a specific time nor the action of turning with a direction is represented in the JSON structures. The 'move' JSON structure only includes movement in terms of speed and distance, with directionality indicated by 'is_forward', and the 'rotate' JSON structure only includes rotation in terms of angular velocity and angle, with directionality indicated by 'is_clockwise'."] +Take a left turn and continue moving straight ahead for 2 seconds.,The response is, "Take a left turn and continue moving straight ahead for 2 seconds.";['0; The natural language command does not have a corresponding JSON representation in the given JSON structures. Turning left and moving straight ahead for a specified time are not actions or parameters outlined in the sample ontology.'] +Make a left turn and drive forward for 2 seconds.,The response is, "Make a left turn and drive forward for 2 seconds.";['0; The natural language command involves two different actions, "rotate" and "move". However, the JSON structures do not match these actions. The "rotate" action in the JSON structure requires specific parameters such as "angular_velocity", "angle", "is_clockwise" and "unit", which are not mentioned in the command. Similarly, the "move" action in the JSON structure also requires specific parameters like "linear_speed", "distance", "is_forward" and "unit", which are also not mentioned in the command. Therefore, there is no conformity between the natural language command and the JSON structures.'] +After turning left, continue moving straight for 2 seconds.,The response is, "Continue moving straight for 2 seconds.";['0; None of the JSON structures match the natural language command. The command references actions (turning and moving straight) and units (seconds) not found in the provided JSON structures.'] +Move 3 meters backward at a speed of 1.5 meters per second.,The response is, "Move 3 meters backward at a speed of 1.5 meters per second.";['2; The natural language command is asking for a movement action with specified distance and speed, which is partially aligned with the "move" action in JSON where "linear_speed" and "distance" keys are present. However, the direction of movement (backward) cannot be represented in the provided JSON structure as the "is_forward" key is always True and the specific speed (1.5 meters per second) is not matching with the provided JSON (0.5). Therefore, the command and the JSON structure are not fully conforming.'] +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}};['4; The natural language command matches with the JSON structure but the "is_forward" key is set as false in the JSON while the command mentions moving backwards instead of forward.'] +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.,The response is, "Move backward for 3 meters at a speed of 1.5 meters per second.";['4; The command partially matches with the JSON structure for "move" action. The parameters like "distance" and "linear_speed" correlates with the command. However, the "is_forward" parameter doesn\'t match as it should be False for reversing direction. Also, no actual JSON data is provided for comparison.'] +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.,The response is, "Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.";["1; The natural language command is mentioning the action of moving but in reverse (or retreating) which is not handled in the provided JSON structure. Moreover, the command mentions 'constant speed' that is not mentioned in any of the JSON structures."] +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 1.5, "distance": -3, "is_forward": false, "unit": "meter"}}";['5; The command perfectly matches the JSON structure. The "move" action is correctly identified, with all parameters ("linear_speed", "distance", "is_forward", "unit") correctly set. The negative distance and "is_forward": false correspond to "travel backwards".'] +Go to the dining room and stop.,The response is, "Go to the dining room and stop.";["0; The natural language command 'Go to the dining room and stop' does not conform with any of the JSON structures provided. The action 'go_to_goal' could be a potential match, but the location in the command ('dining room') and the action 'stop' are not present in the JSON structures or the sample ontology."] +Proceed to the dining room and come to a halt.,The response is, "The person came to a halt in the dining room.";['1; The command instructs to "go to" a location, which is partially similar to the "go_to_goal" action in the sample ontology. However, the specifically mentioned location "dining room" is not addressed in the ontology. Also, "come to a halt" doesn\'t have a suitable corresponding action in the JSON structures provided.'] +Head over to the dining room and pause.,;['0; The command contradicts with the sample keys since the given action in the command, \'pause\', does not exist in the JSON ontology, and the desired location \'dining room\' is not specifically defined within the "go_to_goal" action.'] +Make your way to the dining room and bring yourself to a stop.,The response is, {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}}}.;['4; The natural language command and the JSON structure share the action of going to a location. However, the "bring yourself to a stop" part in the command doesn\'t have a corresponding action in JSON.'] +Move towards the dining room and cease your motion.,The response is, "Move towards the dining room and cease your motion.";['0; The natural language command requires movement towards a specific location (dining room) but no JSON structure corresponding to this command is provided. The action "go_to_goal" would be appropriate for this command, however, in JSON samples, the location is the "kitchen", not the "dining room".'] +Rotate counterclockwise by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}};["2; The command is partially correct. The action 'rotate' and the unit 'degrees' matches with the JSON. However, the value of 'angular_velocity' should be a reasonable speed (in the example given it is 0.35) instead of the angle between to rotate (e.g., 60). Here, 'is_clockwise' should be false as it is a counter-clockwise rotation, but 'angle' should be 60, not 0."] +Turn left by 60 degrees.,The response is, "Turn left by 60 degrees.";["1; The natural language command is asking to rotate or turn, which is part of the provided ontology. However, the term 'left' is non-conforming to the boolean flag 'is_clockwise'. There is a lack of clarity between turning left and the JSON schema that stipulates rotation in terms of 'is_clockwise'."] +Rotate in the opposite direction by 60 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": -60, "is_clockwise": false, "unit": "degrees"}};['3; The action "rotate" is matching perfectly but the parameters are not completely correct. The command states to rotate in opposite direction but the JSON represents "is_clockwise" as false which could be either way depending upon the current positional status. Also, there is no mention of "angular_velocity" in the command yet it is present in the JSON structure. However, the property "angle" of 60 degrees is matching with the command but the negative sign before it in JSON is not specified in the command.'] +Execute a 60-degree counterclockwise rotation.,The response is 60 degrees counterclockwise.;["4; The JSON structure contains the required parameters for the rotation but the degree in the command and JSON don't match."] +Rotate anticlockwise by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['5; The natural language command "Rotate anticlockwise by 60 degrees." corresponds well to the provided JSON Structure. The action "rotate" is correctly identified, and the parameters "angle": 60 and "is_clockwise": false also are correctly extracted. "angular_velocity": 60 and "unit": "degrees" don\'t contradict the command but are not explicitly mentioned in the natural language command, so they can be any reasonable values.'] +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}};["4.5; The action 'move' and the parameters in the json response match with the command given. However, 'linear_speed' is not the same as distance. The value 5 for 'linear_speed' is not justified by the command. The command only tells about a distance of 5 meters for movement, not the speed of the movement. Other than the 'linear_speed', all other elements are in conformity."] +Proceed ahead for a distance of 5 meters.,The response is, "The distance traveled is 5 meters.";['3; The natural language command suggests a movement action but it does not specify the linear_speed or the "is_forward" parameter. The JSON structure, however, is mostly matching with the "move" action and "distance" parameters. The response does not align with the JSON structure or command.'] +Advance straight ahead for 5 meters.,The response is, "The action is 'move' and the params are 'linear_speed' = 5, 'distance' = 5, 'is_forward' = true, 'unit' = 'meter'.";["3; The 'distance' and 'is_forward' parameters correctly match with the natural language command however, there's no mention of 'linear_speed' in the original command even though a reasonable value is accepted. Additionally, in the JSON response, the 'linear_speed' key's value is 5 but in the command, 5 was referred to the 'distance'."] +Travel forward for a distance of 5 meters.,The response is, "Move forward for a distance of 5 meters.";['4; The natural language command is closely matched with the second JSON structure. The "move" action is equivalent to "travel", while "is_forward": True correctly assumes the direction of motion. However, the "distance" value in the JSON should be specified as 5 to match the command.'] +Go in the forward direction for 5 meters.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}}";['5; Exactly conform.'] +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['1; The JSON structure does not match with the natural language command. The angular_velocity is set to 90, which was supposed to be the value of angle according to the command. Also, the angle is set to 0 which is not specified in the command.'] +Turn 90 degrees counterclockwise.,The response is, "Turn 90 degrees counterclockwise.";['3; The natural language command instructs the robot to rotate, and while this matches with the "rotate" action in the JSON, the direction "counterclockwise" is not specified in the JSON, though there is a parameter for direction ("is_clockwise"). Thus, the JSON structure somewhat conforms to the command but not exactly.'] +Rotate anticlockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The action mentioned in the command matches the "action" in JSON. However, there is a mismatch in "params". The "angular_velocity" value should be a representation of speed, not the angle of rotation. The "angle" value should be 90 as per the command, not 0.'] +Rotate to the left by 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}}";['3; The action "rotate" in the JSON structure does conform with the command "Rotate to the left by 90 degrees". However, the parameters do not conform exactly. The "angle" should be 90 instead of 0 and the "angular_velocity" parameter value is not specified in the command so cannot be judged as correct or incorrect. The "is_clockwise": false is implied by the command "rotate to the left" and "unit": "degrees" is correct.'] +Change the orientation to the left by 90 degrees.,The response would be, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['4; The action and parameters of the JSON align mostly with the natural language command, however, the "angular_velocity" is incorrectly assigned the value of the angle (90) from the command. Angular velocity refers to the speed of rotation, not the degree of rotation. Thus, the correct expected JSON would have "angle" as 90 and an arbitrary acceptable value for "angular_velocity".'] +Move backward for 3 seconds.,The response is, "Move backward for 3 seconds.";ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Reverse for a duration of 3 seconds.,Reverse for a duration of 3 seconds.;['0; The natural language command does not match any of the given JSON structures. The command implies a reverse movement, but none of the JSON structures cater for a reverse direction or a duration parameter.'] +Go in reverse for a period of 3 seconds.,The response is, "Reverse for a period of 3 seconds.";["0; The natural language command doesn't match any of the JSON structures provided. The command instructs to go in reverse for a certain time period, while the JSON structures are about going to location, linear movement and rotation. However, neither has parameters for direction (forward or reverse) or time duration."] +Travel backwards for a total of 3 seconds.,The response is, "The travel backwards for a total of 3 seconds.";['0; The provided natural language command talks about travelling backwards for a specific amount of time, which doesn\'t conform with any of the provided JSON structures and their keys. The JSON structures have actions such as "go_to_goal", "move", and "rotate", but none of them implies moving backwards for a certain duration.'] +Move in the opposite direction for 3 seconds.,The response is, "Move in the opposite direction for 3 seconds.";["0; The natural language command does not match any of the JSON structure because the command mentions moving for a specific time duration which isn't covered in any of the JSON command structures provided. There's no time duration parameter in the sample ontology."] +Turn left and move forward for 2 meters.,The response is, "Turn left and move forward for 2 meters.";['1; The natural language command instructs a turning action ("Turn left") and a moving action ("move forward for 2 meters"). In the given JSONs, the moving action partially matches with the "move" action JSON but the distance parameter is not specified. The turning action is not represented at all in the provided JSON structures.'] +Proceed forward for 2 meters after making a left turn.,The response is, "Proceed forward for 2 meters after making a left turn.";['0; No JSON structure is provided for comparison with the natural language command.'] +Make a left turn and advance for 2 meters.,The response is, {"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}};['2; The JSON structure partially matches with the command. The command asks for a left turn which corresponds to the "rotate" action but is not mentioned in the JSON. The command to move forward for 2 meters matches with the "move" action and its parameters in the JSON. However, the linear_speed is supposed to represent the speed at which the movement happens, not the fact the movement will be forward.'] +Take a left and continue forward for a distance of 2 meters.,The response is, "Take a left and continue forward for a distance of 2 meters.";['1; The natural language command instructs the robot to rotate (take a left) and move forward a certain distance. However, the JSON structures provided do not provide the correct keys for rotation direction ("is_clockwise") only its velocity and angle, and for "move" it only provides for linear_speed and is_forward but not a specific distance. As a result, the command only partially matches the keys in the JSON structures.'] +Move ahead for 2 meters after making a leftward turn.,The response is, "Move ahead for 2 meters after making a leftward turn.";["4; The commands partially conform with the JSON structure. The 'move' action is present but the 'rotate' action used for making turns is not detailed. The natural language command implies a counterclockwise rotation which is not mentioned in the JSON. However, the 'move' command is accurately represented, including the distance."] +Make a U-turn and move in the opposite direction for 10 seconds.,The response is, "Make a U-turn and move in the opposite direction for 10 seconds.";["0; The provided natural language command 'Make a U-turn and move in the opposite direction for 10 seconds.' is not matched by any of the given JSON structures. The command requires rotation and movement but neither of these keys is specified in the direction, duration, or any other parameters suitable for making a U-turn or moving in the opposite direction for a specific amount of time in the JSON."] +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.,The answer is 180 degrees.;["0; The natural language command gives instructions to make a U-turn and move in the opposite direction, while none of the JSON structures provide information compatible with these instructions. Furthermore, there's no key for duration in the sample keys."] +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.,The response would be something like this:;['0; The provided natural language command does not match any of the provided JSON structures. The command describes a U-turn and specifies a time span, while the JSON scripts detail going to a location, moving with certain parameters (linear speed, distance, direction), and rotating with certain parameters (angular velocity, angle, direction). There is no accordance between the command and the JSON information present.'] +Turn around and travel in the opposite direction for a duration of 10 seconds.,The response is, "Move backward for 10 seconds at a speed of 0.5 meters per second.";["1.5; The natural language command gives the instruction to turn around and move, which corresponds to both rotate and move actions in the JSON structures. But the particular parameters like 'angular_velocity' for rotate action, 'linear_speed', 'distance', 'is_forward' for 'move' are not specified in the natural language command, also the values prescribed in the JSON structures for these actions do not match with the command which is mentioning about a duration, not distance or velocity."] +Perform a U-turn and move in the opposite direction for 10 seconds.,The response is, "Move in the opposite direction for 10 seconds.";['0; None of the provided JSON structures match the command "Perform a U-turn and move in the opposite direction for 10 seconds." as it requires actions like rotating and moving for a specific time, neither of which is represented in the example JSON structures.'] +Rotate clockwise by 180 degrees and stop.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; The JSON structure matches with the command for the most part. However, "angular_velocity" should represent the speed of rotation, not the angle to rotate. The angle to rotate is correctly represented by the "angle" key, which correctly matches with the 180 degrees in the command. Hence, "angular_velocity" doesn\'t match the command but all others key-values are correct.'] +Perform a 180-degree clockwise rotation and then come to a halt.,The 180-degree clockwise rotation will take 180/360 = 0.5 seconds. The halt will take 0.5 seconds. So in total it will take 0.5 + 0.5 = 1 second.;['4; The JSON structure for the rotation command partially matches the natural language command, which asks for a 180-degree clockwise rotation. However, it lacks an action for stopping or halting. Thus, not all aspects of the natural language command are represented in the JSON.'] +Execute a clockwise rotation of 180 degrees and then cease movement.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";["4; The JSON structure correctly includes an 'action' and 'params' with corresponding keys. However, the 'angular_velocity' value is not aligned with command since it contains the value 180 which in this context might represent the degrees of rotation and not the velocity rate."] +Turn right by 180 degrees and then stop.,The response is, "Turn right by 180 degrees and then stop.";["0; The natural language command is regarding rotation whereas the provided JSON structures are related to 'go to goal', 'move', 'rotate' actions. However, the command asks to 'stop' after rotation which doesn't exist in any sample keys."] +Rotate in a clockwise direction by 180 degrees and then come to a stop.,The response is, {"action": "rotate", "params": {"angular_velocity": 180, "angle": 0, "is_clockwise": false, "unit": "degrees"}};["2; The JSON commands partly match with the natural language command. The action of rotation and direction (clockwise) are correctly identified. However, the 'angle' parameter in the JSON is set to 0, while it should be 180 (as specified in the natural language command). 'Angular_velocity' is not specified in the natural language command and so cannot be accurately ascribed a value of 180. Lastly, the natural language command mentions stopping after rotating, which isn't represented anywhere in the JSON."] +Move diagonally to the right for 4 meters.,The response is, "Move diagonally to the right for 4 meters.";["0; The provided natural language command and JSON structures don't match. The command requests a diagonal movement, but the ontology and JSON structures only support linear movement and rotation, without any direction implied."] +Go right at an angle for a distance of 4 meters.,The response is, "Go right at an angle for a distance of 4 meters.";["0; The natural language command indicates a combination of action and rotation, but the JSON data structures available do not not provide the capability to convert at an angle. Additionally, the 'move' action does not accommodate the parameter 'angle'."] +Travel in a diagonal direction to the right covering a distance of 4 meters.,The response is, "Move forward for 4 meters at a speed of 4 meters per second.";["0; The natural language command talks of moving diagonally, which is not specified in any of the provided JSON structures. Also, the natural language command doesn't specify any location or rotation requirement, so it doesn't match with any of the given JSON commands."] +Proceed at a diagonal towards the right, moving 4 meters.,The response is, "Move forward for 4 meters at a speed of 4 meters per second.";['1; The natural language commands refer to different actions not clearly specified in the provided JSON structures. The first command refers to a diagonal movement which is not represented in the JSON schema. The second command "Move forward for 4 meters at a speed of 4 meters per second." could potentially match the \'move\' action in the JSON sample but there are some inconsistencies. Even though it includes the "move" action, the speed in the command is 4, not 0.5 as in the JSON, and there is no mention of direction (is_forward). Therefore, the matching is imprecise.'] +Move to the right diagonally, covering a distance of 4 meters.,The response is, "Move to the right diagonally, covering a distance of 4 meters.";['0; The natural language command does not match with any of the JSON information structures. The command indicates a diagonal movement but there are no keys or actions correlated to the diagonal movement in the given sample ontology.'] +Turn right and move forward for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['3.5; The natural language command includes both "rotate" (from \'turn right\') and "move" action, however, no information about the rotation is included in the JSON. The "move" part of the command maps correctly to the "move" action in the JSON and correct parameters (distance, is_forward), but the linear_speed doesn\'t fully match because it\'s not specified in the natural language command.'] +Make a right turn and proceed one meter forward.,The response is, "Make a right turn and proceed one meter forward.";['3; The natural language command involves two different actions - "rotate" (turn right) and "move" (proceed one meter forward) - but the format does not support combining two actions in the same command. However, each action individually has a corresponding structure in the provided JSON samples.'] +Take a right and continue moving ahead for a distance of 1 meter.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['1; The command corresponds to "move" action with "distance", "is_forward" and "unit", but not "linear_speed" from the JSON structure. However, rotation for "take a right" isn\'t represented in the JSON.'] +Rotate to the right and advance straight ahead for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['3; The first JSON structure partially matches the command since it involves rotation, but the direction (right) is not specified through any key. Also, the \'action\' key does not exactly conform (\'rotate\' vs \'move\') and it lacks alignment with the \'angular_velocity\' parameter. The second JSON structure also partially matches the command since it involves movement ("advance straight ahead for 1 meter"), and closely aligns with the \'action\', \'distance\', and \'is_forward\' keys. The \'linear_speed\' is not mentioned in the command but 0.5 is a reasonable value. Some unspecified parameters (\'unit\' and \'distance\') are inferred and are reasonable. There is no match with the third JSON structure.'] +Facing towards the right, progress forward for a distance of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['5; The JSON command matches the natural language command correctly. The action "move" is accurately converted with the correct details: "is_forward" is set to true indicating movement in the forward direction, "distance" is 1 meter which matches the distance mentioned in the natural language command and a reasonable linear speed is defined. The declaration of "unit" as "meter" correctly interprets the distance\'s unit from natural language command. Hence, there is a correct match.'] +Move in a zigzag pattern for 8 seconds.,The response is, "Move in a zigzag pattern for 8 seconds.";["0; The natural language command 'Move in a zigzag pattern for 8 seconds' does not match with any of the provided JSON structures. In the available JSON data, there is no mention of a zigzag pattern or time duration as specified in the command. Moreover, the command doesn't match with the keys in the sample ontology."] +Perform a zigzag movement continuously for a duration of 8 seconds.,The response is, "The zigzag movement was performed continuously for a duration of 8 seconds.";["0; The natural language command does not have a corresponding JSON representation provided in the examples, as it refers to a 'zigzag' movement which is not specified in the action keys of the sample ontology."] +Traverse in a serpentine motion for 8 seconds.,The response is, "The serpentine motion for 8 seconds.";["0; The natural language command does not correspond with any of the action commands or parameters in the provided JSON structures. 'Traverse in a serpentine motion' does not match 'go_to_goal', 'move', or 'rotate' actions, and 'for 8 seconds' is not a parameter represented in the JSON structures."] +Alternate your path in a zigzagging pattern for the next 8 seconds.,The answer is 8.;['0; The command requests for a zigzagging pattern, which does not exist in the JSON structure. Therefore, the natural language command does not conform to the JSON structure.'] +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.,The answer is 8.;['0; The natural language command does not correspond to any of the JSON structures provided, as there is no action or parameters related to executing a zigzag motion or a timed motion explicit in the sample keys.'] +Rotate counterclockwise by 45 degrees and move forward for 3 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The action "rotate" matches but the parameter value "angular_velocity" should represent the speed of rotation not the degree of rotation. The "angle" parameter should be 45 but is shown as 0 in JSON. The "is_clockwise" parameter is correctly set as false for counterclockwise. The part about moving forward is not reflected in the provided JSON.'] +Turn left by 45 degrees and advance for a distance of 3 meters.,The response is, "Turn left by 45 degrees and advance for a distance of 3 meters.";['4; The JSON structures partially match the provided command. The "rotate" and "move" actions are clearly inferred from the command\'s "turn left by 45 degrees" and "advance for a distance of 3 meters", respectively. However, "left turn" is inferred to be anti-clockwise which the \'is_clockwise\' key should be set to False, which is not explicitly stated in the command. The "degree" part is not explicitly mentioned in the JSON too.'] +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['3; The "rotate" action closely matches with the natural language command - the missing "angular_velocity" is acceptable as any reasonable value is accepted when not specified. However, the part of the command instructing to "proceed ahead for a span of 3 meters" is not captured at all in the provided JSON structure, hence the conformity score is not 5.'] +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.,The response is, "Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.";['4; The command corresponds partially with the JSON structures. The "rotate" action matches with angular_velocity of 0.35 and angle of 45 degrees in the JSON, but the "is_clockwise" parameter is False, not True, as specified by the counterclockwise rotation in the command. Also, the "move" action aligns with a distance of 3 meters in the JSON but the linear_speed isn\'t specified in the command.'] +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.,The response is, "Move forward for 3 meters at a speed of 45 degrees per second.";['2; The JSON structures for the commands "rotate" and "move" are somewhat matched in the action, but some of the parameters values and keys ("angular_velocity", "is_clockwise", "linear_speed", "is_forward") are not properly reflected in the natural language command. The rotation direction (left or right, which is implicitly equivalent to clockwise or counter-clockwise) isn\'t indicated in the JSON.'] +Move backward and stop at the nearest obstacle.,The response is, "Move backward and stop at the nearest obstacle.";["0; The natural language command does not correspond to any JSON structures provided. Motion direction and stopping criteria aren't available parameters according to the sample ontology."] +Reverse and come to a halt once you reach the closest object in your path.,Reverse and come to a halt once you reach the closest object in your path.;['0; The commands do not relate to any action or parameters specified in the JSON structures given. Reverse movement or halting is not mentioned in the available actions and there is no prompt for a response depending on an object in the path.'] +Back up and cease movement upon reaching the nearest obstruction.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";["1; The natural language command instructs reversing and stopping, which can be interpreted as a certain 'move' action but it's not properly defined in the JSON structures. However, the JSON information mentions 'move forward for 1 meter at a speed of 0.5 meters per second', which isn't mentioned in the command and thus they do not fully match."] +Retreat and come to a stop when you encounter the closest barrier.,;["0; The command does not match with any of the JSON structures provided in the sample keys, neither does the command specify any parameters that can be translated to 'go_to_goal', 'move', or 'rotate' actions."] +Go in reverse and stop once you reach the nearest obstacle.,The response is, "Go in reverse and stop once you reach the nearest obstacle.";["0; The action specified in the command, to go in reverse and stop at the nearest obstacle, does not conform to any of the JSON structures provided in the sample ontology. There's no existing action for reversing or stopping at obstacles."] +Turn left and move in a curved path for 6 meters.,The response is, "Turn left and move in a curved path for 6 meters.";['0; The natural language command does not correspond to any JSON structure. The sample ontology does not contain keys such as "turn", "left", or "curved path". The "move" key is in the ontology, but it does not correspond with the command because the motion described is not straight, but curved. Thus, the command cannot be converted into a valid JSON struct based on the sample ontology.'] +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}};["2; The command is partially matched with the JSON example of move action. The action of taking a turn is not explicitly outlined in the JSON command. The only matching part is the movement of a certain distance. The 'linear_speed' and 'is_forward' keys are also present in the JSON but not specified in the natural language command. However, their values are assumed to be reasonable."] +Make a leftward turn and proceed along a curving route spanning 6 meters.,The answer is 6.;["0; None of the JSON structures match with the natural language command. The command involves a complex movement that isn't clearly defined in the given JSON structures."] +Go left and follow a curved path for a distance of 6 meters.,The response is, "Go left and follow a curved path for a distance of 6 meters.";['0; The natural language command doesn\'t match any of the JSON structures provided. The actions suggested by the command i.e., \'go left\' and \'follow a curved path\' are not represented in any of the JSON actions (go_to_goal, move or rotate). Also, the specific distance parameter in the JSON structure ("distance": 6) is not represented in any of the JSON structures.'] +Regulate your movement to the left and travel in a curved trajectory for 6 meters.,The response is,;['0; The given command does not align with any of the provided JSON representations. It mentions moving "to the left" and traveling "in a curved trajectory," but the JSON structures only account for basic movement, rotation, and navigating to a specific goal. There is no JSON structure supporting curved movement or direction-specific (left or right) movement.'] +Move forward at a speed of 1 meter per second for 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};['4; Although the natural language command almost exactly conforms to the JSON structure, the command talks about duration (10 seconds) not distance. This might imply a time-based movement instead of distance-based in the provided JSON. However, it is reasonable to assume that distance to be covered can be calculated if the speed and time are known, so the connection made in the JSON between speed and distance could be acceptable.'] +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}.;['4; The command asks to move forward, hence it corresponds with the "move" action. However, the duration parameter isn\'t present in the sample ontology. The values for "linear_speed" and "is_forward" do match. The "distance" is calculated as linear_speed*time(1*10), hence the provided value is reasonable. But as \'duration\' parameter is not present in JSON, it led to a mismatch.'] +Advance at a rate of 1 meter per second for 10 seconds.,The response is { "action": "move", "params": { "linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter" } }.;['3; The natural language command is mostly conforming to the JSON structure, but there seems to be a misunderstanding between time and distance. The command specifies to "advance" for 10 seconds, but in JSON it\'s interpreted as a distance of 10 meters. So the distance should not be 10 because we don\'t have enough information about how far the robot will actually move in 10 seconds at a speed of 1 meter per second.'] +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};["5; The natural language command matches exactly with JSON structure. The action is 'move' which is correctly identified. All the parameters 'linear_speed', 'distance', 'is_forward' and 'unit' are also correctly identified and represented in the JSON."] +Travel forward for 10 seconds, covering a distance of 1 meter per second.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "second"}};['3; The values given in the natural language command ("Travel forward for 10 seconds, covering a distance of 1 meter per second") and the JSON structure are matching, however, the "distance" value is not exactly correct. In the natural language command, the distance is implied to be 10 meters (10 seconds * 1 meter per second) but in the JSON, the distance is marked as 10 seconds. Also, the units given in the JSON structure do not exactly conform to the sample ontology.'] +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 30, "is_clockwise": true, "unit": "degrees"}};['3; The "action" and "params" keys in the JSON command do match the natural language command because it includes instructions for a rotation. However, the natural language command includes details for two separate actions (rotate, then move), which the JSON command does not adequately represent as it only includes details for rotation. Furthermore, the "angular_velocity" value does not match with the given degree in the natural language command (30 degrees).'] +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.,The response is, {"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}};['4; The natural language command describes both a "move" and a "rotate" action. The provided JSON corresponds correctly to the "move" action, with right parameters for "linear_speed", "distance", "is_forward", and "unit". However, the JSON for the "rotate" action is missing.'] +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 30, "is_clockwise": true, "unit": "degrees"}};['3; The first part of the JSON request about rotation action is mostly accurate except the "angular_velocity" parameter which should be a speed not angle. The second part of the command related to moving forward is not reflected in the provided JSON at all.'] +After rotating 30 degrees clockwise, continue moving forward for 4 meters.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}};['2; The provided JSON structure partially matches the command. While the command\'s movement instruction is correctly reflected by the "move" action in the JSON structure, the request for the rotation action is not found in the provided JSON. Hence, the overall match is partial.'] +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command matches with the "rotate" action in the JSON structure, however, the parameter values are incorrect. In the JSON structure, the "angular_velocity" is set to 30 which doesn\'t match the command asking for a rotation of 30 degrees which should be set as the "angle". The action of moving forward is stated in the command but is not represented in the JSON structure.'] +Move in a circular path with a radius of 2 meters for 7 seconds.,The response is, "Move in a circular path with a radius of 2 meters for 7 seconds.";['0; The command does not match with any of the given JSON structures. It talks about moving in a circular path for a specific radius and time duration which is not covered in the given JSON samples.'] +Circle around with a radius of 2 meters for a duration of 7 seconds.,The radius of the circle is 2 meters. The duration of the circle is 7 seconds. So the area of the circle is 2 * 2 * 7 = 42 square meters. The answer is 42.;['0; The natural language command does not match any of the provided JSON structures. The command instructs to circle around with a certain radius and duration, but none of the JSON structures involve such a movement. Therefore, there is no conformity.'] +Perform circular movement with a radius of 2 meters for 7 seconds.,The response would be, "{"action": "rotate", "params": {"angular_velocity": 2, "angle": 7, "is_clockwise": true, "unit": "meter"}}";['2; The command to perform a circular movement may correspond to the "rotate" action in the ontology. However, the parameters provided such as "radius" and time duration "for 7 seconds" do not match with any of the parameters in the given JSON structures. The provided JSON uses "angular_velocity" and "angle" in degrees not a time duration, and doesn\'t contain a "radius" parameter. There is no specification if it\'s clockwise or counterclockwise rotation.'] +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.,The response would be, "{"action": "rotate", "params": {"angular_velocity": 2, "angle": 7, "is_clockwise": true, "unit": "meter"}}";['1; The natural language command does not conform to the JSON structure as there is no concept of time "seconds" in the JSON structure and the "radius" is not defined in the JSON structure for rotation. Furthermore, the angular_velocity and angle values in the provided JSON do not match those implied in the natural language command.'] +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.,The answer is 2 * 7 = 14 meters.;["0; The natural language command talks about traversing a certain distance in a certain time, but none of the JSON structures directly supports these parameters. Also, the command doesn't exactly match any action in the sample keys of the given JSON structure, so it cannot be converted to JSON."] +Turn right and move forward for 5 seconds, then revert back.,The response is, "Turn right and move forward for 5 seconds, then revert back.";['0; The given natural language command instructs to turn right and move forward for a set duration and revert back, but none of these actions or parameters are adequately represented in any of the provided JSON structures. There\'s no JSON structure representing a timer or reverting motion, and although there is a "move" action, it doesn\'t exactly match with the command.'] +Make a right turn and proceed forward for 5 seconds, then return back.,The response is, "Make a right turn and proceed forward for 5 seconds, then return back.";['0; None of the JSON structures correspond to the natural language command. The command describes a series of actions (turning right, going forward, then returning), which is not represented in the JSON structures. In addition, the command refers to actions taken for a certain amount of time ("5 seconds"), which is not a parameter in the provided JSON structures.'] +Take a right turn and advance ahead for 5 seconds, then go back in reverse.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "second"}};['1; The natural language command asks to take a right turn, which would require the "rotate" JSON structure, and to move forward and then reverse, which would require the "move" JSON structure with appropriate parameters. However, the provided JSON structure only uses "move" action without the required rotation, additionally the unit for "distance" parameter is incorrectly used as "second" instead of length units like "meter". Therefore, the match is very low.'] +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.,The response would be, "Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.";['0; None of the provided JSON structures match the given command. The command includes elements of rotation and movement which are present in the JSON structures but the specific details such as the duration of movement or direction of rotation are not found in the command or the JSON. The reverse direction action at the end is also not represented in the provided JSON structures.'] +Change direction to the right and go forward for 5 seconds, then reverse back.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "second"}}";["1; The JSON structure partially matches the command. 'Move' and 'is_forward' key-values are correctly represented, however the 'distance' value in JSON should ideally represent spatial distance and not time. There is no representation of 'change direction to the right' which should involve the 'rotate' action in JSON. Also, there is no JSON for 'reverse back'."] +Move along the perimeter of the room for 1 minute.,The response is 1 * 60 = 60 seconds.;["0; The natural language command doesn't match any of the provided JSON structures. The command specifies a time duration and a certain movement pattern (along the perimeter of the room), which are not reflected in any of the JSON data."] +Walk around the edges of the room for 1 minute.,The answer is 60.;['0; The given natural language command does not match any of the provided JSON structures. The actions described in the natural language command, such as "Walk around" and "1 minute" time duration, do not conform to any of the actions or parameters provided in the JSON structures.'] +Circulate along the boundary of the room for 1 minute.,Circulate along the boundary of the room for 1 minute.;['0; The natural language command does not match any of the JSON structures provided; there are no commands related to circulating along the boundary of a room in the given ontology.'] +Patrol the perimeter of the room for 1 minute.,Patrol the perimeter of the room for 1 minute.;["0; The natural language command cannot be converted into JSON as the terms and action 'Patrol', 'perimeter of the room', and '1 minute' do not exist in the sample keys."] +Traverse the outer edges of the room for 1 minute.,Traversing the outer edges of the room for 1 minute would take 1 minute. The answer is 1.;['0; The natural language command here does not specify any particular action, location, speed, distance, or direction that matches with any keys in the provided JSON structures. Therefore, it cannot be converted into a JSON using these keys.'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,The response is,;["4; The natural language command partially matches with the JSON structures. The 'rotate' action and parameters such as 'angle' can be extracted from the command but the direction of rotation isn't specified in the JSON structure. Similarly, the 'move' action and 'distance' parameter matches but the 'linear_speed' isn't specified in the natural language command. Additional keys such as 'unit' and 'is_forward' also match with the intended direction."] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,The response is, "Turn left by 60 degrees and proceed ahead for a distance of 3 meters.";['4; Although the JSON structures provided for the rotation and move actions match with the natural language command, the specific rotation direction (left) is not reflected in the JSON. However, all other elements including the rotation angle, moving distance and direction are correctly represented.'] +Rotate anticlockwise by 60 degrees and advance 3 meters.,The response is,;['4; The command matches with two JSON structures but the rotation direction is not specified in the JSON parameters. The moving action matches perfectly with the second JSON structure and rotation without direction matches with the third structure.'] +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.,The response is, "Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.";['2; Although the natural language command involves the actions "rotate" and "move" (which do exist in the sample keys), the provided JSON structures do not match perfectly. The "rotate" command is present but is defined as clockwise in the JSON, not counter-clockwise. And there\'s no matching JSON structure for the "face left" command in the natural language command.'] +Make a 60-degree left turn and move forward 3 meters.,The response would be, "Make a 60-degree left turn and move forward 3 meters.";['4; The natural language command almost exactly matches the keys and values used in the JSON structures, with the exception that the angular rotation direction specified in natural language command "left" isn\'t specifically accounted for in the JSON\'s "is_clockwise": is_clockwise. However, this can be reasonably inferred as false.'] +Move forward at a variable speed for 10 seconds.,The response is, "Move forward at a variable speed for 10 seconds.";['0; The given natural language command does not match any of the provided JSON structures. The command involves moving forward for a certain duration, but the JSON structures do not include a time or duration parameter.'] +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.,The response is 10 seconds.;['0; None of the JSON structures match the command. Neither "go ahead" nor "adjusting the speed" command are available in the JSON data. Similarly, "10 seconds" cannot be related to any offered parameter values.'] +Advance for a period of 10 seconds, with variable speed.,The answer is 10.;['0; The natural command does refer to an action of moving, but it does not match any of the specific actions or parameters outlined in the JSON structures provided. As such, there is no conformity with the given ontologies.'] +Travel forward, varying the speed, for a total of 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "second"}};['4; While the action "move" and the direction "is_forward" is accurate, the command does not specify that the unit should be in "seconds" nor does it specify the speed "linear_speed" as 0.5 directly. The "distance" key doesn\'t really match with "10 seconds". But, as the context relates to travel time, the provided JSON could work. The command could be interpreted as moving for 10 seconds at a given speed.'] +Move ahead for 10 seconds, adjusting the speed accordingly.,The response is, "Move ahead for 10 seconds, adjusting the speed accordingly.";['0; The command does not match any of the provided JSON structures. It doesn\'t specify any of the parameters (e.g. linear_speed, distance, is_forward, unit) from the "move" action nor does it give a specific location for the "go_to_goal" action. Furthermore, the command mentions time duration ("10 seconds") which is not included in the sample keys. The command implies an action of moving forward for a certain duration while adjusting speed, but it doesn\'t provide enough specific details to match the JSON information.'] +Move backward and stop 1 meter away from the designated target.,The response is, "Move backward and stop 1 meter away from the designated target.";['0; The command does not conform to any of the available JSON structures as it implies an action ("move backwards") and a condition ("stop 1 meter away from the target") that are not present in any of the given samples.'] +Reverse direction and come to a halt at a distance of 1 meter from the specified target.,Reverse direction and come to a halt at a distance of 1 meter from the specified target.;['0; None of the JSON structures match the natural language command. The command speaks about reversing direction and stopping at a certain distance, which is not reflected in any of the JSON structures: "go_to_goal", "move", "rotate".'] +Go in the opposite direction and pause when you are 1 meter away from the assigned target.,The response is, "Move backward for 1 meter at a speed of 0.5 meters per second.";['2; The natural language command instructs to "Go in the opposite direction and pause when you are 1 meter away from the assigned target", but there is no JSON structure presented to match this command. The provided JSON structure, "Move backward for 1 meter at a speed of 0.5 meters per second", does not completely align with the natural language command given because it\'s not specified in the command to move backward at a certain speed, also "the assigned target" is not defined in the JSON structure.'] +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['0; None of the natural language commands match the given JSON structures. The first command asks for a retreat action and stop, but there is no such action or parameter in the JSON structures. The second command instructs to move forward, but the specified parameters do not match the parameters in the JSON structure.'] +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.,The response is, "Move in a reverse motion and cease motion once you are 1 meter away from the specified target.";['0; The natural language command does not align with any of the provided JSON structures. It instructs a reverse motion, which is not catered for in the "go_to_goal", "move", nor "rotate" actions in the JSON structures. The distance parameter is possibly referred to but not in a way that aligns with the JSON structure, as we do not know the unit of the distance. A cease command is also mentioned which does not exist in the provided ontology.'] +Move forward for 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['5; The natural language command matches perfectly with the JSON structure. The command "Move forward for 1 meter" corresponds to the action "move" with params "is_forward": true, "distance": 1 and "unit":"meter" in the JSON. The "linear_speed" value in the JSON is not specified in the command, but as per the guideline any reasonable value in the JSON is accepted.'] +Proceed ahead by 1 meter.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['4.5; The command matches with the second JSON structure considering the "action": "move" with parameters "distance": 1 and "is_forward": True. However, the "linear_speed" is not mentioned in the command but holds a reasonable value in the JSON structure which can be considered. The command doesn\'t fully specify all needed parameters hence not a perfect match.'] +Advance for a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['3; The natural language command corresponds with the "move" action in the JSON structure. However, the command does not specify any linear speed, hence the provided JSON with linear_speed equal to 0.5 is presumed in inference, and not directly mentioned. The direction ("is_forward": True) and distance in the JSON conforms with the command. However, "unit" field doesn\'t explicitly mentioned by the command.'] +Travel in a forward direction for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['4.5; The natural language command nearly perfectly corresponds to the JSON structure of the second example for a "move" action. Distance is mentioned and "is_forward" is implicitly true, but linear speed is not specified in the natural language command. It is assumed the speed is 0.5, but since it\'s not explicitly mentioned in the command, it doesn\'t match perfectly.'] +Go straight for a span of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['4; The natural language command corresponds largely with the "move" action in the JSON ontology, mentioning a specific distance of movement and implicitly suggesting forward motion. However, a certain speed is specified in the JSON structure which is not present in the command. Therefore, it\'s not an exact match.'] +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['3; The given JSON contains the correct action and parameters but the parameter values don\'t match. The "angular_velocity" should not be 90 (it\'s the speed not the angle) and the "angle" should be 90 not 0.'] +Turn left by 90 degrees.,The response is, "Turn left by 90 degrees.";['3; The command refers to rotation, therefore the related JSON structure is possibly the "rotate" action. However, the command specifies turning "left" while the JSON structure keys have a "is_clockwise" boolean key instead of specific directions. Also, the angle specified in the command matches the JSON structure. The matching is not perfect due to these differences, hence a score of 3.'] +Rotate anticlockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['3; Partially conform. The \'action\' and \'unit\' sections match perfectly. However, the "angular_velocity" parameter in JSON is incorrect because it should represent the speed of rotation, not the amount of rotation. Also, the "angle" parameter in JSON should be 90 instead of 0, as mentioned in the command. The "is_clockwise" parameter is correctly interpreted as false from "Rotate anticlockwise".'] +Rotate to the left by 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}}";['2; The action \'rotate\' in the natural language command is well captured in the json. Also, \'angle\' is rightly given as 90 degrees. However, the "is_clockwise" is set to false whereas the command says rotate to the left, and left rotation should be counterclockwise, but the value of "angular_velocity" is incorrect. In the given ontology sample, it should be a rate e.g 0.35, but here it was marked as 90 which is not an appropriate value for this parameter.'] +Spin counterclockwise by 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}}";['1; The given JSON structure does not conform properly with the natural language command. The command mentions "Spin counterclockwise by 90 degrees" whereas in the JSON structure, "angular_velocity" is 90 which is incorrect as it should be "angle" that is 90. Also, "is_clockwise" is correctly marked as false indicating counterclockwise rotation, but "angle" is set to 0 which is incorrect.'] +Move backward for 2 seconds.,The response is, "Move backward for 2 seconds.";["0; The natural language command doesn't match any of the provided JSON structures. The command requires the robot to move backwards, but none of the JSON commands nor their parameters imply moving backwards for a certain duration of time."] +Go backward for a duration of 2 seconds.,The response is, "Go backward for a duration of 2 seconds.";['0; The natural language command does not match with any provided JSON structure. A command to go in reverse or for a certain time duration does not exist in the sample keys.'] +Reverse direction and continue for 2 seconds.,Reverse direction and continue for 2 seconds.;['0; None of the given JSON structures match the command "Reverse direction and continue for 2 seconds". The command doesn\'t match with "go_to_goal", "move" or "rotate" actions in the sample ontology.'] +Retreat for a period of 2 seconds.,The response is, "Retreat for a period of 2 seconds.";['0; The given command is to retreat for a specific time period, which cannot be translated into any of the provided JSON structures. The sample keys do not include an action for moving backward (retreating) or a parameter for time. Therefore, the JSON code cannot represent this command.'] +Take a step back and hold for 2 seconds.,The response is, "Hold for 2 seconds.";["0; None of the JSON structures match the given command as actions 'take a step back' and 'hold' do not exist in the sample keys."] +Turn left and move forward for 3 meters.,The response is, "Turn left and move forward for 3 meters.";['1; The command asks for both rotation and movement actions but none of the provided JSON structures combines both. However, they can be considered separately, the "rotate" action is somewhat inferred but the direction is not specified in the JSON structure. The "move" action partially matches with the given distance, but the direction of movement and the linear_speed key are not mentioned in the command.'] +Take a left turn and proceed ahead for a distance of 3 meters.,The response would be, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}};['2; The natural language command refers to both rotation (turning left) and movement (proceed ahead for a distance of 3 meters). However, the provided JSON structure only represents the "move" action and not the "rotate" action. Additionally, the linear_speed is not specified in the natural language command, so assigning it a value of 3 is not accurate.'] +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.,The response would be, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}};['1; The command requests two distinct actions: rotate and move. However, the provided JSON structure corresponds only to the move action, ignoring the command to turn.'] +Rotate to the left and proceed forward, covering a distance of 3 meters.,The response is, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}};['1; The natural language command includes the actions "rotate" and "move". However, the provided JSON information only contains execution of the "move" action and doesn\'t mention anything about the rotation. Therefore, the JSON partially matches the natural language command.'] +Go left and move straight ahead for 3 meters.,The response is, "{"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}}";['2; The natural language command instructs the user to go left and move straight for 3 meters. However, the JSON structure merely represents the "move" command and parameters, and there is no provision for "going left". The "linear_speed" parameter value in the JSON command is also inconsistent with the natural language command, which does not specify speed.'] +Move at a speed of 2 meters per second for 5 seconds.,The response is, "Move at a speed of 2 meters per second for 5 seconds.";['0; The natural language command is asking for a specific type of movement (speed and duration) but this does not correspond to any of the provided JSON structures. The "move" action in the JSON structure describes linear speed and distance, not duration. Additionally, the command "Move at a speed of 2 meters per second for 5 seconds" does not match with any "action" key value from the provided JSON structures.'] +Travel with a velocity of 2 meters per second for a duration of 5 seconds.,The response is 2 * 5 = 10 meters.;['0; The natural language command refers to travelling with a certain velocity for a duration, however neither the specific action of travel ("move" or "go_to_goal") nor the parameters "linear_speed", "distance", "is_forward", "unit" mentioned in the JSON structure correspond to the instruction given.'] +Maintain a pace of 2 meters per second for a period of 5 seconds.,The response is 2 * 5 = 10 meters.;['1; The natural language command refers to moving a specific distance at a specific speed, which only partially aligns with the "move" action in the JSON structures, as the JSON structure describes movement in terms of linear speed and distance, but does not take into account duration. However, it does not match perfectly because the time factor is not present in JSON structure.'] +Perform movement with a speed of 2 meters per second over a span of 5 seconds.,The response is 2 * 5 = 10 meters.;['1; The command suggests a movement action which partially matches with the "move" action in the JSON structure, but parameters inside the motion action such as \'linear_speed\', \'distance\', \'is_forward\', and \'unit\' do not line up correctly with the given natural language command. The command speaks about speed and time which is not represented in the JSON structure.'] +Cover a distance at 2 meters per second for a time period of 5 seconds.,The response is 2 * 5 = 10 meters.;["0; The natural language command talks about covering a distance at a certain speed for a specific time, which doesn't match with any of the provided JSON structures. The JSON structures are for going to a specific location, moving with a given linear speed and distance, and rotating at a given angular velocity and angle. Therefore, the conformity score is 0."] +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; The natural language command fits the sample ontology correctly, however, the value for "angular_velocity" is not usually equivalent to the "angle" value, they refer to different entities in motion commands, hence it should not be equivalent to 180 degrees. The "angular_velocity" value is expected to be in a certain range which is less than the "angle" value, it usually takes small values representing how fast the device or robot should rotate. Thus, even though "angular_velocity" wasn\'t specified in the command, the assigned value appears to be unreasonable.'] +Rotate by 180 degrees in a clockwise direction.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; Mostly conform. The natural language command aligns well with the provided JSON structure. The action of rotation, direction (clockwise), and the unit of measure (degrees) all match. However, the angular_velocity is set incorrectly in JSON as it denotes the speed of rotation and not the angle of rotation.'] +Perform a clockwise rotation of 180 degrees.,The response is 180.;['4; The command matches with the "rotate" action in the JSON structure, but the \'angular_velocity\' parameter value isn\'t specified in the command, however the given value in JSON is also acceptable.'] +Turn 180 degrees in a clockwise manner.,The response is 180.;['4; The command is correctly captured in the instruction. However, the value for "is_clockwise" is not explicitly mentioned in the JSON, therefore although we can infer its True from the given natural language command, perfect matching is not fully achieved.'] +Rotate in a clockwise fashion, making a 180-degree turn.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4.5; The commands are mostly conform but the "angular_velocity" specific value in JSON structure is not mentioned in the natural language command.'] +Move forward for 4 meters.,The response is, {"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}};["2; The natural language command is partially conforming with the JSON structure. The action 'move' and the parameter 'is_forward': true matched perfectly. However, the 'linear_speed' field in the JSON structure does not align with the command 'Move forward for 4 meters'. The command specifies the 'distance' as 4 meters but not the 'linear_speed'. The value assigned to 'linear_speed' in JSON should be a reasonable value for speed, not distance."] +Proceed straight ahead, covering a distance of 4 meters.,The response is, "The distance covered is 4 meters.";['4; The natural language command corresponds to the "move" action in the JSON structure with matching "distance" parameter. However, information about linear_speed and is_forward parameters are not provided in the natural language command. Hence, the match is not exact.'] +Advance forward, spanning 4 meters.,The response is, "Move forward for 4 meters at a speed of 0.5 meters per second.";["4; The command 'Advance forward, spanning 4 meters' is mostly matched by the JSON structure for 'move' action, with 'distance' as 4 and 'is_forward' as True. However, the JSON also specifies 'linear_speed' as 0.5m/s, which is not mentioned in the initial command and therefore not perfectly conforming."] +Take 4 steps in the forward direction.,The response with an explanation would be, "4 steps in the forward direction.";['0; The natural language command does not correspond to any of the provided JSON structures. It indicates moving a certain number of "steps" forward, but none of the JSON keys in the ontology include a parameter for steps. The "move" action only uses the parameters "linear_speed", "distance", "is_forward", and "unit", none of which directly translate to the concept of "steps".'] +Travel a distance of 4 meters, moving in the forward direction.,The response is, "Move forward for 4 meters at a speed of 1 meter per second.";['3; There is partial conformity. The natural language command involves moving a certain distance in a particular direction, which aligns with the "move" action in the JSON structure. However, the specified speed in the natural language command does not match the given speed in the JSON structure. The command also doesn\'t specify a unit for distance, unlike the JSON structure.'] +Turn right and move backward for 1 meter.,The response is, "Move backward for 1 meter at a speed of 0.5 meters per second.";['2; The first part of the command "Turn right" corresponds to the "rotate" action in the JSON structure but no specific angle is specified in the command. The second part "move backward for 1 meter" fits with the "move" action in the JSON structure, however the direction is opposite (is_forward should be False). The given JSON structures do not provide for change in direction. Also, neither match with the provided sample ontology.'] +Rotate to the right and travel in reverse for a distance of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": -0.5, "distance": 1, "is_forward": false, "unit": "meter"}};['1; The command given in natural language contains two actions - rotation and movement. The JSON structure provided captures the movement aspect correctly(as per the information given in the ontology), but there is no json for rotation. Hence, the JSON structure only partially matches with the natural language command.'] +Make a right turn and proceed backwards for a length of 1 meter.,The response is, "Make a right turn and proceed backwards for a length of 1 meter.";['2; The natural language command includes actions that could be represented by both "rotate" and "move" in the ontology, but doesn\'t specify values for the majority of parameters. A "rotate" command does not specify the angle or direction (it is reasonable to assume a right turn is clockwise, but it\'s not specified). For the "move" command, it only specifies "is_forward" (as False, given the command to move backwards) and distance (as 1 meter). It does not give a linear speed.'] +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['0; None of the JSON structures provided matches any part of the natural language command given. The natural language command refers to moving in the opposite direction and shifting to the right, but none of the JSON structures have keys to accommodate these commands.'] +Face right and move backwards, covering a distance of 1 meter.,The response is, "Face right and move backwards, covering a distance of 1 meter.";["0; The command implies a movement action where the system needs to rotate and run in reverse. This command does not match either the 'go_to_goal', 'move', or 'rotate' JSON structures provided. There should be two distinct actions - 'rotate' and 'move'. The 'move' action should also contain an 'is_forward' parameter that is set to 'False'."] +Rotate counterclockwise by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The action matches but the parameters have wrong values. The \'angle\' key should have the value 45, not \'angular_velocity\'. Also, the \'is_clockwise\' key should be False to match the "counterclockwise" direction in the command.'] +Rotate anti-clockwise by a 45-degree angle.,The response would be {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['3; Partially conform. The natural language command requests a rotation by a 45-degree angle, which reasonably matches the "angle" parameter in the JSON data. However, the "angular_velocity" parameter in the JSON data is assigned the degree of the angle which is not correct as angular velocity is not specified in natural language command. It should have been left as is or assigned any reasonable value. Additionally, "is_clockwise" has been correctly assigned as false to match the command\'s request for an anti-clockwise rotation. The unit is also correctly set to degrees.'] +Turn left by 45 degrees.,The response is, "Turn left by 45 degrees.";['2; The natural language command refers to a rotation action, which is present in the sample ontology. However, the direction "left" is not translated correctly into JSON parameters as there is no "is_clockwise" boolean value mentioned. In the provided ontology, clockwise rotation can be considered as turning right. Hence, the JSON does not fully comply with the natural language command.'] +Rotate in a counterclockwise direction by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['3; The command matches the action "rotate" in the JSON. However, the "angular_velocity" of 45 does not correspond to the natural command. It is the "angle" that should be 45 degrees. Moreover, "is_clockwise" is false in the JSON which is correct as per the command.'] +Rotate to the left by 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}}";['3; Even though the command indicates that a rotation should be performed, the values of "angular_velocity" and "angle" do not match rightly with the natural language command. According to the command, "angle" should have been set at 45. However, the action is correct and "is_clockwise": false does interpret correctly the \'left\' direction. "unit": "degrees" correctly interprets the unit.'] +Move forward for 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 10, "distance": 1, "is_forward": true, "unit": "second"}};['2; The JSON structure does reference a \'move\' action, similar to the command requiring movement. However, the parameters within the command don\'t match up consistently with the parameters within the JSON structure. The command mentions moving forward for a duration (seconds), rather than a distance as indicated by the JSON parameters - they are not interchangeable since "duration" isn\'t a unit of distance but of time. Also, the command does not specify linear_speed, as does the JSON structure but the value 10 is assigned to it without being mentioned in natural language command. Hence, the conformity score isn\'t high.'] +Proceed straight ahead for a duration of 10 seconds.,The response is, "Move forward for 10 seconds at a speed of 1 meter per second.";['0; The natural language command does not correspond to any of the provided JSON structures. The command is about moving straight for a duration which is not represented in the JSON structures. Also, the duration is not a key in the sample ontology.'] +Advance continuously for a period of 10 seconds.,The response is 10.;['0; The given natural language command does not match with any of the provided JSON structures as there are no keys pertaining to time duration or the command to advance continuously.'] +Travel forwards for a span of 10 seconds.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "second"}};['2; The "action" tag matches, as does the "is_forward" tag because the command specifies to move forward. However, the parameter "distance" does not conform with the given command; the command mentions the time of moving instead of the distance to be travelled, which is not accommodated for in the provided JSON structure. The "unit" tag given in JSON is \'second\' which is incorrect as the ontology doesn\'t have this unit under \'Move\' action. The correct unit should be \'meter\'.'] +Progress ahead for a time interval of 10 seconds.,The answer is 10.;['0; Neither the action nor parameters specified in the natural language command can be found in the example JSON structures.'] +Turn left and move at a speed of 1 meter per second for 2 seconds.,The response is, "Turn left and move at a speed of 1 meter per second for 2 seconds.";["0; The provided JSON structures do not contain any fields or parameters that match the natural language command. The command involves a rotation (turn left) and a move action with specified speed and duration, but the JSON structures don't have parameters for rotation direction, speed as a rate of movement per unit of time, or a duration for the action. As such, the command does not conform with the sample keys."] +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.,The response is, "Make a left turn and proceed forward for 2 seconds at a speed of 1 meter per second.";['1; The commands given require actions such as motion and rotation, and specifying a speed which exist in the JSON structures. However, the natural language command does not match precisely as it introduces new parameters like "seconds" for duration and direction orientation ("left turn") which is not accounted in the provided JSON structure.'] +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.,The response would be, "Move forward for 1 meter at a speed of 1 meter per second for a duration of 2 seconds.";['0; The natural language command asks for a left turn and moving forward, but there is no JSON structure provided that represents a \'turn\' action or a \'duration\' parameter in the \'move\' action. Also, the command includes a speed that is not compatible with the "move" JSON structure.'] +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.,The response is, "Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.";['0; None of the JSON structures corresponds to the given command. There are no actions to make a left-hand turn or to move forward for a specified amount of time, and the speed parameter in the "move" action is labeled "linear_speed", not speed as in the command. The parameter to indicate direction (is_forward) is also missing from the command.'] +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.,The response is, "Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.";['0; The provided JSON structures do not correspond to the given natural language command. Neither the action of rotating to the left, nor the action of moving straight ahead for a specific amount of time, are properly represented in the JSONs according to the keys in the sample ontology given.'] +Move backward for 3 meters.,The response is, "Move backward for 3 meters.";['1; The natural language command instructs to move, conforming to the "move" action in the json structure. However, it instructs to move "backward" which does not match the "is_forward": True parameter in the JSON structure, reducing the conformity. The distance mentioned in the command ("3 meters") is a reasonable value but it is not specified in the JSON structure, as it only contains "distance". The conformity score is not zero because the action to \'move\' exists in the sampling keys.'] +Go back 3 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['2; The command refers to an action of moving a certain distance in a specific direction (backward), the action and distance parameter match the action "move" and "distance" parameter of the JSON structure. But the direction (backward) doesn\'t match since the "is_forward" parameter is set to True in the JSON. Also, the "linear_speed" parameter in JSON doesn\'t have a corresponding specified value in the natural language command. The unit though matches the provided "meter" in the command.'] +Reverse your direction and travel 3 meters.,Reverse your direction and travel 3 meters.;["1; The natural language command talks about movement in a specific direction for a particular distance, but it does not match the provided JSON structures exactly. The 'move' action and 'distance' parameter match, however, the 'is_forward' key in JSON sample contradicts with the 'reverse your direction' in the command, so the value should be False not True. Moreover, the linear_speed is not specified in the natural language command."] +Retreat for a distance of 3 meters.,The response is, "Retreat for a distance of 3 meters.";["1; The command asks for a movement action, but it asks for a retreat, which would imply reversing or moving backwards. There is no such key in the sample provided, which only accommodates for moving forward. However, other parameters like 'distance' and 'unit' are correctly referenced in the natural language command. Hence, the natural language command partially conforms to the JSON information structure."] +Take 3 steps backwards.,The response is 3.;["2; The natural language command refers to movement but the specifics such as linear_speed or if it's a forward movement are not directly stated, but can be inferred. It does not correctly correlate with the provided JSON structures."] +Rotate clockwise by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";['4; The action in the command matches perfectly with the JSON structure. The parameter "is_clockwise" and "unit" also matches. However, the "angular_velocity" is supposed to denote the speed of rotation, not the angle of rotation. It\'s value shouldn\'t be equal to the angle "270" degrees, it should be a separate parameter to denote the speed of the rotation. Hence, due to this mismatch in interpretation, it doesn\'t conform exactly.'] +Rotate 270 degrees in a clockwise direction.,The response is 270.;['5; The JSON structure matches perfectly with the command.', '', 'The natural language command is asking the program to rotate 270 degrees in a clockwise direction. This corresponds well with the given JSON structure for the "rotate" action. The "params" of the JSON command give further specific details about the rotation that must occur. The "angle" is correctly listed as 270 and the "is_clockwise" parameter is accurately described as being True, indicating that the rotation should occur in a clockwise direction. Therefore, the structure and content of the JSON command fits perfectly with the natural language command given.'] +Perform a clockwise rotation of 270 degrees.,The answer is 270.;['5; The natural language command perfectly matches with the JSON structure associated with the "rotate" action. The parameters, like "angle": 270 and "is_clockwise": True, also correspond well with the command.'] +Turn right by 270 degrees.,The response is, "Turn right by 270 degrees.";['4; The natural language command partially matches with the JSON structure. The action "rotate" is suggested and the parameter "angle" is given as 270 degrees. However, the direction "right" would suggest a clockwise rotation, which isn\'t explicitly specified in the JSON.'] +Rotate by 270 degrees in the clockwise direction.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";['3.5; Some parameters match with the command but the values given for "angular_velocity" and "angle" in the JSON structure are the same although they refer to different concepts in the context. Angular velocity involves speed of rotation while angle refers to the extent of rotation. As per the natural language commands, the "angle" should be 270 degrees and \'is_clockwise\' should be true, but there is no mention of \'angular_velocity\' so the value given in JSON is somewhat random or assumed.'] +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}};['4; Almost all keys are conforming with the natural language command and JSON structure. However, "linear_speed" doesn\'t have a specified value in the command, the value 5 is arbitrary.'] +Proceed ahead for a distance of 5 meters.,The response is, "The distance traveled is 5 meters.";['4; The natural language command matches closely with the move action in the JSON structure. However, the linear_speed parameter isn\'t specified in the command. The command also includes a sentence that doesn\'t translate to a JSON structure ("The response is, \'The distance traveled is 5 meters.\'").'] +Advance 5 meters in the forward direction.,The response is, "Move forward for 5 meters at a speed of 0.5 meters per second.";["4; The command 'Advance 5 meters in the forward direction.' matches quite well with the 'move' JSON structure. Parameters such as linear_speed, distance, is_forward, and unit have reasonable values, but the command does not specify the speed hence cannot be an exact match."] +Take 5 meter steps forward.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};['5; Exact match. The natural language command matches perfectly with the action and parameters in the JSON structure. All keys from the command correspond with the JSON ontology.'] +Go ahead and travel a distance of 5 meters.,The response is, "The distance traveled is 5 meters.";['2; The natural language command states to go a certain distance, which matches the "move" action in the JSON. However, the parameter "distance" is not correctly defined in the JSON, it is simply stated as \'distance\' rather than a specific value. There is also no correct match for the natural language command confirming the distance travelled in the provided JSON structures.'] +Turn right and move at a speed of 1.5 meters per second for 4 seconds.,The response is, "Turn right and move at a speed of 1.5 meters per second for 4 seconds.";['0; None of the JSON structures match the natural language command. There is no mention of speed, time, or direction in the provided ontology.'] +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.,The response is, "Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.";['2; The natural language command asks for a right turn which should be conveyed using the "rotate" action but there is no JSON provided which corresponds to making a right turn. The command also asks to "proceed at a velocity of 1.5 meters per second for a duration of 4 seconds", which can be interpreted as "move" action with linear_speed 1.5, but distance and direction (forward or backward) is not clear from the command. Duration parameter and the value of 4 seconds is also not present in the sample keys.'] +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.,The response is,;['2; The command "Rotate to the right" roughly corresponds to the action "rotate" with parameters "angle" and "is_clockwise" (though the exact values are not specified and thus are arbitrary). The action "advance with a velocity of 1.5 meters per second for a total of 4 seconds" does not match directly with the key "move" which uses "linear_speed" and "distance" instead of time duration.'] +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.,The response would be, "{"action": "move", "params": {"linear_speed": 1.5, "distance": 4, "is_forward": true, "unit": "meter"}}";["3; Partial match. The order to move forward with a specific velocity is present in the JSON structure. However, the command to take a rightward turn does match, but the duration of the turn is not included. There's also discrepancy in the parameters, the command describes duration in seconds, the JSON is expecting distance."] +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.,The response would be, "Move right for 4 seconds at a speed of 1.5 meters per second.";['0; The natural language command asks for a rightward movement with a set speed and duration. However, none of the provided JSON structures and their keys have any information regarding direction or duration of an action. They only specify going to a location, moving a certain distance forward/backward, or rotation.'] +Rotate counterclockwise by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['1; The action is correct but the angular_velocity and angle keys in the JSON structure are not correctly matched with the command. In the command it is asked to rotate 60 degrees but in the JSON structure the "angle" is 0 and "angular_velocity" is 60 which is incorrect. Also, if the rotation is counterclockwise, then "is_clockwise" should be false, but it is not stated in the JSON structure.'] +Turn left by 60 degrees.,The response is, "Turn left by 60 degrees.";['3; The command "Turn left by 60 degrees" partially matches with the "rotate" action in the JSON structure. The \'angle\' is correctly given as \'60\'. However, the direction \'left\' would imply a counter-clockwise rotation, which is not explicitly mentioned in the JSON. The JSON also does not specify the angular velocity.'] +Move in an anti-clockwise direction by 60 degrees.,The response is, "Move in an anti-clockwise direction by 60 degrees.";['4; The command matches with the "rotate" action in the JSON structure, but does not mention the "angular_velocity", which is a required parameter in the JSON structure. Even though the lack of "angular_velocity" is accepted according to the guidelines (any reasonable value is accepted if not specified) the conformity is not exact.'] +Rotate in the opposite direction by 60 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": -60, "is_clockwise": false, "unit": "degrees"}};['2; While the action `rotate` and the unit `degrees` match the sample ontology, the JSON values for `angular_velocity` and `angle` parameters do not match the expected positive values considering the natural language command specifies "opposite direction". Also, the ontology doesn\'t specify a negative value for `angular_velocity` and `angle` which makes it difficult to justify whether the robot should rotate in the opposite direction. The parameter `is_clockwise` is correctly identified as `false`, indicating the opposite direction. Hence, partial conformance is observed.'] +Perform a counterclockwise rotation of 60 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}".;['2.5; While the "action" and "angle" parameters match well, the "is_clockwise" parameter in the JSON is incorrect, as it contradicts the "counterclockwise" direction mentioned in the natural language command. The "angular_velocity" value wasn\'t provided in the command so the score isn\'t affected by it.'] +Move forward for 2 meters.,The response is, {"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}};['5; The command completely conforms to the provided JSON structure. Even though the "linear_speed" in the JSON information doesn\'t match the command, it\'s still acceptable as the parameter\'s value is not specified in the command and 2 is a reasonable value.'] +Proceed straight ahead for a distance of 2 meters.,The response is, "Move forward for 2 meters at a speed of 2 meters per second.";['2.5; The natural language command asks the system to proceed straight, which conforms with the "move" action in the JSON structure. However, the "distance" parameter is specified as 2 meters, which isn\'t specified in the JSON structure. The "linear_speed" and "is_forward" parameters are not mentioned in the natural language command but are reasonably assumed. The natural language command\'s punctuation is incorrect, which is why the score isn\'t higher.'] +Advance onward by 2 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['4; The natural language command matches the "move" action in the JSON structures, with "distance" specified as 2 meters and "is_forward" implied to be true. However, the parameter "linear_speed" isn\'t specified in the command, so this isn\'t a perfect match.'] +Travel straight ahead, covering a distance of 2 meters.,The response is, "{"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}}".;['5; Exactly conform. The command mentions moving straight ahead for a distance of 2 meters, which matches perfectly with the "move" action in the JSON structure, with "distance" being 2 and "is_forward" set to true. The "unit" of "meter" is also mentioned in the command. Although the "linear_speed" value isn\'t specified in the command, a reasonable value of 2 is provided in the generated JSON.'] +Take 2 meters forward.,The response is, "Move forward for 2 meters at a speed of 0.5 meters per second.";["4; The command 'Take 2 meters forward' is translated as 'Move forward for 2 meters at a speed of 0.5 meters per second'. The action 'move' is correct also the parameter 'distance' matches but the command does not specify 'linear_speed'. However, the provided speed of 0.5 in JSON is acceptable because the original command doesn't provide any information about the speed. Additionally, the 'is_forward' is also true, which is fitting."] +Turn left and move at a speed of 0.5 meters per second for 10 seconds.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": false, "unit": "meter"}};["1; The JSON structure includes the correct 'action' type and 'linear_speed' parameter from the natural language command. However, it is inconsistent with the 'distance' parameter, as the natural language command specifies a time duration (10 seconds) not a distance. Also, the natural language command specifies a direction (turn left), which is not represented in the JSON structure. The 'is_forward' parameter in the JSON does not match any part of the natural language command."] +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.,The response would be, "Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.";['2; The first part of the command "Make a left turn" loosely corresponds to the JSON ontology of the "rotate" action, but doesn\'t provide specific information about the angle or whether it should be clockwise or counter-clockwise. The second part "travel at a velocity of 0.5 meters per second for a duration of 10 seconds" could be roughly translated to the "move" action with "linear_speed": 0.5, but the "duration" parameter doesn\'t exist within the given sample ontology. The "distance" parameter is also missing from the natural language command.'] +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.,The response is,;['2; The natural language command includes actions that match with the \'rotate\' and \'move\' commands in the JSON structures. However, the direction of rotation (to the left) is not clearly defined in the JSON structure as \'is_clockwise\'. Additionally, the \'move\' command in the JSON structure requires a "distance" parameter, while the natural language command specifies a rate and a period of time, which does not directly translate to a distance.'] +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}};['2; The JSON for the "move" action matches the natural language command partially in terms of action of moving with a speed of 0.5 meters per second. However, the direction of the movement ("leftward turn") and the fact that the movement is for a duration ("10 seconds") is not properly reflected in the JSON parameters.'] +Face left and advance at a pace of 0.5 meters per second for 10 seconds.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second for 10 seconds.";["2; The natural language command does include an action of moving forward which matches the 'move' action in the JSON structure but it doesn't exactly match the given parameters as it mentions time duration instead of distance. The 'face left' part of the command suggests a rotation action but does not specify any details included in the JSON structure for rotation."] +Move backward for 6 meters.,The response is, "Move backward for 6 meters.";['2; The natural command instructs the system to perform a "move" action however, the direction is backward which contradicts with the parameter "is_forward" set to True in the JSON. The distance value "6 meters" given in the command is not directly present in the JSON, but fits the general structure and data type ("distance": distance). Therefore, there is a partial matching.'] +Go back 6 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['3.5; The natural language command partially matches the "move" JSON structure. The correct direction (backwards) isn\'t specified in the JSON structure which should be shown by "is_forward" as False. Also, there\'s no specification for \'distance\' in JSON which should be \'6\' as per the natural language command. However, "unit" as "meter" aligns with the natural language command.'] +Reverse direction and move 6 meters.,Reverse direction and move 6 meters.;["2; The natural language command could be interpreted as an action to move backwards which could be related to the 'move' action in the JSON structures. However, the JSON doesn't have any parameter specifying the direction of the movement except 'is_forward' which is set as 'True', thus mismatching the command request. The command mention of moving 6 meters could match with the 'distance' parameter in 'move' action but as it's not specified, it's uncertain. Other parameters in the sample JSON structures do not relate to the command request."] +Retreat for a distance of 6 meters.,The response is, "Retreat for a distance of 6 meters.";['1; The desired action corresponds to moving but in reverse direction. The natural command asks to move/retreat for a distance of 6 meters. But in JSON structures, there is a structure to "move" forward but not to retreat or move backwards, so we can\'t fully convert this to JSON. The parameters distance and is_forward could be used, however, "is_forward" is fixed to True in the example, while the command requests a backward movement. Therefore, we can only give a score of 1.'] +Travel in the opposite direction and cover a distance of 6 meters.,The response is, "Move backward for 6 meters at a speed of 0.5 meters per second.";['3; The natural language command implies a \'move\' action in the backward direction which is generally equivalent to "is_forward": False in JSON. This can be inferred but is not directly stated. In the JSON structure, the direction of movement is not specified. The speed and distance are specified correctly in the command and the JSON.'] +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}};["4; The action and parameters match well with the natural language command. The only discrepancy is 'linear_speed'. The command doesn't specify a linear speed, but the value '5' is provided in the JSON which is still reasonable. This is why the score is not a perfect 5."] +Proceed straight ahead for a distance of 5 meters.,The response would be, "Move forward for 5 meters.";["4; The natural language command closely matches the 'move' JSON structure; however, the exact linear_speed is not provided in the command."] +Advance by 5 meters in a forward direction.,The response is, "Move forward for 5 meters at a speed of 0.5 meters per second.";["4; The natural language command corresponds closely with the JSON for moving, which includes linear_speed, distance, is_forward, and unit. However, the speed is unspecified in the command, so although 0.5 is a reasonable value, it's not an exact match."] +Go ahead for a span of 5 meters.,The response is, "The span of 5 meters is covered at a speed of 0.5 meters per second.";["4; The natural language command matches to the JSON structure partially. It refers to a 'move' action and specifies 'distance', but doesn't explicitly mention 'linear_speed', 'is_forward' or the 'unit'. However, the second sentence of JSON seems unrelated to the original command."] +Cover a distance of 5 meters by moving forward.,The response is, "Move forward for 5 meters at a speed of 1 meter per second.";['4; The command aligns with the "move" action key and all the keys under its "params". But the speed in the natural language command is different to the one in the JSON structure, reducing a point.'] +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['4; Mostly conform. The "action" and "unit" fields match correctly, but the "angular_velocity" field should be a speed value, not the angle to be rotated. The "angle" parameter in the JSON is correctly set to 90 as indicated in the command. The "is_clockwise" parameter is correctly set to False, as counterclockwise rotation is asked for.'] +Turn 90 degrees counterclockwise.,The response is, "Turn 90 degrees counterclockwise.";['4; The natural language command partially conforms to the \'rotate\' action structure in the JSON samples. The JSON structure should have "angle": 90 and "is_clockwise": false, in the params dictionary. As the "angular_velocity" is not specified in the command, any reasonable value in JSON is accepted.'] +Rotate in a counterclockwise direction by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};["2; The angular velocity and the angle parameters in the JSON are not in accordance with the natural language command. In the command, the robot is asked to rotate by 90 degrees, which should be the value of 'angle' in JSON rather than 'angular_velocity'."] +Rotate anti-clockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The "angular_velocity" in the JSON structure should not be 90. It\'s more reasonable to assume it should be a value similar to the sample structure such as 0.35. The "angle" should be 90 as per the natural language command "rotate anti-clockwise by 90 degrees". The "is_clockwise" parameter is correctly set to false as "anti-clockwise" means not clockwise. The "unit" is correctly set to "degrees".'] +Make a 90-degree counterclockwise rotation.,The answer is 90.;['4; The natural language command matches with the "rotate" action in the JSON structure. Though the natural language command does not specify the "angular_velocity", it is a reasonable value in the JSON that does not contradict the command. However, the command specifies a counterclockwise rotation, but the JSON structure has a parameter for "is_clockwise", which may not directly map to the command. Hence the score is 4 instead of 5.'] +Stop.,;['0; The command "Stop" does not conform to any of the sample keys in the JSON structures provided.'] +Cease.,;['0; The natural language command is not provided, hence we cannot compare it with the JSON structures.'] +Halt.,;['0; The command "Halt." does not match with any of the actions or params available in the JSON structures.'] +Pause.,The response is,;['0; The given command does not correspond to any actions in the provided JSON structures.'] +Terminate.,;['0; The command "Terminate" doesn\'t match any of the JSON structures provided, and there is no action or parameters in the sample ontology that correspond to this command.'] +Reverse for 2 seconds.,Reverse for 2 seconds.;["0; The natural language command does not align with any of the actions or parameters in the provided JSON structures. The 'reverse' action is not specified, and the '2 seconds' parameter does not exist in any of the examples."] +Reverse for a duration of 2 seconds.,Reverse for a duration of 2 seconds.;['0; The natural language command talks about reversing but there is no corresponding action or parameter in the provided JSON structures.'] +Go back for 2 seconds.,The response is, "Go back for 2 seconds.";['0; The command does not match any of the JSON structures provided. The command "go back for 2 seconds" implies a reverse action with a time parameter, none of which is portrayed in the JSON information.'] +Move in reverse for 2 seconds.,The response is, "Move in reverse for 2 seconds.";['0; The command "Move in reverse for 2 seconds" cannot be translated into the provided JSON structures, since none of them include parameters related to time or moving in reverse.'] +Go in the opposite direction for 2 seconds.,The response is, "Move backward for 2 seconds.";['0; None of the given JSON structures correspond to the natural language command. The command mentions moving in the opposite direction for a unit of time which neither fits into the ontology of moving a specific distance nor rotating to a specific angle.'] +Turn left and move forward for 10 meters.,The response would be, {"action": "move", "params": {"linear_speed": 10, "distance": 10, "is_forward": true, "unit": "meter"}};['2; The action is not completely matched. The natural language command indicates a turn, which should involve a "rotate" action, which is not included in the JSON structure. The "move" action does match but "linear_speed": 10 doesn\'t make sense since linear speed isn\'t specified in the command, so the value is not reasonable.'] +Proceed forward for a distance of 10 meters after making a left turn.,The response is, "Make a left turn and proceed forward for a distance of 10 meters.";['1; The natural language command implies two actions - turning left (rotation) and moving forward for a specific distance. However, the implied rotation (turning left) and "go forward" action are not fully translatable into the provided JSON structures as some keys like "angle" for rotation and "distance" for moving are absent or do not have explicit numerical values. Hence, the JSON does not fully conform to the natural language command.'] +Make a left-hand turn and continue straight ahead for a distance of 10 meters.,The response would be, "Make a left-hand turn and continue straight ahead for a distance of 10 meters.";['0; The provided JSON structures do not include any actions or parameters that would correspond with the command to make a left-hand turn and proceed for a distance of 10 meters.'] +After turning left, continue moving straight ahead for a total of 10 meters.,The response is, "Move forward for 10 meters at a speed of 1 meter per second.";['2; The natural language command partially matches the "move" action in the JSON structures. It mentions the distance of 10 meters, but provides no information related to the "linear_speed". Also, the direction of "turning left" is not directly converted into any parameters in the JSON structures.'] +Execute a left turn and then travel forward for a distance of 10 meters.,The response would be, "Move forward for 10 meters at a speed of 0.5 meters per second.";["1; The natural language command speaks of a two-step operation involving a rotation probably followed by a movement. However, it does not specify the angle to turn or the speed to move forward, so these parameters could be guessed from the JSON structure. The mentioned JSON structures though indicates separate actions unlike the combined action mentioned in the command. Also, there seems to be a residual phrase at the end of command that doesn't match any of the structures."] +Move backward for 3 seconds.,The response is, "Move backward for 3 seconds.";['0; The natural language command does not conform to any of the three JSON structures. The action of moving backwards is not specifically mentioned, there are no parameters specifying time in the JSON structures, and hence there is not enough information.'] +Go back for a duration of 3 seconds.,The response is, "Go back for a duration of 3 seconds.";['0; The provided natural language command doesn\'t match any of the provided JSON structures. The "go back for a duration of 3 seconds" command would require keys such as "duration" or "reverse", which are not found in any of the available JSON templates.'] +Reverse movement for a period of 3 seconds.,Reverse movement for a period of 3 seconds.;["0; The command 'Reverse movement for a period of 3 seconds' does not match any of the provided JSON structures. The 'move' action structure would be the closest, but it requires a distance not a time period. Furthermore, there is no indication of reverse movement in 'is_forward' parameter."] +Retreat for 3 seconds.,The response is, "Retreat for 3 seconds.";["0; The natural language command does not match any of the JSON structures provided. It uses the term 'retreat' which does not exist among the action keys of the sample ontology, so it could not be converted into a JSON command."] +Take a step back for a duration of 3 seconds.,The response is, "The action is 'take_a_step_back' and the duration is 3 seconds.";['0; The natural language command does not line up with any of the provided JSON structures. None of the actions or parameters in the JSON structures match with the actions or parameters in the natural language command (take a step back for a certain duration).'] +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['5; Exactly conform. The JSON structure accurately represents the natural language command of rotating clockwise by 180 degrees, with all parameters correctly defined.'] +Perform a 180-degree clockwise rotation.,The response is 180.;['4; This command partially matches the "rotate" JSON structure. The parameters \'angle\': 180 and \'is_clockwise\': True can be inferred from the natural language command. However, \'angular_velocity\' is not specified in the natural language command but is present in the JSON structure.'] +Rotate in a clockwise direction by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; The action and parameters match the natural language command. However, the value for "angular_velocity" does not represent the speed of rotation, so it is incorrect in the JSON. It\'s supposed to represent rotation speed, not the angle of rotation.'] +Turn right and rotate 180 degrees.,The response is, "Turn right and rotate 180 degrees.";['2; The command matches partially with the JSON structure for the action "rotate". The value for "angle" should be 180 according to the command. However, there is no information to infer the values for "is_clockwise" and "angular_velocity" parameters. Also, "turn right" is not represented anywhere in the JSON structure.'] +Execute a rotation of 180 degrees in a clockwise direction.,The response is 180.;['4; The natural language command correctly corresponds to "rotate" action in the JSON structure. However, the angular_velocity parameter isn\'t specified in the command, so despite being reasonable, it doesn\'t fully match.'] +Turn right and move forward for 8 meters.,The response is, "Turn right and move forward for 8 meters.";['1; The natural language command refers to rotation ("Turn right") and linear movement ("move forward for 8 meters"), which corresponds to the actions "rotate" and "move" in the provided JSON structures. However, the provided JSON structures do not contain parameters for the specific instructions given in the natural language command (the direction of rotation and the distance of linear movement). Therefore, it partially conforms.'] +Proceed forward for a distance of 8 meters after making a right turn.,The response is, "Make a right turn and proceed forward for a distance of 8 meters.";["3; The rotation action as a right turn is partially in conformity with the JSON structure because it does not specify the 'angle' and 'is_clockwise' parameters. The 'move' action with 'distance' as 8 meters and assumed 'is_forward' as true conforms, but 'linear_speed' is absent in the command."] +Take a right turn and continue moving straight ahead for a duration of 8 meters.,The response would be, {"action": "move", "params": {"linear_speed": 8, "distance": 8, "is_forward": true, "unit": "meter"}};["2; The natural language command includes a right turn which is not represented in the JSON structure. The moving action is represented correctly in the JSON structure, however the 'linear_speed' parameter does not align with the 'duration' mentioned in the command."] +After making a right-hand turn, advance 8 meters in a forward direction.,The response is, "Move forward for 8 meters at a speed of 0.5 meters per second.";['2; The natural language command partially corresponds with the "move" JSON structure, but there is no action for making a "right-hand turn" in the provided JSON structures. Also, the given speed in the JSON does not match the command as no speed was specified in the command.'] +Rotate to the right, then travel straight ahead for a distance of 8 meters.,The response is, "Rotate to the right, then travel straight ahead for a distance of 8 meters.";['4; The natural language command can be translated into two JSON structures following the provided ontology. ', '', 'For the "rotate" action, the natural language command doesn\'t specify the angle or the angular velocity, but it implies clockwise rotation. However, failures due to not specifying the number of degrees ("angle") to rotate, and the speed ("angular_velocity") of the rotation.', '', 'Next, the "move" action is to move straight ahead, a distance of "8 meters" is correctly specified, "is_forward" = true also matches with \'straight ahead\'. The given speed, however, does not exist in the command.', '', 'The command does follow the JSON structure for the two actions "rotate" and "move" present in the ontology, yet lacks the specific values required for some parameters.'] +Move forward for 1 meter and stop.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['5; The natural language command correctly matches the JSON command. "Move forward for 1 meter" corresponds to the action "move" with parameters "distance": 1, "is_forward": True, "unit": "meter". The speed is not specified in the natural language command, but according to the rules a reasonable speed of 0.5 is accepted.'] +Proceed straight ahead for a distance of 1 meter and come to a halt.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['4; The natural language command gives an instruction to move forward for a certain distance, which closely matches the "move" action in the JSON structure. Although the linear speed is not specified in the natural language command, the provided speed in the JSON (0.5) is reasonable. However, there is a minor discrepancy as the JSON command mentions an additional order to halt which is not explicitly indicated in the original instruction.'] +Advance one meter ahead and then come to a stop.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['4; The natural language command maps with the JSON action "move", with parameters "distance" of 1 meter, "is_forward" as True, and any reasonable "linear_speed" value. However, stopping may also need a different action which is not specified in the JSON structures. Therefore, the conformity score is 4 due to partial match.'] +Travel in the forward direction for a length of 1 meter and then cease movement.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['4; The natural language command and the JSON structure match up well with each other, with the command requesting a movement in the forward direction for a specific distance which is reflected in the JSON. However, the natural language command does not specify the linear speed, so the given JSON structure is based on an assumed speed value which is not mentioned in the original command.'] +Move ahead for a distance of 1 meter, and then bring the movement to a stop.,The response is, "Move ahead for a distance of 1 meter, and then bring the movement to a stop.";["4; The natural language command partially matches with the 'move' action in the JSON commands. However, 'bring the movement to a stop' does not specifically match with any JSON structure provided."] +Rotate counterclockwise by 135 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 135, "angle": 135, "is_clockwise": false, "unit": "degrees"}}";["2; The angular_velocity parameter value in the JSON doesn't match with the natural language command. Even though the angle and rotation direction are correctly interpreted, angular_velocity should correspond to the speed of rotation, not the angle of rotation itself.", ''] +Rotate 135 degrees counterclockwise.,The response is, {"action": "rotate", "params": {"angular_velocity": 135, "angle": 135, "is_clockwise": false, "unit": "degrees"}};["4; Even though the command and JSON structure match in terms of action and parameters, the angular_velocity can't be 135 as it represents the speed of rotation, not the rotation angle. Despite this minor discrepancy, the rest match very well."] +Turn 135 degrees counterclockwise.,The response is 135 degrees counterclockwise.;['4; The natural language command matches the JSON structure for rotation, however, the parameters "angular_velocity" and "is_clockwise" are not specifically mentioned in the command but inferred. Also, the command\'s "counterclockwise" direction is opposite to the JSON\'s "is_clockwise": True, the "is_clockwise" should be False instead.'] +Rotate anticlockwise by 135 degrees.,The response is { "action": "rotate", "params": { "angular_velocity": 135, "angle": 135, "is_clockwise": false, "unit": "degrees" } }.;['4; The command mostly matches with the JSON structure but there\'s one discrepancy - the value of "angular_velocity" is not meant to be the same as the degree of rotation ("angle"). The angular_velocity is the speed of rotation. The interpretation might be a misunderstanding of the "rotate" action\'s parameters. The "is_clockwise" parameter was correctly interpreted as false for an anticlockwise rotation.'] +Perform a 135 degree counterclockwise rotation.,The response is 135 degrees counterclockwise.;['5; Exactly conform. The natural language command perfectly matches with the "rotate" action in the JSON structure. The parameter values are also specified and match the given ontology such as "angle": 135 and "is_clockwise": false.'] +Move backward for 6 meters.,The response is, "Move backward for 6 meters.";['1; The natural language command asks for a backward movement which could be correlated with the "move" action in the JSON structure. However, it does not specify a value for the "is_forward" key which should be False for a backward movement. Also, the "linear_speed" is not provided in the natural language command.'] +Go in reverse for a distance of 6 meters.,The response is, "Reverse for a distance of 6 meters.";["2; The natural language command partially matches with the JSON structure of the 'move' action, but the parameter 'is_forward' is True in the JSON which contradicts the command to move in reverse (which suggests 'is_forward' should be False). Also, the specific distance (6 meters) is not clearly reflected in the JSON structure."] +Take 6 steps back.,The response is 6.;['0; The JSON structures provided do not contain information on taking steps or moving backward, making it non-conformant with the natural language command.'] +Retreat 6 meters.,The response is, "Retreat 6 meters.";['1; The JSON structure provided does not match with the command given. The command indicates moving backwards while there is no such command in the JSON structures. However, the movement could possibly be inferred from the "move" action, but the direction still does not match since the "is_forward" key is set to True which contradicts the "retreat" directive. Therefore, the conformity cannot be established properly.'] +Travel 6 meters in the opposite direction.,The response is, "Travel 6 meters in the opposite direction.";['0; The natural language command is about moving in the opposite direction for a certain distance, which should be converted into the action "move" with "distance" and "is_forward" parameters. However, the provided JSON structures do not reflect these commands. Therefore, it doesn\'t match with any of the JSON structures.'] +Turn left and move forward for 4 seconds.,The response is, "Turn left and move forward for 4 seconds.";["0; The natural language command involves rotation and linear motion, but it doesn't specify both the angle of rotation and the distance for the movement command, and it also mentions time instead of speed or distance. Moreover, neither of JSON structures given correspond accurately to the natural command, since they don't include any time parameter."] +Take a left turn and proceed straight ahead for a duration of 4 seconds.,The response would be, "Move forward for 4 seconds at a speed of 0.5 meters per second.";['2; Only partial information is given as per the JSON structure, the speed matches with "linear_speed" mentioned in the second JSON and duration of 4 seconds can be associated to a distance parameter, but there\'s no parameter for direction like \'left\' in the JSON or to deal with time in \'seconds\'.'] +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.,The response is, "Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.";["0; The provided natural language command involves an action of turning and moving, which should involve the 'rotate' and 'move' actions in the JSON structures respectively. However, neither actions, nor their parameters are provided in the JSON structures, therefore, there's no conformity here."] +Pivot to the left and advance forward for a period of 4 seconds.,The response is, "Pivot to the left and advance forward for a period of 4 seconds.";['0; The commands given do not match any of the JSON structures provided. The command gives instructions to rotate and move, but does not provide required details like distance, speed, or direction that are present in the JSON structures.'] +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.,The response is,;['0; The JSON structures provided do not match the natural language command. The command specifies a rotation and movement duration, which are not reflected in the JSON structures presented, which do not contain any keys related to rotational direction or time duration.'] +Rotate clockwise by 60 degrees.,The response above.;['4; The natural language command mostly conforms with the JSON for rotation, although the specific angle of rotation in the natural language command (60 degrees) does not match the one in the JSON structure (40 degrees). This is still within acceptable parameters as any reasonable value is accepted.'] +Turn 60 degrees in a clockwise direction.,The response is 60 degrees.;['4; The command matches the "rotate" action structure, but the specific angle was not mentioned in the JSON structure. However, 60 degrees is a reasonable parameter value for rotation. Thus it is almost completely conform.'] +Rotate the object by 60 degrees in the clockwise direction.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}";['4; The given Natural Language Command is to rotate the object by 60 degrees in the clockwise direction and the given JSON structure also indicates the action of rotation with 60 degrees in the clockwise direction which is correct. However, the "angular_velocity" in JSON structure has value 10 which is not specified in the natural language command. Hence the slight deduction in score.'] +Move in a clockwise direction, making a 60 degree turn.,The response would be, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['4; The command corresponds to the JSON structure for "rotate", however the angular_velocity is given a value of 10 in the JSON when it isn\'t specified in the command. The command does match the ontology in terms of action and parameters.'] +Rotate 60 degrees in a clockwise manner.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The command "Rotate 60 degrees in a clockwise manner." matches perfectly with the provided JSON structure, where the "action" is "rotate", the "angle" is 60, "is_clockwise" is true, and "unit" is "degrees". The "angular_velocity" isn\'t specified in the command, but the provided value is accepted as it\'s a reasonable one.'] +Move forward for 7 meters and stop.,The response is, "{"action": "move", "params": {"linear_speed": 7, "distance": 7, "is_forward": true, "unit": "meter"}}";['4; The JSON structure mostly matches the command except for the "linear_speed" key value. In the provided natural language command, there is no mention of speed, therefore "linear_speed": 7 might not be accurate, but it\'s accepted as a reasonable value. However, it\'s marked down by 1 point as the speed should normally not equal to the distance.'] +Proceed straight for a distance of 7 meters and come to a halt.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['5; The natural language command "Proceed straight for a distance of 7 meters and come to a halt." corresponds exactly to the JSON structure for the action "move", with the parameters "distance" set to 7 and "linear_speed" at an arbitrary value, as it wasn\'t specified in the command. The parameter "is_forward" is set to True which is the only logical direction to "proceed straight". The "unit" is correctly set to "meter", confirming the distance command.'] +Advance ahead covering a distance of 7 meters and then cease movement.,The answer is 7.;["4; The natural language command matches somewhat closely with the 'move' JSON Structure. Parameters 'distance' and 'is_forward' are found in the command as well as the JSON, but 'linear_speed' isn't mentioned in the command. Instructions on the speed to use are missing."] +Go forward 7 meters and then come to a stop.,The response is, "The action is 'move' and the params are 'linear_speed' = 7, 'distance' = 7, 'is_forward' = true, 'unit' = 'meter'.";["3; The parameters and values are not exactly matching although they are similar. In the command, there is no mention of stopping or the speed of moving, hence linear speed is implied and not specified. Distance is correctly presented as 7 and is_forward is assumed to be true as command states 'Go forward'. The unit of distance, 'meter' is mentioned correctly. However, the conversion into JSON is missing the implementation of stopping as mentioned in the command."] +Move straight ahead, covering a distance of 7 meters, and then halt.,The response is, "Move straight ahead, covering a distance of 7 meters, and then halt.";['4; The command given corresponds closely with the JSON structure for the "move" action as it specifies a distance. However, the specific linear speed isn\'t mentioned in the command but is a part of the JSON structure. Also, the direction of movement "forward" has been assumed to be true though it is not explicitly mentioned in the command. The command to "halt" isn\'t specified in the JSON structure and therefore isn\'t perfectly conform.'] +Reverse for 5 seconds.,Reverse for 5 seconds.;['0; The natural language command does not correlate with any of the provided JSON structures or actions within the sample ontology.'] +Reverse for a duration of 5 seconds.,Reverse for a duration of 5 seconds.;["0; The natural language command doesn't match any of the provided JSON structures as the action of reversing or duration is not specified in the provided JSON structures."] +Perform a 5-second reverse.,The answer is 5.;["0; The natural language command doesn't match any of the JSON structures provided. It suggests a backward motion with a time duration which is not compatible with any of the sample JSON structures. The sample ontology does not have parameters related to time duration or reverse action."] +Execute a reverse motion for 5 seconds.,The response is, "The reverse motion was executed for 5 seconds.";["0; The natural language command does not match with any of the provided JSON structures. A 'reverse motion' action is not presented in the sample keys."] +Go backwards for a period of 5 seconds.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;["0; The provided command 'Go backwards for a period of 5 seconds' does not conform to any of the given JSON structures, plus the parameters related to time or backward movement are not included in the sample ontology."] +Turn right and move forward for 9 meters.,The response is, "Turn right and move forward for 9 meters.";['2; The natural language command includes a rotation action ("Turn right") and a move action ("move forward for 9 meters"). The first action partially matches the "rotate" JSON structure but the direction of rotation ("is_clockwise") is not specified. The second action matches the "move" JSON structure but the speed ("linear_speed") is not specified.'] +Move forward for 9 meters after turning right.,The response is, "Move forward for 9 meters after turning right.";['2; The JSON structures provided include the keys necessary to interpret the command, but they are not in an order that directly reflects the given command, namely there should be a rotate command before the move command. Additionally, a "right turn" is typically represented as a clockwise rotation, but the "is_clockwise" parameter\'s value is undefined.'] +After turning right, proceed ahead for a distance of 9 meters.,The response is, "After turning right, proceed ahead for a distance of 9 meters.";['4; The command "After turning right, proceed ahead for a distance of 9 meters" mostly corresponds to the action "move" in the JSON structure with the parameters for linear_speed and distance possibly fluctuating. The turning right part loosely corresponds to the action "rotate", but however, the parameter values for angle and direction (is_clockwise) are not explicitly stated in the command hence it\'s not an exact match.'] +Take a right turn, then continue moving straight for a distance of 9 meters.,The response is, "Move forward for 9 meters at a speed of 0.5 meters per second.";['2; The given command implies two different actions: "rotate" (take a right turn) and "move" (continue moving straight for a distance of 9 meters). However, the provided JSON structure does not fully match these commands. There is no specific information about angular velocity, angle, and direction of rotation (clockwise or counter-clockwise) for the "rotate" action in the natural language command, and for "move" action, the command only matches partially: the distance matches but the linear speed was not mentioned in the natural language command.'] +Make a right turn and travel forward for 9 meters.,The response is, "{"action": "move", "params": {"linear_speed": 9, "distance": 9, "is_forward": true, "unit": "meter"}}";['2; The JSON structure does match the \'move\' action specified in the natural language command. However, the "linear_speed" is assigned the value of 9, which is not mentioned in the command and seems to be confused with the "distance". The command also includes a "right turn" but this is missing in the JSON parameters. The \'rotate\' action with appropriate parameters should also be included.'] +Move forward for 2 seconds and stop.,The response is, "Move forward for 2 seconds and stop.";["0; The natural language command 'Move forward for 2 seconds and stop.' does not match any of the provided JSON structures as it mentions moving for a specific time duration ('for 2 seconds') which is not abided by the 'move' command in the JSON structures and also includes an 'stop' command which is not present in the sample ontology."] +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.,The answer is 2.;['0; The natural language command does not match any of the actions or parameters in the provided JSON structures. It mentions moving forward for a specific duration and stopping, but the JSON structures cover going to a specific location, moving a specific distance at a certain speed, and rotating a specific angle at a certain velocity. The provided command does not match any of these scenarios.'] +Go ahead for 2 seconds and then halt.,The response is 2.;['0; The command does not match with any of the actions or parameters in any of the provided JSON structures.'] +Advance for a period of 2 seconds and then cease movement.,The answer is 2.;['0; The natural language command doesn\'t match with any of the JSON structures provided. It speaks about advancing for a certain time, but the JSONs are about going to a specific location, moving a certain distance with specific speed or rotating with an angular velocity for a certain angle. Also, the phrase "The answer is 2" has no matching structure in the JSONs at all.'] +Travel forward for 2 seconds before stopping.,The response is, "The travel time is 2 seconds.";['0; The natural language command talks about traveling forward for a specific time, but this information is not represented in any of the given JSON structures. Therefore, there is no conformity with the sample keys.'] +Rotate counterclockwise by 30 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The action described, "rotate", matches with the JSON action. The direction (counterclockwise), signified in the JSON with "is_clockwise": false, also matches. However, the "angular_velocity" in the JSON is given the value of 30, which according to the natural language command should be the value for "angle". "angular_velocity" doesn\'t have any specified value in the command.'] +Turn 30 degrees counterclockwise.,The response is, "Turn 30 degrees counterclockwise.";['4; The natural language command matches with the "rotate" action in the JSON structure. However, the "is_clockwise" value should be False for the command "Turn 30 degrees counterclockwise".'] +Rotate in the anticlockwise direction by 30 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command somewhat aligns with the JSON structure as it requires rotation but neither the angular velocity nor the angle parameters are correctly transferred from the natural language command to the JSON. The "is_clockwise" value is correctly interpreted as false for anticlockwise rotation.'] +Rotate to the left by 30 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}}";['2; The natural language command asks for a rotation to the left by 30 degrees. This matches the "rotate" action in the JSON structure. However, the "angular_velocity" is incorrectly assigned the value of 30, this should have been assigned to "angle". The "is_clockwise" parameter correctly interprets a rotation to the left as false.'] +Rotate in a counterclockwise direction, making a 30-degree turn.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}};['4.5; The command matches perfectly with the JSON information structure. However, the "angular_velocity" JSON key value is not specified in the command, so the given value of 10 in the JSON is accepted as it is considered reasonable. Hence, half a point is deducted.'] +Reverse for 4 meters.,Reverse for 4 meters.;['2; The natural language command is requesting a movement, which corresponds with the "move" action in the ontology samples. However, the specific direction of the movement is not provided in the ontology, making the command not conform exactly.'] +Move back for a distance of 4 meters.,The response is, "Move back for a distance of 4 meters.";['2; The natural language command instructs for a "move" action, which concurs with the action key in one of the JSON structures, but the direction of moving "back" is not captured as it doesn\'t specify whether "is_forward" is true or false. Also, the "distance" is specified as 4, which matches with the command. However, the "linear_speed" parameter isn\'t mentioned in the natural language command so the match is partial.'] +Go in reverse for a span of 4 meters.,The response would be, "{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}";['0; The natural language command indicates a reverse movement for a certain distance, which does not match the provided JSON structures. The "go_to_goal" action in the first JSON structure involves moving to a specified location rather than a defined distance. The "move" action in the second JSON does not have any variable to indicate the direction of the movement (i.e., forward or reverse). Therefore, the natural language command does not conform to the available JSON structures.'] +Retreat 4 meters in the opposite direction.,The response is, "Retreat 4 meters in the opposite direction.";['1; The natural language command instructs to move backward for a certain distance, which does not perfectly match any JSON structure given. However, it can be interpreted using the "move" action in JSON where "is_forward" is false and "distance" is 4, but the "action" term ("retreat") and "direction" term ("opposite") does not exist in the provided ontology. Therefore, the match is not perfect.'] +Travel backwards, covering a distance of 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": -0.5, "distance": 4, "is_forward": false, "unit": "meter"}}";['4; The mentioned action and parameters correlate with the JSON structure. The direction, measured as \'is_forward\', should have been stated explicitly as \'False\', but can be inferred from the statement \'Travel backwards\'. However, the "linear_speed" is randomly set at -0.5 in the JSON structure, which doesn\'t directly correspond with anything in the command.'] +Turn left and move forward for 6 seconds.,The response is, "Turn left and move forward for 6 seconds.";['0; The natural language command instructs to "Turn left and move forward for 6 seconds" which does not match any of the provided JSON structures. The JSON actions include "go_to_goal", "move", and "rotate", but neither the rotation or moving actions specify turning or movement in relation to time in seconds.'] +Proceed forward for 6 seconds after making a left turn.,The response is 6.;["0; None of the JSON structures match the given natural language command. The command suggests a time for movement which is not represented in the JSON structures provided. Also, there's no JSON structure to represent making a left turn."] +Make a left turn and advance for 6 seconds.,The response is, "Make a left turn and advance for 6 seconds.";["0; The natural language command involves actions like turning and moving forward for a specified amount of time. These actions or their parameters are not represented in the provided JSON structures. There is no 'time' unit in the given ontology."] +Move ahead for 6 seconds after turning to the left.,The response is, "Move ahead for 6 seconds after turning to the left.";["0; The natural language command refers to actions 'move' and 'rotate', but it does not conform to the given JSON structures. The command mentions moving 'ahead for 6 seconds' which does not match with any parameters in the 'move' action, specifically it does not conform with the parameters 'linear_speed', 'distance', 'is_forward' and 'unit'. The command also mentions 'turning to the left', which does not provide specific information according to the 'rotate' action parameters in the JSON structure like 'angular_velocity', 'angle', 'is_clockwise' and 'unit'."] +After veering left, continue straight for 6 seconds.,The response is, "Continue straight for 6 seconds.";['0; None of the JSON structures match the natural language command as there are no keys for veering or time-based movements in the sample ontology provided.'] +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}};['3; The action commands match. However, the linear_speed parameter is considered not correct because it is not mentioned in the natural language command and there is no reasonable way to derive it from the "Move forward for 5 meters" command.'] +Proceed ahead for a distance of 5 meters.,The response is, "The distance traveled is 5 meters.";["3; The command 'Proceed ahead for a distance of 5 meters.' partially matches with the given JSON structure of move action. The JSON structure specifies movement, distance, unit (meters), and direction (forward), all of which are implicit in the command. However, the natural language command does not specify the linear speed, so it is impossible to replicate the command exactly."] +Advance straight on and cover a distance of 5 meters.,The response would be, "Move forward for 5 meters at a speed of 1 meter per second.";['3; The command asks for moving forward for a certain distance, this maps to the "move" action in the JSON. However, the JSON contains more details than provided in the natural language command (includes linear_speed) and the specified distance in the command (5 meters) does not match with the JSON structure (no specific value given).'] +Head forward and travel 5 meters in that direction.,The response is, "Head forward and travel 5 meters in that direction.";['4; The command corresponds with the "move" action in the ontology, specifically with parameters "distance", "is_forward", and "unit". However, the command does not specify "linear_speed", but since the ontology allows a reasonable value for this parameter, the overall matching is deemed to be high.'] +Move straight ahead and go a distance of 5 meters.,The response is, "{"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}}";['3; Although the action "move" perfectly matches the first JSON structure, the "linear_speed" value in JSON does not match up with the natural language command command as it isn\'t specified in the command. Other parameters in JSON structure matches with natural language command.'] +Turn left and move forward for 2 seconds.,The response is, "Turn left and move forward for 2 seconds.";["0; The natural language command does not provide enough specificity to be converted to a JSON structure according to the sample ontology. Furthermore, the instruction involves both rotation and movement but the sample ontology doesn't support simultaneous instructions."] +Move ahead for 2 seconds after turning left.,The response is, "Move ahead for 2 seconds after turning left.";['0; The given natural language command involves a rotation action ("turning left") and a move action ("Move ahead for 2 seconds"). However, both the actions are written in a sequence unlike the provided JSON structures, which are independent of each other. More importantly, the "move" action in the command is based on time ("for 2 seconds") which does not conform with the keys in the "move" JSON structure where the parameters are distance and speed.'] +After turning to the left, proceed forward for a duration of 2 seconds.,The response is, "After turning to the left, proceed forward for a duration of 2 seconds.";['0; The natural language command given does not conform to any of the JSON structures provided. There is no mention of turning to the left, proceeding forward, or a duration in any of the JSON structures.'] +Take a left turn and then proceed straight for 2 seconds.,The response is, "Take a left turn and then proceed straight for 2 seconds.";['0; Neither the action of "taking a left turn" nor "proceeding straight for 2 seconds" is specified in any of the provided JSON structures.'] +Make a left turn and continue moving forward for a duration of 2 seconds.,The response is, "Make a left turn and continue moving forward for a duration of 2 seconds.";['0; The natural language command does not match any of the given JSON structures. Neither the action of turning left nor moving forward for a specific duration is outlined in either of the JSON structures.'] +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; Neither "angular_velocity" nor "angle" parameters\' values in JSON Structure match with Command. "is_clockwise" parameter is correctly set as "False" based on "Rotate counterclockwise" in command, but used for "is_clockwise" instead of "angular_velocity". "unit" parameter is correctly set as "degrees".'] +Turn in the opposite direction by an angle of 90 degrees.,The response is, "Turn in the opposite direction by an angle of 90 degrees.";['4; The natural language command matches fairly well with the "rotate" JSON structure, however, the value for "is_clockwise" is not specified in the command.'] +Rotate anticlockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The action "rotate" in the JSON perfectly matches the command. However, the params aren\'t properly encoded. The angular_velocity should not be 90 instead it should be a reasonable number as the value isn\'t specified in the command and is_clockwise is correct. The \'angle\' param should be 90 degrees based on natural command whereas it is given as 0 in the JSON.'] +Spin to the left by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; While the action to "rotate" is correct and aligns with the natural language command, the parameters do not match. "angular_velocity" is set to 90 where it should be unspecified or any reasonable value, "angle" is incorrectly set to 0 when it should be 90, "is_clockwise" correctly responds to "left" as false, and "unit" is appropriately in "degrees".'] +Twist counterclockwise by 90 degrees.,The response is, "Twist counterclockwise by 90 degrees.";ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Move backward for 3 meters.,The response is, "Move backward for 3 meters.";['1; The natural language command calls for the bot to move in a waypoint path, however, this isn\'t specified in any of the JSON structures. The JSON structure for a move action is presented but the "is_forward" parameter is set to True which conflicts with the natural language command asking for a backward movement. Also, the \'distance\' parameter of the JSON is not exactly matched with the specified \'3 meters\' of the command.'] +Go in reverse for a distance of 3 meters.,The response is, "Reverse for a distance of 3 meters.";['3; Although the natural language command could be interpreted by the "move" action in the JSON structure, it does not fully conform because the "is_forward" key should be false for the robot to go in reverse. The "distance" is correctly stated as 3 meters.'] +Travel three meters in the opposite direction.,The response is, "Travel three meters in the opposite direction.";["0; The natural language command doesn't match any of the provided JSON structures. The command suggests a backward movement which is not covered in the sample ontology."] +Retreat for a distance of 3 meters.,The response is, "Retreat for a distance of 3 meters.";["1; The natural language command is giving the instruction to 'retreat' or move backwards for a certain distance. However, in the mentioned JSON structures, there is no explicit key or action to 'retreat' or move backwards. The closest match can be considered the 'move' action with its keys 'linear_speed', 'distance' and 'is_forward', but 'is_forward' would be False in this case. Hence, it partially matches with the JSON structures."] +Reverse your movement and cover a distance of 3 meters.,Reverse your movement and cover a distance of 3 meters.;['2; The command describes a movement action but it\'s not exactly conforming to the "move" action in the provided ontology. The direction of movement (reversal) and the specific distance ("3 meters") are mentioned in the command, but the JSON structure for "move" action requires additional parameters like \'linear_speed\' and \'is_forward\' which are not mentioned in the command. Also, the \'is_forward\' parameter might not correctly represent the \'reverse\' movement mentioned in the command.'] +Turn right and move forward for 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['3.5; The command "Turn right and move forward for 1 meter." can partially be converted to the JSON as it contains both a rotation and movement. However, there is no exact information about the angle for the "rotate" action (only direction is given), and the given speed in the JSON structure does not match the natural language command.'] +Proceed forward for 1 meter after turning to the right.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['4; Partially conform. The natural language command includes actions that correspond to both "move" (as in "Proceed forward for 1 meter") and "rotate" (as in "turning to the right") in the JSON structures. Value for the "distance" parameter in the "move" action is also mentioned (1 meter). However, there are no explicit values provided for "linear_speed", "angle", "is_clockwise" and "angular_velocity" parameters. These parameters are not contradicted in the command and can have any reasonable values.'] +Take a right turn and continue moving straight ahead for a distance of 1 meter.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";["2; The natural language command partially matches with the move and rotate JSON structures. It matches with the 'move' action JSON as it mentions moving forward for a distance, but it doesn't specify the linear speed. The command also mentions taking a right turn which could be aligned with the 'rotate' action in the JSON, but it does not provide details on the angular velocity, angle, and whether the rotation is clockwise or not. There is no mention of the 'go_to_goal' action. Therefore, the command does not fully conform to the sample keys."] +After making a right turn, proceed ahead for 1 meter.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}";["4; The natural language command partially conforms to the JSON structure. The command explains the action 'move' and gives the distance '1' which matches with the JSON structure. However, the command also mentions making a 'right turn' which would ideally necessitate a rotation action as per the ontology, but this is not mirrored in the JSON response provided. Moreover, the JSON response has 'linear_speed' that is not specified in the natural language command, but as per instructions any reasonable value is accepted."] +Rotate to the right and then advance for a distance of 1 meter.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Move forward at a velocity of 0.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}};['3; The natural language command asks to move forward at a certain velocity which is properly translated in the JSON structure under the "action" and "linear_speed" keys. However, the command does not specify "distance", so it\'s acceptable as not provided but the value 0 does not quite match the concept of moving. The command implies an ongoing action, not a motion that immediately stops. Also the value of "is_forward" matches with the command.'] +Proceed ahead with a speed of 0.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}.;['4; The natural language command closely maps the JSON structure ("action": "move", "linear_speed": 0.5) in terms of action and linear speed. Given that the command does not specify "distance" and "is_forward", we assume reasonable values for these parameters, which are 1 and true respectively. However, the unit in the command is described as "per second", not "meter".'] +Advance with a velocity of 0.5 meters per second.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['4; The commands given in natural language are partially compliant with the JSON structures given. The first command "Advance with a velocity of 0.5 meters per second." matches with the "move" action in the JSON structure but there\'s no specification of \'distance\' and \'is_forward\' in the command. The second command "Move forward for 1 meter at a speed of 0.5 meters per second." perfectly conforms with the "move" action structure in the JSON with all parameters correctly specified.'] +Go forward at a rate of 0.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}}.;['4; The natural language command correctly identifies the "action" as "move" and the "linear_speed" as 0.5 m/s. However, the JSON includes a "distance" value that was not specified in the command, so it is not a perfect match. Furthermore, the "is_forward" value is correctly identified as "true". The "unit" as "meter" is also correctly identified..'] +Travel in a forward direction at a velocity of 0.5 meters per second.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";["4; Almost all the necessary and accurate information is given in a natural language command. The only thing not specified is the exact distance to travel, which could have been more specific. The value in the JSON for distance (i.e., 1 meter) is a reasonable assumption based on the information given. Therefore, overall it's a very good match but not a perfect one."] +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; The angular_velocity field is mistakenly set to match the angle field, but all other elements are properly referenced and corresponds to natural language command.'] +Perform a 180-degree clockwise rotation.,The response is 180.;['5; The natural language command correctly matches with the JSON structure for the "rotate" action. It specifies the "angle" parameter as 180 and "is_clockwise" parameter as True, both of which are included in the structure. The "angular_velocity" parameter isn\'t specified in the natural command, but it is reasonable to apply any value to it. Thus, it\'s an exact match with a perfect conformity score of 5.'] +Turn by 180 degrees in a clockwise direction.,The response is 180.;['5; The command "Turn by 180 degrees in a clockwise direction" perfectly matches with the "Rotate" action in the JSON structure. The "angle" parameter corresponds to "180" degrees and the "is_clockwise" flag corresponds to the "clockwise" direction mentioned in the command. The "angular_velocity" is not specified in the command but any reasonable value is accepted according to the instructions, which is 0.35 in this case. Also, the "unit" parameter in the JSON conforms to the "degrees" unit in the natural language command.'] +Rotate in a clockwise manner, completing a 180-degree turn.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; The natural language command perfectly matches with the JSON structure. The action "rotate" and the parameters "angle" of 180, "is_clockwise" as True, and "unit" as "degrees" are exactly mentioned in the language command. The "angular_velocity" of 10 is also acceptable as not specified in the command.'] +Execute a clockwise rotation, rotating by 180 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 180, "angle": 0, "is_clockwise": true, "unit": "degrees"}};['1; The JSON structure partially matches with the command, however the values provided are incorrect. In the natural language command, it is specified to rotate by 180 degrees, but in the JSON, the angular_velocity is given as 180 and the "angle" key is set to 0, which is not in line with the command provided. "angle" should be set to 180 instead. Also, the angular_velocity value cannot be assumed from the natural language command given and it could be any reasonable value, hence cannot be necessarily deemed as incorrect.'] +Move forward for 10 meters at a velocity of 2 meters per second.,The response is, "Move forward for 10 meters at a velocity of 2 meters per second.";["1; The natural language command asks the system to move forward for a certain distance with a certain speed, which corresponds to the 'move' action in the JSON structures. However, the values provided in the command ('10 meters' for the distance and '2 meters per second' for the speed) do not match the values of 'distance' (no specific value given) and 'linear_speed' (0.5) in the JSON. Hence, the command partly matches the JSON information."] +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.,The response is, "Move forward for 10 meters at a speed of 2 meters per second.";['4; The natural language command corresponds closely with the JSON structure for the "move" action. However, the given speed and distance parameters do not match the values in the JSON structure, which shows a linear speed of 0.5 (not 2 as in the command) and distance as a variable (although the specified distance of 10 meters in the command is reasonable).'] +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.,The response is, "Move forward for 10 meters at a velocity of 2 meters per second.";['4; The JSON of "move" action corresponds with the command, but there\'s no direct correspondence for "velocity". Yet, a reasonable interpretation could be "linear_speed". The distance is correctly specified as 10 meters, which also matches the command. The value of "is_forward" is correctly considered as True. However, the linear_speed value in the JSON does not match exactly with the command (2 meters per second in command vs 0.5 in JSON).'] +Go ahead for 10 meters, moving at a pace of 2 meters per second.,The response is, "Move forward for 10 meters at a pace of 2 meters per second.";['4; The natural language command mostly matches with the JSON structure. The command uses the "action" key with appropriate outputs like "move," and "params" with "linear_speed", "distance" and "is_forward". Nevertheless, the command mentions a specific speed of "2 meters per second" while in JSON structure the value is different "0.5". Moreover, it asks for a 10 meter distance, while the JSON structure just mentions a variable "distance".'] +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.,The response would be, "Move forward for 10 meters at a velocity of 2 meters per second.";["4; The natural language command aligns mostly with the 'move' JSON structure. However, there is no 'velocity' parameter in the JSON structure. The 'linear_speed' parameter is similar but might not be exactly the same concept as velocity. The direction of the movement is not specified in the natural language command so it is assumed as forward. The distance and linear speed values align with the JSON command."] +Turn left and move forward for 5 seconds.,The response is, "Turn left and move forward for 5 seconds.";['0; None of the JSON structures provided matches with the natural language command "Turn left and move forward for 5 seconds." The command talks about time, which is not specified anywhere in the JSON structures.'] +Make a left turn and proceed straight ahead for a duration of 5 seconds.,The response would be, "Make a left turn and proceed straight ahead for a duration of 5 seconds.";['0; The natural language command does not match or conform to any of the JSON structures provided. The action of making a left turn corresponds to the "rotate" action in the JSON structure, but the natural language command does not provide any parameters such as "angular_velocity" or "angle". Similarly, the action of proceeding straight ahead would correspond to the "move" action in the JSON, but no parameters such as "linear_speed" or "distance" are provided.'] +Take a left and advance in a forward direction for a span of 5 seconds.,The response would be, {"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "second"}};['2; The natural language command seems to indicate moving forward but it doesn\'t exactly match with the JSON structure provided. It lacks the exact conversion to linear_speed, distance in the given ontology. The unit in the command is in seconds, which is a time measure, not a distance measure as in the JSON structure. It is also missing the rotation action mentioned in the command "Take a left". Hence, there isn\'t a strong conformity between the command and the JSON structure.'] +Rotate to the left and proceed ahead for a duration of 5 seconds.,The response is, {"action": "rotate", "params": {"angular_velocity": 5, "angle": 0, "is_clockwise": false, "unit": "second"}};["0; The command does not match with any of the JSON structures provided. There is no action for rotating and moving ahead for a certain duration. Moreover, the unit of 'angular_velocity' should be degrees, not second."] +Veer left and move forward for an interval of 5 seconds.,Veer left and move forward for an interval of 5 seconds.;["0; The natural language command does not match any JSON structures provided. The command 'Veer left and move forward for an interval of 5 seconds' cannot be translated to the keys in the provided sample ontology."] +Move backward at a velocity of 1 meter per second.,The response is, "Move backward at a velocity of 1 meter per second.";['0; The command does not match any JSON structure provided. The "move" action in the JSON structures has no provision for direction such as backward or forward and there\'s also no provision to specify velocity.'] +Go in reverse at a speed of 1 meter per second.,The response is, "Move backward for 1 meter at a speed of 1 meter per second.";['2; The natural language command suggests a moving action in the reverse direction with a specific linear speed. However, the corresponding JSON lacks information on whether the movement should be forward or backward. The speed is also not exactly specified in the JSON structure.'] +Travel backwards with a velocity of 1 meter per second.,The response is, "Move backward for 1 meter at a speed of 1 meter per second.";['0; The natural language command does not match with any of the provided JSON structures, it asks to travel backwards but the JSON instructions do not contain the possibility of moving backwards.'] +Move in the opposite direction at a rate of 1 meter per second.,The response is, "Move in the opposite direction at a rate of 1 meter per second.";["1; The natural language command is partially expressing the 'move' action from the ontology, but the 'is_forward' parameter is in contrast to that indicated in the JSON structure because it mentions moving in the opposite direction which suggests a 'False' value instead. However, the 'linear_speed' parameter is not present in the natural language command which makes it less conforming."] +Go backward at a speed of 1 meter per second.,The response is, "Move backward for 1 meter at a speed of 1 meter per second.";['2; The command includes action "move" and parameters "is_forward" and "linear_speed", which matches with the JSON structure. However, the distance and unit parameters do not align, as the command does not specify distance and uses a different unit (seconds) indicating time, not distance. The command also contradicts with the JSON value for key "is_forward" as the command states to move backwards.'] +Rotate counterclockwise by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}};["2; The action to execute matches correctly, the unit is correct, however, the parameters 'angular_velocity' and 'angle' don't match: the command clearly states a rotation of 45 degrees, so this value must be placed in the 'angle' field, not in 'angular_velocity'. Also, 'angular_velocity' is not specified in this case, so it can be any reasonable value."] +Rotate 45 degrees counterclockwise.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['4; Mostly conform. The natural language command and the JSON information match in terms of the action ("rotate") and the parameters ("angle", "is_clockwise", "unit"), while the "angular_velocity" value is not specified in the command so any reasonable value in the JSON is accepted. However, the value of "angular_velocity" in JSON information is too high, it\'s unreal to rotate with an angular velocity of 10 degrees per second so this value is not reasonable.'] +Turn left by 45 degrees.,The response is, "Turn left by 45 degrees.";['1; The natural language command asks for a rotation action but the specific direction ("left" which means counter clockwise rotation) is not matched in the JSON because it is not specified if \'is_clockwise\' is true or false.'] +Rotate in an anticlockwise direction by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure has some level of conformity but there is mismatch in values of certain keys. The key "angular_velocity" should map with the rotation speed or velocity not with the angle, and "angle" should be issued with the value of 45.'] +Rotate to the left by 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}}";['2; The natural language command only partly matches the JSON structure. In the JSON, the "angular_velocity" field is incorrectly given the command\'s degree value, and the "angle" is set to 0, which is not correct as per the command. The "is_clockwise" field is correctly interpreted as false as per the \'rotate to the left\' command. The accuracy of the match is therefore low.'] +Move forward for 7 meters.,The response is, {"action": "move", "params": {"linear_speed": 7, "distance": 7, "is_forward": true, "unit": "meter"}};['4; The command aligns well with the JSON structure keys. However, the value of "linear_speed" does not specifically refer to the speed in the natural language command, and it is incorrect to assign the distance value to it. Therefore, any reasonable value for linear_speed should have been accepted.'] +Proceed ahead for a distance of 7 meters.,The response with an explanation would be, "Proceed ahead for 7 meters.";['4; The command "Proceed ahead for a distance of 7 meters." is related to the second JSON structure with "action": "move". But there is no mention of "linear_speed" in command and it should be "distance": 7 instead of "distance": distance. However, "is_forward" matches perfectly with command \'ahead\' and "unit": "meter" also matches. So, most of the JSON structure matches with the command but not completely accurate hence a score of 4.'] +Advance 7 meters in the forward direction.,The response is, "Move forward for 7 meters at a speed of 0.5 meters per second.";['4; The natural language command conforms to the JSON structure with \'move\' action. However, the exact speed in the command is not specified but the speed value in the JSON is reasonable. The command doesn\'t specify "is_forward" keyword but because the command mentions "forward direction", it\'s sensible to assume it\'s true.'] +Travel straight ahead for a length of 7 meters.,The response above is acceptable.;['4; The command matches well with the "move" action in the ontology in terms of direction (forward) and unit of measure (meters). However, it lacks an exact match in terms of "distance" parameter, as "7 meters" in the command is assumed to be interpreted as a "distance" parameter in the ontology, which is not specifically spelled out.'] +Go straight for 7 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['4.5; The natural language command can be converted to the second JSON structure (with "move" action), but the actual distance in JSON is not defined, hence it doesn\'t correlate perfectly with the command where the distance is specifically mentioned. However, the command is in good conformity with the ontology keys provided in the JSON structure as the actions and parameters match. A perfect score of 5 is not granted as the exact distance value of 7 meters from the command was not reflected in the JSON.'] +Turn right and move forward for 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}}";["2; The action of turning right is not represented in the given JSON. The 'move' action is correctly represented but the value of 'linear_speed' is incorrectly taken from the distance value of '4'. The values of 'distance', 'is_forward', and 'unit' are conform."] +Take a right turn and proceed ahead for a distance of 4 meters.,The response would be, "{"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}}";['1; The given JSON structure partially matches the command. The move action and its parameters match the command "proceed ahead for a distance of 4 meters." However, the command "Take a right turn" would require a rotate action in the JSON, which is not included in the given structure. Additionally, the "linear_speed" is not mentioned in the command and doesn\'t have to be 4.'] +Make a right turn and advance straight ahead covering a distance of 4 meters.,The response would be, {"action": "move", "params": {"linear_speed": 4, "distance": 4, "is_forward": true, "unit": "meter"}};['2; The action command "rotate" for making a right turn is missing from the JSON structure provided. The action "move" is used correctly with its parameters except the "linear_speed", it would not be typically related to the distance (4 meters) to travel as per the natural language command.'] +Rotate towards the right and continue moving forward for 4 meters.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}";["2; The given JSON structure partially matches the command. The rotation command isn't represented in the JSON, but the command to move forward for a certain distance is properly captured."] +Go right and travel straight ahead, covering a distance of 4 meters.,The response would be, "Go right and travel straight ahead, covering a distance of 4 meters.";['2; The command is partially represented by the "move" structure as it mentions "distance" and an implicit "is_forward" command. However, the "go right" part of the command would require a \'rotate\' action which is not represented in the JSON structure provided. Therefore, the command does not fully conform to the JSON structures. It\'s also unclear what the linear speed should be.'] +Move forward for 3 seconds.,The response is, {"action": "move", "params": {"linear_speed": 3, "distance": 0, "is_forward": true, "unit": "second"}};['1; The action in the natural language command "move forward for 3 seconds" partially matches with the JSON structure provided, however, the parameters do not match up well. The action "move" is equivalent but the use of time in the command ("3 seconds") is not represented in the JSON structure, which consists of linear_speed, distance, is_forward, and unit (expected to be a unit of distance like "meter", not time). The distance is also inaccurately represented as "0". The "is_forward" field has the correct value of "true".'] +Go straight ahead for a duration of 3 seconds.,The response is, {"action": "move", "params": {"linear_speed": 3, "distance": 0, "is_forward": true, "unit": "second"}};['1; The natural language command suggests moving forward for a duration of time (3 seconds), however, the provided JSON structure does not correctly represent this. While the action "move" is appropriate, the parameters are not. The "linear_speed" value should not be set to the time value, and the "unit" value should be a measure of distance (like "meter"), not time ("second"). The "distance" parameter also should not be set to 0. It would be more appropriate to see a time parameter to correctly represent the command.'] +Proceed in a forward direction for a span of 3 seconds.,The response would be 3 * 0.5 = 1.5 meters.;['1; The command does not specify any action from the three JSON structures, but it implies the "move" action. Also, the command mentions moving forward and gives a time frame rather than an explicit distance. The provided JSON for the "move" action does not have a time parameter. Therefore, the conformity score is low because the natural language command only partially matches with the provided JSON information.'] +Advance ahead for a period of 3 seconds.,The answer is 3.;['0; The commands do not have appropriate actions or parameters in the provided JSON structures. The provided natural language command does not specify a "go_to_goal", "move", or "rotate" action, nor does it mention a location, linear speed, distance, direction of movement, or rotation details. It also does not correspond to any example JSON commands.'] +Travel forward for a duration of 3 seconds.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}}";['2; The natural language command asks for movement for a certain duration, which can be translated into distance in the given JSON structure. However, the unit is supposed to be "meter" not "second". The JSON structure is partially matched but has some inconsistency with the natural language command.'] +Turn left and move forward for 2 meters.,The response is, "Turn left and move forward for 2 meters.";['2; The command partially matches the provided JSON structures. The action "move" is represented correctly with "is_forward": True and "distance": 2 (assuming unit as meters). However, the command "turn left" doesn\'t conform to the provided JSON examples, as "rotate" action in the examples expects an "angle" and "is_clockwise" parameter, neither of which is specified in the command.'] +Proceed straight for a distance of 2 meters after making a left turn.,The response is, "Proceed straight for a distance of 2 meters after making a left turn.";["3; The natural language command includes two actions - 'move' and 'rotate', which are indeed in the JSON structures. The 'move' action matches well with the provided JSON structure, with the distance specified. However, the direction of the turn ('left') is not specified, hence it partially matches with 'rotate' structure. The needed parameter value for 'is_clockwise' is not clear from the command."] +For a span of 2 meters, continue moving forward after taking a left turn.,The response would be,{ "action": "move", "params": { "linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter" } };['2; The natural language command only partially matches the provided JSON structure. The command indicates movement, but doesn\'t specify anything about a left turn which would require a "rotate" action in the JSON structures available. The JSON for the "move" action is accurate, but missing the rotation aspect from the command results in only a partial match.'] +Make a left turn and advance ahead for 2 meters.,The response would be, {"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}};['1; The command requires two different actions (rotate and move) however the provided JSON only supports doing one action at a time. Rotation action is not reflected in the JSON and for movement, "linear_speed" is not specified in the command and the provided value "2" doesn\'t seem reasonable if considering regular walking speed.'] +After turning left, go straight for a distance of 2 meters.,The response is, "Go straight for a distance of 2 meters.";['1; The natural language command partially correlates with the given JSON structure(s). The command "go straight for a distance of 2 meters" fits well with the action "move" with { "linear_speed": 0.5, "distance": 2, "is_forward": True, "unit": "meter" }. However, there is no JSON structure for the action "turning left", thus it can\'t be converted to the given JSON structures.'] +Rotate clockwise by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";['4; The command is correctly translated to rotate clockwise by 270 degrees. However, the "angular_velocity" parameter is incorrectly set as 270 in the JSON structure. "Angular_velocity" commonly refers to the speed of rotation, not the angle of rotation. As such, it\'s not entirely conformant to the command.'] +Turn to the right by 270 degrees.,The response is, "Turn to the right by 270 degrees.";['4; The natural language command corresponds well to the "rotate" action in the JSON structure, with the direction being implied ("right" correlates with "is_clockwise" being true). However, the exact angular_velocity is not specified in the command, so while the JSON structure is accurate, it\'s not a direct 1:1 correspondence.'] +Rotate in a clockwise direction by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";['5; The command correctly matches the provided JSON structure. The "action" key matches with "rotate", and all the parameters in "params" are correctly provided as per the natural language command. The clockwise rotation is specified in the command and correctly presented in JSON. The angle is also the same. However, the angular velocity is defined as 270 which doesn\'t seem to fit the ontology, but unless specific requirements are given regarding this, it is not wrong.'] +Perform a 270-degree clockwise rotation.,The response is 270.;['5; The JSON exactly matches the natural language command. The action "rotate" is called with the correct parameters, with an angle of 270 degrees and the direction being clockwise.'] +Rotate by 270 degrees in a clockwise manner.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";['4.5; The action and parameters specified in the natural language command and JSON are matched. However, the command \'"angular_velocity": 270\' does not make sense, as angular velocity indicates the speed of rotation, not the degree of rotation. The value for "angular_velocity" is assumed to be a reasonable value as it is not explicitly given in the command.'] +Move backward for 6 meters.,The response is, "Move backward for 6 meters.";['1; The JSON structure is related to moving but it does not account for the direction of movement, i.e., "backward", nor for the specified distance of "6 meters". The JSON command does not match the Natural Language Command completely.'] +Reverse direction and travel a distance of 6 meters.,Reverse direction and travel a distance of 6 meters.;["1; The natural language command indicates an action of moving in reverse direction for a certain distance, which could map to the 'move' action in the ontology. However, the 'is_forward' parameter should be False, according to the reverse direction implied in the command, but it is True in the JSON structure. Since there's a significant discrepancy, it gets a score of 1."] +Go back 6 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['4; Almost all the keys match. The "move" action and "distance" parameters match though "is_forward" would be False in this context. "Linear_speed" has a reasonable value of 0.5 which isn\'t specified in the command but is acceptable. However, the "unit" parameter is missing in the command.'] +Retreat for a distance of 6 meters.,The response is, "Retreat for a distance of 6 meters.";['0; The natural language command provided doesn\'t match with any of the JSON structures, as there is no action that corresponds to "retreat" and no specified location.'] +Move in the opposite direction for 6 meters.,The response is, "Move in the opposite direction for 6 meters.";["2; The natural language command refers to moving a certain distance, which aligns with the 'move' action in the ontology. However, it specifies moving in the 'opposite' direction, which isn't clearly defined in the JSON structure. The 'linear_speed' parameter is also not mentioned in the command. Furthermore, the specific distance (6 meters) to be moved is mentioned in the command aligning with the 'distance' key in the ontology. Hence, partial conformity."] +Turn right and move forward for 5 seconds.,The response is, "Turn right and move forward for 5 seconds.";['0; The natural language command does not correspond to any of the provided JSON structures. It talks about turning and moving forward for a certain duration, but there are no matching action related to time or duration in the JSON structures.'] +Take a right turn and proceed ahead for a duration of 5 seconds.,The response would be, {"action": "turn", "params": {"direction": "right", "duration": 5, "unit": "second"}};["0; The natural language command and JSON information do not match. The JSON keys 'turn' and 'duration' do not exist in the given sample ontology, so the command cannot be converted to JSON based on the provided information."] +Make a right turn and continue moving straight for 5 seconds.,The response is, "Make a right turn and continue moving straight for 5 seconds.";['0; The command requires two separate actions (rotation and then linear movement), but neither action is properly mapped in the provided JSON structure. The "rotate" action in JSON does not specify direction of rotation, and the "move" action in JSON does not have a parameter for time duration - instead it uses distance. Furthermore, the command suggests a continuous action, but the JSON structures are separate.'] +Go right and advance for a period of 5 seconds.,The response would be, "{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}}";['2; The action given in the natural language command is not entirely clear, however it seems to be invoking the "move" action. The duration is given instead of the distance, and no information about the direction is provided in the sample JSON. The JSON provided does not entirely conform to the natural language command.'] +Shift to the right and travel in a forward direction for 5 seconds.,The response is, "Move forward for 5 seconds.";['0; None of the JSON structures match with the command. There is no available action for shifting right and timeout operation is not detailed in any of the existing structures.'] +Move forward at a velocity of 0.3 meters per second for 10 meters.,The response is, {"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}};['5; The natural language command fully conforms to the provided JSON structure. Both specify a move action with a linear speed of 0.3 and a distance of 10 meters in a forward direction. The units are also correctly stated as meters.'] +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.,The response is, "Move forward for 10 meters at a speed of 0.3 meters per second.";['4; The command corresponds closely to the "move" action in the JSON structure. However, the exact \'linear_speed\' value in the natural language command (0.3) doesn\'t match with the JSON information (0.5). The \'is_forward\' and \'distance\' fields correspond correctly. The \'unit\' is also correctly defined as "meter" in the JSON structure.'] +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.,The response is, "Move forward for 10 meters, maintaining a velocity of 0.3 meters per second.";["4; The natural language command mostly matches the JSON structure for the 'move' action. However, the suggested linear_speed in the command is different from the sample ontology. The distance parameter matches perfectly while the unit of distance is implied and does not need to be explicit. The 'is_forward' parameter is correct as per the command."] +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.,The response is, "Move forward for 10 meters at a speed of 0.3 meters per second.";['4; The command corresponds closely to the "move" action in the JSON structure. However, the given speed does not match with the one provided in the JSON structure.'] +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.,The response is, "Move forward for 10 meters at a velocity of 0.3 meters per second.";['3; The natural language command instructs to "move forward for 10 meters at a velocity of 0.3 meters per second" this matches the "move" action in the JSON structure. However, the given speed "0.3 meters per second" does not match the "linear_speed" in the JSON, which is "0.5". The "distance" parameter is not specified in the natural language command, hence any value like "10 meters" is accepted in JSON. Also, the direction "forward" correctly matches the "is_forward" parameter in JSON.'] +Rotate counterclockwise by 120 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 120, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure does not fully conform with the natural language command. Although the "rotate" action and "is_clockwise": false are correct, the angular_velocity is given as 120 which is not mentioned in the command. Instead, the provided 120 degrees should have been the "angle".'] +Rotate 120 degrees counterclockwise.,The response is, {"action": "rotate", "params": {"angular_velocity": 120, "angle": 120, "is_clockwise": false, "unit": "degrees"}};['4; The action type and unit are correct, as they both exist in the sample ontology. However, the value for "angular_velocity" does not seem to be correctly extracted from the natural language command. The command specifies a rotation of 120 degrees, but does not provide information about the speed (angular_velocity) of the rotation. Therefore, assuming any reasonable value for "angular_velocity" is acceptable.'] +Perform a counterclockwise rotation of 120 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 120, "angle": 120, "is_clockwise": false, "unit": "degrees"}}";["4; Mostly conform. While the JSON structure and keys match relatively well with the command, 'angular_velocity' is an incorrect interpretation here. The 'angular_velocity' should define the speed at which the rotation is carried out, not the angle of rotation, which is correctly assigned to the 'angle' key. The is_clockwise key is correctly assigned as false to represent a counterclockwise rotation as requested."] +Turn left by 120 degrees.,The response is, "Turn left by 120 degrees.";['4; The natural language command refers to a rotation but it\'s not specified whether it is clockwise or counter-clockwise rotation. The JSON structure conforms to the structure of the \'rotate\' action in the sample keys but the "is_clockwise" parameter is not precisely defined by the command. It is assumed to be counter-clockwise because typically, left turn is related to counter-clockwise direction.'] +Rotate in the opposite direction by 120 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['2; The command somewhat conforms to the JSON structure. The "action" and "unit" keys match, and the "angle" key also matches but not the value (command asks for 120 degrees, JSON returns 180 degrees). Also, the command asks rotation in the opposite direction, which would be represented by the value \'is_clockwise\': false in JSON. However, the \'angular_velocity\' is not mentioned in the command but it is included in the JSON.'] +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['3; Although the \'action\' key value matches ("rotate"), the \'params\' key values do not entirely conform. The value of \'angular_velocity\' should probably denote a speed not the amount of rotation; the value of 90 would be more suitable for the \'angle\' key. \'is_clockwise\' is correct as false signifies a counter-clockwise rotation. The \'unit\' key value matches perfectly.'] +Turn left by 90 degrees.,The response is, "Turn left by 90 degrees.";["0; The command 'turn left by 90 degrees' does not conform to any of the provided JSON structures. The closest match would be the rotation action, but it requires an angular velocity and boolean value for clockwise rotation, neither of which are specified in the command."] +Rotate anti-clockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['3.5; The action in the command matches the action in the JSON and the is_clockwise parameter is correctly interpreted as false. However, the angular_velocity in the JSON does not match the degree specification in the natural language command (90 degrees), but rather, it seems that the values of angular_velocity and angle have been interchanged.'] +Rotate in the opposite direction by 90 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['2; The action of rotating mentioned in the command matches the JSON structure. However, the values for "angle" and "angular_velocity" do not match; the command refers to a 90-degree rotation, but the JSON shows a 180-degree rotation, and there\'s no specification for an "angular_velocity" in the command. The "is_clockwise" field is correct, as rotating in the opposite direction implies anticlockwise rotation, hence "is_clockwise: false".'] +Rotate counter to the clockwise direction by 90 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 90, "angle": 90, "is_clockwise": true, "unit": "degrees"}}";["2; The JSON structure partially matches the natural language command. The 'action' key value 'rotate' is accurately matched. However, for 'params', the 'angle' key value matched correctly but 'angular_velocity' should not be 90, it is supposed to be an arbitrary rational value. Also, 'is_clockwise' value should be False, not True for counterclockwise rotation."] +Move forward for 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}};['4; The natural language command and the JSON information match almost perfectly. However, there seems to be confusion between linear_speed and distance, the two are not interchangeable in this context. The command says to "move forward 5 meters" which corresponds to "distance": 5 not "linear_speed": 5. Linear speed was not specified in the natural language command.'] +Proceed straight ahead for a distance of 5 meters.,The response would be, "Move forward for 5 meters.";['4; The natural language command roughly matches the "move" JSON structure, containing the direction ("forward"), distance ("5") and implicit motion ("move" or "proceed"). However, it does not provide the "linear_speed", which is part of the JSON structure. Hence it gets 4 points as most, but not all parameters are specified.'] +Advance ahead by 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}};['3; Although the natural language command matches the JSON action to "move" forward a certain distance, the parameter "linear_speed" is not specified in the natural language command, hence assuming its value as 5 in JSON is not justified. The provided JSON structure should only contain "distance":5 and "is_forward": true, according to the given command.'] +Travel in a forward direction, covering a distance of 5 meters.,The response is, "Move forward for 5 meters at a speed of 0.5 meters per second.";['4.5; The natural language command does match with the "move" action in JSON structure. However, the command does not specify the "linear_speed", which has been added on in the response. As per the seating, since speed is not specified, any reasonable value is acceptable, which is why the deduction in the score is just 0.5.'] +Move straight ahead and travel a distance of 5 meters.,The response is, "{"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}}";['5; The natural language command correctly corresponds to the JSON structure. All parameters in the JSON response are accurately represented in the command, such as moving forward, the distance, and the unit of distance as meters. The linear speed parameter is not directly mentioned in the command, but the proposed value is reasonable.'] +Turn left and move forward for 2 seconds.,The response is, "Turn left and move forward for 2 seconds.";['0; None of the JSON structures match the natural language command as the command refers to turning left and moving for a certain duration, while the JSON structures refer to going to a specific location, moving a specific distance at a specified linear speed and in a certain direction, and rotating at a specified angular velocity for a specified angle and in a certain direction. Also, the parameters required such as "duration", "turning direction" are not provided in the sample ontology.'] +Proceed forward for 2 seconds after turning left.,The response is, "Proceed forward for 2 seconds after turning left.";['0; The natural language command involves two actions (turning and moving forward), but there is no appropriate JSON structure provided for them. More specifically, the "turning left" command particularly does not conform to either action in the JSON structures because there\'s no "direction" key. Also, the "moving forward for 2 seconds" is represented differently in the JSON structures, where movement is detailed by "linear_speed" and "distance", not time.'] +After making a left turn, continue straight ahead for 2 seconds.,The answer is 2.;["0; None of the JSON structures match the natural language command given. The command indicates a turn and a movement straight ahead in terms of time, not distance, which doesn't conform with the given JSON structure ontology."] +Take a left turn and then advance forward for 2 seconds.,The response would be, "{"action": "move", "params": {"linear_speed": 2, "distance": 0, "is_forward": true, "unit": "second"}}";['1; The provided JSON structure is partially non-conformant with the natural language command. The given command implies a rotation (turn) action but a "move" action is used in the JSON structure which doesn\'t match the sample ontology. Moreover, a "time" parameter is mentioned in the command which has no representation in the JSON structure. The \'distance\' parameter in the JSON doesn\'t match with the command as no specific distance is mentioned, hence assigning it a value of 0 isn\'t justified. The \'linear_speed\' is also assumed as 2 which is not specified in the command. The \'is_forward\' parameter and its value \'true\' partially match as the command asks to advance forward.'] +Rotate to the left and travel straight for 2 seconds.,The response is, "Rotate to the left and travel straight for 2 seconds.";['1; The natural language command includes both rotation and linear movement commands however the direction of rotation is not specified in the JSON structure for the "rotate" action. Furthermore, the "move" action in the JSON structure does not contain a parameter for time spent moving, instead it uses distance.'] +Stop and wait.,;['0; The natural language command does not match or conform with any of the given JSON structures. The action "stop and wait" or similar is not specified in the sample ontology.'] +Cease and remain still.,;['0; The command does not match any JSON structure because it is a stop command, whereas the JSON structures support actions like "go_to_goal", "move", and "rotate".'] +Halt and stay put.,;["0; The natural language command 'Halt and stay put' does not correspond to any of the provided JSON structures. There are no 'halt' or 'stay' actions in the sample ontology."] +Pause and remain stationary.,;["0; The command does not correspond to any of the provided JSON structures as there is no 'pause' or 'remain stationary' action provided in the sample. The command cannot be converted to any of the actions provided (go_to_goal, move, rotate)."] +Desist and await further instruction.,;['0; This natural language command does not match any of the JSON structures provided, hence a conformity score of 0 is given.'] +Move backward for 10 meters.,The response is, "Move backward for 10 meters.";['0; The natural language command is asking for a backward movement which isn\'t represented in the JSON structure. The sample ontology includes actions for "go_to_goal", "move", and "rotate". However, none of them mention moving in a backward direction.'] +Go back a distance of 10 meters.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;["4; The natural language command here requests movement of 10 meters backwards. This is very similar to the 'move' action JSON information except for a missing 'is_forward' parameter in the command, which should be implicit as False because of 'backwards'. Apart from that, the command is well encapsulated in the given JSON structure."] +Retreat for a distance of 10 meters.,The response is, "Retreat for a distance of 10 meters.";['0; The command instructs a retreat which would need the "move" action with parameter "is_forward" set to False. However, there is neither the action "move" nor parameter "is_forward" defined in any of the provided JSON structures.'] +Reverse your direction and travel 10 meters.,Reverse your direction and travel 10 meters.;['1; The natural language command instructs the entity to reverse its direction and travel a certain distance, which could be interpreted as a move action with a specified distance. However, the JSON for "move" in the provided ontology does not provide a direction parameter, which is necessary to fully represent the command. Also, the JSON structure that suggests movement doesn\'t have specific fields for reversing direction.'] +Take 10 steps backward.,The response is, "The person took 10 steps backward.";['0; The provided natural language command does not match with any of the actions and parameters given in the JSON examples.'] +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";["3; Partially conform. The action in the JSON matches the command, as does the 'is_clockwise' and 'unit' fields. However, the 'angular_velocity' in the JSON does not conform to the natural language command. Angular velocity refers to the speed of the rotation, not the degree of the rotation, which the natural command seems to suggest."] +Perform a 180-degree clockwise rotation.,The response is 180.;['4; The natural language command semantically matches with the JSON structure for rotation action. However, the exact measure of rotation (180 degrees) is not reflected in the JSON - it shows a value of 40 degrees instead.'] +Rotate in a clockwise direction by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";["4; While the natural language command indicates a rotation action in a clockwise direction with an angle of 180 degrees, which does match the JSON structure to an extent, the provided angular velocity value doesn't seem reasonable as it equals the rotation angle. The angular velocity usually means the rate of change of the angle, it shouldn't be the same as the angle itself."] +Turn by 180 degrees in a clockwise manner.,The response is 180.;['5; Exactly conform. The natural language command matches perfectly with the JSON structure for "rotate" action, with all parameters correctly provided ("angle": 180, "is_clockwise": True, "unit": "degrees").'] +Execute a clockwise rotation of 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";["4; The natural language command matches the JSON structure but the parameter of 'angular_velocity' should have been a speed (0.35) rather than an angle (180)."] +Turn right and move forward for 3 seconds.,The response is, "Turn right and move forward for 3 seconds.";["0; The natural language command doesn't match any of the provided JSON structures. The action and params detailed within the command is not reflected correctly in the given JSON examples."] +Make a right turn and proceed forward for a duration of 3 seconds.,The response is, "Make a right turn and proceed forward for a duration of 3 seconds.";["0; The natural language command doesn't match any of the given JSON structures. A right turn may imply a 'rotate' action and a 'move' action as proceeding forward, but there are no parameters that specify a duration in seconds in the sample ontology."] +Take a right and continue moving straight ahead for a total of 3 seconds.,The answer is 3.;["0; The given command does not match with any JSON structures or sample ontology keys. The actions 'take a right' and 'continue moving straight ahead' are not represented in the keys values 'go_to_goal', 'move', 'rotate'. Moreover, the unit as 'seconds' is not included in the JSON structures."] +Rotate to the right and advance for a period of 3 seconds.,The response is, "{"action": "rotate", "params": {"angular_velocity": 3, "angle": 0, "is_clockwise": false, "unit": "second"}}";['1; The JSON structure provided contains the correct "action" key ("rotate") corresponding to the natural language command "Rotate to the right". However, the values in the "params" key do not match with the natural language command. The "angular_velocity" key is set to 3 which contradicts the statement "advance for a period of 3 seconds" as these are not related concepts. Additionally, the "is_clockwise" key is set to false which conflicts with the command to rotate to the right, which would be clockwise.'] +Face towards the right and travel forward for a duration of 3 seconds.,The response is, "Face towards the right and travel forward for a duration of 3 seconds.";['0; The given natural language command does not match any of the JSON structures as it asks for rotation and linear movement with a duration parameter which is not present in any of the JSON structures.'] +Go to the living room and stop.,The response is, "Go to the living room and stop.";['1; The command instructs to go to a specific location ("living room"), which relates to the "go_to_goal" action in the ontology, but the location "living room" does not match with the location "kitchen" specified in the JSON structure. There is also no action in the ontology or JSON structures for stopping.'] +Proceed to the living room and come to a halt.,The response is, "The person came to a halt in the living room.";["1; The natural language command matches partially with the 'go_to_goal' JSON structure. The indicated action is matching but the location parameter 'living room' is not present in the JSON structure. Also, the 'come to a halt' action is not represented in any of the JSON structures."] +Move to the living room and cease all movement.,The response is, "Move to the living room and cease all movement.";['0; The provided JSON structures don\'t contain any matching information for the command "Move to the living room and cease all movement.". The provided JSON samples are for the actions "go_to_goal", "move", and "rotate", with specific parameters, none of which matches with the command.'] +Make your way to the living room and stand still.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['1; The command "Make your way to the living room and stand still" partially matches the ontology keys in the JSON structure for "go_to_goal" action. However, the command location "living room" doesn\'t match the JSON location "Kitchen". The \'stand still\' action does not match any actions in the JSON structures provided.'] +Head to the living room and remain stationary.,;['1; The natural language command tells the robot to head to a specific location, which aligns with the "go_to_goal" action. However, the remainder of the command does not map to any further actions provided in the sample ontology. Also, the location "living_room" from the command is not matched with any in the JSON structure; the structure only includes "kitchen".'] +Move 2 meters to the left.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;["0; The natural language command asks for a sideways movement, 'Move 2 meters to the left'. The given JSON structures do not account for lateral movements. 'Go_to_goal' requires a predefined location, not a distance. 'Move' refers to linear speed and distance which doesn't specify a direction. 'Rotate' refers to angular movement which doesn't apply here. Therefore, there's no conformity between the command and the JSON information."] +Shift your position by 2 meters towards the left.,The response is, "The action is move. The params are linear_speed: 0.5, distance: 2, is_forward: true, unit: meter.";["1; The command mentions a lateral shift in position, which isn't available in the sample ontology. The JSON however, only contains forward movement and no lateral or sideways movement command, making it an incorrect match."] +Change your location by 2 meters in a leftward direction.,The response is, "Move forward for 2 meters at a speed of 0.5 meters per second.";["1; The provided JSON structures do not match with the command given. In the command, there is a mention of changing location in a leftward direction which suggests a rotation or change in direction, but the suggested JSON structures do not reflect movement in a specific direction. The closest match is the 'move' action which talks about moving forward a specific distance at a certain speed. However, the direction of movement (leftwards) is not reflected in the JSON structures. Hence, the score is 1."] +Relocate yourself 2 meters to the left.,The response is, "Relocate yourself 2 meters to the left.";['0; The JSON structures provided do not match the command "Relocate yourself 2 meters to the left". There are no actions or parameters in the given JSONs that correspond to leftward movement.'] +Move to the left by a distance of 2 meters.,The response is, "Move to the left by a distance of 2 meters.";["0; The given natural language command does not specify the action or parameters as per the sample JSON keys. There is no information about moving 'to the left' in the provided JSON structures."] +Rotate counterclockwise by 45 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['1; The action in the JSON conforms to the command "Rotate", but the parameter values are incorrect. The "angular_velocity" parameter should not be 45, it is typically a value indicating speed not angle. There is no specific "angular_velocity" in the command, so any reasonable value could have been accepted, but 45 is not reasonable under this parameter. The "angle" parameter in the JSON should be 45 because the command specifies a rotation of 45 degrees. The "is_clockwise" parameter is correctly false to indicate a counterclockwise rotation. The "unit" parameter is correctly set as "degrees".'] +Turn left by 45 degrees.,The response is, "Turn left by 45 degrees.";['2; The command "Turn Left by 45 degrees" partially fits with the "rotate" action in the JSON structure. However, the "is_clockwise" parameter isn\'t communicated in the natural language command, and the unit (degrees) and angle (45) align.'] +Execute a counterclockwise rotation of 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 0, "is_clockwise": false, "unit": "degrees"}}";['4; The "action" in the JSON matches the command, however, the "angular_velocity" mentioned in the JSON is not referring to speed but rather the angle to rotate so this value should be 0.35 as in the sample. The "angle" value in JSON should be 45 as per the command. "is_clockwise" is correct as being False because the command asks for counterclockwise rotation. "unit" is also correctly mentioned as degrees.'] +Rotate anticlockwise by an angle of 45 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 45, "angle": 45, "is_clockwise": false, "unit": "degrees"}}";['4; The JSON structure matches the command, but the "angular_velocity" is not the same as the angle, and the wrong value is represented in the provided JSON. This Angular velocity parameter is the rate of rotation of the robot while angle is the amount of rotation around an imaginary line. They are two different things and can\'t be represented as being the same.'] +Perform a 45-degree rotation in the counterclockwise direction.,The 45-degree rotation in the counterclockwise direction would be 180 - 45 = 135 degrees. The answer is 135.;['2; The natural language command specifies a rotation, which matches the rotate action in the JSON structure. However, the value of the angle should have been 45 instead of 135, given the command specification, and the direction of rotation should be set to False for counterclockwise direction, not mentioned in the JSON structure.'] +Move forward at a speed of 0.5 meters per second for 4 seconds.,The response is, "Move forward for 4 seconds at a speed of 0.5 meters per second.";['4; The natural language command is moderately matching the JSON of moving action. However, in the JSON the given command requests is using "distance", not time, to navigate the movement\'s length. Therefore, moving \'for 4 seconds\' in the English command does not perfectly match the JSON structure.'] +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.,The response would be, "Move forward for 4 seconds at a velocity of 0.5 meters per second.";["1; The natural language command suggests a 'move' action with a specified linear velocity. However, it introduces the parameter 'duration' which does not conform to the required 'distance' parameter in the sample JSON. Moreover, a movement duration is not equivalent to a distance parameter. The movement direction ('forward') is only implied and not explicitly stated in the natural language command, but is included ('is_forward': True) in the JSON structure."] +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.,The response is, "Move forward for 4 seconds at a speed of 0.5 meters per second.";['1; The natural language command partially matches with the "move" action JSON structure but not exactly. The speed is mentioned in both but distance/time parameters in the command doesn\'t have matching keys in JSON structure. Instead it has distance provided as a placeholder with no given unit of time. The direction isn\'t mentioned in the command to match with "is_forward" in JSON structure.'] +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}};["4; The JSON structure accurately describes the command to move forward with a linear speed of 0.5 meters per second for a distance of 4 meters. However, the command mentioned 'for a period of 4 seconds' while the JSON structure states 'for a distance of 4 meters'. Hence, not a perfect match."] +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}";['4; The command and JSON partially conform to the instructions. While the "is_forward" and "linear_speed" parameters match the natural language command accurately, the "distance" parameter in the JSON does not match because the command specifies a duration (4 seconds), not a distance. The "unit" parameter is also incorrect in the JSON as it should denote the unit of time (sec), not distance (meter). The action is correctly labeled as "move".', ''] +Turn left and move forward for 7 meters.,The response is, "Turn left and move forward for 7 meters.";["1; The commands 'turn left' and 'move forward for 7 meters' do exist in the JSON structures as the 'rotate' and 'move' actions respectively. However, there is no exact match in terms of the specific parameters for these actions. The 'rotate' action does not specify a direction in the JSON (only whether it is clockwise or not), and the 'move' action in the JSON structure doesn't specify a direction either. The distance for the 'move' action matches with the command, but the 'linear_speed' and 'is_forward' parameters are not mentioned in the command."] +Make a left turn and proceed straight ahead covering a distance of 7 meters.,The response is, "Make a left turn and proceed straight ahead covering a distance of 7 meters.";['1; The command involves rotation and linear movement, however, the exact angle of the rotation and the speed of the linear motion are not provided in the command. Therefore, the JSON structures can only partially represent the command.'] +Take a left turn and continue moving ahead, advancing 7 meters.,The response is, "Move forward for 7 meters at a speed of 0.5 meters per second.";['1; The natural language command mentions about taking a left turn and moving ahead for 7 meters but the provided JSON structures do not contain the JSON for a left turn. Also, the "move" JSON structure has parameters like linear_speed and distance, but it doesn\'t specifically mention about moving \'ahead\' or \'forward\'.'] +Head to the left and travel straight for 7 meters.,The response is, "Head to the left and travel straight for 7 meters.";['1; This command would potentially encompass two JSON structures in the sample ontology, the "rotate" and "move" actions. However, the natural language command does not provide enough details (such as angular velocity or angle for rotation, and the speed of movement) to fully match the JSON structures.'] +Rotate in the left direction and proceed forward, covering a distance of 7 meters.,The response is,;['2; Only the "move" action with the related keys matches with the natural language command "proceed forward, covering a distance of 7 meters". The "rotate" action does not conform because the JSON requires specific values for the "angle" and the "is_clockwise" parameters which are not provided in the natural language command "Rotate in the left direction".'] +Stop and reverse direction.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['1; The natural language command does not correspond well with the provided JSON information. The command "Stop and reverse direction" suggests a move action, but with parameters not defined in the structure. The command "Move forward for 1 meter at a speed of 0.5 meters per second" matches partially with the move action JSON but not fully as "is_forward" key in JSON is set to True but the command mentions reversing.'] +Come to a halt and begin moving in the opposite direction.,The response is, {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}.;['0; The natural language command indicates stopping and then moving in the opposite direction, but this does not match with the JSON provided. The provided JSON represents an action of moving towards a specified location ("Kitchen"), which does not match the natural language command.'] +Cease forward motion and start moving backwards.,The response is, "{"action": "move", "params": {"linear_speed": -0.5, "distance": 1, "is_forward": false, "unit": "meter"}}";['3; Partially Conforms. The command "Cease forward motion and start moving backwards" indeed suggests the action to \'move\'. However, the JSON structure provides an unnecessary value for \'distance\' which was not specified in the command and an incorrect value for \'linear_speed\'. The \'linear_speed\' should not be negative. The \'is_forward\' key-value pair correctly interprets \'moving backwards\'. \'unit\' is specified correctly.'] +Bring yourself to a stop and change your direction to the opposite way.,The response is, {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}.;['0; The natural language command gives instructions to stop and change direction, however, the provided JSON structure instructs the action "go_to_goal" with a parameter to go to the kitchen. There is no matching information between the command and the JSON structure.'] +Halt your movement and proceed in the opposite direction.,The response is, "Move backward for 1 meter at a speed of 0.5 meters per second.";['3.5; The command partially conforms with the JSON structures as it commands a movement in the opposite direction which is similar to the \'move\' action. However, it does not specify direction (forward or reverse) or use "go_to_goal" key. The provided verbal response correctly maps with the \'move\' structure, mentioning a specific speed and distance which align with \'linear_speed\' and \'distance\'.'] +Move 3 meters to the right.,The response is, "The action is move. The params are linear_speed: 3, distance: 3, is_forward: true, unit: meter.";["1; The natural language command asks to move to the right, which would follow a 'rotate' or direction-based action according to the provided ontology. However, the provided JSON uses the 'move' action instead, and offers a speed of 3 although linear speed was not defined in the command. Distance is correctly interpreted at a value of 3 and the unit is correctly set as 'meter', but 'is_forward' is set to true, which does not match the command's instructions to move to the right."] +Shift 3 meters towards the right.,The response is, "Shift 3 meters towards the right.";['0; The natural language command doesn\'t match any of the provided JSON structures. The command is asking for a directional movement not captured within any of the sample ontologies. The "rotate" action only involves rotation, not sideways shifting, and the "move" action doesn\'t specify a direction other than forwards.'] +Go 3 meters horizontally in the right direction.,The response is, "Go 3 meters horizontally in the right direction.";['0; The natural language command does not match any of the JSON structures. The action "go" is not found in the sample keys and specific motion details such as "linear_speed" or "angular_velocity" are not specified in the command as required by the "move" and "rotate" JSON structures.'] +Change your position by moving 3 meters to the right.,The response would be, "{"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}}";['2; The natural language command is partially conforming to the JSON structure. The command is about movement which matches with the "move" action, but the command specifies moving to the right which cannot be represented within provided structure. The structure also does not accommodate for the speed to be 3. The speed and distance are both listed as 3 in the JSON, which does not conform to the original command.'] +Traverse a distance of 3 meters towards the right.,The response would be, {"action": "move", "params": {"linear_speed": 3, "distance": 3, "is_forward": true, "unit": "meter"}};['2; The natural language command asks to move a certain distance, which corresponds to the "move" action in the JSON. The "distance" and "unit" parameters are also correctly set in the JSON. However, the "linear_speed" is set to 3 in the JSON, which does not match the instructions in the natural language command. Also, the direction "right" is not represented in the JSON.'] +Rotate clockwise by 60 degrees.,The response above.;["3; While the command does match the 'rotate' action in the sample ontology, it does not specify the 'angular_velocity' parameter required in the JSON structure. It also specifies a different 'angle' value (60) than the one specified in the sample (40)."] +Perform a clockwise rotation of 60 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}".;['4; The action "rotate" matches with the natural language command. However, the "angular_velocity" value of 10 in the JSON does not match the natural language command, which doesn\'t specify a velocity, so any reasonable value should be accepted. Still, the rest of the parameters ("angle", "is_clockwise", "unit") match perfectly with the command.'] +Rotate 60 degrees in a clockwise direction.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['4; The natural language command perfectly matches the action type and parameters in the given JSON. However, the "angular_velocity" in the JSON structure does not match the command and hence we decrease the score by 1 point.'] +Turn to the right by 60 degrees.,The response is, "Turn to the right by 60 degrees.";['4; The command "Turn to the right by 60 degrees" loosely conforms to the rotate action. The parameter "angle" is present with the correct value of 60. However, the turning direction "right" is not directly translated into the "is_clockwise" attribute in JSON - although it can be inferred that turning right is usually clockwise rotation, so there is not a direct 1-1 conformity. The action "rotate" and value for "angle" matches with the command, but the value for "is_clockwise" isn\'t explicitly given in the command.'] +Rotate to the right by an angle of 60 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}";['4.5; The command completely conforms to the JSON structure, but the value of "angular_velocity" is not specified in the natural language command. Though 10 is a reasonable value, it\'s not stated in the command.'] +Turn right and move forward for 1 second.,The response is, "Turn right and move forward for 1 second.";['0; The command involves rotating and moving, however neither the specified direction of rotation ("right") nor the duration of the forward movement ("1 second") are present in the provided JSON structures. The "rotate" action in the JSON does not specify a direction like "right", and "move" action measures distance and linear speed instead of time.'] +Take a right turn and proceed straight ahead for 1 second.,The response would be, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}";['2; The JSON command is only somewhat aligned with the natural language command. Rather than requesting a right turn, the JSON command indicates a forward motion. The specification of a forward movement for 1 second in the natural language command cannot be correctly translated in the JSON structure as it does not have a key to indicate time.'] +Make a right turn and advance for 1 second.,The response is, "Make a right turn and advance for 1 second.";["0; The natural language command instructs the system to make a right turn and advance for 1 second. However, there is no corresponding action or parameters in any of the JSON structures for turning right or advancing for a specific duration. The given JSON structures only detail actions for going to a specific location, moving a certain distance at a specific speed, and rotating at a certain angular velocity for a specified angle. Therefore, the conformity score is 0 as the command doesn't match the provided JSON structures."] +Rotate to the right and move forward for 1 second.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "second"}};['1; The natural language command asks for two actions, "rotate" and "move", but the returned JSON only contains "move" action. Moreover, rotation\'s direction ("to the right") is not specified in the JSON. It also specifies the "unit" as "second", which is not available in sample ontology. The "distance" parameter in the command does not exist in the sample ontology.'] +Go right and continue moving forward for 1 second.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}";["2; The command asks for the robot to go right and move forward for one second. However, the given JSON only includes a forward movement, not a right turn. Furthermore, the unit given in the JSON is in meters, not seconds. The corresponding JSON for a right movement isn't provided, so the command and the JSON partially match."] +Go to the bedroom and stop.,The response is, "Go to the bedroom and stop.";["0; The natural language command asks to go to the 'bedroom', but neither 'stop' or 'bedroom' exist in the given JSON structures. The 'go_to_goal' action in the JSON structure only defines going to the 'Kitchen', and there's no action defined as 'stop'. Therefore, there's no match or conformity."] +Head to the bedroom and come to a halt.,The response is, "Head to the bedroom and come to a halt.";['0; The natural language command involves going to a specific location (bedroom) and stopping, however, none of the provided JSON structures correspond to this command. All the JSON structures are about moving with a specific speed or distance, and rotating, not going to a specific location. Hence, the command does not conform with the JSON structures.'] +Make your way to the bedroom and cease all movement.,The response is, "Make your way to the bedroom and cease all movement.";['0; The JSON structures provided do not have a representation for the action or the parameters outlined in the command "Make your way to the bedroom and cease all movement." The command implies a "go_to_goal" action but the specified location "bedroom" is not represented in the JSON. The command also implies stopping movement, which doesn\'t have a corresponding JSON structure.'] +Proceed to the bedroom and pause.,The response is, "Pause for 5 seconds.";['0; The instructions provided in the prompt do not match any JSON structure provided in the ontology. The command "Proceed to the bedroom" would require a "go_to_goal" action with a "location" parameter of "bedroom", which is not provided. The command "Pause for 5 seconds" would similarly require an action and parameter(s) that are not reflected in the available JSON structures.'] +Go to the bedroom and stand still.,The response is, "Go to the bedroom and stand still.";['1; The command "Go to the bedroom and stand still" only partially matches the first JSON structure with the action "go_to_goal". However, the location in the command is "bedroom" instead of "kitchen" as in the JSON, and the command of "stand still" doesn\'t exist in the JSON structures. The command doesn\'t contain any elements from the other two JSON structures related to moving or rotating.'] +Move backward for 8 meters.,The response is, "Move backward for 8 meters.";['2; The natural language command mentions a movement action ("move") similar to the one in the JSON structure, but it specifies a directional movement ("backward") which contradicts with the boolean value for "is_forward" set to True in the JSON structure. However, the distance is given in the command. The specific distance value of 8 meters is not present in the JSON command.'] +Go 8 meters in reverse.,The response is, "Go 8 meters in reverse.";['3; The natural language command instructs to move in reverse for 8 meters which partially matches the second JSON structure. The "move" action and the "distance" parameter match, but the JSON structure does not specify the direction of the movement (forward or backward). The "linear_speed" parameter is also not specified in the natural language command but has been assigned a reasonable value in the JSON structure. However, the \'is_forward\' key is contradicting as it\'s set to true while the command indicates a reverse movement. Therefore the match is not perfect.'] +Travel 8 meters in the opposite direction.,The response is, "Move backward for 8 meters at a speed of 0.5 meters per second.";["3; Partially conform. While the move action and distance is represented correctly, the opposite direction or backward movement is not accurately represented in the JSON command. Also, the speed of movement does not come from the natural language command but it's accepted as it's a reasonable value."] +Retreat for a distance of 8 meters.,The response is, "Retreat for a distance of 8 meters.";["0; The action 'retreat' is not present in the JSON structure, which contains 'go_to_goal', 'move', and 'rotate' actions."] +Reverse 8 meters.,Reverse 8 meters.;['3; The action of "moving" is implied in the natural language command, but the "is_forward" parameter should be false for the action to be a reverse move. The distance parameter is correctly presented as 8. But the linear_speed parameter is not specified in the natural language command. The above JSON structure partially matches the command, but fails on exact correspondence with \'is_forward\' value.'] +Rotate counterclockwise by 270 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 270, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The command is to rotate counterclockwise by 270 degrees, The rotation direction indicated with the value of “is_clockwise": false is correct. However, the "angular_velocity" referring to how fast the rotation should occur not to the rotation angle. The value 270 should be under "angle" not under "angular_velocity". The "angular_velocity" is unspecified in the command and can take any reasonable value.'] +Turn left by 270 degrees.,The response is, "Turn left by 270 degrees.";['4; The command "Turn left by 270 degrees" matches with the "rotate" action in the sample ontology. Even though the exact angle isn\'t specified, it can be inferred that the JSON structure corresponds approximately with the command. However, the command does not specify if the turn is clockwise or anticlockwise, hence the \'is_clockwise\' parameter might not perfectly match.'] +Rotate anti-clockwise by 270 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 270, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['1; The command is partially matched but the values of "angular_velocity" and "angle" are incorrect. The "angular_velocity" should not be 270 and "angle" should be 270 as per the command. The "is_clockwise" is correctly interpreted as false, which indicates anti-clockwise rotation.'] +Rotate in the opposite direction by 270 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['4; Almost all elements mentioned in the natural language commands conform with the JSON structure. The angular_velocity value provided in the JSON does not match the command as the speed isn\'t specified. The value -10 is acceptable because it\'s a reasonable value though, hence, it\'s not affecting the score. The value of "is_clockwise" in JSON structure, is correctly derived as "false" from the words "opposite direction" in the natural language command.'] +Perform a 270-degree counterclockwise rotation.,The response is 270 degrees counterclockwise.;['4; The command corresponds with the "rotate" action in the ontology, but the direction of rotation ("is_clockwise": False) is not explicitly indicated in the JSON, though it is implied by the "counterclockwise" direction in the instruction. Lastly, it seems there\'s a quotation mismatch around "is_clockwise" which should\'ve been False instead of is_clockwise.'] +Turn left and move forward for 6 seconds.,The response is, "Turn left and move forward for 6 seconds.";["0; The natural language command 'Turn left and move forward for 6 seconds' doesn't match any of the provided JSON structures. The sample ontology does not consider direction such as 'left' or 'right' for the rotation action. The phrase 'for 6 seconds' is not represented in any of the JSON structures provided as well."] +Go forward for 6 seconds after turning left.,The response is, "Go forward for 6 seconds after turning left.";['0; The JSON structures provided do not match or include information related to the given natural language command of "Go forward for 6 seconds after turning left". The \'move\' action could potentially match \'go forward\', and the \'rotate\' action could potentially match \'turning left\', but the given command specifies duration (in seconds), not distance or angle as the sample ontology keys do. So, based on the provided sample keys, there is no match.'] +Take a left turn and proceed straight for 6 seconds.,The response is, "Take a left turn and proceed straight for 6 seconds.";['0; The natural language command involves turning and moving for a certain duration, but the provided JSON structures do not provide any matching actions or parameters related to time duration.'] +After turning left, continue moving forward for 6 seconds.,The response is, "Continue moving forward for 6 seconds.";["0; The natural language command talks about two actions, turning and moving forward for a certain time, while there's no JSON structure matches with this command, JSON structures only provide 'go to goal', 'move' and 'rotate' actions according to particular parameters."] +Make a left turn and move ahead for 6 seconds.,The response is, "Make a left turn and move ahead for 6 seconds.";['0; The natural language command tells the system to make a left turn and move ahead for a certain duration. This involves action and parameters that are not reflected in any of the provided JSON structures. Specifically, there is no JSON command for specific temporal duration ("6 seconds") or direction of turn ("left").'] +Turn left and move forward for 5 meters.,The response is, "Turn left and move forward for 5 meters.";['1; The natural language command only partially conforms to the JSON structures. \'Move forward for 5 meters\' can be matched with the second JSON structure where "action": "move" and "distance" is 5, but in the set ontology, there\'s no command for \'turn left\'. It would be more appropriate if the structures supported "rotate" action.'] +Take a left turn and proceed ahead covering a distance of 5 meters.,The response would be, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}};['2; The command to take a left turn is not reflected in the provided JSON as it requires an "action": "rotate", however, the proceeding of a specific distance is correctly translated to the "move" action in the JSON but the "linear_speed" value doesn\'t have to be specified and could have any possible valid value, but it\'s given same as the distance command parameter, which might not be accordance. Hence, the JSON partially matches the natural language command.'] +Make a left turn and continue moving straight, covering a distance of 5 meters.,The response is, "Make a left turn and continue moving straight, covering a distance of 5 meters.";['1; The natural language command instructs to make a left turn and move straight for a certain distance, which implies the "rotate" and "move" actions. However, the rotation parameters (angular velocity, angle, is clockwise) are not specified. For the move action, only distance is specified and conforms while linear speed and direction are not. Therefore, there are many missing and non-conforming values.'] +Go left and advance forward, traveling a distance of 5 meters.,The response is, {"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}};['3; Partially conform. Although the "move" action and the "is_forward", "distance", and "unit" parameters match correctly, the command to "go left" is not represented in the JSON structure. In addition, the "linear_speed" parameter in the JSON does not match the command, as the command does not specify a speed.'] +Execute a left turn and proceed straight, ensuring a distance of 5 meters.,The response is, "Move forward for 5 meters at a speed of 0.5 meters per second.";['4; The first part of the command, "Execute a left turn", does not match any JSON structure as there is no specification about "angular_velocity" and "angle". The second part, "proceed straight, ensuring a distance of 5 meters", matches the "go_to_goal" and "move" actions in the JSON structures because the "distance" parameter is specified in the command and is also a fitting value in the JSON structure for the "move" action. The command does not specify the direction (i.e. "is_forward"), but since the command is to "proceed straight", this can be interpreted as moving forward, which fits with "is_forward": True in the JSON structure. The "linear_speed" parameter is not specified in the command, but the sample value of 0.5 in the JSON structure is a reasonable value. The scoring is not perfect due to lack of specifications of "angular_velocity" and "angle".'] +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command correctly indicates a "rotate" action and specifies a 90 degrees counterclockwise rotation. However, in the JSON structure "angular_velocity" key is assigned the value of 90, which should instead be the value of "angle". Additionally, the "angle" key is assigned a value of 0, which is incorrect based on the natural language command. Therefore, these mismatches have resulted in partial conformity.'] +Turn 90 degrees in the counterclockwise direction.,The response is, "Turn 90 degrees in the counterclockwise direction.";['4; The natural language command roughly corresponds to the "rotate" JSON structure, including the "angle" parameter and inferred "is_clockwise" parameter (False). However, the "angular_velocity" isn\'t specified in the command.'] +Rotate anti-clockwise at a 90-degree angle.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};["2; The action 'rotate' and the unit 'degrees' match but the values for 'angular_velocity' and 'is_clockwise' do not conform. Angular velocity is described as the speed of rotation and should not equal 90. Additionally, the command specifies that the rotation should be anti-clockwise, which would translate to 'is_clockwise: False'. However 'angle' value is incorrect. Angle should be 90 as per given command, not 0."] +Spin to the left by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; Although the command mentioned rotation and the JSON action is also "rotate", the parameter "angular_velocity" in the JSON structure incorrectly took up the value intended for "angle" (90). The "is_clockwise" parameter, having a value of false, is correct as it interpreted \'left\' as a counter-clockwise rotation. However, the value of "angle" is wrong because it is mentioned as 90 degrees in the command but given as 0 in the JSON.'] +Rotate in the counterclockwise direction, making a 90-degree turn.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["4; Almost conform. The natural language command corresponds to the action 'rotate' in the JSON structure, and all the parameters like angle, is_clockwise and unit have been accurately captured. However, the value of 'angular_velocity' in the JSON structure does not correspond to anything in the natural language command."] +Move backward for 3 seconds.,The response is, "Move backward for 3 seconds.";['0; The provided natural language command does not match with any of the given JSON structures. No "move backward" or "duration/seconds" keys are present in the sample ontology.'] +Go in reverse for a duration of 3 seconds.,The response is, {"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}.;["0; The provided natural language command 'Go in reverse for a duration of 3 seconds' does not match with any of the provided JSON information. The command describes a reverse action while the JSON structures involve going to a goal, moving with certain parameters or rotating with certain parameters."] +Take a step back and continue for a total of 3 seconds.,The answer is 3.;['0; The natural language command doesn\'t correspond to any of the provided JSON structures. The command suggests a movement but none of the specific parameters ("linear_speed", "distance", "is_forward", "unit") are clearly referenced. Furthermore, the duration of the action ("continue for a total of 3 seconds") doesn\'t match the expected parameters for any action.'] +Reverse your movement and maintain it for 3 seconds.,Reverse your movement and maintain it for 3 seconds.;['0; The natural language command does not match with any of the provided JSON structures. The command seems to imply a reversal, duration, and maintenance of some sort of action, but none of the JSON commands pertain to these specifications.'] +Retreat for a period of 3 seconds.,The response is, "Retreat for a period of 3 seconds.";["0; The natural language command does not match to any of the JSON structures. The command 'Retreat for a period of 3 seconds' does not correspond to any actions ('go_to_goal', 'move', 'rotate') nor their parameters in the provided JSON structures."] +Turn right and move forward for 10 meters.,The response would be, {"action": "move", "params": {"linear_speed": 10, "distance": 10, "is_forward": true, "unit": "meter"}};["2; The natural language command indicates two separate actions, rotation and moving forward, while the JSON structure only represents the 'move' action. The 'rotate' action is missing in the JSON structure. Also, the linear_speed is not accurately represented in the JSON since it's not specified in the command."] +Proceed forward for 10 meters after making a right turn.,The response is, "Make a right turn and proceed forward for 10 meters.";['2; The command includes both "move" and "rotate" actions but does not completely conform with either JSON structures. For "move" action, the "distance" parameter is correctly specified as 10 meters but the "linear_speed" parameter is not mentioned in the command. For "rotate" action, although the direction "right" could imply a clockwise rotation, the "angle" parameter is not specified. The "angular_velocity" is also not provided in the command.'] +Take a right and continue moving ahead for a distance of 10 meters.,The response would be, "Move forward for 10 meters at a speed of 1 meter per second.";['2; The commands partially match as they both imply moving forward. However, the natural language command also includes turning right which is not reflected in the JSON structure. Furthermore, the JSON structure mentions a specific speed of 1 meter per second, which is not specified in the natural language command.'] +Make a right turn and travel straight ahead for a total of 10 meters.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};["1; Even though the action of moving forward matches the JSON structure for 'move', the command also includes an action of turning right which is not represented in the provided JSON structure. This makes the conformity only partially correct."] +After turning right, advance forward and cover a distance of 10 meters.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}}";["5; The linear speed, distance, direction, and unit of movement in the JSON command are in accordance with the natural language command. Even though the command does not instruct a 'rotate' action explicitly, the 'move' command is well translated and hence the score of 5."] +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; The JSON structure largely corresponds to the natural language command. However, the "angular_velocity" is incorrectly defined as 180 - in the context of rotation, this value should be a measure of speed, and not equivalent to the angle value. Other than this discrepancy, the other fields in the JSON structure correctly match the command.'] +Perform a 180-degree clockwise rotation.,The response is 180.;['4; The JSON structure partially matches with the command. The degree of rotation and its direction both are mentioned in the command and are correctly structured in JSON. However, the specific angular velocity is not mentioned in the command. Hence, it does not completely conform.'] +Turn in a clockwise direction by 180 degrees.,The response is, "Turn in a clockwise direction by 180 degrees.";["4; The command corresponds to the 'rotate' action in the sample ontology. However, the angular velocity is missing in the natural language command, so the JSON can't be fully constructed."] +Execute a rotation of 180 degrees in a clockwise manner.,The response is 180.;['5; Exactly conform. The language command is perfectly reflected in the JSON structure provided for rotation action. The parameters, such as the angle of rotation and the direction of rotation (clockwise), are correctly accounted for in the JSON.'] +Rotate by 180 degrees, following the clockwise direction.,The response is, {"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The command matches the JSON structure fairly well. However, the angular_velocity parameter doesn\'t seem to follow the command \'Rotate by 180 degrees\', as angular_velocity typically refers to speed of rotation, not the angle of rotation. The correct interpretation should be: "angular_velocity": 0.35 (or any other reasonable value), "angle": 180.'] +Move forward at a speed of 0.5 meters per second for 4 seconds.,The response is, "Move forward for 4 seconds at a speed of 0.5 meters per second.";['2; The natural language command somewhat matches with the "move" JSON structure, but not completely. The command mentions moving forward at a certain speed (which matches with "linear_speed": 0.5 in JSON), however, in the "params" of the JSON structure, the parameter "distance" is needed but the command specifies the duration (4 seconds), not distance. Also, the information of "is_forward", which should be True, is not mentioned in the command.'] +Go ahead for 4 seconds at a velocity of 0.5 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}};['4; The JSON structure correctly follows the actions stated in the natural language command. The parameter "linear_speed" is correctly set to 0.5 m/s and "distance" is correctly set to 4 (calculated from speed*time), "is_forward" is set to true which is implied from the command. However the time duration "4 seconds" from the natural language command is not represented in the JSON structure.'] +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.,The response is, "Move forward for 4 seconds at a speed of 0.5 meters per second.";['2; The natural language command partially matches with the "action": "move" JSON structure, it has the "linear_speed" parameter. However, the command speaks about duration, not distance, which doesn\'t match the existing parameters. Also, the direction isn\'t specified in the command, so "is_forward" is missing. The units in command and JSON doesn\'t match as well.'] +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}}";['4; The natural language command shows a move with a certain speed for a duration, not a specific distance. Hence, converting the duration (4 seconds) directly to distance is not completely accurate. Nonetheless, the JSON structure has all the elements with correct values implied by the natural language command, given that the concept of time has been converted to distance.'] +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.,The response is, "Move forward for 4 seconds at a rate of 0.5 meters per second.";['4; The natural language command matches the given JSON structure\'s action "move", as it includes "linear_speed" parameter. However, the natural language command specifies the duration, instead of the "distance" parameter given in the JSON. Additionally, the "is_forward" key is not specified in the command.'] +Turn left and move backward for 2 meters.,The response is, "Turn left and move backward for 2 meters.";['0; The natural language command is asking the object to turn left (requiring "rotate" action) and move backward for 2 meters (requiring "move" action). However, there are no JSON structures provided that match this command. Also, the provided JSON structures do not support clockwise/anticlockwise rotation or forward/backward movement.'] +Take a left turn and proceed backwards for a distance of 2 meters.,The response would be,{ "action": "move", "params": { "linear_speed": 2, "distance": 2, "is_forward": false, "unit": "meter" } };['2; The natural language command dictates a backward motion and a rotation but the JSON structure is only for a backward motion and doesn\'t include a rotation action. It partially matches the sample ontology keys. However, the parameter "linear_speed" does not match with the command because the speed is not specified in the command.'] +Make a left turn and travel in reverse for a distance of 2 meters.,The response is, "Make a left turn and travel in reverse for a distance of 2 meters.";["1; The command partially matches the 'move' action in the JSON structures as it involves moving for some distance but the specifics of the movement including the direction (reverse), the method (walking) and the distance (2 meters) are not detailed accurately in the JSON structure. The command also implies rotation (left turn) but it lacks the necessary parameters like 'angle' and 'is_clockwise' in the JSON structure."] +Rotate left and proceed in reverse for a total distance of 2 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};["2; The natural language command talks about a rotation and a reversal movement, which partially matches with the JSON structure for the 'rotate' action and 'move' action. However, the provided JSON only contains the action for rotation, not the reversal or backward movement. Also, the specific angular direction (left or right) is not specified in the JSON. The distance for the moving action is missing as well. Thus, the match is not complete."] +Shift to the left and move backwards covering a distance of 2 meters.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}}";['1; The JSON structure correctly contains the "move" action and the corresponding parameters, including distance and unit "meter". However, the natural language command includes a shift to the left, which is not reflected in the JSON. Additionally, the command asks for a backward movement, yet "is_forward" is set to true in the JSON.'] +Move forward for 7 seconds.,The response is, {"action": "move", "params": {"linear_speed": 7, "distance": 0, "is_forward": true, "unit": "second"}};["2; The natural language command instructs a movement forward for a duration of time, however, the provided JSON structure controls a 'move' action based on 'linear speed', 'distance', 'is_forward' parameters which is not fully compatible with the given command. The use of time (seconds) in the command does not align with the 'distance' and 'unit' parameters ('meter'). The correct key for linear speed is misinterpreted as time. The JSON structure, however does accurately represent the 'move' action and 'is_forward' direction."] +Proceed ahead for a duration of 7 seconds.,The answer is 7.;['0; The natural language command does not match any of the JSON structures, as there are no actions or params related to moving for a specific duration.'] +Advance for a period of 7 seconds.,The answer is 7.;["0; The natural language command is about advancing forward for a certain time duration, but there is no JSON structure provided that matches this command. Also, the additional phrase 'The answer is 7.' is not clear and does not match with the JSON structures provided. Hence, the conformity score is 0."] +Keep moving forward for 7 seconds.,The response is, "Keep moving forward for 7 seconds.";['0; The natural language command instructs to continue moving forward for a certain time duration, whereas none of the provided JSON structures have parameters related to time duration of movement.'] +Continue ahead for a total of 7 seconds.,The response is 7.;['0; The natural language command instructs to continue moving forward for a certain amount of time. However, none of the JSON structures provided includes parameters for time or a related command. They contain parameters for location, linear speed, distance, direction of movement and rotation, but not time. Hence, the command does not conform.'] +Rotate counterclockwise by 30 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; The angular_velocity should not be set to 30 as the command specifies to rotate by 30 degrees, which should correspond to the "angle" parameter. The "is_clockwise" parameter correctly corresponds to the command of rotating counterclockwise. The "unit" is appropriately set to "degrees". However, since the "angular_velocity" parameter does not match with the command, the conformity score cannot be perfect.'] +Turn left by an angle of 30 degrees.,The response is, "Turn left by an angle of 30 degrees.";['3; The natural language command refers to a rotation action. However, there could be a slight confusion because the is_clockwise parameter isn\'t specified in the natural language command – "turning left" is generally associated with a counterclockwise movement, but this isn\'t explicitly stated in the JSON structure. The degree of the rotation, however, matches the format of the JSON. Just to note, the parameter\'s value (in this case, the direction of the rotation) isn\'t filled in the provided JSON structure.'] +Rotate anticlockwise by 30 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 30, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['2; Json structure does not conform to the natural language command correctly. Although the action is correct, the parameters do not match with the command. According to command, "angle" should be 30 not 0 and "angular_velocity" does not specified in the command, so it can have any reasonable value. The value 30 for "angular_velocity" is not reasonable in this case, because it usually refers to the speed of the rotation, not the angle of the rotation. Also, "is_clockwise" value is correct.'] +Rotate in the opposite direction by 30 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['2; The action matches and the parameters are all present but the values for "angle" do not match. The natural language command specifies a rotation angle of 30 degrees but the JSON provides a value of 60 degrees. The "is_clockwise" parameter is also wrong. The natural language command specifies rotating in the opposite direction, which should translate to "is_clockwise": false in the JSON, but the provided JSON has "is_clockwise": true. "angular_velocity" wasn\'t specified in the command, so any value in the JSON is accepted.'] +Make a 30 degree counterclockwise rotation.,The response is 30 degrees counterclockwise.;['5; The JSON structure matches with the given command correctly. The action of rotating, the angle of rotation (30 degrees), and the direction of rotation (counterclockwise) are all clearly specified and align with the sample keys provided. There\'s a typo in the initial statement where the parameter field "is_clockwise" is given a variable instead of a boolean but in the context of this task, that\'s acceptable. Assuming "false" as the value for "is_clockwise" as counterclockwise was mentioned. ', '{', '"action": "rotate",', '"params": {', '"angular_velocity": 0.35,', '"angle": 30,', '"is_clockwise": false', '"unit": "degrees"', '}', '}'] +Move backward at a speed of 1 meter per second for 6 seconds.,The response is, "Move backward at a speed of 1 meter per second for 6 seconds.";["0; The given command is about a moving action in the reverse direction with defined parameters while the JSON structures do not provide any objects matching those parameters. In addition, the JSON keys related to the 'move' action do not contain any fields for time or direction of movement."] +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.,Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.;["1; The command suggests a movement action, yet does not match the sample keys or parameters value specifically. The command talks about a pace and duration, which do not exist in the sample ontology. The command indicating a reverse movement could possibly imply 'is_forward': False in the 'move' action, but the correlation is weak and speculative. Because the command does not adequately correspond to either the 'move' or 'go_to_goal' actions, it receives a low score. The input JSON is not given."] +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.,The response is, "{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}";['0; The provided command is not reflected in the JSON representation. The command talks about going in opposite direction with a specified velocity and time, which do not match with the "go_to_goal" action and going to "Kitchen" as specified in the JSON.'] +Travel backwards for 6 seconds at a speed of 1 meter per second.,The response is, "The travel backwards for 6 seconds at a speed of 1 meter per second.";["0; The given command is completely irrelevant to provided JSON structures. It does not match with any of the actions or parameters given in the JSON structures. The parameters 'seconds' and 'backwards' motion are not present in the sample ontology. The sample ontology requires specifics about the movement such as distance and direction ('is_forward'), which is also not provided in the natural language command."] +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.,The response would be, "Move forward for 6 seconds at a rate of 1 meter per second.";['2; The given natural language command instructs the system to invert (reverse) its motion and provides details about the rate and duration of motion, which corresponds to the "move" JSON structure. However, the command does not perfectly align with the JSON structure as the "is_forward" key should likely be set to "False" to indicate motion in reverse, and the speed and distance parameters should be explicitly given in the JSON structure based on the command. Therefore, the score can\'t be high due to this partial mismatch.'] +Turn right and move forward for 8 meters.,The response is, "Turn right and move forward for 8 meters.";['1; The command includes "turn" which corresponds to the "rotate" action in JSON structure, and "move forward" which corresponds to the "move" action. However, the command does not provide angular_velocity ("Turn right"), neither does it provide a direction for the move operation, whether it is forward is not clear.'] +Proceed for 8 meters after taking a right turn.,The response is 8.;["1; The natural language command mentions actions that are similar to the 'move' and 'rotate' actions in the JSON, but it doesn't specify necessary details such as the angular velocity, the angle of rotation and whether it's a clockwise or anti-clockwise rotation, and it doesn't mention the linear speed for movement. The parameters 'distance' is only partly matched with 8 meters."] +Take a right and continue straight ahead for a distance of 8 meters.,The response is, "Take a right and continue straight ahead for a distance of 8 meters.";['0; The natural language command instructs two actions (turning right and moving straight), but neither of the given JSON structures match these instructions. The JSONs do not include actions such as turning right or moving straight for a specific distance.'] +Make a right turn and then proceed ahead for 8 meters.,The response is, "Make a right turn and then proceed ahead for 8 meters.";['4; The natural language command is partially matched with the JSON commands. The "right turn" correlates with the JSON command "rotate" and proceeding "ahead for 8 meters" corresponds to the "move" command in JSON. However, there isn\'t enough information in the natural language command to fill in all parameters for the JSON commands such as \'angular_velocity\' for rotation, or \'linear_speed\' for moving.'] +After turning right, cover a distance of 8 meters by moving forward.,The response is, "Move forward for 8 meters at a speed of 2 meters per second.";['2; The command partially matches with the second JSON structure. The direction of moving (forward) and the distance (8 meters) is mentioned but the speed defined in the JSON structure (0.5) does not match with the command (2 meters per second). The first part about turning right does not conform with any JSON structures provided.'] +Rotate clockwise by 270 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 270, "angle": 270, "is_clockwise": true, "unit": "degrees"}}";['5; Exactly conform.'] +Turn 270 degrees to the right.,The answer is 270.;['4; The command "Turn 270 degrees to the right" can be closely associated to the JSON structure about rotation. However, the `is_clockwise` parameter is not specified clearly in the natural language command, hence the score is 4, not 5.'] +Turn three-quarters of a full rotation to the right.,The answer is 270 degrees.;['4; The command asks for a rotation action ("Turn three-quarters of a full rotation to the right"). This action is present in the JSON sample keys. However, the exact rotational degree (270 degrees) is not specified in natural language command, but inferred ("three-quarters of a full rotation"). The \'is_clockwise\' parameter is also correctly interpreted as True from the command ("to the right"). However, the angular_velocity doesn\'t match as no information about the speed of rotation is given in the command. Hence, a good match but not perfect.'] +Perform a clockwise rotation of 270 degrees.,The answer is 270.;["4; The command corresponds mostly with the 'rotate' action in JSON structure, including the 'angle' and 'is_clockwise' parameters. However, the 'angular_velocity' parameter is not mentioned in the command."] +Rotate in the clockwise direction, making a 270-degree turn.,The response is 270.;['4.5; Almost all keys match perfectly with natural language command. The values also conform with the natural language command correctly. However, "unit" in the JSON structure is set as "degrees" but it\'s not specified in the natural language command.'] +Move forward and then immediately stop.,The response is, "Move forward and then immediately stop.";["0; The given natural language command does not correspond to any of the provided JSON structures. The command involves a movement (possibly linked to the 'move' action in the sample ontology), but there's no specification of how far or at what speed to move, which are key elements in the JSON structure. Furthermore, the 'immediately stop' part of the command also doesn't match with any actions or parameters in the JSON structures."] +Proceed forward and promptly come to a halt.,The response is '{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}}';["1; The given command asks to move forward and stop, which means an action is required but the JSON structure specified mentions the action as going to a goal (the kitchen), which is not asked for in the command. The action 'move' would have been more appropriate but it's not represented in the JSON. Thus, the matching is poor."] +Advance and instantaneously cease movement.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Go forward and abruptly pause.,The response is, "Go forward and abruptly pause.";["0; The natural language command doesn't match any of the JSON structures. An action equivalent to 'go forward' exists in the second JSON structure ('move') but 'abruptly pause' is not represented in any of the provided JSON structures."] +Move ahead and promptly end motion.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";["4; The natural language command asks the system to move ahead and stop immediately. However, it does not indicate how far or at what speed to move. The JSON structure accurately represents a movement command, specifying a distance (1 meter) and speed (0.5 meters per second). Although these details aren't specified in the natural language command, the given values seem reasonable. That’s why it gets a 4 instead of 5."] +Turn left and move backward for 4 meters.,The response is, "Turn left and move backward for 4 meters.";["0; The natural language command cannot be clearly mapped to any of the provided JSON structures. The robot's actions of turning and moving are mentioned, but the properties like 'angle', 'is_clockwise', 'linear_speed', 'distance', 'is_forward', and 'unit' are not clearly described or contradicted in the command. Therefore, the command does not conform to the JSON structures."] +Make a left turn and proceed backwards for a distance of 4 meters.,The response is, "Make a left turn and proceed backwards for a distance of 4 meters.";['2; The command "Make a left turn and proceed backwards for a distance of 4 meters." would involve both the "rotate" and "move" actions in the JSON structures. However, the rotation action does not specify whether it is clockwise or counter-clockwise, and the move action does not indicate that the movement should be "backwards". Therefore, the command partially matches with the JSON structures but is not exactly conforming.'] +Go in the opposite direction and turn to the left, covering a distance of 4 meters.,The response is, "Move backward for 4 meters at a speed of 0.5 meters per second.";['2; Partial match. The natural language command requesting a change in direction and a turn is translated into a "move" action in the JSON, with corresponding distance and linear speed. However, the "turn to the left" portion of the command is not reflected in the JSON, and there\'s an addition of "is_forward": False which is not specified in the command. Hence, it\'s not a full match.'] +Rotate to your left and travel in the reverse direction, moving 4 meters behind.,The response is, "Move backward for 4 meters at a speed of 0.5 meters per second.";['1; The natural language command asks to "Rotate to your left and travel in the reverse direction, moving 4 meters behind", while the JSON commands imply actions to "move" and "rotate". However, the natural language command does not specify all the necessary parameters such as the angle for rotation, the direction of rotation (clockwise or anticlockwise), and the speed of linear movement. Therefore, a complete match cannot be established.'] +Head left and travel in reverse for a total of 4 meters.,The response is, "Head left and travel in reverse for a total of 4 meters.";['1; The natural language command mentions a movement (travel in reverse for 4 meters) and a rotation (Head left) but the specifications of these actions in terms of required parameters such as "is_forward", "distance", "angle" and "is_clockwise" are not properly detailed in the command. However there is a general sense of compliance with the given ontology.'] +Move forward for 10 seconds at a speed of 0.3 meters per second.,The response is, "Move forward for 10 seconds at a speed of 0.3 meters per second.";["0; The natural language command could correlate with the 'move' action in the JSON structure, but no 'time' parameter exists in the sample JSON ontology. Therefore, the command does not conform to the JSON structure."] +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.,The response is, "Move forward for 10 seconds at a velocity of 0.3 meters per second.";['2; The command involves movement instruction, thus nominally matching with the action "move" and the parameter "linear_speed" but it fails to specify other required parameters like "distance", "is_forward", and "unit". The time duration element doesn\'t conform with the given JSON structure.'] +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.,The response is 0.3 * 10 = 3 meters.;['2; Only partial match. The natural language command specifies a linear speed and a distance (which is indirectly calculated), but the command "go ahead" does not match with any specific action from the sample ontology. The correct action from the given ontology should be "move". So, although the parameters match, the action does not.'] +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.,The response is, "Move forward for 10 seconds, moving at a speed of 0.3 meters per second.";["0; The provided JSON structures do not support time-based movements, they only support distance-based movements. Also, there is no JSON for actions related to time or speed in the provided sample structure. The command doesn't align with the existing actions and parameters in the JSON structures."] +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.,The response is, "{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}}";['4; The JSON command generally matches the natural language command, however, the time duration for which the action is to be performed is not accounted for.'] +Rotate counterclockwise by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['1; The action in the JSON structure matches with the natural language command. However, the parameters in the JSON structure are not appropriately mapped from the natural language command. The "angular_velocity" should not be 60 as angular velocity is not specified in the command, it should be a reasonable default value. The "angle" should be 60 as specified in the command. The "is_clockwise" parameter is correctly set to false corresponding to the \'counterclockwise\' in the command. The "unit" is correctly set to \'degrees\' as mentioned in the command.'] +Turn left by 60 degrees.,The response is, "Turn left by 60 degrees.";['1; The command calls for a rotation, a "turn left" which would match the "rotate" action, but the JSON example provided does not specifically provide for the direction of the rotation, just whether it is clockwise or not. Additionally, the desired angle of the rotation (60 degrees) is greater than the example given (40 degrees), so while there is some degree of overlap, it is not a complete match. Therefore, the command partially matches with the JSON structure and its conformity with the keys of the sample ontology.'] +Rotate in the opposite direction by 60 degrees.,Returns: {"action": "rotate", "params": {"angular_velocity": -10, "angle": -60, "is_clockwise": false, "unit": "degrees"}};["2.5; The angular_velocity value and direction in the JSON structure is inconsistent with the natural language command, where the direction is stated as 'opposite' and no velocity is specified. However, the 'action' and 'angle' do match with the natural language command. 'Opposite' could mean anti-clockwise but 'is_clockwise' is given as false, which could also mean anti-clockwise. Hence, partial but not total consistency."] +Make a counterclockwise rotation of 60 degrees.,The response is, "Make a counterclockwise rotation of 60 degrees.";['4; The natural language command matches with the JSON structure but the direction "counterclockwise" is not represented in the JSON. A negative value or "is_clockwise": false could represent a counterclockwise direction.'] +Rotate leftwards by 60 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 60, "angle": 0, "is_clockwise": false, "unit": "degrees"}};["1; The JSON command does not properly match the natural language command. It misinterprets the rotation angle as angular_velocity while the 'angle' key is set to 0, and there is no specification in the natural language command about the rotation being clockwise or counter-clockwise."] +Move backward and then immediately stop.,The response is, "Move backward and then immediately stop.";['0; None of the provided JSON structures corresponds to the command "Move backward and then immediately stop".'] +Reverse and come to a sudden halt.,Reverse and come to a sudden halt.;["0; The commands 'Reverse' and 'come to a sudden halt' do not exist in the sample keys, and hence cannot be converted to JSON."] +Go in reverse and abruptly cease.,The response is, "Go in reverse and abruptly cease.";['0; The natural language command cannot be matched to any of the given JSON structures as it does not specify any action or parameters related to going to a goal, moving with a specified speed and distance or rotating at a specified velocity and angle.'] +Back up and instantly come to a standstill.,The response is, "Back up and instantly come to a standstill.";['0; The natural language command does not match any of the provided JSON information. The command to "back up and instantly come to standstill" suggests a reverse motion and stopping action, but these actions and their parameters are not present in the provided JSON structures.'] +Move backwards and promptly come to a stop.,The response is, "Move backwards and promptly come to a stop.";ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Turn right and move forward for 6 meters.,The response is, "Turn right and move forward for 6 meters.";['2; The commands "turn right" and "move forward for 6 meters" could refer to the "rotate" and "move" actions in the JSON structures respectively. However, detailed parameters such as "angle", "is_clockwise", "distance", and "is_forward" are not specified in the command.'] +Make a right turn and proceed straight ahead for a distance of 6 meters.,The response is, "Make a right turn and proceed straight ahead for a distance of 6 meters.";['2; The natural language command contains both "rotate" and "move" instructions, and it matches partially to the JSON structure. The "rotate" action is implied by the \'Make a right turn\' part and \'proceed straight ahead for a distance of 6 meters\' corresponds to the "move" action. However, specific parameters like \'angular_velocity\' and \'linear_speed\' for the actions are not mentioned in the command.'] +Go to your right and continue moving forward for a total of 6 meters.,The response would be, "Go to your right and continue moving forward for a total of 6 meters.";['0; None of the JSON structures match the command as they do not contain information on the direction "right" and "continue moving forward". The JSON structures represent actions of going to a goal, moving a certain distance and rotating at a certain velocity respectively, none of which fully correspond to the given command.'] +Take a right turn and advance ahead, covering a distance of 6 meters.,The response would be, {"action": "move", "params": {"linear_speed": 6, "distance": 6, "is_forward": true, "unit": "meter"}};['1; The command does ask the device to move forward a certain distance, which does partially match with the "move" action in the JSON structures. However, the command also asks for a right turn, which would fall under the "rotate" action. The provided JSON does not include both actions and also incorrectly lists the linear speed as 6 instead of 0.5 as per the ontology. The command does not fully conform with the sample ontology, hence the low score.'] +Head towards the right and maintain a straight path for 6 meters.,The response is, "Head towards the right and maintain a straight path for 6 meters.";["0; The given natural language command seems to instruct to move in a forward direction, presumably to the right, for a distance of 6 meters. However, it doesn't perfectly match with any of the provided JSON structures. The 'go_to_goal' action requires a 'location' which isn't provided in the command. The 'move' action aligns slightly with the command but doesn't accommodate the direction 'right'. The 'rotate' action doesn't apply as the command isn't asking for a rotation. Therefore, the command doesn't conform to the JSON structures."] +Rotate clockwise by 120 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 120, "angle": 120, "is_clockwise": true, "unit": "degrees"}};['3; The action "rotate" and the parameter "is_clockwise" match exactly. However, the "angular_velocity" should probably not be equal to the "angle". Also, in the given JSON, values are not given, so while this interpretation could be correct, we cannot definitively say it is correct.'] +Turn 120 degrees in a clockwise direction.,The response is 120 degrees.;['4; The command partially matches with the "rotate" action in the JSON structures, specifically mentioning the angle ("120 degrees") and direction ("clockwise"). However, the angular_velocity is not specified in the command.'] +Move in a clockwise rotation by 120 degrees.,The response is, "Move in a clockwise rotation by 120 degrees.";['5; Exactly conform.', '', 'Justification: The natural language command asks for a clockwise rotation by a specific angle (120 degrees). This corresponds exactly to the third JSON structure, where there\'s an "action" of "rotate", a specified "angle", and a boolean "is_clockwise" key. The rotational direction (clockwise) and degree of rotation (120) stated in the natural language command directly matches with the JSON structure\'s information.'] +Adjust the rotation by 120 degrees in a clockwise manner.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 120, "is_clockwise": true, "unit": "degrees"}}";["4; The action matches but 'angular_velocity' isn't specified in the command so even though 10 is a reasonable value, the JSON isn't exactly conforming."] +Execute a 120-degree clockwise rotation.,The response is 120.;['4; The natural language command corresponds to the "rotate" action in the JSON structure, however, the angular velocity is not specified in the command, but is required in the JSON structure, hence a point is deducted. The angle (120 degrees) and direction (clockwise) match correctly.'] +Move forward and then backward for 5 meters.,The response is, "Move forward for 5 meters and then backward for 5 meters.";['2; The command is partially matched with the JSON structure. "Move forward" corresponds with "action": "move" and "is_forward": True in the JSON. The specified distance of "5 meters" matches with "distance": distance and "unit": "meter". However, the command to move backward is not represented in the JSON structure, leading to only partial conformity.'] +Proceed ahead and then return in reverse for a distance of 5 meters.,The response is, "Return in reverse for a distance of 5 meters.";['3; Only the moving part of the command is implemented correctly in the JSON information but there is no provision for a "proceed ahead" or "return in reverse" action in the provided JSON structures. The "distance" parameter is correctly specified in the natural language command and mapped in the JSON. However, the "is_forward" key should be False based on the command.'] +Advance forward and then retract for a distance of 5 meters.,The answer is 5.;['2; The natural language command implies a movement action which corresponds with "move" action key in JSON structure. However, the specific command of moving forward and retracting doesn\'t completely align with the JSON information. Also, "distance" is mentioned in the command but "is_forward" is not specified.'] +Go straight ahead and then move backward covering a span of 5 meters.,The response is, "Move backward for 5 meters at a speed of 0.5 meters per second.";['2; The natural language command instructs to first go straight ahead, then move backward for 5 meters. The JSON structure provided only accommodates the command to move backward at a speed of 0.5 m/s covering a distance of 5 meters. Information about moving straight ahead initially is not included.'] +Propel forward and then reverse, covering a distance of 5 meters.,The response is, "Propel forward and then reverse, covering a distance of 5 meters.";['2; The natural language command vaguely matches with the move action in the JSON structures as it indicates motion but it does not specify the linear speed which is a key in the JSON. Also, it mentions reversing which is not covered in the JSON structure.'] +Move forward for 10 meters.,The response is, {"action": "move", "params": {"linear_speed": 10, "distance": 10, "is_forward": true, "unit": "meter"}};['3; The action in the natural language command and JSON information match, but the value for "linear_speed" isn\'t specified in the natural language command. The "distance" value matches in both, as does the boolean "is_forward", and the "unit".'] +Proceed straight for a distance of 10 meters.,The response is, "Move forward for 10 meters at a speed of 1 meter per second.";['3; The natural language command aligns with the "move" action in the JSON structure, which includes moving a certain "distance" forward. However, the command does not specify "linear_speed", which is included in the JSON, and the JSON \'move\' action does not include a "Proceed straight" command, hence the score is not a perfect 5.'] +Advance ahead by 10 meters.,The response is, "Move forward for 10 meters at a speed of 0.5 meters per second.";['3; The command mostly matches with the second JSON structure. The action is move, which corresponds with "advance ahead". In the parameter section, the JSON structure specifies linear speed and distance which match up with "at a speed of 0.5 meters per second" and "10 meters" in the command. However, the natural language command does not specify the direction (is_forward) and unit which are present in the JSON structure. Hence, the command does not fully conform to the JSON structure.'] +Go straight ahead covering a distance of 10 meters.,The response is, "{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}}";['4; The JSON structure correctly follows the command with the "action" as "move", and parameters like "distance" and "unit" matching. However, there\'s no specification for "linear_speed" in the command, so it\'s unreasonable to assume it as 1 without any context. Also, going forward is inferred, not explicitly stated, which is why the score is not a perfect 5.'] +Travel in a forward direction for 10 meters.,The response is, "Move forward for 10 meters at a speed of 0.5 meters per second.";["3; The natural language command partially matches with the 'move' action in JSON. Some parameters like 'linear_speed' and 'is_forward' are mentioned indirectly but 'distance' is not correctly specified in the JSON."] +Turn left and move forward for 5 meters.,The response is, "Turn left and move forward for 5 meters.";["0; The natural language command doesn't match any of the given JSON structures. The command mentions about turning left and moving forward but neither of the actions ('go_to_goal', 'move', 'rotate') in the JSON structures nor the parameters match the command exactly."] +Make a left turn and proceed ahead for a distance of 5 meters.,The response is, "Make a left turn and proceed ahead for a distance of 5 meters.";['0; The natural language command gives instructions to rotate (turn left) and move forward (proceed ahead), but none of these have been translated to the provided JSON structures. There is no matching JSON actions or parameters for the given command.'] +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.,The response would be,{ "action": "move", "params": { "linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter" } };["2; The natural language command refers to two actions, 'rotate' and 'move'. However, the JSON structure paired with the command only represents the 'move' action. Information about the 'rotate' action, specifically the direction 'left', is not represented in the JSON structure. Therefore, it partially matches with the command's instructions."] +Take a leftward turn and advance for 5 meters.,The response would be, "{"action": "move", "params": {"linear_speed": 5, "distance": 5, "is_forward": true, "unit": "meter"}}";['1; The natural language command includes rotational action ("Take a leftward turn") but this is not reflected in the given JSON structure. The given JSON structure represents only linear motion according to the "move" action with defined parameters such as linear speed, distance, direction, and unit. The values in the JSON structure don\'t match the command (e.g., "linear_speed" is not specified in the command).'] +Face left and go straight for 5 meters.,The response is, "Face left and go straight for 5 meters.";["0; The provided command includes specific instructions to rotate and move, but there are no identical structures within the provided JSON patterns. The sample keys don't have options for specifying a direction to face before moving or a specific distance to travel in that direction."] +Rotate counterclockwise by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};['3; The "action" and "unit" match perfectly with the natural language command but "angular_velocity" should be a speed measure, not an angle. Also, the "angle" value should be 90 as per the natural language command whereas in the JSON it is 0. However, "is_clockwise": false is correctly interpreted as a counterclockwise rotation.'] +Rotate in an anticlockwise direction by 90 degrees.,The response is, {"action": "rotate", "params": {"angular_velocity": 90, "angle": 0, "is_clockwise": false, "unit": "degrees"}};["2; The 'action' and 'unit' match correctly in the natural language command and the JSON. The 'is_clockwise' parameter is also correctly interpreted as false (since the rotation is anticlockwise). However, the values of 'angular_velocity' and 'angle' in the JSON are incorrect. 'angular_velocity' is not specified in the command and therefore any reasonable value should be accepted. However, the 'angle' is specified as 90 degrees in the natural language command but is incorrectly given as 0 in the JSON."] +Perform a 90-degree counterclockwise rotation.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}";['2; The action described in the natural language command matches with the action in the JSON structure. However, the angle specified in the command (90 degrees) does not match the angle in the JSON structure (60 degrees), and the direction of rotation in the command (counterclockwise) also does not match with the boolean value in the JSON structure (is_clockwise: true, meaning it should be clockwise). The angular_velocity has not been specified in the command and hence can be considered acceptable.'] +Turn left by 90 degrees.,The response is, "Turn left by 90 degrees.";['0; The natural language command does not correspond to any of the provided JSON structures. The command implies a rotation action, but the specific parameters such as "angular_velocity" or "is_clockwise" are not available in the command.'] +Anti-rotate by 90 degrees.,Anti-rotate by 90 degrees.;['0; The natural language command describes an anti-clockwise rotation, which could be translated to the "rotate" action in the example ontology. However, the term "anti-rotate" is not defined in the ontology. Therefore, the JSON structure to describe this action cannot be constructed properly, hence a conformity score of 0 is given.'] +Move backward for 3 meters.,The response is, "Move backward for 3 meters.";['1; The natural language command instructs a backward motion for a certain distance, this aligns with the "move" action in the JSON structure, but it does not specify the "is_forward" key to be False for backward movement. AndAlso, the specific distance for movement ("distance": 3) is not provided in the JSON structure. Therefore, the conformity is not perfect.'] +Go in reverse for a distance of 3 meters.,The response is, "Reverse for a distance of 3 meters.";['2; The natural language command instructs to move in reverse for a specific distance, which somewhat aligns with the JSON structure with "action": "move". However, it does not match completely as there is no specification for direction of movement (forward or reverse) in the provided JSON structure. There isn\'t any JSON for a reverse action.'] +Retreat by 3 meters.,The response is, "Retreat by 3 meters.";["0; The sample keys do not include a command or action for 'retreat' or moving backwards. The JSON structures provided do not match the given natural language command."] +Step back 3 meters.,The response is, "Step back 3 meters.";['0; The JSON structure does not match with the natural language command as none of the defined JSON structures supports the "step back" operation. The command to move or go to a particular location is available but stepping back or reversing is not supported in the provided structures.'] +Reverse direction and travel 3 meters.,Reverse direction and travel 3 meters.;['0; The natural language command suggests the action to "move" with specified "distance" and possibly changing the "is_forward" value to False (for reversing direction), but there is no mention of this concept in the provided JSON structures.'] +Turn right and move forward at 0.5 m/s for 20 seconds.,The response is, "Move forward for 20 seconds at a speed of 0.5 m/s.";['1; Although the natural language command indicates motion and rotation, it doesn\'t exactly match any of the JSON structure descriptions provided in the ontology, nor does it provide all of the necessary parameters for the JSON structures. For example, there is no specification of direction in the "move" action, or specific angular velocity in the "rotate" action.'] +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.,The response is, "Move forward for 20 seconds at a speed of 0.5 m/s after turning right.";['0; None of the commands describe the actions in the natural language command. The actions "proceed straight for x seconds", "at a speed y" and "turning right" are not described in the JSON structures.'] +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.,The response is, "{"action": "move", "params": {"linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "meter"}}";['2; The natural language command asks for a right turn first then moving forward, while the given JSON only contains the "move" action. The "rotate" action and its parameters are missing. The "distance" parameter in the JSON is 20 in the JSON seems to be misinterpreted. In the command, "20 seconds" is indicative of time, not distance.'] +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.,The response would be,{ "action": "move", "params": { "linear_speed": 0.5, "distance": 20, "is_forward": true, "unit": "meter" } };["1; The direction of the rotation (right or left) isn't specified in the JSON representing rotation. Also, the time for the movement isn't represented in the move action's JSON structure, rather distance traveled is specified."] +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.,The response is, "Move forward for 20 seconds at a speed of 0.5 m/s.";["2; The natural language command instructs the execution of two actions - a turn and a movement. The turn or rotation isn't accurately represented in any of the provided JSON structures as no angle data is mentioned, also the forward movement is partially reflected in the second JSON structure. The speed is correctly represented, however, the distance isn't specified as a time duration in the JSON structure."] +Go to the living room and stop.,The response is, "Go to the living room and stop.";['1; The natural language command is referring to changing a location ("go to the living room"), which only somewhat matches the "go_to_goal" action in the JSON structure. However, no JSON structure is provided that could handle a "stop" command, and as the "living room" is not "kitchen" as given in the sample JSON, it is not an exact match.'] +Please proceed to the living room and come to a halt.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['0; The natural language command doesn\'t match any of the provided JSON structures. In the context of this ontology, the command does not provide enough specific information to be translated into "go_to_goal", "move", or "rotate" actions. The command refers to an action of moving to a certain location ("living room"), which is not specified in the actual JSON structures. The stopping part is not covered in any JSON structure as well.'] +Make your way to the living room and cease movement.,The response is, "Make your way to the living room and cease movement.";['0; The natural language command gives an instruction to move to a specific location (the living room), but this is not matching with any of the provided JSON structures, so not conforming with the sample ontology keys.'] +Head over to the living room and pause.,;['0; The command "Head over to the living room and pause" should trigger the "go_to_goal" action, with the "location" parameter being set to "living room". However, none of the provided JSON structures are of action "go_to_goal" nor do they have a "location" parameter. Therefore, there is no conformity between the given command and the JSON structures.'] +Walk into the living room and stand still.,The response is, "Stand still.";['0; The natural language command does not conform to any of the JSON structures provided. The command tells to walk into the living room and stand still, but there is no corresponding action or parameters in the provided JSON structures to represent this action. Furthermore, the location "living room" is not specified in the JSON either.'] +Move forward for 2 seconds at a speed of 1 meter per second.,The response is, "Move forward for 2 seconds at a speed of 1 meter per second.";['0; The natural language command requires an action of moving forward for a certain amount of time at a specific speed. However, the provided JSON structures do not have the capability to measure time or implement commands based on a duration of time. The move action in the JSON structure measures distance rather than time and does not match with the natural language command.'] +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 0, "is_forward": true, "unit": "meter"}};["1; The natural language command demands to move straight for a certain duration, while the JSON structure describes a movement with a certain speed but without any time or duration mentioned. Also, the distance value in JSON is set to 0, which doesn't conform with the natural language command of moving for 2 seconds. Furthermore, the natural language command has an additional parameter of time which is not present in the JSON. Thus, there is a modest alignment."] +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.,The response is, "Advance for 2 seconds with a speed of 1 meter per second in the forward direction.";['0; Neither the action nor the parameters in the natural language command match any of the provided JSON structures. There are no actions related to time duration or params involving speed in seconds in the sample keys.'] +Move ahead at a rate of 1 meter per second for 2 seconds.,The response is, "Move ahead at a rate of 1 meter per second for 2 seconds.";['0; The provided JSON structures do not match the command "Move ahead at a rate of 1 meter per second for 2 seconds". The action "move" in the JSON does not include a parameter for time or rate, and there is no command in the sample ontology that matches moving for a specific amount of time.'] +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.,The response is, "{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}}";['4; The action and parameters match with move action in the JSON structure. However, the command says to move for 2 "seconds" whereas in the JSON structure, the "distance" key takes a value in "meters", not time. Although "move" action and "linear_speed" parameter is correct, distance value should be in "meters", not in "seconds". Hence, a perfect match can\'t be achieved.'] +Rotate clockwise by 180 degrees.,The response is, "{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": true, "unit": "degrees"}}";['4; While the action, rotation direction, angle, and unit are correct, the "angular_velocity" value in the JSON doesn\'t match the command which doesn\'t specify it. Hence a slight mismatch.', ''] +Perform a clockwise rotation of 180 degrees.,The response is 180.;['5; Exactly conform. The provided command "Perform a clockwise rotation of 180 degrees" is exactly matching with the provided JSON structure for rotation action. The "action" key value "rotate" is correct, the "params" key includes "angle" with value 180, "is_clockwise" with the value True and "unit" with value "degrees".'] +Rotate 180 degrees in the clockwise direction.,The response is 180 degrees in the clockwise direction.;['4; The natural language command conforms with the "rotate" JSON structure in the sample ontology keys to a high degree. However, an exact "angle" of 180 is mentioned in the command while the "angle" in the JSON structure has a slightly varying value of 40. Therefore, while it mostly matches, it\'s not an exact match.'] +Turn in a clockwise direction and rotate by 180 degrees.,The response is, "Turn in a clockwise direction and rotate by 180 degrees.";['3.5; The JSON for rotation action is partially matched to the command. The "rotate" action, "angle" and "is_clockwise" parameters are appropriate. However, the "angular_velocity" parameter is not mentioned in the natural language command, so it can\'t be fully conformed.'] +Execute a 180-degree clockwise rotation.,The response is 180.;["4; The JSON structure representing the rotation action matches the natural language command in terms of rotation (action), degrees (angle), and direction (is_clockwise). However, the natural language command does not specify the rotation's angular_velocity."] +Move forward for 4 meters and then turn left.,The response is, "Move forward for 4 meters and then turn left.";['4; The natural language command partly matches the "move" action in the JSON structure. The distance is defined, the "is_forward" is true and the "unit" is meter for "move" which conforms to the command where it\'s mentioned to \'Move forward for 4 meters\'. However, the \'turn left\' part in the command does not completely conform to the "rotate" action in the JSON structure. Specifically, the \'is_clockwise\' parameter can\'t be determined from \'turn left\' command. \'Angular_velocity\' or \'angle\' is also not specified in the command.'] +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.,The response is, "Move forward for 4 meters at a speed of 0.5 meters per second.";['4; The natural language command and JSON structure partially match. The "move" action with "linear_speed", "distance", "is_forward", and "unit" parameters fit the instructional description of "Proceed straight ahead, covering a distance of 4 meters". However, the command for making a left turn can\'t be exactly mapped in the JSON information given, but it can be inferred as a "rotate" action with certain "angle" and "is_clockwise" parameters. Also, the narrative segment "The response is, "Move forward for 4 meters at a speed of 0.5 meters per second."" doesn\'t align with any structure and is probably an unintended inclusion.'] +Go straight for a distance of 4 meters followed by a left turn.,The response is, "Go straight for a distance of 4 meters followed by a left turn.";['3; Only partial conformity can be found. The natural language command suggests two actions: "move" and "rotate". Only the "move" action can be reasonably matched to the command:', '{', '"action": "move",', '"params": {', '"linear_speed": 0.5,', '"distance": 4,', '"is_forward": True,', '"unit": "meter"', '}', '}', '', 'but the "rotate" action could not be matched because a specific angle or direction (is_clockwise: False since it\'s a left turn) isn\'t specified.'] +Advance in the forward direction, covering 4 meters, and then make a leftward turn.,The response is,;['3; The natural language command partially matches with the JSON structures provided. The command "Advance in the forward direction, covering 4 meters" matches with the "action": "move", "params" and the parameters "distance" and "is_forward" within it but does not include any information about "linear_speed". The command "make a leftward turn" does match to some extent with the JSON structure "action": "rotate", "params", but, there is no specification for "angular_velocity" and "angle", and the is_clockwise flag\'s value cannot be determined from the instruction.'] +Move ahead for 4 meters and then change direction by turning left.,The response is, "Move ahead for 4 meters and then change direction by turning left.";['2; The natural language command mentions two actions: moving ahead and changing direction. There are corresponding actions in the JSON structures: "move" and "rotate". However, the command does not specify the linear speed for the "move" action, and the "rotate" action in the JSON is defined with the parameters of angular velocity and angle, but the direction (left, or anticlockwise) is not reflected since the "is_clockwise" parameter does not reflect this.'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,The response is,;["4; The natural language command matches to the action 'rotate' and 'move' in JSON but the value '60 degrees' and '3 meters' are not specified in the JSON structure."] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,The response is, "Turn left by 60 degrees and proceed ahead for a distance of 3 meters.";['4; The natural language command partially conforms to the JSON structure. The statement "Turn left by 60 degrees" matches with the \'rotate\' action in the JSON structure, even though the provided angle value in JSON is different (40 degrees vs 60 degrees). Also, "proceed ahead for a distance of 3 meters" kind of corresponds to the \'move\' action. However, the given JSON contains an extra parameter \'is_forward\' which is not mentioned in the command. The \'unit\' is correctly matched in both cases.'] +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}.";['3; The "rotate" action in the JSON correctly describes the first part of the command, but specification of "angular_velocity" is not mentioned in the natural language command. Also the "is_clockwise" should be false as the command denotes counterclockwise rotation. The "move" action is not provided in the JSON.'] +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.,The response is,;['3; The natural language command includes two actions: "rotate" and "move". The "rotate" action is correctly represented in JSON format, however, the direction of rotation ("anti-clockwise") is not explicitly specified. The "move" action does not completely match with the ontology: "distance" is correct, but "linear_speed" and "is_forward" keys are missing.'] +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.,The response is, {"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};["3; The natural language command corresponds to the JSON structures for the actions 'rotate' and 'move'. However, the direction for the 'rotate' action is incorrect. In the command, the direction is counterclockwise but in the JSON it is specified as clockwise."] +Go to the bedroom and stop.,The response is, "Go to the bedroom and stop.";["1; The natural language command partially matches with the go_to_goal action in the ontology, but 'stop' action doesn't exist in the sample keys. Also, the location parameter 'bedroom' is not specified in the JSON structure."] +Proceed to the bedroom and come to a halt.,The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is, "The response is;['1; The natural language command instructs to go to a location, similar to the action "go_to_goal" in the first JSON structure. However, the location specified ("bedroom") does not match with the value in the JSON ("Kitchen"). The command also does not include actions related to the other two JSON structures ("move" and "rotate"). Therefore, there is a little conformity in terms of action but not in matching the parameters\' values.'] +Make your way to the bedroom and cease your movement.,The response is, "Make your way to the bedroom and cease your movement.";['0; The natural language command requires navigating to a certain location, which would correspond with the "go_to_goal" action. However, in the provided JSON structures, the "action" key is associated with "move" and "rotate" actions, not a "go_to_goal" action. Therefore, the command does not match any of the JSON structures. Moreover, the command specifies the location "bedroom" which also is not present in the JSON information where the location is "kitchen". Hence, the conformity score is 0.'] +Head towards the bedroom and come to a standstill.,The response is, "Head towards the bedroom and come to a standstill.";['0; The given natural language command does not match any of the provided JSON structures as no action or parameters about moving towards a location such as bedroom or stopping is used.'] +Move to the bedroom and pause.,The response is, "Move to the bedroom and pause.";["0; The given command speaks about moving to a location that cannot be mirrored in the provided JSON structures. There is a 'go_to_goal' action available but it is specific to 'Kitchen', whereas the command mentions moving to the 'bedroom'. Moreover, there is no possible action or parameter related to the 'pause' command in the given JSON structures."] +Move backward for 7 meters at a speed of 0.8 meters per second.,The response is, "Move backward for 7 meters at a speed of 0.8 meters per second.";["3; The command corresponds to the sample ontology in terms of the action 'move' and parameters 'linear_speed' and 'distance'. However, the value of 'is_forward' in the JSON should be False to match the 'move backward' command in natural language. The given JSON is not fully consistent with the natural language command."] +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.,The response is, "Move backward for a distance of 7 meters at a velocity of 0.8 meters per second.";['4; The natural language command does correspond to the JSON structure of the move action in its use of distance, linear speed, and motion direction. However, the JSON structure lacks a parameter for the motion direction (forward or reverse).'] +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 0.8, "distance": -7, "is_forward": false, "unit": "meter"}}";['4.5; The action and parameters match the natural language command well but there is no indication in the natural language command that the movement should be backwards so the "is_forward": false may be misinterpreted. The JSON structure does correctly interpret the natural language command but may not be 100% exact.'] +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.,The response is, "Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.";['4; The command refers to the "move" action, and parameters such as "distance" and "linear_speed" are correctly stated. However, the "is_forward" value is not consistent with the command, which instructs to "reverse direction", implying backward movement while "is_forward" set True in JSON structure indicates forward movement. The value "unit" in JSON also matches the command\'s unit "meters".'] +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.,The response is, "Move backward for 7 meters at a speed of 0.8 meters per second.";['3.5; The JSON structure contain the "action" as "move", which matches the reverse movement specified in the natural language command. Additionally, the "params" contains "linear_speed" and "distance" keys that match with the speed and distance specified. However, the direction of movement (backward) is not clearly defined in the JSON structure - no key exists for the parameter \'is_forward\' to have a \'False\' value to signify backward movement.'] +Turn left and move forward for 5 meters at a speed of 2 meters per second.,The response is, "Turn left and move forward for 5 meters at a speed of 2 meters per second.";['3; The command contains two actions which match with rotate and move actions in the JSON. But the parameters provided partially match with provided JSON structures. "Turn left" action has only an implied parameter (counter-clockwise rotation) which isn\'t explicitly mentioned. "Move forward for 5 meters at a speed of 2 meters per second" matches with the move action but the speed doesn\'t match with linear speed provided in JSON.'] +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.,The response is, "Move forward for 5 meters at a speed of 2 meters per second.";['2; The natural language command partially matches with the "move" JSON structure. The parameters "distance" (5 meters) and "linear_speed" (2 m/s) are specified in the command. However, the command starts with \'Take a left turn\' has no corresponding JSON structure in the samples provided.'] +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.,The response is, "{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}}";['3; While the command to move forward is well converted to the JSON structure, the command to make a left turn is not represented in the given JSON at all. The rotation or turn does not exist in the provided JSON for the move action. This implies that these are potentially different actions that need to be represented as such in distinct JSON structures.'] +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.,The response is, "Move forward for 5 meters at a speed of 2 meters per second.";['3; The natural language command partially matches with the JSON structures. The command to move ahead for a certain distance at a certain speed matches with the "move" action in JSON, although the exact speed mentioned in the command is not reflected in the JSON. However, the command to execute a left turn is not reflected in the JSON structures.'] +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.,The response is, {"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": false, "unit": "meter"}};['2; The action matches the command, but the direction specified ("change direction to the left") is not represented. Also, the "is_forward" parameter should be set to true, not false, because the command specified to "travel straight".'] +Back up for 1 meter and then execute a 90-degree turn to the right.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['1; Both the natural language command and the JSON information have action of movement and rotation, but the parameters in the natural language command do not match with the JSON information. The natural language command says "Back up for 1 meter" while the JSON information has "is_forward": True. Also, the natural language command instructs a 90-degree turn to the right, but the JSON information has an angle of 40 degrees. Moreover, the second part of the natural language command is completely different and does not match with any of the JSON structures.'] +Reverse for 1 meter and then make a right turn of 90 degrees.,Reverse for 1 meter and then make a right turn of 90 degrees.;["2; The natural language command includes two actions - moving and rotating. In terms of 'move', it's partially matched as the command talks about reversing which implies moving backward but the 'is_forward' key in JSON is True. The rotation action from the command is also partially matching with 'rotate' JSON structures - the angle is perfectly matched with a value of 90 degrees but the direction of rotation isn't clearly indicated in the command so 'is_clockwise' is uncertain."] +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.,The response is, "Move backwards by 1 meter and then perform a right turn at a 90-degree angle.";['2; The natural language command partially conforms to the JSON structures. The "move" action is represented, with "is_forward" set to False (inferred from "backwards") and "distance" potentially set to 1 meter. However, the orientation of the rotation ("right turn") and the angle (90-degree) align with the "rotate" structure, while the JSON example does not provide a way to specify the rotation direction. Therefore, it\'s not a complete match.'] +Retreat by 1 meter and then make a right turn of 90 degrees.,The response is, "Retreat by 1 meter and then make a right turn of 90 degrees.";['3; The first part of the command "Retreat by 1 meter" matches the move action but contradicts the "is_forward" parameter in the JSON structure because in the command the action implies a backward movement. The second part of the command "then make a right turn of 90 degrees" aligns with the "rotate" action but doesn\'t define the "is_clockwise" parameter value, while right turn usually implies clockwise rotation.'] +Take a step back for 1 meter and then execute a 90-degree right turn.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['1; The natural language command partially matches the JSON command for "move" by specifying a backward movement of 1 meter (even though the JSON specifies forward motion), but no linear speed is indicated. The order for a right turn is not represented in the JSON structure at all. The provided response seems unrelated to the given command.'] +Navigate to the specified GPS coordinates and play a pre-recorded message.,;["0; The natural language command doesn't match any of the provided JSON structures. The command speaks of navigation to GPS coordinates and playing a message while the JSON structures describe moving to a certain location, moving a certain distance, and rotating a specific angle. There is no matching command related to GPS or playing messages in the sample keys."] +Please go to the given GPS coordinates and play the pre-recorded message.,A: Consider the following ontology{"action": "go_to_goal", "params": { "location": { "type": "str", "value": "Kitchen" } } } { "action": "move", "params": { "linear_speed": linear_speed, "distance": distance, "is_forward": is_forward, "unit": "meter" } } { ";['0; The natural language command includes the action of going to a specific location and playing a pre-recorded message. However, the sample ontology does not include an action for playing a message and the location is not specified as "Kitchen" as per the sample ontology.'] +Can you navigate to the provided GPS coordinates and start playing the recorded message?,A: Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}}} You will be given human language prompts, and you need to return a json conformant to the ontology. Any action not in the ontology must be ignored. If a field's value is undetermined, put a default reasonable value. Return only the json without any introduction, comments, nor conclusion. Here are some examples. prompt: "Move forward for 1 meter at a speed of;['0; None of the JSON structures match the command to navigate to GPS coordinates and play a recorded message - no such action or parameters exist in the sample ontology.'] +Follow the given GPS coordinates and play the message that has been prerecorded.,The response is accepted.;['0; The natural language command does not match any of the JSON structures provided. The command refers to following GPS coordinates and playing a prerecorded message, while the JSON structures respectively involve moving to a specific location, moving a certain distance in a particular direction, or rotating at a certain angle and velocity. These do not align with the given command, thus the score is 0.'] +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.,;['0; The command does not correspond with any of the provided JSON structures. The command involves going to a set of GPS coordinates and playing a pre-recorded message, none of which are options in the JSON structures.'] +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.,The response would be,{ "action": "move", "params": { "linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter" } };['2; The natural language command indeed mentions a movement (which is partially represented by the JSON structure), but a "zigzag pattern" and "alternating between forward and backward motions" are not accounted for in the provided JSON structure. Thus, it does not entirely conform to the command\'s description.'] +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.,The response would be,{ "action": "move", "params": { "linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter" } };["1; The NL command refers to a complex action that isn't represented by the JSON structure which only defines single move. There is no JSON structure provided that allows for complex, multi-step or alternating instructions such as moving in a zigzag pattern. Also, the movement direction is switching back and forth between forward and backward, which can't be presented with a single boolean value."] +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.,Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.;['0; None of the JSON structures match with the provided command. The command refers to moving in a zigzag pattern, which is not outlined in the provided JSON information. Moreover, the notion of alternating between forward and backward movements is not represented in the JSON structures.'] +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.,The response would be,{ "action": "move", "params": { "linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter" } };['2; The natural language command instructs a zigzag pattern which interprets that the object has to move forward and then backward. This backward movement is not addressed in the JSON structure. Also, there is a mismatch in the values, the command specifies 10 meters but the JSON structure has no specified distance value.'] +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.,The response would be,{ "action": "move", "params": { "linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter" } };['2; Partially conform. The issued command is to move in a zigzag pattern both forward and backward for a total distance of 10 meters. However, the provided JSON structure only specifies a forward motion and does not include any information about changing direction or moving in a zigzag pattern.'] +Spin around in a circle three times and then stop abruptly.,The answer is 3.;['0; The natural language command does not match with any of the JSON commands provided. It does not involve going to a specific location, moving at a linear speed with a specified distance, or rotating at a particular angular velocity and angle.'] +Rotate in a full circle three times before coming to an abrupt halt.,The response is,;['0; The natural language command does not conform to any of the provided JSON structures. The command to rotate is present but the number of times to rotate is not a part of parameters in the JSON structure. Moreover, the command for coming to an abrupt halt is not included in the sample keys.'] +Perform three complete rotations in a circular motion and then abruptly come to a stop.,The answer is 360 degrees.;['1; The natural language command indicates a rotation, however, the parameters required according to the sample ontology (angular velocity and angle value) are not either appropriately stated or provided within the command - it only suggests "three complete rotations" but does not provide specific angle or angular velocity. An abrupt stop is also an action which doesn\'t have corresponding action in given sample ontology. Thus, a complete match is not possible.'] +Turn around in a complete circle three times and then suddenly cease movement.,The answer is 0.;['0; The command to "turn around in a complete circle three times and then suddenly cease movement" does not conform to the given JSON structures. The action "rotate" could be associated with "turn around", but \'three times\' and \'suddenly cease movement\' are not represented in the JSON structures.'] +Spin in a circle three times and then bring yourself to an immediate halt.,The answer is 3.;['0; The natural language command does not correspond to any of the provided JSON structures. It mentions spinning and stopping, which could possibly be related to the "rotate" and "move" actions respectively, but it does not provide any required parameters like angular velocity, angle, or direction for rotation, nor distance, direction, or speed for movement. Furthermore, the phrase "bring yourself to an immediate halt" cannot be interpreted with the given JSON structures.'] +Move forward at a constant speed of 1 meter per second for 30 seconds.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}};['4; The command almost perfectly matches the provided JSON structure. However, the command talks about time ("for 30 seconds") whereas the JSON structure is about distance. The assumption here is that one second corresponds to one meter which is not explicitly mentioned in the natural language command.'] +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.,The response is, {"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}};["4; The natural language command and the JSON structure match almost perfectly except for one conform issue: the command specifies the duration (time) to move forward but the JSON structure represents the 'distance' to be travelled.", "The command does not specify the distance but provides the time duration and speed to calculate the distance. However, here, it's assumed that the duration refers to the 'distance' to make it conform with the JSON structure. If we strictly follow the natural language of the command, the conformity will not be as high due to the difference between specifying duration vs distance."] +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.,The response is, "Move forward for 30 seconds at a constant speed of 1 meter per second.";["0; The provided natural language command doesn't match any of the provided JSON structures. The command involves moving for a certain duration which is not represented in the JSON structures. The 'move' action in the JSON structures involves parameters such as distance and linear speed, not duration or timed movement."] +Advance for 30 seconds with a consistent velocity of 1 meter per second.,The response is 30 seconds.;["0; None of the JSON structures match the natural language command. There is no 'advance', 'second', or 'velocity' parameters in the given JSON structures. The command does not match the given ontology."] +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.,The response would be, "Move forward for 30 seconds at a speed of 1 meter per second.";['2; The natural language command mentions moving straight ahead at a constant speed which corresponds to the "move" action in the JSON structure. However, the command does not specify parameters such as the total distance to be covered. Furthermore, the time duration specified in the command does not directly conform to any parameters in the JSON structure. Therefore, the command partially matches with the "move" action JSON structure.'] +Turn right and follow a curved path for 2 meters, then stop and beep.,The response is, "Turn right and follow a curved path for 2 meters, then stop and beep.";['0; The commands given in natural language don\'t conform to any of the JSON structures provided. The command instructs to turn right, follow a curved path, stop and beep. However, none of these actions ("turn", "follow a curved path", "stop", "beep") or parameters ("right", "2 meters") exist in the keys of the provided JSON structures.'] +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.,The response would be, "{"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}}";['0; The natural language command asks for a right turn and motion along a curved path. However, the provided JSON structure only covers a straight-forward motion and does not account for turns or curved paths. Moreover, there is no command for the robot to stop and emit a beep sound in the provided JSON. Hence, there is no conformity between the command and the JSON structure.'] +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.,The answer is 2 meters.;["0; The natural language command describes some actions (turning right, moving along a serpentine trail, pausing, and producing a beeping sound), none of which matches the actions in the JSON structures ('go_to_goal', 'move', 'rotate'). Also, there is no mention of a target location, linear speed, angular velocity, or any rotation parameters in the natural language command. Therefore, there is no conformity between the command and the given JSON structures. In addition, producing a beeping sound is not a command included in the JSON structure keys and should not be converted to JSON."] +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.,The response is, "{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}}";["0; The JSON command does not match the natural language command. The natural language command asks for a complex move action involving a rightward curve for a certain distance and then stop and emit a sound. However, the JSON command describes a rotate action with a specified angle and velocity. It doesn't cover the navigation part and the beep sound mentioned in the natural language command. Also, in JSON command irrelevant angular velocity value is provided."] +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.,The response is, "{"action": "move", "params": {"linear_speed": 2, "distance": 2, "is_forward": true, "unit": "meter"}}";['0; The JSON structure does not match the natural language command. The command mentions turning right and making a beeping noise, which are not represented in the JSON. Also, the command description of motion (traveling along a winding path) does not match the straightforward motion represented in the JSON.'] +Move forward for 5 meters and then reverse for 2 meters, repeating twice.,The response is, "Move forward for 5 meters and then reverse for 2 meters, repeating twice.";['0; The natural language command does not correspond to any of the provided JSON structures. It involves complex actions such as repeating which are not covered in the given JSON ontology. Additionally, "reverse" is not represented in the JSON structures.'] +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.,Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.;['0; The JSON structures provided do not have any information about a repetitive action nor the concept of reversing. Thus, the natural language command cannot be matched or converted to the given JSON structures.'] +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.,The response would be, "Forward: 5 meters, Reverse: 2 meters, Forward: 5 meters, Reverse: 2 meters.";["0; The provided commands do not match with any actions or parameters in the given JSON structures. The command is about the repetition of movement patterns while the sample JSON information carries keys about going to a specific location, linear motion with specified distance, and rotation with a certain angle. The keys 'repeat', 'pattern', or 'sequence' are not present in the JSON structures."] +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.,The response is, "Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.";['0; The natural language command does not match any of the provided JSON structures as these structures do not accommodate the actions of moving a specific distance forward and then in reverse, nor repeating an action cycle.'] +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.,The response would be:A: Move forward for 5 meters. B: Stop. A: Go back for 2 meters. B: Stop. A: Repeat this process twice. B: Stop twice.;['0; The natural language command involves multiple actions of moving and stopping but none of these actions and its specifics are captured properly in the given JSON structures. The JSON structures do not provide any option for repetitive actions as well. Hence, there is no conformity.'] +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.,The response is, "Move forward for a random duration between 1 and 5 seconds.";['0; The natural language command suggests a random movement, which is not addressed in the given JSON structures. The "move" action\'s parameters include specific fixed values (linear_speed, distance, is_forward, unit), not ranges or random selections. Additionally, none of the JSON structures have an option for selecting a random direction.'] +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.,The response is {"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}}.;["1; The JSON structure represents an action of moving forward but doesn't cover the randomness asked in the natural language command. Both 'direction' and 'duration' are not considered in the JSON structure. Furthermore, the value of 'distance' is not matching with the command."] +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.,The response is, "Move forward for 1 meter at a speed of 0.5 meters per second.";['1; The natural language command instructs to pick a random direction and move, however this is not reflected in any of the JSON commands. The JSON commands rather refer to specific movement parameters like distance and speed. The partial score of 1 is given for the minor conformity related to the "move" action, but there is no alignment in terms of parameters and values.'] +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.,The response is, "Move forward for 2 seconds at a speed of 1 meter per second.";['0; The natural language command does not match any of the actions provided in the JSON structures. It gives a specific action which is not "go_to_goal", "move", or "rotate". Moreover, the parameters provided ("random direction", "randomly determined time frame") cannot be mapped to any specified in the JSON structures.'] +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.,The response is, "Move forward for 1 second at a speed of 0.5 meters per second.";['0; The natural language command requires the bot to pick a direction randomly and proceed for a duration between 1 and 5 seconds. However, none of the provided JSON structures accommodate this randomness. The Robot should have `action` key with value `move` and `params` having keys like `is_forward`, `linear_speed` and `distance`. But the duration for moving is not specified as random in these structures.'] +Perform a 180-degree turn, then launch a small drone from your back.,The 180-degree turn would be a 180-degree rotation. The angular velocity would be 180/60 = 3 degrees per second. The angle would be 180 degrees. The unit would be degrees. The answer would be {"action": "rotate", "params": {"angular_velocity": 3, "angle": 180, "is_clockwise": true, "unit": "degrees"}}.;['1; The natural language command includes two actions: rotation and a drone launch. The sample ontology does not have a command for drone launch and hence this part of the command cannot be converted into JSON. However, the rotation command is converted into the correct JSON structure and therefore it partially matches with the JSON information.'] +Execute a 180-degree rotation and subsequently release a compact drone from your rear.,The response is acceptable.;['0; None of the provided JSON structures match the given natural language command as the command mentions an action ("release a compact drone") that is not supported by the available actions in the JSON structures. The rotation action is mentioned but without the correct parameters in the JSON.'] +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.,The response is, "Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.";['0; The natural language command asks for a 180-degree turn and the deployment of a drone, neither of which match any of the actions or parameters in the provided JSON structures. Therefore, the command does not conform to the JSON structure at all.'] +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.,The response is, "Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.";["1; The natural language command mentions a 180-degree maneuver which could be related to the 'rotate' action in the sample keys, even though the exact angle and the direction (clockwise or counter-clockwise) are not specified. The second part about launching the aerial drone does not conform to any action given in the sample keys."] +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.,The response is acceptable because it conforms to the ontology.;['0; The command does not match the JSON structures, it includes actions ("carry out a 180-degree" and "activate release mechanism") and objects ("small drone") that are not represented in the provided JSON examples.'] diff --git a/evaluation/evaluations/Ground-Robot/LLaMA-7b/Evaluated_JSON_commands_LLaMA7b_Ground_Robot_SELECTED_5pct_for_manual_eval-HIST.png b/evaluation/evaluations/Ground-Robot/LLaMA-7b/Evaluated_JSON_commands_LLaMA7b_Ground_Robot_SELECTED_5pct_for_manual_eval-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..7e5e281dd8c80a5f76d9334941becc1737866ccb GIT binary patch literal 53864 zcmeFa2Uu0t)-FsmY7)DmD5w}sL@W>l1f&`ZNffYxAVoz4MLLLp6g5!<5sfI)v4Vmi 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z+?_DTN39zQM)~li0^8xazc;QgiitPE&_E2vv-dxoHP9kgC1aDKVVskB@A^ED=9vuP z?t77R{}np7L3l@TpTU&Di*5qjcuB#77ui-=M+ly~*YYLLj`}8!?#+x4dYqYyq`T5F5B(PJ3JlG{h??bGA?%bU3QdE4UK-aI8H=G8C-!} z8sljZC<}l45$gZU*nva=Z|*z*016+apX($1&R=^VYr!A";"[""2";0;" The command 'Turn left' is similar to the 'rotate' action in the JSON structure, but it does not specify 'is_clockwise' and the angle given in the command does not match with the angle given in the JSON structure.""]" +"814: After turning right, advance forward and cover a distance of 10 meters.,The response is, ""{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}""";"[""5";2.5;" The linear speed, distance, direction, and unit of movement in the JSON command are in accordance with the natural language command. Even though the command does not instruct a 'rotate' action explicitly, the 'move' command is well translated and hence the score of 5.""]" +455: Reverse your direction and travel 3 meters.,Reverse your direction and travel 3 meters.;"[""1";0;" The natural language command talks about movement in a specific direction for a particular distance, but it does not match the provided JSON structures exactly. The 'move' action and 'distance' parameter match, however, the 'is_forward' key in JSON sample contradicts with the 'reverse your direction' in the command, so the value should be False not True. Moreover, the linear_speed is not specified in the natural language command.""]" +"982: Move forward at a constant speed of 1 meter per second for 30 seconds.,The response is, {""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 30, ""is_forward"": true, ""unit"": ""meter""}}";['4;5;" The command almost perfectly matches the provided JSON structure. However, the command talks about time (""for 30 seconds"") whereas the JSON structure is about distance. The assumption here is that one second corresponds to one meter which is not explicitly mentioned in the natural language command.']" +"919: After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.,The response is, ""{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 20, ""is_forward"": true, ""unit"": ""meter""}}""";['2;4;" The natural language command asks for a right turn first then moving forward, while the given JSON only contains the ""move"" action. The ""rotate"" action and its parameters are missing. The ""distance"" parameter in the JSON is 20 in the JSON seems to be misinterpreted. In the command, ""20 seconds"" is indicative of time, not distance.']" +"930: Move ahead at a rate of 1 meter per second for 2 seconds.,The response is, ""Move ahead at a rate of 1 meter per second for 2 seconds.""";['0;0;" The provided JSON structures do not match the command ""Move ahead at a rate of 1 meter per second for 2 seconds"". The action ""move"" in the JSON does not include a parameter for time or rate, and there is no command in the sample ontology that matches moving for a specific amount of time.']" +"533: Move forward for 1 meter and stop.,The response is, {""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""}}";['5;5;" The natural language command correctly matches the JSON command. ""Move forward for 1 meter"" corresponds to the action ""move"" with parameters ""distance"": 1, ""is_forward"": True, ""unit"": ""meter"". The speed is not specified in the natural language command, but according to the rules a reasonable speed of 0.5 is accepted.']" +"917: Turn right and move forward at 0.5 m/s for 20 seconds.,The response is, ""Move forward for 20 seconds at a speed of 0.5 m/s.""";['1;0;" Although the natural language command indicates motion and rotation, it doesn\'t exactly match any of the JSON structure descriptions provided in the ontology, nor does it provide all of the necessary parameters for the JSON structures. For example, there is no specification of direction in the ""move"" action, or specific angular velocity in the ""rotate"" action.']" +"785: Rotate counterclockwise by 270 degrees.,The response is, {""action"": ""rotate"", ""params"": {""angular_velocity"": 270, ""angle"": 0, ""is_clockwise"": false, ""unit"": ""degrees""}}";['2;3;" The command is to rotate counterclockwise by 270 degrees, The rotation direction indicated with the value of “is_clockwise"": false is correct. However, the ""angular_velocity"" referring to how fast the rotation should occur not to the rotation angle. The value 270 should be under ""angle"" not under ""angular_velocity"". The ""angular_velocity"" is unspecified in the command and can take any reasonable value.']" +"235: Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.,The response would be, ""Move forward for 4 meters at a velocity of 2 meters per second.""";['2;0;" The natural language command is similar but not exactly conforming to the ""move"" JSON structure. The JSON structure has ""linear_speed"" while the natural language command specifies ""velocity of 2 meters per second"". ""Distance"" also conforms, although the specific value is not accurately reflected in the JSON. The ""is_forward"" parameter is assumed True from the command but is not specified. The ""unit"" key in JSON also doesn\'t match with the command.']" +"393: Move backward and stop 1 meter away from the designated target.,The response is, ""Move backward and stop 1 meter away from the designated target.""";['0;0;" The command does not conform to any of the available JSON structures as it implies an action (""move backwards"") and a condition (""stop 1 meter away from the target"") that are not present in any of the given samples.']" +"631: Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.,The response is, ""Move forward for 10 meters at a speed of 2 meters per second.""";['4;0;" The natural language command corresponds closely with the JSON structure for the ""move"" action. However, the given speed and distance parameters do not match the values in the JSON structure, which shows a linear speed of 0.5 (not 2 as in the command) and distance as a variable (although the specified distance of 10 meters in the command is reasonable).']" +"46: Move forward for 2 meters.,The response is, {""action"": ""move"", ""params"": {""linear_speed"": 2, ""distance"": 2, ""is_forward"": true, ""unit"": ""meter""}}";['4;5;" The command ""Move forward for 2 meters"" matches the structure of the JSON provided. However, in JSON response, ""linear_speed"" is given as 2 which is not mentioned in the command but some reasonable value is accepted in JSON if not specified in the command, so it can be considered as nearly conform.']" +"742: Execute a counterclockwise rotation of 45 degrees.,The response is, ""{""action"": ""rotate"", ""params"": {""angular_velocity"": 45, ""angle"": 0, ""is_clockwise"": false, ""unit"": ""degrees""}}""";['4;2;" The ""action"" in the JSON matches the command, however, the ""angular_velocity"" mentioned in the JSON is not referring to speed but rather the angle to rotate so this value should be 0.35 as in the sample. The ""angle"" value in JSON should be 45 as per the command. ""is_clockwise"" is correct as being False because the command asks for counterclockwise rotation. ""unit"" is also correctly mentioned as degrees.']" +"489: Go back 6 meters.,The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is";['3.5;0;" The natural language command partially matches the ""move"" JSON structure. The correct direction (backwards) isn\'t specified in the JSON structure which should be shown by ""is_forward"" as False. Also, there\'s no specification for \'distance\' in JSON which should be \'6\' as per the natural language command. However, ""unit"" as ""meter"" aligns with the natural language command.']" +"71: Move forward at full speed for 20 seconds.,The response is, ""Move forward at full speed for 20 seconds.""";['0;0;" The natural language command does not correspond to any of the provided JSON structures. The action ""move forward at full speed for 20 seconds"" is not described in the sample keys of the ontology. Additionally, the command does not provide parameters like ""linear_speed"", ""distance"", ""is_forward"", and ""unit"", which are specified in the JSON structure for the ""move"" action.']" +626: Perform a 180-degree clockwise rotation.,The response is 180.;['5;0;" The natural language command correctly matches with the JSON structure for the ""rotate"" action. It specifies the ""angle"" parameter as 180 and ""is_clockwise"" parameter as True, both of which are included in the structure. The ""angular_velocity"" parameter isn\'t specified in the natural command, but it is reasonable to apply any value to it. Thus, it\'s an exact match with a perfect conformity score of 5.']" +"397: Move in a reverse motion and cease motion once you are 1 meter away from the specified target.,The response is, ""Move in a reverse motion and cease motion once you are 1 meter away from the specified target.""";['0;0;" The natural language command does not align with any of the provided JSON structures. It instructs a reverse motion, which is not catered for in the ""go_to_goal"", ""move"", nor ""rotate"" actions in the JSON structures. The distance parameter is possibly referred to but not in a way that aligns with the JSON structure, as we do not know the unit of the distance. A cease command is also mentioned which does not exist in the provided ontology.']" +"636: Make a left turn and proceed straight ahead for a duration of 5 seconds.,The response would be, ""Make a left turn and proceed straight ahead for a duration of 5 seconds.""";['0;0;" The natural language command does not match or conform to any of the JSON structures provided. The action of making a left turn corresponds to the ""rotate"" action in the JSON structure, but the natural language command does not provide any parameters such as ""angular_velocity"" or ""angle"". Similarly, the action of proceeding straight ahead would correspond to the ""move"" action in the JSON, but no parameters such as ""linear_speed"" or ""distance"" are provided.']" +853: Perform a clockwise rotation of 270 degrees.,The answer is 270.;"[""4";0;" The command corresponds mostly with the 'rotate' action in JSON structure, including the 'angle' and 'is_clockwise' parameters. However, the 'angular_velocity' parameter is not mentioned in the command.""]" +378: Move along the perimeter of the room for 1 minute.,The response is 1 * 60 = 60 seconds.;"[""0";0;" The natural language command doesn't match any of the provided JSON structures. The command specifies a time duration and a certain movement pattern (along the perimeter of the room), which are not reflected in any of the JSON data.""]" +"517: Execute a left turn and then travel forward for a distance of 10 meters.,The response would be, ""Move forward for 10 meters at a speed of 0.5 meters per second.""";"[""1";0;" The natural language command speaks of a two-step operation involving a rotation probably followed by a movement. However, it does not specify the angle to turn or the speed to move forward, so these parameters could be guessed from the JSON structure. The mentioned JSON structures though indicates separate actions unlike the combined action mentioned in the command. Also, there seems to be a residual phrase at the end of command that doesn't match any of the structures.""]" +"523: Rotate clockwise by 180 degrees.,The response is, ""{""action"": ""rotate"", ""params"": {""angular_velocity"": 180, ""angle"": 180, ""is_clockwise"": true, ""unit"": ""degrees""}}""";['5;5; Exactly conform. The JSON structure accurately represents the natural language command of rotating clockwise by 180 degrees, with all parameters correctly defined.'] +"282: Move 3 meters backward at a speed of 1.5 meters per second.,The response is, ""Move 3 meters backward at a speed of 1.5 meters per second.""";['2;0;" The natural language command is asking for a movement action with specified distance and speed, which is partially aligned with the ""move"" action in JSON where ""linear_speed"" and ""distance"" keys are present. However, the direction of movement (backward) cannot be represented in the provided JSON structure as the ""is_forward"" key is always True and the specific speed (1.5 meters per second) is not matching with the provided JSON (0.5). Therefore, the command and the JSON structure are not fully conforming.']" +"157: Proceed in a straight line for a distance of 8 meters.,The response is, ""The person proceeded in a straight line for a distance of 8 meters.""";['4;0;" The natural language command aligns well with the ""move"" action in the JSON structure. However, the value for ""is_forward"" is not specified in the command, so we can assume it is True. Also, the ""linear_speed"" is not mentioned but any reasonable value is accepted.']" +721: Perform a 180-degree clockwise rotation.,The response is 180.;['4;0; The natural language command semantically matches with the JSON structure for rotation action. However, the exact measure of rotation (180 degrees) is not reflected in the JSON - it shows a value of 40 degrees instead.'] +"855: Move forward and then immediately stop.,The response is, ""Move forward and then immediately stop.""";"[""0";0;" The given natural language command does not correspond to any of the provided JSON structures. The command involves a movement (possibly linked to the 'move' action in the sample ontology), but there's no specification of how far or at what speed to move, which are key elements in the JSON structure. Furthermore, the 'immediately stop' part of the command also doesn't match with any actions or parameters in the JSON structures.""]" +"436: Shift to the right and travel in the opposite direction, covering a distance of 1 meter.,The response is, ""Move forward for 1 meter at a speed of 0.5 meters per second.""";['0;0; None of the JSON structures provided matches any part of the natural language command given. The natural language command refers to moving in the opposite direction and shifting to the right, but none of the JSON structures have keys to accommodate these commands.'] +"679: Move in the opposite direction for 6 meters.,The response is, ""Move in the opposite direction for 6 meters.""";"[""2";0;" The natural language command refers to moving a certain distance, which aligns with the 'move' action in the ontology. However, it specifies moving in the 'opposite' direction, which isn't clearly defined in the JSON structure. The 'linear_speed' parameter is also not mentioned in the command. Furthermore, the specific distance (6 meters) to be moved is mentioned in the command aligning with the 'distance' key in the ontology. Hence, partial conformity.""]" +"867: Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.,The response is, ""Move forward for 10 seconds at a velocity of 0.3 meters per second.""";['2;0;" The command involves movement instruction, thus nominally matching with the action ""move"" and the parameter ""linear_speed"" but it fails to specify other required parameters like ""distance"", ""is_forward"", and ""unit"". The time duration element doesn\'t conform with the given JSON structure.']" +"547: Travel 6 meters in the opposite direction.,The response is, ""Travel 6 meters in the opposite direction.""";['0;0;" The natural language command is about moving in the opposite direction for a certain distance, which should be converted into the action ""move"" with ""distance"" and ""is_forward"" parameters. However, the provided JSON structures do not reflect these commands. Therefore, it doesn\'t match with any of the JSON structures.']" +"30: Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.,The response is, {""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}";['2;4; The natural language command asks for a time period (10 seconds) rather than a specific distance. However, the JSON command details about moving with a speed for a specific distance which is not in conformity with the natural language command.'] +"591: Move ahead for 6 seconds after turning to the left.,The response is, ""Move ahead for 6 seconds after turning to the left.""";"[""0";0;" The natural language command refers to actions 'move' and 'rotate', but it does not conform to the given JSON structures. The command mentions moving 'ahead for 6 seconds' which does not match with any parameters in the 'move' action, specifically it does not conform with the parameters 'linear_speed', 'distance', 'is_forward' and 'unit'. The command also mentions 'turning to the left', which does not provide specific information according to the 'rotate' action parameters in the JSON structure like 'angular_velocity', 'angle', 'is_clockwise' and 'unit'.""]" +"901: Travel in a forward direction for 10 meters.,The response is, ""Move forward for 10 meters at a speed of 0.5 meters per second.""";"[""3";0;" The natural language command partially matches with the 'move' action in JSON. Some parameters like 'linear_speed' and 'is_forward' are mentioned indirectly but 'distance' is not correctly specified in the JSON.""]" +"652: Advance 7 meters in the forward direction.,The response is, ""Move forward for 7 meters at a speed of 0.5 meters per second.""";['4;0;" The natural language command conforms to the JSON structure with \'move\' action. However, the exact speed in the command is not specified but the speed value in the JSON is reasonable. The command doesn\'t specify ""is_forward"" keyword but because the command mentions ""forward direction"", it\'s sensible to assume it\'s true.']" +"492: Travel in the opposite direction and cover a distance of 6 meters.,The response is, ""Move backward for 6 meters at a speed of 0.5 meters per second.""";['3;0;" The natural language command implies a \'move\' action in the backward direction which is generally equivalent to ""is_forward"": False in JSON. This can be inferred but is not directly stated. In the JSON structure, the direction of movement is not specified. The speed and distance are specified correctly in the command and the JSON.']" +"803: Spin to the left by 90 degrees.,The response is, {""action"": ""rotate"", ""params"": {""angular_velocity"": 90, ""angle"": 0, ""is_clockwise"": false, ""unit"": ""degrees""}}";['2;3;" Although the command mentioned rotation and the JSON action is also ""rotate"", the parameter ""angular_velocity"" in the JSON structure incorrectly took up the value intended for ""angle"" (90). The ""is_clockwise"" parameter, having a value of false, is correct as it interpreted \'left\' as a counter-clockwise rotation. However, the value of ""angle"" is wrong because it is mentioned as 90 degrees in the command but given as 0 in the JSON.']" +"804: Rotate in the counterclockwise direction, making a 90-degree turn.,The response is, {""action"": ""rotate"", ""params"": {""angular_velocity"": 10, ""angle"": 90, ""is_clockwise"": false, ""unit"": ""degrees""}}";"[""4";5;" Almost conform. The natural language command corresponds to the action 'rotate' in the JSON structure, and all the parameters like angle, is_clockwise and unit have been accurately captured. However, the value of 'angular_velocity' in the JSON structure does not correspond to anything in the natural language command.""]" +"844: Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.,The response would be, ""Move forward for 6 seconds at a rate of 1 meter per second.""";['2;0;" The given natural language command instructs the system to invert (reverse) its motion and provides details about the rate and duration of motion, which corresponds to the ""move"" JSON structure. However, the command does not perfectly align with the JSON structure as the ""is_forward"" key should likely be set to ""False"" to indicate motion in reverse, and the speed and distance parameters should be explicitly given in the JSON structure based on the command. Therefore, the score can\'t be high due to this partial mismatch.']" +"392: Move ahead for 10 seconds, adjusting the speed accordingly.,The response is, ""Move ahead for 10 seconds, adjusting the speed accordingly.""";['0;0;" The command does not match any of the provided JSON structures. It doesn\'t specify any of the parameters (e.g. linear_speed, distance, is_forward, unit) from the ""move"" action nor does it give a specific location for the ""go_to_goal"" action. Furthermore, the command mentions time duration (""10 seconds"") which is not included in the sample keys. The command implies an action of moving forward for a certain duration while adjusting speed, but it doesn\'t provide enough specific details to match the JSON information.']" +"885: Take a right turn and advance ahead, covering a distance of 6 meters.,The response would be, {""action"": ""move"", ""params"": {""linear_speed"": 6, ""distance"": 6, ""is_forward"": true, ""unit"": ""meter""}}";['1;2.5;" The command does ask the device to move forward a certain distance, which does partially match with the ""move"" action in the JSON structures. However, the command also asks for a right turn, which would fall under the ""rotate"" action. The provided JSON does not include both actions and also incorrectly lists the linear speed as 6 instead of 0.5 as per the ontology. The command does not fully conform with the sample ontology, hence the low score.']" +"20: Make a leftward turn and advance for 5 meters.,The response would be, ""{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 5, ""is_forward"": true, ""unit"": ""meter""}}""";['2;2.5;" The natural language command asks to ""make a leftward turn and advance for 5 meters"". The provided JSON structure only caters to the movement part of the command, but it does not cater to the ""leftward turn"". Therefore, it\'s only partially matching the natural language command.']" +385: Rotate anticlockwise by 60 degrees and advance 3 meters.,The response is,;['4;0; The command matches with two JSON structures but the rotation direction is not specified in the JSON parameters. The moving action matches perfectly with the second JSON structure and rotation without direction matches with the third structure.'] +"19: Take a left turn and continue moving forward for 5 meters.,The response is, ""Move forward for 5 meters at a speed of 0.5 meters per second.""";['4;0;" The natural language command and the JSON structures partially conform as the ""move"" action with parameters such as linear_speed, distance, is_forward, and unit are correctly expressed and match with the natural language command. However, the rotate action which is indicated by ""Take a left turn"" is not represented in the command response.']" +"656: Take a right turn and proceed ahead for a distance of 4 meters.,The response would be, ""{""action"": ""move"", ""params"": {""linear_speed"": 4, ""distance"": 4, ""is_forward"": true, ""unit"": ""meter""}}""";['1;2.5;" The given JSON structure partially matches the command. The move action and its parameters match the command ""proceed ahead for a distance of 4 meters."" However, the command ""Take a right turn"" would require a rotate action in the JSON, which is not included in the given structure. Additionally, the ""linear_speed"" is not mentioned in the command and doesn\'t have to be 4.']" +"965: Retreat by 1 meter and then make a right turn of 90 degrees.,The response is, ""Retreat by 1 meter and then make a right turn of 90 degrees.""";['3;0;" The first part of the command ""Retreat by 1 meter"" matches the move action but contradicts the ""is_forward"" parameter in the JSON structure because in the command the action implies a backward movement. The second part of the command ""then make a right turn of 90 degrees"" aligns with the ""rotate"" action but doesn\'t define the ""is_clockwise"" parameter value, while right turn usually implies clockwise rotation.']" +"543: Move backward for 6 meters.,The response is, ""Move backward for 6 meters.""";['1;0;" The natural language command asks for a backward movement which could be correlated with the ""move"" action in the JSON structure. However, it does not specify a value for the ""is_forward"" key which should be False for a backward movement. Also, the ""linear_speed"" is not provided in the natural language command.']" +"129: Head to the right and advance forward for 1 meter.,The response is, ""{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""}}""";['5;2.5;" The natural language command corresponds exactly with the provided JSON structure. The values within the JSON structure match with the natural language command (""advance forward for 1 meter"" corresponds to ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""). However, the direction ""head to the right"" is not represented in the JSON, but it can be considered part of the movement action.']" +"125: Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.,The response is, ""{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 6, ""is_forward"": true, ""unit"": ""meter""}}"".";['4;4;" The natural language command is largely compliant with the JSON information. The command calls for a forward movement with a speed of 0.5 meters per second which matches with the ""move"" action and ""linear_speed"" parameter in the JSON. However, the command mentions a duration while the JSON structure uses distance as a parameter instead.']" +"190: Make a counterclockwise rotation of 60 degrees.,The response is, ""Make a counterclockwise rotation of 60 degrees.""";"[""4";0;" The natural language command partially conforms to the JSON structure. The action 'rotate' and parameter 'angle' match with the given command. However, the direction 'counterclockwise' is inconsistent with the 'is_clockwise' parameter in the JSON structure, which would be false in the given command. Also, 'angular_velocity' parameter is not specified in the given command but it is accepted as a reasonable value can be assigned in the JSON structure.""]" +;;; +;;1.15; diff --git a/evaluation/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot-HIST.png b/evaluation/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..8962486dca7907c466d60224a9763796b4bcf58c GIT binary patch literal 53119 zcmeFa2UJwqwl-QF)MIW%MFqvyR!l$xA{n$5Z4-#7s3aQ{Fc6C%8SP_01Z+hSNs0j@ zG@_EhKv0ANMFph@k_tf!p@bsW`)1j872W5abN})F_s0A0(=kpTL$Pb`wbza# z;<(qrW$!M_8E!kBnY$e9mF3mse_S}j*2TqP1R3*sm%26JyojfBg2#KQfMg83e|E7=(Xb+n~VMTX}Tig4%9Qj38f^|F%^2 z^<6uY2SK8_^>bxUM~hWkZLXk;V-=#kSi`k>W7@&9OKQdp_ZsNt)O{>9Q0SN{`uyI9 zbMzx8$3?kqyIN)&dKBLv_G{eN?qYu$Z@8&>i2u!&(zxR6K3-0M#086N-`THejeq*( zZ+HK|kdd|c3f!E)>*QIb{hB}Au&cN$XfN*X=?MI0jM};76`w!NVEiuE!=IzFbK)g) 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zU^hFW37mkhZ=5_2^bXq5>9#e$i*7LhK;nmtLXTxL!i>f44LIJI6AM)_+Z8wIL$$SOp^qJErQ^)6jihAZFRTF@L@Wy5fRmDwQgb6gQ-3BK|_E;8P|m_U;8X zeS&}8jflbldqMQLAKo(96=)apA^0U{eU?@RUFV^=C4#9hmiLYuEzHO9G;fm~2`+MR z`FzY9j|jf3)gZlo5MM(0M?CxrUL#Cv+&`)92bhGgDVx!>r@(n*u@brecDh18M_KHP z7`j05RG_j-+;6~rkEsr+y3CcB=CfzaSFmEopYmuw9QWnd`~DkW CsTE29 literal 0 HcmV?d00001 diff --git a/evaluation/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot.txt b/evaluation/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot.txt new file mode 100644 index 0000000..cf25b96 --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot.txt @@ -0,0 +1,1002 @@ +Move forward for 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Proceed straight ahead covering a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The given command perfectly matches with the JSON structure in terms of action and parameters. The action in the command "Proceed straight ahead" is the same as the "action" in the JSON: "move". The "distance" is stated as 1 meter in both the command and the JSON. Even though the linear speed is not specified in the command, it\'s okay as any reasonable value in the JSON is accepted if it\'s not specified in the natural language command. Overall, the keys in the JSON truly reflect the command given.'] +Advance by 1 meter in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['4.5; The command matches with the JSON structure but the natural language command does not specify the "linear_speed" while in the JSON it is mentioned as 1.'] +Take a step forward spanning 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['4; The command corresponds correctly to the JSON and is largely conformant. The "linear_speed" value isn\'t specified in the command, but a reasonable value of 1 is provided in the JSON. However, the command specifies a stepping action, which may not be entirely equivalent to a linear move action.'] +Move ahead for a length of 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Rotate counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};["4; The command somewhat conforms to the JSON. It correctly identifies the 'action' as 'rotate' and 'angle' as -90, to indicate counterclockwise rotation, and 'unit' as 'degrees'. However, 'angular_velocity' is not specified in the natural language command, but it is present in the JSON. Also, 'is_clockwise': false is added which correctly translates the 'counterclockwise' in the natural language command, but no specific 'is_clockwise' value is given in the sample ontology."] +Rotate in an anti-clockwise direction by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Turn left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; The action "rotate" and all parameter keys match with the instruction. The angular_velocity is not mentioned in the command but it is given a reasonable value of null in JSON. The direction (left) matches with the false value of "is_clockwise" key. The value for the "angle" key(90) is also correct. The unit "degrees" is already provided in the ontology example.'] +Rotate 90 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The command matches the JSON structure and values perfectly except for one discrepancy. While the natural language command mentions a counterclockwise rotation, the value for "is_clockwise" in the JSON is set to false. However, this is still correct as not moving clockwise is the same as moving counterclockwise. The angular_velocity isn\'t specified in the command, but its given value in JSON is accepted according to the rules.'] +Spin in the opposite direction by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['4; The command and the JSON structure mostly match. However, the natural language command does not specify the angular velocity, so even though the value in the JSON is reasonable, it is not exactly conform. The direction and degree of rotation are specified correctly and match the command. The "unit" is also correct.'] +Move backward for 2 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}};['2; The JSON structure contains the "move" action which is aligned with the command. However, the "linear_speed" as negative value may not be consistent as the command didn\'t specify speed. Also, the distance and time factors are contradicting between the command and the JSON structure. Additionally, time is not considered in the JSON structure. The \'unit\' as \'meter\' is also not specified but it\'s default understanding in cases.'] +Go backwards for a duration of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 2, "unit": "second"}};['1; There is no "duration" key in the sample JSON structure for the "move" action, only "linear_speed", "distance", "is_forward" and "unit".'] +Reverse your direction and travel for a span of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The JSON does not match the command well. While there is an element of direction reversal present in both ("is_forward": false in the JSON should correspond to \'Reverse your direction\' in the language command), the JSON does not address the \'travel for a span of 2 seconds\' part of the command at all. Furthermore, the JSON includes "linear_speed": 0 and "distance": 0, both of which are misaligned with the natural language command\'s implication of movement.'] +Retreat for a time frame of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The JSON command provided does not match the natural language command well. It contains correct fields "action" and "is_forward": false, which corresponds to the \'retreat\' action in the natural language command. However, it fails to provide a matching for the \'time frame of 2 seconds\' part of the command. The fields \'linear_speed\' and \'distance\' are both given a value of 0, which would not result in any movement. The command does not mention any specific distance or speed for the retreat move, so any reasonable non-zero values for \'linear_speed\' and \'distance\' would have been acceptable. The command \'Retreat for a time frame of 2 seconds\' should translate to a backward motion for a certain distance at a certain speed for 2 seconds, but there\'s no key for setting the time in JSON structure.'] +Take two seconds to move in the opposite direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "second"}};['2; Although there is a match in the action type ("move") and the parameter "is_forward", there is no conformity in the remaining parameters. The "unit" in the JSON structure is given as "second", while in the sample ontology it should be "meter". Furthermore, "linear_speed" and "distance" parameters mentioned in the JSON structure do not correspond to any information provided in the natural language command.'] +Turn left and move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['1; The natural language command instructs to "turn left and move forward for 5 meters" - the operation describes two actions; rotation and movement. However, the JSON provided only pertains to the "move" operation and does not provide any information about the "rotate" action. The information given in the JSON structure is not fully conforming with the natural language command.'] +Move forward for 5 meters, then turn left.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['2; The JSON structure provided matches with the "Move forward for 5 meters" part of the command, hence it only partially fits the natural language command. The action of \'turn left\' in the command is not reflected in the JSON structure provided.'] +Proceed for 5 meters, then make a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};["1; The natural language command asks for two actions to be performed - moving for a certain distance and then making a left turn. The provided JSON structure only represents the 'move' action and does not include any command for turning left. Hence it is not a complete match with the command."] +Take a left turn and continue moving forward for 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; While the action "rotate" is represented in the JSON structure, it\'s parameters are not specified in the command and hence are assigned null. Furthermore, the command\'s instruction to move forward for 5 meters is not represented in the provided JSON structures.'] +Make a leftward turn and advance for 5 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}};['2; Partially conform. The \'rotate\' action in the JSON response is applicable for the "Make a leftward turn" part of the command however, there\'s no specific angular_velocity or angle given. Moreover the "advance for 5 meters" is not represented in the provided JSON structure at all. The structure provided doesn\'t cover the move action and distance required.'] +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; Mostly conform. While the JSON structure does match the natural language command to rotate clockwise by 180 degrees, the "angular_velocity" parameter is not specified in the natural language command and is therefore null in the JSON. However, this doesn\'t affect the main action of rotating, so the conformity score is still high.'] +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Turn in a clockwise direction by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};["5; The natural language command perfectly matches with the JSON structure command. The action 'rotate' is accurately depicted, along with the correct rotation direction (clockwise) and the 'angle' value (180). Though the 'angular_velocity' value is missing in the natural language command any reasonable value in the JSON is accepted. 'unit' of angle mentioned in the JSON is also not specified in the command, but since it's a common sense unit for angle measure, it can be accepted. So, it is a perfect match."] +Rotate by 180 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4.5; The command almost exactly conforms to the JSON structure except for the missing angular velocity value, however considering the parameter as optional, the rest of the JSON matches the command perfectly.'] +Execute a clockwise rotation of 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure correctly interprets the action to be performed (clockwise rotation) and specifies the correct angle for rotation in the right unit (degrees). While the angular velocity is not specified in the original command, it allows any reasonable value, thus the null here is acceptable. The point missing for a perfect score is due to the action key being "rotate" while in the sample ontology it is "move" and "go_to_goal".'] +Move forward at a velocity of 0.5 meters per second for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};['2; While the "action" key matches and most of the "params" also match (specifically "linear_speed", "is_forward", and "unit"), the "distance" in the JSON does not match the information from the command. Distance was calculated based on time (10 seconds) which is not mentioned in the JSON.'] +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};['2; The speed matches with the command however, there is no time duration mentioned in the command. The command mentions linear_speed however it does not provide any information regarding the direction of the movement (is_forward).'] +Advance at 0.5 meters per second for a total of 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};['3; Partially conforms. The "linear_speed" and "is_forward" values match the natural language command but the "distance" value in the JSON doesn\'t match the command. The command suggests moving for a total of 10 seconds, not 5 meters. The command does not specify a distance to be moved, but a time duration for the action. Therefore, the JSON structure doesn\'t fully align with the command.'] +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};["3; The action 'move' and parameter 'linear speed' match the command, and 'is_forward' is correctly inferred as true. However, the distance is incorrectly derived and the time for the movement is not mentioned in the JSON structure."] +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "duration": 10, "unit": "second"}};['2; The JSON structure partially matches the natural language command. The action "move" and linear speed match. However, the command specification for duration and is_forward are not available in the provided JSON template and therefore cannot be matched. The distance parameter is not mentioned in the command.'] +Turn right and move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command refers to a rotation and a movement action, but the JSON structure only covers the rotation part. Additionally, the "is_clockwise" parameter in the JSON structure is set to false, which doesn\'t match the "Turn right" instruction in the command. The "angle" parameter in the JSON structure does properly match the 90 degree part but the "angular_velocity" is set as null which should have had a reasonable value, hence the script does not fully conform to the command.'] +Proceed forward for a distance of 3 meters after making a right turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": true, "unit": "degrees"}};['2; The natural language command combines two actions: rotation and movement. However, the provided JSON structure covers only the rotation part, thus partially conforming to the command. Movement related part is missing in the JSON.'] +After turning right, continue straight for 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}};['3; The command includes movement which is represented in the JSON. However, the rotation (turning right) part of the command is not reflected in the JSON structure. It misses the "rotate" action. Therefore, the match is partial.'] +Make a right turn and advance for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The natural command matches with the "rotate" action, but not with the mentioned parameters. The clockwise direction isn\'t specified in the command, so it\'s hard to determine whether "right turn" refers to a accurate clockwise rotation. The "angular_velocity" key is not mentioned in the natural language command, so it\'s not clear if the undeclared value in JSON is acceptable. Thus, while the command and structure have a partial match, the lack of specificity results in less conformity.'] +Execute a rightward turn and then travel straight ahead for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['1; The natural language command only partially matches with the JSON structure. The "rotate" action is mentioned in the command but the specific parameters like "angular_velocity" and "angle" are not given in the command. Furthermore, the movement straight for 3 meters is not reflected in any JSON structure.'] +Move backward at a velocity of 1 meter per second for 4 seconds.,{"action": "go_to_goal", "params": {"location": {"type}};['0; The command given does not match with the JSON structure provided. The command is related to move action with linear_speed and time as parameters but the provided JSON structure represents go_to_goal action with location as parameter.'] +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": -4, "is_forward": false, "unit": "meter"}};['4; The information in the command matches mostly with the JSON structure. "Go in reverse" corresponds to "is_forward": false. "Traveling at a speed of 1 meter per second" corresponds to "linear_speed": 1, and "unit": "meter". But "for a duration of 4 seconds" is not mapped correctly to "distance": -4. Duration cannot be directly translated into distance without knowing the speed, which is not specified in the JSON structure. The direction of distance is reversed (-4) presumably to represent the reverse direction, but this is not explicit in the provided ontology.'] +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}};['2; The JSON structure matches the "move" command from the sample ontology and conforms to the parameters. However, the "distance" parameter in the JSON does not match the natural language command, where it refers to a period of time (seconds) rather than a distance. Besides, the concept of \'reverse\' in the natural language command could be interpreted differently in different context, a more accurate representation could be \'is_forward\': False.'] +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second.,{"action": "go_to_goal", "params": {"location": {"type}};['0; The natural language command specifies a backward movement, but there is no corresponding action in the JSON. Moreover, the presented JSON information refers to an action of going to a goal, specifically a location, which is not mentioned in the command.'] +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}};['4; The command somewhat conforms to the JSON structure. The action and parameters match, but the duration of the movement is not specified in the JSON even though it is mentioned in the command. So, the interpretation of how the "distance" value is derived based on the duration of 4 seconds and speed of 1 meter/second may vary.'] +Rotate counterclockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Rotate 270 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Turn left by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Perform a counterclockwise rotation of 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The natural language command specifies a counterclockwise rotation action of 270 degrees, which is exactly matched in the JSON structure: the action is "rotate", the angle is 270, "is_clockwise" is false indicating counterclockwise rotation, and the unit is in "degrees". Although "angular_velocity" is not specified, any value here is acceptable as per instructions.'] +Rotate in the opposite direction by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -270, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Move forward for 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Proceed ahead by a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['4.5; The natural language command exactly matches the JSON structure. Only the "linear_speed" doesn\'t match because its not provided in the command but the assistant has filled in a reasonable value.'] +Advance for a span of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['5; The command "Advance for a span of 2 meters" matches perfectly with the JSON structure. The action "move" and parameter "distance" with value 2 and unit "meter" are correctly reflected in the JSON. The unspecified linear speed and direction (is_forward) are reasonably populated.'] +Travel forward, covering a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command corresponds perfectly with the provided JSON structure, fulfilling all keys as per the sample ontology. The action is "move", the distance is 2 and the direction is forward which is represented by "is_forward": true in the JSON structure. Furthermore, the cycle of movements would be in meters, which matches with the "unit" specified in the JSON structure.'] +Move straight ahead, going 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};["4; The JSON structure correctly represents the action of moving and the direction being forward. However, the specific linear speed isn't mentioned in the natural language command and so it might not be exactly 1 as in the JSON."] +Rotate clockwise by 45 degrees and move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": true, "unit": "degrees"}};['2; The natural language command includes two actions: rotating and moving forward. However, the JSON structure only conforms to the "rotate" action. The \'move\' action is mentioned but isn\'t represented in the provided JSON. The "rotate" action\'s parameters are mostly matching except that the "angle" is mentioned as 45 in the command while represented as "40" in JSON.'] +Move forward for 1 meter while rotating 45 degrees clockwise.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['2; The natural language command describes two actions: moving and rotating. However, the JSON provided only matches with the movement part of the command and does not include the rotation action. The move action in the JSON structure does conform to the move action in the command but missing the rotation action results in only partial conformity.'] +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": true, "unit": "degrees"}};['4; The rotation action is exactly conforming with the sample keys, however the forward movement part is not present in the JSON structure.'] +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": true, "unit": "degrees"}};['2; Partially conforms. The first part of the statement matches correctly with the provided JSON structure (it specifies "rotate", "angle", "is_clockwise", and "unit"). However, the second part of the command "move forward for 1 meter" isn\'t reflected in the JSON.'] +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "}};['2; The natural language command mentions combining rotation and movement, but the given JSON structure only contains the "move" action with parameters not completely matching the natural language command (a distance of 1 meter vs 2 meters in the JSON). Also, there\'s no representation of the rotation action in the JSON structure.'] +Turn left and move forward for 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}};['1; The "move" action in the JSON matches the "move forward" command, but the other parameters such as "turn left" don\'t match the sample ontology. In addition, "3 seconds" was converted to "distance": 3, while in the ontology, distance is not associated with time.'] +Proceed straight for 3 seconds after taking a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "second"}};['1; The natural language command and the JSON structure does not match well. The command is about moving straight for a certain time after turning left but JSON structure is about moving straight for a certain distance, without specifying any actions about turning left. The unit of distance is also misrepresented in the JSON structure as "second", which is a unit of time not distance.'] +Take a left turn and continue advancing for 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};["1; The JSON structure represents a 'rotate' action which matches with the 'Take a left turn' command, but the parameters' values 'angular_velocity', 'angle' and 'is_clockwise' are missing or not correctly represented in the JSON. Also, the command 'continue advancing for 3 seconds' is not represented at all in the JSON structure."] +Make a left turn and proceed forward for a duration of 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['0; The JSON does not conform to the natural language command as it does not include the instructions for the robot to proceed forward for a duration of 3 seconds. The action "rotate" and the associated parameters do not clearly have identifiable values specified in the natural language command.'] +After turning left, move straight ahead for 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The command indicates a "rotate" action and matches the rotate action\'s JSON structure, but there\'s no specified angular velocity or angle. However, the direction of rotation is specified as counter-clockwise (From \'turn left\'). The command also includes a "move" action but no JSON structure corresponds to it.'] +Move backward for 1 meter.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}};['4; Almost conform. Although the command has been converted correctly to JSON, there is no provision for negative value on linear_speed parameter in the sample ontology. Parameters like distance and is_forward are used to define direction, not linear_speed.'] +Reverse direction and travel 1 meter.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command somewhat matches the JSON structure but not quite. The command calls for a reversal of direction and a certain travel distance, but the provided JSON structure indicates a rotation instead of a movement/reversal action (according to the sample keys). The json used for this command should have been the "move" action with "is_forward" set to False. Also the parameters for "angular_velocity" and "angle" are not specified in the command.'] +Go back for a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": -1, "is_forward": false, "unit": "meter"}};['4; The JSON structure conforms to the ontology and follows the action and parameters of the natural language command. However, the direction of the movement (backwards) is interpreted as a negative distance rather than changing the "is_forward" parameter to false.'] +Retreat for 1 meter.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}};['1; The nature of the motion is captured correctly in the JSON because "retreat" implies moving backward which aligns with "is_forward": false. However, it isn\'t clear that the "linear_speed" should be -1 as the command does not specify a speed. The distance is correctly captured as 1 meter. The \'move\' action is also not present in the sample ontology, which has \'go_to_goal\' instead. Therefore the conformity is low.'] +Take one step backward covering a distance of 1 meter.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}};['5; Exactly conform.'] +Rotate counterclockwise by 120 degrees and move forward for 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command fits partially with the JSON structure provided. It correctly maps to the "rotate" action, with 120 degrees and counterclockwise direction. However, the command also includes instruction to move forward for 5 meters, which cannot be represented in the given JSON structure, hence the command is not fully represented in the JSON.'] +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}};["3; Only the 'rotate' action information is covered in the given JSON. The natural language command also includes a 'move' action, but the corresponding JSON is not available. Therefore, the command and the JSON partially match."] +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command partially matches with the JSON structures. The "rotate" action with a 120-degree angle in a counter-clockwise (false "is_clockwise") direction is correct. This JSON also does not specify the "angular_velocity" which is acceptable. However, the natural language command also includes the instruction to "proceed forward for a distance of 5 meters" which is not represented as a "move" action in JSON format.'] +Turn to the left by an angle of 120 degrees and then move forward for 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}};["3; Partially conform. The natural language command partially matches with the 'rotate' JSON structure but it doesn't match with the 'move' JSON structure. There is also an indication to move forward for 5 meters in the command but that information is not represented in the provided JSON. The 'angular_velocity' is undefined in the JSON which is accepted as per the instruction so it doesn't affect the score."] +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command partially matches the JSON structure. The rotation action and parameters are correctly mapped, however the \'move\' action is not represented in the JSON. The \'move\' action, specified as "proceed ahead for a distance of 5 meters" in the command, is missing from the JSON structure.'] +Move forward at full speed for 20 seconds.,}};["0; The natural language command does not conform to any of the example JSON structures, as it gives a measure of time ('seconds'), not velocity or distance as required in the 'move' structure. The 'full speed' command does not correspond to any of the JSON parameters either."] +Proceed ahead at maximum velocity for a duration of 20 seconds.,{"action": "move", "params": {"linear_speed": maximum_speed, "distance": null, "is_forward": true, "duration": 20, "unit": "second"}};['3; The command and the JSON structure partially match. The command talks about moving ahead, which matches with the "move" action in the JSON. Parameters like "is_forward" and "duration" match. However, "maximum speed" is mentioned in the command, while a specific speed (0.5) is provided in the JSON. Also, the distance parameter is null in the JSON but it is not mentioned in the command.'] +Travel straight ahead at top speed for a duration of 20 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": null, "is_forward": true, "duration": 20, "unit": "second"}};['1; The JSON structure partially matches with the natural language command, as the action is "move" and one of the parameters is correct - "is_forward". However, several parameters in the JSON structure such as "linear_speed", "distance" and "unit" don\'t match with the command. "duration" is not defined in the sample ontology keys.'] +Advance forward with utmost speed for a period of 20 seconds.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "duration": 20, "unit": "second"}};['1; The natural language command is partially matching the JSON structure. The action of moving forward is captured, but the "utmost speed" and "period of 20 seconds" is not represented in the JSON structure as it should be. The sample keys do not include a "duration" field under the "move" action, hence lowering the conformity score.'] +Go straight ahead at full throttle for a duration of 20 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": null, "is_forward": true, "duration": 20, "unit": "second"}};["2; The action 'move' in the provided JSON matches with the 'Go straight ahead' command. The parameter 'is_forward' is correctly specified as true. However, 'linear_speed' in the JSON should be interpreted as speed rather than the 'full throttle' since no exact value is provided. The 'duration' (also unit-second) parameter does not exist in the sample ontology. The 'distance' parameter should not have a null value, it could have been any reasonable value."] +Rotate clockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['4; Mostly conform. The command "Rotate clockwise by 60 degrees" accurately matches the provided JSON structure. The "action" and "unit" keys are correct, and the value of the "angle" key is correct. However, the "angular_velocity" is null whereas in the natural language command this velocity is not specified, so any reasonable value is accepted. Specifically, null is showing as a possible acceptable value, hence the score is 4.'] +Turn right by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['4; The JSON structure correctly captures the action and the angle of rotation from the natural language command, but it incorrectly states that the rotation should be counter-clockwise. The natural language command specifies a right turn, which would be a clockwise rotation.'] +Perform a clockwise rotation of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Rotate in a clockwise direction, making a 60-degree turn.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['4.5; Mostly conform. The natural language command matches the JSON information, however the angular_velocity is left as null which may cause issues with the functionality.'] +Rotate to the right, making a 60-degree angle.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['4; The natural language command matches the "rotate" action in the JSON structure which is correct but the angular_velocity is not specified hence it is considered null which is reasonable. The rotation direction of the action is not written literally in the natural language command but assumed as a clockwise direction which makes sense because usually angles are measured in the mathematical direction and the angle of rotation provided equals to the natural language command. Thus, the command is missing one detail ("angular_velocity"), so it does not conform exactly.'] +Move backward at a velocity of 0.75 meters per second for 8 seconds.,NoneThe prompt does not contain any action in the ontology, so it should be ignored.Now give the JSON corresponding to this prompt}};["0; The command is related to movement, but neither the specified 'velocity' nor the 'time duration' conform to the provided JSON structures which defines movement in terms of 'linear_speed' and 'distance'. Additionally, the direction 'backward' is not acknowledged in the JSON structure, which only includes a boolean for moving 'forward'."] +Reverse at 0.75 meters per second for a duration of 8 seconds.,{"action": "move", "params": {"linear_speed": 0.75, "distance": -8, "is_forward": false, "unit": "meter"}};['2; Although the JSON structure is closely aligned with the natural language command, the action is not accurately captured. The natural language command is about reversing movement (implying a negative distance direction) but the distance is calculated incorrectly as the product of speed and time which is not represented in the sample ontology. The "is_forward" key is correctly given the value of \'false\', conveying the backward movement and the "linear_speed" key is correctly assigned as 0.75. However, it is not matching completely with the provided ontology.'] +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["1; The natural language command instructs the system to move, not rotate; therefore the JSON structure doesn't conform to the command. Another issue is the discrepancy in values from those mentioned in the natural language command and those in the JSON."] +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds.,{"action": "move", "params": {"linear_speed": 0.75, "distance": null, "is_forward": false, "unit": "meter"}};['2; The command in the natural language refers to a move action but the distance is expressed in terms of time (8 seconds) rather than distance, so the "distance" key is mismatched. Furthermore, the "linear_speed" value matches but the "is_forward" key is not explicitly stated in the command, although it can be inferred from "Travel backwards". The "unit" key does match with "meters".'] +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds.,{"action": "move", "params": {"linear_speed": 0.75, "distance": null, "is_forward": false, "duration": 8, "unit": "meter"}};['2; Partially conform. The "linear_speed" and "is_forward" values provided in the JSON structure match with those in the natural command. However, the "distance" key is not mentioned in the natural language command and also the \'duration\' key is not in the JSON structure. The \'duration\' key itself is not in the sample ontology. The unit is correctly provided as \'meter\'.'] +Turn right and move forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["3; The action 'rotate' and 'params' such as 'angle' and 'unit' conform to the sample keys. But the 'is_clockwise' key does not perfectly match because the command asks to turn right, which means 'is_clockwise' should be 'true'. Also, the command includes moving forward for 4 meters, which is not presented in the JSON structure."] +Take a right turn and proceed straight ahead for a distance of 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['0; The natural language command involves two actions (turning and moving straight ahead), but the given JSON structure only corresponds to one action (rotating). The parameters of the "rotate" action in the JSON structure also do not fully match with the natural language command. For instance, the "is_clockwise" key is set to false in the JSON, which does not match with the command to "Take a right turn". Furthermore, the natural language command\'s instruction to "proceed straight ahead for a distance of 4 meters" is not represented in the JSON at all.'] +Make a right turn and continue moving forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure partially matches with the natural language command. The "rotate" action is addressed, with the angle suggested and "is_clockwise" correctly interpreted from "right turn". However, a critical part of the command - "continue moving forward for 4 meters" - is not represented in the JSON structure. Additionally, the "angular_velocity" is undefined, which is not acceptable because the natural language command does not provide information to infer a reasonable value.'] +Rotate to the right and advance ahead for a distance of 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['2; The natural language command includes two actions, rotation and movement. However, the provided JSON structure only contains information about the rotation (although incomplete). The portion related to moving ahead for a distance of 4 meters is not included in the provided JSON structure and the parameters for the rotation action ("angular_velocity" and "angle") are not defined in the natural language command.'] +Go to the right and keep moving straight for 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}};['4; The command "Go to the right and keep moving straight for 4 meters" partially conforms with the given JSON structure. While it correctly matches with the "move" action and accurately describes distance, the direction ("Go to the right") is not captured.'] +Move forward for 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The given command matches exactly with the JSON structure. The action is "move", the direction is forward (is_forward: true), and the distance is specified as 3 metres, which all are correctly transcribed in the JSON structure.'] +Proceed straight ahead for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command accurately matches the JSON structure. The "move" action and all parameters ("linear_speed", "distance", "is_forward", and "unit") are exactly in line with the natural language command "Proceed straight ahead for a distance of 3 meters.". Hence, it\'s perfectly reflected in the given JSON structure, thus the score of 5.'] +Advance ahead 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The command "Advance ahead 3 meters" matches the provided JSON structure perfectly, where action is to \'move\', the movement is forward (\'is_forward\': true), and the distance is specified to be 3 units (metres). The linear speed is not specified in the given natural language command, but it has been given a reasonable value in the JSON structure.'] +Go forward a total of 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}};['5; The natural language command precisely corresponds with the JSON structure. It properly specifies the action as "move" and includes the appropriate parameters: a distance of 3, moving forward, and the unit as meters.'] +Travel straight for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};["5; Exactly conform. The command asks for the action of moving forward for a certain distance, and these details are precisely captured in the JSON structure mentioning the action as 'move' and distance as '3' in the mentioned unit 'meter'."] +Rotate counterclockwise by 90 degrees and move forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command corresponds with the JSON structure in terms of the "rotate" action, the "angle", the "is_clockwise" parameter and the "unit". However, it doesn\'t specify an "angular_velocity", and the command to move forward for 2 seconds is not represented in the provided JSON.'] +Turn left 90 degrees and proceed forward for a duration of 2 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; Partly conform. The \'rotate\' action matches well with the natural language command with right parameters such as \'angular_velocity\', \'angle\' and \'is_clockwise\'. However, there is mention of the \'move\' action in the command ("proceed forward for a duration of 2 seconds") which is not represented in the provided JSON structure.'] +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["2; The JSON structure partially matches the first part of the command, however, the 'angular_velocity' key does not have a value, and the second part of the command does not match with the provided JSON structures."] +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; Although the natural language command correctly corresponds to the "rotate" action in JSON, there are missing parameters in the JSON structure ("angular_velocity" is null) and the command includes an extra action ("continue moving forward for 2 seconds") that is not represented in the given JSON sample ontology.'] +Make a left turn of 90 degrees and proceed forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; Partial match. The first part of the command ("Make a left turn of 90 degrees") is accurately represented in JSON. But the second part of the command ("proceed forward for 2 seconds") is not represented in the provided JSON information. Furthermore, the "angular_velocity" parameter value is not specified in the command, so we can\'t confirm its accuracy.'] +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; The natural language command and the JSON structure match exactly. The action "move" is correctly represented in the JSON and the parameters "linear_speed", "distance", "is_forward", and "unit" are properly linked with the corresponding elements in the natural language command.'] +Proceed ahead a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command \'Proceed ahead a distance of 5 meters.\' matches perfectly with the provided JSON structure. The action "move" is correctly identified. Parameters "distance": 5, "is_forward": true, and "unit": "meter" are also appropriately matched. Although the "linear_speed": 1 is not explicitly stated in the command, it\'s a reasonable value.'] +Advance for a total of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['4; The command "Advance for a total of 5 meters" matches well with the given "move" action JSON structure. All parameters from the natural language command is understandable, and the "linear_speed" parameter not specified in the command is given a reasonable value of 1 in the JSON. However, the term "Advance" is not precisely the same as "move" hence a score of 4 is given.'] +Travel straight ahead covering a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Go forward a length of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};["4; Partially conform. The natural language command and JSON structure match in terms of action type 'move' and its parameters 'distance', 'is_forward' and 'unit'. However, 'linear_speed' value in the JSON structure is not mentioned in the natural language command."] +Turn left and continue for 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": false, "unit": "degrees"}};['1; The JSON structure represents a \'rotate\' action in anticlockwise direction with certain parameters. However, the natural language command does not specify the angle nor the speed of rotation but rather commands to turn left and continue for a specified time. Although the "turn left" command matches with the "is_clockwise": false in JSON, the rotation angle and duration specified in the JSON do not match the natural command of continuing for 10 seconds, hence the low match score.'] +Make a left turn and keep going for 10 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command matches with some keys of the "rotate" action in JSON, however, the "angle" parameter is missing. Also, the command mentions a time duration which is not represented in the given JSON structures.'] +Go left and continue for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": false, "unit": "meter"}};["2; The given command instructs to move left, but the JSON indicates a move in a non-specified direction with a distance of 10 meters. The direction 'left' does not equate to the parameter 'is_forward'. Additionally, the command requests the duration of the movement in seconds, which is not represented in the JSON structure."] +Take a left turn and continue for a duration of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The "rotate" action in the JSON structure somewhat matches the "Take a left turn" instruction in the command. However, "continue for a duration of 10 seconds" is not included nor reflected in the given JSON. Furthermore, the JSON schema does not include a duration or time parameter. Additionally, "angular_velocity" and "angle" values are null, which does not completely conform to the instruction.'] +Proceed by turning left and maintaining that direction for 10 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['3; The natural command is being translated into a rotation action, which is correct. Although, "is_clockwise": false seems to be based on an assumption and the natural command doesn\'t specify the clockwise direction. The natural command also specifies a time ("for 10 seconds") but the JSON structure does not represent this, instead, it provides angular velocity and angle keys that have been left as null. These mismatches cause the command not to be fully conformant with the JSON.'] +Rotate counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Turn 90 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Rotate in the opposite direction by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -90, "is_clockwise": false, "unit": "degrees"}};["4.5; The natural language command is translated correctly into JSON structure, it matches the keys in the sample ontology. However, the angular velocity value doesn't necessarily correlate with the given command. The command doesn't specify the velocity, so any reasonable value would be acceptable. The provided value (10) seems arbitrarily large but it is not explicitly contradicted by the command."] +Perform a counterclockwise rotation of 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; JSON structure accurately represents the natural language command of performing a counterclockwise rotation by 90 degrees. However, a default value could be provided for "angular_velocity" instead of null to be entirely conforming to the given example structure.'] +Move in a counterclockwise direction, turning by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Back up 2 meters and stop.,{"action": "move", "params": {"linear_speed": 0, "distance": -2, "is_forward": false, "unit": "meter"}};['2; The action value in JSON and the command instructions partially conform. The command describes the action of moving backward, which is represented through the inversion of the "distance" and "is_forward" values in the JSON. However, the JSON structure does not account for the stopping portion of the command. Furthermore, the "linear_speed" parameter in JSON doesn\'t match with the natural language command as it doesn\'t specify any speed.'] +Move back a distance of 2 meters and come to a halt.,{"action": "move", "params": {"linear_speed": 0, "distance": -2, "is_forward": false, "unit": "meter"}};['4; Structure of JSON matches command, but numerical and boolean values do not exactly conform since they are not given in the command. The direction of movement and halt is assumed.'] +Reverse by 2 meters and come to a stop.,{"action": "move", "params": {"linear_speed": -2, "distance": 0, "is_forward": false, "unit": "meter"}};['3; The natural language command partially conforms to the JSON structure. The action matches as "move" and the "distance" as 2 meters is also correct. However, there\'s no provision in the JSON to indicate coming to a stop. Additionally, "linear_speed" is not equivalent to "distance", so setting "linear_speed" to -2 is incorrect. The "is_forward" key correctly matches to "false" indicating a reverse.'] +Retreat 2 meters and bring yourself to a standstill.,{"action": "move", "params": {"linear_speed": 0, "distance": -2, "is_forward": false, "unit": "meter"}};["4; The JSON structure correctly represents the action 'move' and it contains all the necessary parameter keys as mentioned in the command. But there is a discrepancy in the 'is_forward' value. Though not explicitly mentioned in the command, retreating implies moving backward, hence 'is_forward' should be 'false'. Also, it's assumed speed would not be 0 to perform move, so linear_speed value does not match with the provided natural language command."] +Step backward 2 meters and cease movement.,{"action": "move", "params": {"linear_speed": 0, "distance": -2, "is_forward": false, "unit": "meter"}};['4; The JSON command generally matches with the natural language command, but it only covers a part of it. The JSON command "move" accurately reflects "Step backward 2 meters," but doesn\'t cover "cease movement."'] +Move forward at a speed of 0.5 meters per second for 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}};['3; The natural language command mostly matches the JSON structure. However, the command asks to move for a certain time (6 seconds), rather than a specific distance. The JSON structure requires a "distance" which does not directly correlate with the time given in the command.'] +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "duration": 6, "unit": "meter"}};["3; The action 'move' and 'linear_speed' match, but the natural language command is asking for duration, but the sample doesn't include a duration parameter and distance value is not mentioned in the command. However, 'is_forward' key matches perfectly with 'Proceed ahead'."] +Advance for 6 seconds while maintaining a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "duration": 6, "unit": "second"}};['2; The natural language command partially matches the JSON information. The "linear_speed" and "is_forward" keys correctly match with the command\'s mention of maintaining a speed of 0.5 meters per second and advancing (moving forward). However, the command mentions a duration of 6 seconds, but there is no corresponding key in the provided JSON structure. The distance is specified as null while it\'s not mentioned in the command.'] +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "meter"}};["4; The command asks to move forward with a total distance of approximately 3 meters calculated from (0.5m/s * 6s). However, the JSON indicates moving forward a distance of 6 meters at a speed of 0.5 m/s. The 'is_forward' key and value accurately matches the command. ", "The 'unit' also conforms to the given command."] +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds.,{"action": "go_to_goal", "params": {"location": "Kitchen"}};["0; The command given has the action 'move' with parameters linear_speed, distance and is_forward which is not conforming with the given JSON structure that has the action 'go_to_goal' and parameter location."] +Turn right and move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The command indicates an action of rotation "turn right", and it matches the "rotate" action in the JSON structure. Parameters "angle": 90 and "is_clockwise": false are inferred correctly from the command "turn right". The parameter "angular_velocity" however doesn\'t have a specific value defined in the command, the null value is accepted. But, there\'s no mention of the "move" command and the associated parameters in the JSON structure. hence, the score is 4.'] +Make a right turn and proceed ahead for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['3; The natural language command is partially matched with the JSON structure. The rotate action is represented correctly in JSON along with its parameters except for the "angular_velocity". The command "proceed ahead for a distance of 1 meter" is not represented in the JSON at all.'] +Take a right turn and continue moving straight for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The JSON command accurately captures the \'right turn\' aspect of the natural language command using "rotate" and "is_clockwise": false. However, it does not include the "move" action to address the "continue moving straight for a distance of 1 meter" aspect of the natural language command. Therefore, it partially matches. The angular_velocity is not specified in the natural language command, so a null value is acceptable. The angle is set to 90, assuming a right turn means a 90-degree turn, which is also acceptable.'] +Head to the right and advance forward for 1 meter.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "right"}};["1; The command requests two separate actions (rotate and move), however the provided JSON structure only reflects one action (go to_goal) which only loosely matches the command. Also, the move action with a specific distance isn't reflected in the provided JSON."] +Rotate right and proceed ahead for a length of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};["3; Although the natural command dictates to rotate, it doesn't mention the angle and angular_velocity, but the JSON structure specifies the direction to the right, aligning with the command. Though, the command also includes moving forward for 1 meter, however, that is not reflected in the provided JSON.", ''] +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The natural language command matches with JSON but "angular_velocity" value is not specified in natural language command, however a null value is accepted.'] +Turn in a clockwise direction until you have rotated 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The action command ("rotate") and parameters closely match the natural language command but the "angular_velocity" has not been specified in the language command, hence, it\'s null in the JSON structure.'] +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; The JSON command perfectly matches the natural language command. The action "rotate" properly responds to the demand of a "180-degree clockwise rotation." The parameters including angle, \'is_clockwise\', and unit also align. The angular_velocity is not specified in the natural language command, but it doesn\'t affect the overall conformity given the instructions.'] +Rotate 180 degrees in the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4.5; The rotation command is perfectly matched, including the angle and direction. However, the value for "angular_velocity" is not specified in the command, yet it\'s marked as null in the JSON. According to the guidelines, any reasonable value should be accepted if it\'s not specified in the command.'] +Turn to the right until you are facing the opposite direction.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The natural language command directs an action of rotation which aligns perfectly with the action and parameters described in the JSON structure. The specification of "to the right" and "opposite direction" adequately suggests an angle of 180 degrees and a clockwise rotation.'] +Move backward for 3 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The natural language command talks about moving backward for 3 seconds, but in JSON structure, it tells to move with a negative linear speed and distance parameter is zero with unit mentioned as meters, which does not match with natural language command.'] +Go in reverse for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 3, "unit": "second"}};['2; Although the action of moving is referenced in the command and JSON, the specific parameters called in the command and the JSON structure do not match up in terms of keys mentioned in the command and in the JSON structure. The JSON structure does not contain a key for "duration", and the command does not specify a "linear_speed", "distance", or "unit", while these keys are present in the JSON structure. Moreover, "is_forward": false indirectly matches with the move in reverse direction in the command but the actual "is_forward" keyword is not mentioned in the command.'] +Reverse your movement for a total of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 3, "unit": "second"}};["1; The JSON command partially matches the natural language command. However, the parameters 'linear_speed' and 'distance' are contained in the JSON command but not mentioned in the natural language command. Additionally, the 'duration' parameter is used in JSON, which is not mentioned in the ontology. Also, 'is_forward' value in JSON is false which is correct as command is to reverse but it doesn't mention moving in reverse, it's more of a time duration."] +Backtrack for a period of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The natural language command asks for a \'backtrack\' action, which is not covered in any of the JSON structures, however, they attempt to convert it into the "move" command, which is one of the known actions from the sample ontology. But parameters are not well matched. The "linear_speed" and "distance" are set to 0, which doesn\'t imply any movement. Moreover, the unit and the duration (here implied as \'period of 3 seconds\') are missing in the JSON structure.'] +Take a 3-second step backwards.,{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "second"}};['1; Partial matching is observed in the JSON provided where the action “move” correlates with the command indicating motion. However, the rest of the parameters and values don\'t match between the two. The command speaks of a 3-second step backwards, but there\'s no relation to the JSON\'s parameters, such as linear_speed, distance, is_forward (should have been false, but both are different in format,true/false and forward/backward) and unit (should have been "seconds" but here it\'s "meter"). So, the overall conformity is poor.'] +Turn left and continue for 7 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": false, "unit": "meter"}};['1; The JSON partially conforms with the command. The command asks for a left turn before moving forward, which should involve the "rotate" action from the provided ontology. However, this isn\'t present in the JSON. The "move" action is represented correctly with respect to distance and unit. The "is_forward" parameter should have been true (because the command involves moving forward after a left turn) rather than false.'] +Take a left turn and proceed straight ahead for a distance of 7 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure\'s action key matches with the command as both denote movement. However, most of the parameters are missing or incorrectly listed. "angular_velocity" and "angle" are undefined in the JSON structure, although in principle, taking a left turn translates to certain angular movement. Also, command indicates a certain distance to be traversed, for which JSON lacks information.'] +Make a left turn and keep going for 7 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}};['1; The JSON structure provided partially refers to the command, but only covers the \'make a left turn\' part. The \'keep going for 7 meters\' part of the command is missing in the JSON structure. Also, the values for "angular_velocity" and "angle" are undefined, which does not match with the command.'] +Go left and carry on for a distance of 7 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": false, "unit": "meter"}};["2.5; The direction 'left' is not captured in the JSON representation, though the distance of 7 meters is correctly represented. The command 'is_forward' in JSON does not correspond to 'go left' in the command. The 'action' field has been represented correctly."] +Head to the left and continue for a length of 7 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": false, "unit": "meter"}};["2; The provided JSON structure partially matches the natural language command. The command initiates a movement, 'move' action is correct. The 'distance' value of 7 is correct in the JSON structure. However, the direction in the command (head to the left) does not have a matching key in the JSON structure. Also, 'is_forward' field in the JSON is false, which is not mentioned in the command. Hence, the match is partial not exact."] +Move forward at a speed of 1 meter per second for 4 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['4; The command almost perfectly aligns with the JSON structure. The action "move" matches and all the parameters are present in the command. However, the "distance" parameter is expected to be in meters but in the command, it\'s considered as "time" that\'s why a perfect score isn\'t given.'] +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};["4; The natural language command asked for a specific duration of movement, however, the JSON contains a distance for the action. Given that distance is speed times time, it seems reasonable to assume that the command wanted the robot to move a specific distance (in this case, 4 meters at 1 meter per second). As such, the JSON appropriately matches the nature of the command. However, due to the lack of explicit mention of distance in the command, and instead mentioning time, there's a minor mismatch between the command and the JSON structure."] +Advance for 4 seconds, maintaining a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['4; The JSON structure mostly matches the command with the correct action and most parameters, but the "distance" parameter in the JSON structure should represent the actual distance rather than the time duration for the movement.'] +Travel forward for 4 seconds, moving at a rate of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['4; While the natural language command does specify a forward movement, it mentions the distance as time duration which does not conform perfectly with the JSON structure where the distance is not given in terms of time but length. However, all other parameters & action types match nicely and are clear.'] +For a period of 4 seconds, move ahead at a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command perfectly matches the JSON structure, with the action being "move", specifying the direction as "is_forward": true, the "linear_speed" as 1, and the distance as 4.'] +Rotate counterclockwise by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Change the orientation by 45 degrees in a counterclockwise direction.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -45, "is_clockwise": false, "unit": "degrees"}};['4; The command matches with the "rotate" action, angular velocity is not specified in the natural language command, so any reasonable value given is accepted. The value of "angle" in JSON is in line with the command. However, the value of "is_clockwise" should be \'false\' as the command specifies a \'counterclockwise\' direction, the JSON given has it as \'false\' which is correct but in the command \'counterclockwise\' is not mentioned as negative, which usually denotes counterclockwise rotation.'] +Turn left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};["4; The action in the JSON structure is correct and the parameters 'angle', 'is_clockwise', and 'unit' also perfectly match the command. However, the command does not provide value for 'angular_velocity' and it's set as null in JSON, though this is reasonable but not specific, hence a score of 4."] +Rotate anticlockwise by an angle of 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};["5; Exactly conform. The natural language command exactly matches the JSON command for rotation with the correct parameters, including the direction of rotation (anticlockwise), the angle of rotation (45 degrees), and the unit of the angle (degrees). Although 'angular_velocity' is not specified in the natural language command, any reasonable value in the JSON is accepted."] +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The natural language command specifies an action of rotation in the counterclockwise direction at an angle of 45 degrees. This is accurately captured in the JSON with the "action" as "rotate", "angle" as 45, "is_clockwise" as false (indicating counterclockwise rotation), all of which are existing keys in the ontology. Though the "angular_velocity" is not specified in the natural language command, a reasonable value of 1 is given in the JSON.'] +Go straight for 8 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}};["4; It mostly conforms to the command, however, the 'linear speed' value is assumed to be 1 in the JSON structure as it's not specified in the command."] +Proceed in a straight line for a distance of 8 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}};['5; The command exactly matches with the JSON structure. The action "move" is specified, and all the necessary parameters ("linear_speed", "distance", "is_forward" and "unit") are included and correctly filled in. Therefore, it perfectly complies with the keys in the sample ontology.'] +Continue in a straight direction for a span of 8 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 8, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command perfectly matches the JSON structure as it correctly specifies all the parameters required for the move action.'] +Maintain a straight path for a duration of 8 meters.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};["1; The natural language command gives an action of maintaining a straight path for a particular distance which does not directly match any of the JSON actions but is more associated with the second JSON command 'move'. Moreover, the command does not specify any parameters or a location such as the 'Kitchen' as shown in the JSON structure."] +Stay on course for a distance of 8 meters ahead.,{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command "Stay on course for a distance of 8 meters ahead" is perfectly represented in the JSON structure, where action is "move", linear_speed of 1 (reasonable unspecified value), specified distance of 8, is_forward is true (interpreted from "ahead"), and unit is "meter".'] +Turn right and move forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};["1; The JSON structure loosely matches the command, as there's rotation to the 'right', which could be represented by 'is_clockwise': true if we consider right as clockwise. However, 'move forward for 2 seconds' doesn't match with any actions or parameters. The parameters 'angular_velocity' and 'angle' are also not specified in the command."] +Proceed straight for 2 seconds after making a right turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "second"}};['3; Partially conform. The action \'move\' and parameters \'linear_speed\' and \'is_forward\' match the natural language command. However, the natural language command mentions "2 seconds" which is a duration, not a \'distance\'. Also, the command mentions a \'right turn\' which aligns with the action \'rotate\', but this action content is missing in the provided JSON.'] +Take a right turn and continue moving ahead for a duration of 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": null}, "duration": 2}{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "unit": null}, "duration": 2};['1; The JSON does not conform to the command because of multiple deviations. For instance, the command mentions "Take a right turn" which implies that rotation should be clockwise, but \'is_clockwise\' is set as false. Secondly, the duration is mentioned within the command and should not be present in JSON params of each action.'] +Make a right turn and advance forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['2; Some parameters like "is_clockwise" in the JSON structure match with the command "Make a right turn." However, the command to "advance forward for 2 seconds" is not represented in the JSON structure, and the "angular_velocity" and "angle" parameters are unspecified, leading to a partial match.'] +After turning right, keep moving forward for a period of 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};["2; The JSON structure only partially matches the command. The 'rotate' action matches 'turning right' in the command, but the 'is_clockwise' parameter does not specify an angle, so we don't know how much to turn. The 'keep moving forward for a period of 2 seconds' part of the command is not represented in the JSON structure at all."] +Move backward for 4 meters and stop.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};["0; The provided JSON structure does not match the natural language command in any respect. The command refers to moving backward for a certain distance, which is not reflected in the JSON structure where the action is 'go_to_goal' and location is set as 'Living Room'. There is also no mention of stopping in the JSON, which forms part of the command requirement."] +Reverse for a distance of 4 meters and come to a halt.,{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}};["4; The JSON structure reflects the intent of the command - to move a certain distance in reverse, the parameters: linear_speed, distance, is_forward, and unit fit the requirements of the command. However, it does not fully capture the 'come to a halt' part of the command, but it assumes the robot will stop after it has moved the specified distance."] +Go back for 4 meters and then come to a stop.,{"action": "move", "params": {"linear_speed": null, "distance": -4, "is_forward": false, "unit": "meter"}};['4; The natural language command matches the JSON information but lacks specification of linear_speed which is acceptable but brings the conformity score down to 4 instead of a perfect score. The direction is implicitly mentioned in "Go back" which is correctly reflected in "is_forward": false in the JSON structure. However, the command to "come to a stop" doesn\'t have a corresponding JSON in the provided structures.'] +Take 4 meters in reverse and cease movement.,{"action": "move", "params": {"linear_speed": 0, "distance": -4, "is_forward": false, "unit": "meter"}};["1; The natural language command instructs a backward movement for a certain distance and then to stop. Looking at the JSON structure given, correct keys are used to represent movement (such as 'action': 'move', 'is_forward', 'distance', 'unit'). But 'linear_speed' is implemented but not mentioned in the command."] +Travel in the opposite direction for a distance of 4 meters and then pause.,{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}};['3; While the JSON correctly identifies the action "move" and the parameter "distance", it inaccurately sets "linear_speed" to 0, which contradicts with the directive "Travel in the opposite direction". The parameter "is_forward" is correctly set to false as per the "opposite direction" command. However, "pause" action isn\'t represented in the JSON structure.'] +Rotate clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The natural language command perfectly corresponds to the provided JSON structure in the "rotate" action, even though the "angular_velocity" is null.'] +Turn to the right by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['4; The JSON structure almost perfectly matches the command, the only discrepancy is "is_clockwise" parameter. It is stated to be "false" in the JSON whereas the command specifies a clockwise turn.'] +Move in a clockwise direction, rotating 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['5; The natural language command matches perfectly with the given JSON information. The action specified is "rotate", which is correctly reflected in the JSON structure. Additionally, the parameter values in the command ("clockwise" direction and 270 degrees) are also accurately represented in the JSON structure. The "angular_velocity" is not specified in the command, but as per the instructions, any reasonable value is accepted. Therefore, the conformity score is 5.'] +Spin in a clockwise manner, completing a 270 degree rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['4.5; The natural language command and the JSON structure match for the most part correctly, with action as "rotate", angle as 270, is_clockwise as true, and unit as degrees. The angular_velocity is not specified in the natural command, which is excellent under the provided guidelines as any reasonable value in the JSON structure is accepted when the value is not specified in the command. However, a score of 5 cannot be granted as the "null" value for the angular_velocity is not a "reasonable" placeholder.'] +Rotate by 270 degrees in a clockwise fashion.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['5; The JSON structure correctly captures the action ("rotate"), angle (270), direction (clockwise) and units (degrees). Although the natural language command does not specify the angular velocity, a null value is accepted as per the instructions.'] +Turn left and continue for 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}};['3; The natural language command talks about a movement and turning, hence it aligns partially with the "move" action but "rotate" action is missing. The distance matches but the "is_forward" is incorrectly set to false where it should be true after a left turn. The command does not mention about the direction of movement (forward or backward), but movement after a turn usually implies moving forward. Linear_speed, though not mentioned in the command, is a reasonable value. The left turn isn\'t addressed in the JSON.'] +Make a left turn and keep going for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['2; Partial conformity. The natural language command instructs a left turn which is conveyed by the "action" of rotate and "is_clockwise" as false in the JSON structure. However, the command also asks for moving a specific distance which is not part of the provided JSON structure.'] +Proceed straight for 3 meters after making a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};['1; The natural language command also includes an action of rotation which is not represented in the JSON. The action "move" matches with the JSON structure but the rest of the command ("making a left turn") is not represented.'] +After turning left, travel straight for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command is not entirely represented in the JSON format provided. Only the "turning left" part of the command is depicted, indicating a counter-clockwise rotation (assuming standard directional orientations). However, the rotation\'s velocity and angle are not provided in the command, thus they remain null in the JSON. Additionally, the command\'s second part - "travel straight for 3 meters" has not been converted to JSON at all.'] +Take a left and continue on for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}};["1; The natural language command 'Take a left and continue on for a distance of 3 meters' is not directly compatible with the JSON structure. The provided JSON structure represents forward movement, whereas the command includes a direction (left). However, the distance aspect is correctly represented in the JSON."] +Move forward at a speed of 0.3 meters per second for 5 seconds.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}};['3; Partially conform. The JSON structure correctly represents the action to move and the direction to go forward with a specific speed, but the calculation of distance is incorrect. The command did not specify a distance but a duration of 5 seconds, which is not represented in the JSON.'] +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": null, "is_forward": true, "duration": 5, "unit": "meter"}};['2; While the natural language command includes instructions to move at a certain speed, the corresponding JSON structure does contain the correct action ("move") and "linear_speed" param sub-key. However, the command introduces the parameter "duration" which doesn\'t exist in the ontology\'s sample keys, and lacks the "distance" and "is_forward" parameters. Besides, the use of "duration" is not entirely correct as the JSON expects the input of a distance, not time.'] +Advance at a rate of 0.3 meters per second for a period of 5 seconds.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}};['4; The values in natural language commands and in the JSON structure are matching. However, there is a slight inconsistency how distance is computed in the command and in the JSON structure. In the command, it implicitly mentions a distance value of 1.5 meters (computed by multiplying speed and time) but in the JSON structure, the same value is represented explicitly, introducing slightly small ambiguity.'] +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 1.5, "is_forward": true, "unit": "meter"}};["4; The command somewhat matches the JSON, as it refers to moving forward at a certain speed which is implied in the JSON structure. However, the duration of this action is defined in the command but not reflected in the JSON. Instead of duration, the JSON structure uses 'distance' as a measure."] +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": null, "is_forward": true, "duration": 5, "unit": "meter"}};["2; The natural language command partially matches with the JSON structure. The 'go straight ahead' corresponds with the 'is_forward' key in the motion JSON. The 'velocity' should be 'linear_speed' in the JSON, that matches. However, the command mentions a specific duration which is not accounted for in the provided JSON structure, and the command does not specify a distance which is required in the JSON structure. Thus, it is incompletely conforming the provided ontology."] +Rotate counterclockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};["5; Exactly conform. The command corresponds directly with the JSON structure, including the correct action verb, the 'rotate' parameters have been conformed with the keys followed by the correct values. The conversion has been done efficiently as per the given sample ontology."] +Turn 60 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};["5; Exactly conform. The natural language command specifies an action 'Turn' which matches to 'rotate' action in JSON. Parameter '60 degrees' maps correctly to 'angle' and 'unit' in JSON. It additionally specifies direction as 'counterclockwise' which conforms to 'is_clockwise': false in JSON. Angular velocity wasn't specified in the command thus null is correctly used in JSON."] +Rotate in the opposite direction by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -60, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command matches with the JSON in terms of the action ("rotate") and units ("degrees"). However, the "angular_velocity" is specified in JSON but not in the command. Also, it is hard to determine if "opposite direction" means "is_clockwise" should be false, but it seems a reasonable interpretation.'] +Rotate to the left by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['4; The rotation action and parameters match quite well. However, the "angular_velocity" parameter is not provided in the natural language command so it is null in the JSON, decreasing the conformity score slightly.'] +Make a counterclockwise rotation of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Go straight for 6 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": true, "unit": "second"}};['2; Although the desired action in the natural language command is accurately depicted in the JSON structure, the parameters in the command and the JSON do not match. First, the command specifies a duration, not a distance, whereas the "distance" parameter in the JSON indicates a distance measurement. Additionally, the given JSON structure has a "unit" of "second" when the provided ontology does not specify "second" as an acceptable unit for the "move" action.'] +Proceed in a straight line for a duration of 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}};['4; The command "Proceed in a straight line for a duration of 6 seconds." matches the JSON structure in the action "move" with parameters of linear speed and forward direction, but it\'s slightly inconsistent with the structure. The command refers to a time duration (6 seconds), while the JSON structure indicates a distance parameter. However, given the absence of a time parameter in the JSON, it\'s interpreted that the distance units could be in time, making it reasonably conform.'] +Keep moving forward in a straight path for 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}};['2; The action "move" and the parameters "linear_speed" and "is_forward" match, but "distance" is incorrectly interpreted as time (seconds), it should be a measure of length (meters) according to the ontology. The \'unit\' value does not match the \'unit\' key in the JSON structure since time is used instead of distance. Hence, the conformity is partial.'] +Maintain a straight course for 6 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}};['1; The command talks about maintaining a course for specific time ("6 seconds") but does not provide sufficient detail such as speed or direction (forward or reverse), also the time unit is not represented in the JSON. The JSON structure does not use a "time" attribute in the move action but instead, it consists linear_speed and distance. Therefore, the instruction in natural language and the JSON structure partially match.'] +Continue in a straight direction for a period of 6 seconds.,{"action": "rotate", "params": {"angular_velocity": 180, "angle": 360, "is_clockwise": false, "unit": "degrees"}};['1; The command is asking to continue in a straight direction, which suggests some form of movement action. However, the provided JSON structure represents a rotation action, which does not align with the given command. The parameters in the JSON structure also do not match any information provided in the natural language command. Hence, there is only a slight match between the command and the JSON information.'] +Turn right and move forward for 7 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['3; The JSON partially matches the command. The "rotate" action with "is_clockwise": false is implicit in the "Turn right" of the command. But there is no corresponding "move" action in the given JSON as it fails to capture "move forward for 7 meters" in the command.'] +Take a right turn and proceed straight ahead for a distance of 7 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Make a right-hand turn and continue moving forward for a length of 7 meters.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['3; The given JSON structure partly corresponds to the natural language command. The command "Make a right-hand turn" is correctly reflected in the JSON command"rotate" and "is_clockwise": false matches it. However, The "angle" and "angular_velocity" values in the JSON don\'t match to the natural language command because the command does not specify these parameters, but the values provided are reasonable. The second part of the command "continue moving forward for a length of 7 meters" is not reflected in the JSON.'] +Head to the right side and advance for a distance of 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}};['3; The JSON structure does correctly execute an action of moving a specific distance, which matches part of the command. However, the command specifies the direction as "to the right side", which is not reflected in the JSON structure.'] +Rotate to the right and travel straight for 7 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};["2; The JSON contains the 'rotate' action but the 'angle' and 'angular_velocity' are not specifically provided in the command, also 'unit' being 'degrees' is not mentioned. Moreover, the portion of the command asking to travel straight for 7 meters isn't represented in the JSON at all."] +Move 2 meters forward.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command "Move 2 meters forward" directly matches with the JSON structure. All keys from the command language (linear_speed, distance, is_forward, unit) are present and with correct value assignment.'] +Proceed straight ahead by a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['4; The natural language command matches perfectly with the JSON command, except for the "linear_speed" parameter not being specified in the command, so the JSON structure\'s value is accepted.'] +Advance 2 meters in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command matches the JSON structure accurately. The command is asking for a forward movement, matching "is_forward": true in the JSON structure. A distance of 2 is correctly indicated by "distance": 2, and "unit": "meter" conforms with "2 meters". The unspecified linear speed is reasonably filled with 1 in the JSON, which makes sense in the command context.'] +Take a step forward for a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Move straight ahead, covering a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['5; The command matches exactly with the provided JSON structure. All the parameters: action (move), distance (2), is_forward (true), and unit (meter) are specified in the command. The linear speed is not specified in the command but since any reasonable value is accepted, the score is 5.'] +Turn left and move forward for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};["3; The command partially converts into JSON. The 'rotate' action is correct and the 'is_clockwise' parameter with a 'false' value suggests a left turn. However, 'angular_velocity' and 'angle' parameters are null, they should be assigned reasonable values. The 'move' part of the command is not covered in the JSON structure."] +Move forward for 5 seconds after turning left.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "second"}};["1; The JSON structure depicts an action of moving forward for a certain distance at a certain linear speed, not moving for a certain number of seconds. Also, there's no mention of turning left in the JSON structure."] +After making a left turn, proceed forward for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; There are two commands suggested in the natural language command - a rotation ("making a left turn") and a movement ("proceed forward for 5 seconds"). However, the JSON only accounts for the rotation and leaves out the "move" command entirely. Additionally, it doesn\'t specify the angle or angular_velocity for the rotation, which are critical for execution. Hence, the JSON does not effectively represent the original command.', ''] +Take a left turn and continue moving forward for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['0; The JSON structure does not match with the command. Natural language command tells to rotate and move forward, but the JSON structure only involves rotation. Also, the parameters in the JSON structure are not accurately represented in the natural language command. For example, "angle" and "angular_velocity" are null in the JSON, but it\'s not indicated in the command whether the rotation is in degrees or any other units.'] +Start moving forward for 5 seconds after making a left turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["2; The natural language command includes rotation, which aligns with the JSON script. But the command also includes moving forward, which isn't represented in the JSON. The 'go_to_goal' action might've been suitable, but there's no 'Kitchen' location mentioned in the command."] +Rotate counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['4; Almost conform. The \'angular_velocity\' parameter in the JSON structure is 1, which is a reasonable value but was not explicitly specified in the natural language command. The \'angle\' parameter value was specified and converted correctly, as well as the direction of rotation. The \'unit\' parameter was assumed to be "degrees" in the JSON structure since the command did not specify the unit, which is also correct.'] +Rotate 90 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Perform a counterclockwise rotation of 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The command roughly matches the JSON command structure but angular_velocity is given null value in JSON whereas it is not specified in natural language command.'] +Rotate by 90 degrees in the counterclockwise direction.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['4; The command correctly matches the "action" and "params" keys. The "rotate" action, "angle", "is_clockwise", and "unit" keys match perfectly with the command. The "angular_velocity" key is not mentioned in the command, thus any reasonable value in the JSON, like 1 in this case, is accepted. The value for "is_clockwise" is inferred as false, although the command says "counterclockwise". The "angle" value is acceptable but doesn\'t exactly match the command\'s "90 degrees" because it is given as -90, meaning a clockwise rotation in programming, though the sentence refers to a counterclockwise motion.'] +Turn left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The natural language command perfectly matches with the JSON structure in which the action is to rotate, the angle is specified as 90 with the unit in degrees, and the direction is counter-clockwise signified by "is_clockwise": false.'] +Move 3 meters backward.,{"action": "move", "params": {"linear_speed": -3, "distance": 3, "is_forward": false, "unit": "meter"}};['3; The action in the command and the JSON structure match. However, the command calls for backwards motion while the "is_forward" key in the JSON structure is false, which doesn\'t match. Also, the "linear_speed" key in the JSON structure is set to -3, which is different from the unspecified value in the command. However, the negative speed is presumably used to represent backwards motion, which aligns with the command. Furthermore, the "distance" key correctly matches the command.'] +Go back 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -3, "is_forward": false, "unit": "meter"}};['4; The natural language command is almost entirely conform to the JSON structure. However, the linear speed is not specified in the command and thus a score of 5 cannot be given. The is_forward parameter being set to false accurately reflects the command to "go back" instead of forward. The distance is correctly set to 3 to reflect "3 meters". The action is correctly set to "move". The unit being "meter" is correct. But, due to the undefined speed, a point is deducted.'] +Retreat 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -3, "is_forward": false, "unit": "meter"}};['2; Partially conform. The action "move" and the "unit" and "distance" parameters match with the natural language command. However, the "linear_speed" has a incorrect value stated in the JSON format (it should not be zero for the robot to move) and "is_forward" is false instead of true as implied by "retreat" in the command.'] +Step 3 meters in reverse.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}};['5; Exactly conform.'] +Travel in the opposite direction for 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}};['4; The JSON matches the natural language command fairly well in terms of conveying the action of moving a certain distance in the reverse direction. However, the linear speed is not mentioned in the command but is specified in the JSON, causing a minor discrepancy. However, JSON structure is correct and the unspecified value is reasonable.'] +Turn right and move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['1; The JSON structure has the correct action of "rotate", however, the direction of turning is incorrect. The command specifies to "Turn right", which would require the "is_clockwise" parameter to be true. The distance for the move portion of the command is not represented in the JSON.'] +Take a right turn and proceed straight ahead for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command partially matches with the JSON command. The robot is instructed to turn and this matches with the "rotate" action in the JSON. However, the difference lies in the direction of the turn - the natural language command mentions a \'right turn\' which suggests a clockwise rotation, but the JSON structure indicates the rotation as counter-clockwise. The JSON structure doesn\'t include the command of moving straight ahead for a certain distance. The angle of rotation matches perfectly. The angular velocity is not specified in natural language command, hence null is acceptable.'] +Make a right turn and advance ahead for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command partially matches the JSON structure. The \'action\' and \'unit\' keys fit, and the \'angle\' key of \'90\' degrees also matches the right turn command. However, the \'angular_velocity\' key is undefined in the JSON whereas it should have a value, and \'is_clockwise\' is set to \'false\', which contradicts to \'right turn\' in the natural language command, it should be \'true\'. The second part of the command ("advance ahead for a distance of 1 meter") is not represented in the JSON structure at all.'] +Head to the right and continue moving forward for 1 meter.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The natural language command asks for a specific movement, however, the provided JSON structure describes an action of going towards a specific location (Kitchen) which does not match the command.'] +Rotate to the right and proceed in a forward motion covering a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['2; Part of the natural language command matches with the JSON structure namely the "rotate" action and "is_clockwise": true. The JSON structure for the "move" action is missing. Further information like "angular_velocity" and "angle" are not specified in the natural language command.'] +Go to the living room and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}};['0; The JSON structure does not conform to the natural language command. The command is to "Go to the living room", but the JSON structure specifies a rotation action. Also the "go_to_goal" action with a "location" parameter is missing in the JSON structure.'] +Please proceed to the living room and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};['4; Although the natural language command and the JSON structure contains the same action "go_to_goal", the parameters slightly differ. The command refers to the \'Living Room\' whereas the JSON structure indicates \'Kitchen\'. It\'s a close match but not exactly the same. Also, the command to halt is not represented in the JSON.'] +Make your way to the living room and cease moving.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['1; The action "go_to_goal" is used correctly in the JSON but the location parameter value in the natural language command and the JSON information do not match. The command mentions "living room" while the JSON data refers to "Kitchen".'] +Head to the living room and stand still.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};['5; Exactly conform. The natural language command instructs to move to a certain location, which is encapsulated correctly in the JSON structure. The location ("Living Room") in the command corresponds with the "value" field in the JSON. The action "go_to_goal" is also correctly represented in the JSON structure.'] +Move towards the living room and come to a stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};["0; The natural language command instructs the system to move to a specific location, which should correspond to a 'go_to_goal' action in the JSON ontology. However, the provided JSON structure corresponds to a 'move' action and does not provide the correct parameters to fulfill the command."] +Move 4 meters forward at a speed of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}};['4; The natural language command matches the JSON data, however, the value of "linear_speed" parameter in the JSON command is 0.5, whereas the natural language command specifies a speed of 2 meters per second.'] +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}};['Score: 5; Justification: The natural language command exactly describes the action "move" with specified parameters such as "linear_speed", "distance", "is_forward" and "unit" in the JSON structure.'] +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 2, "distance": 4, "is_forward": true, "unit": "meter"}};["4; Almost conforming. The JSON correctly represents the action and parameters from the natural language command. However, the 'linear_speed' value in the JSON structure is 2, while in the natural language command the robot is instructed to move at a rate of 2 meters per 'second', but the given unit in the JSON structure is 'meter', not 'second'."] +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Turn 180 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; The command "turn 180 degrees in a clockwise direction" perfectly matches the JSON structure for the action "rotate", with the parameters: "angle" set to 180, "is_clockwise" set to true, and "unit" set to "degrees". The "angular_velocity" isn\'t specified in the command, but its presence in the JSON doesn\'t compromise conformity since it accepts null or any reasonable value.'] +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The JSON structue matches with the natural language command stating a clockwise rotation of 180 degrees. Although angular_velocity is not specified in the command, it is accepted as per guidelines provided.'] +Rotate by 180 degrees in the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};["5; The JSON structure exactly conforms to the natural language command. The action 'rotate' is correctly identified. Parameters such as 'angle', 'is_clockwise' and 'unit' are also correctly identified with appropriate values. 'Angular_velocity' is not mentioned in the command but its null value in JSON is acceptable as per the instruction."] +Turn in a clockwise fashion, rotating 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; Almost conform. The given JSON structure correctly represents the command \'Turn in a clockwise fashion, rotating 180 degrees.\' However, in the JSON structure "angular_velocity" is null, while it should have a reasonable value.'] +Turn left and move forward for 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};['2; The JSON structure partially matches the command, with parameters such as "move", "distance", "is_forward". However, "linear_speed" is not specified in the command and the "rotate" command is completely missing in the JSON structure.'] +Make a left turn and proceed straight ahead for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command is partly matched to the JSON command since it includes a rotation (Make a left turn) which is conveyed in JSON as "is_clockwise": false in the action "rotate". However, proceeding straight for 3 meters isn\'t represented in the JSON command, hence, it doesn\'t fully match the natural language command. The parameters "angular_velocity" and "angle" are also not specified in the natural language command.'] +Take a left and continue moving forward, covering a span of 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "meter"}};['4; Mostly conform. The JSON structure corresponds to command "continue moving forward, covering a span of 3 meters", but it doesn\'t cover the "Take a left" part of the command, which would require rotation object in JSON.'] +Rotate to the left and advance for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['3; Natural language command specifies two actions which are \'rotate\' and \'move\'. However, JSON provided only refers to action \'rotate\' with given parameters. But there is no \'move\' action details are given in JSON, and the values for "angular_velocity" and "angle" are missing in the JSON structure. Therefore, it is a partial match, but it does match the general structure and keys used in the ontology sample.'] +Shift towards the left and travel straight for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": , "distance": 3, "is_forward": true, "unit": "meter"}};['2; The natural language command partially aligns with the JSON command. The action of moving is mentioned and the unit and distance parameters are correctly identified. However, the linear speed parameter is not specified in the natural language command, but it appears in the JSON command without a value. Additionally, there is a "shift towards the left" action in the natural language command that does not conform with the provided JSON commands.'] +Move 2 meters backward at a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": -0.5, "distance": 2, "is_forward": false, "unit": "meter"}};['3; Partial match. The action in the command correctly corresponds to the "move" action in the JSON structure. However, the direction of movement is "backward" in the command and "is_forward" is true in the JSON, which doesn\'t align. The "linear_speed" and "unit" parameters match, but "distance" is not directly specified in the JSON, making it a partial match.'] +Back up 2 meters with a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": -2, "is_forward": false, "unit": "meter"}};['4; The natural language command and the JSON structure have high conformity. The natural language command informs the action of "move", the linear speed of 0.5, and the distance of 2 meters which perfectly match with the JSON structure. However, the direction of movement indicated by "back up" is not considered in the JSON. The JSON structure interprets "back up" as "is_forward": false, which is reasonable but not exactly specified in the command. As such, a score of 4 is suitable.'] +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The natural language command instructs the bot to move in reverse for a specific distance and speed. This loosely maps to the "move" structure with proper tuning of parameters, but given the provided JSON information, it does not match with going to the "Kitchen", which is specified in the provided JSON structure. Therefore, the score is 0.'] +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}};['5; The natural language command requests a specific action (moving backwards), with a specified speed (0.5 m/s) and distance (2 meters). All these details are accurately reflected in the JSON structure, matching the keys of the sample ontology, which makes the command and the JSON exactly conform to each other.'] +Travel backwards at 0.5 meters per second, covering a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}};['4; The natural language command instructs for a backward movement, which correctly matches with the "move" action in JSON structure, as well as the "linear_speed", "distance" and "unit" parameters. However, the parameter "is_forward" is specifically mentioned as false, which conforms to the command but not listed in the JSON command provided initially.'] +Go to the bedroom and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}};["0; The JSON structure does not match the natural language command. The command is asking to 'go to the bedroom and stop' but the JSON structure is about rotating with certain parameters."] +Please proceed to the bedroom and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};['3; The action "go_to_goal" and the parameter "location" are matching with the given JSON, but there is an extra command to \'come to a halt\' which is not represented in the JSON.'] +Make your way to the bedroom and cease your movement.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};['2; The natural language command partially matches with the "go_to_goal" action in the JSON structure as the robot is being asked to go to a specific location (the bedroom). However, the command also includes a stop action ("cease your movement") which doesn\'t match any of the actions provided in the JSON structures.'] +Head to the bedroom and pause.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};['2; The natural language command matches partially with the JSON structure. The "go_to_goal" action matches with the command of heading to a specific location. However, the "pause" command doesn\'t have a corresponding JSON structure in the sample provided, thus it is not fully conformant.'] +Go to the bedroom and stand still.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};["4; The command 'Go to the bedroom and stand still' partially matches with the JSON structure. The 'go_to_goal' action and 'location' parameter are correctly mapped to the bedroom. However, the command to 'stand still' doesn't exist in the sample keys and has not been converted to JSON, hence the score isn't a full 5."] +Rotate counterclockwise by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The natural language command "Rotate counterclockwise by 45 degrees" matches perfectly with the given JSON structure. The action is "rotate", the rotation angle is 45 clearly defined in the command, and the direction "counterclockwise" corresponds to "is_clockwise": false in JSON. Although the angular velocity value isn\'t provided in command, the specified value in JSON is accepted.'] +Turn 45 degrees in the counterclockwise direction.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['5; The command "Turn 45 degrees in the counterclockwise direction." is perfectly mirrored in the given JSON structure. The "action" of "rotate", the param "angle" of 45, and the direction "is_clockwise" being false (indicating counterclockwise), all accurately reflect the command.'] +Rotate anticlockwise at an angle of 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['4; The command matches the JSON structure well, but the value for "angular_velocity" is null because it is not specified in the natural language command. However, as per the provided instruction, any reasonable value in the JSON is accepted if a parameter\'s value is not specified in the natural language command. Thus, it mostly conforms to the sample keys and structure.'] +Rotate left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['4; Nearly conforms. The values for "angular_velocity" and "is_clockwise" are correctly specified, the "angle" is correctly specified as 45. However, the JSON includes a rotation direction ("is_clockwise": false) which matches the command\'s \'left\' instruction but isn\'t explicitly defined in the command.'] +Perform a 45-degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['4; Mostly conform. The action and parameters are accurate in relation to the command, but the "angular_velocity" value is null instead of a numerical value. As per the given information, it could be any reasonable value, not necessarily null.'] +Turn right and move forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The command mentions turning right and moving forward for 4 meters. The JSON statement includes an action to rotate, which could correspond to turning right, and the parameters include angle and direction (clockwise), but there is no specification for the angular_velocity in the command. The command does not mention anything about moving forward after the rotation which is missing in the JSON. Therefore, the command and the JSON partly conform to each other.'] +Proceed forward for a distance of 4 meters after making a right turn.,{"action": "move", "params": {"linear_speed": 0.25, "distance": 2, "is_forward": false, "unit": "meter"}};['1; The JSON structure partially matches the command. The direction of movement, distance, and unit have been correctly identified. However, the linear speed set in the JSON does not match any information provided in the command, and the is_forward property is set to false, contradicting the command to proceed forward.'] +Take a right and continue moving ahead for 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "meter"}};['2; The command includes a "rotate" action ("take a right") and a "move" action ("continue moving ahead for 4 meters"). The given JSON represents only the "move" action, which matches with the second part of the command. However, it does not cover the "rotate" action, hence the partial conformity. Also, the rotation direction ("right") and value are not taken into consideration in the JSON structure.'] +After making a right turn, advance straight for a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 0.25, "distance": 2, "is}};['1; The natural language command includes a rotation action ("making a right turn") that is not represented in the JSON structure at all. Moreover, the "move" action is only partially represented in the JSON, since the movement distance mentioned in the command (4 meters) is different from the one in the JSON (2 meters). However, the general action of moving forward is represented, thus the score is not 0.'] +Make a right-hand turn and proceed forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['3; The natural language command is asking for a rotation and then a movement forward. The provided JSON only covers the rotation part of the command ("right-hand turn"), and it is partially incorrect due to "is_clockwise" should be true for a right-hand turn. Thus, only part of the command is correctly represented in the JSON structure.'] +Move 1 meter forward at a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Proceed ahead by 1 meter with a velocity of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};["4; The JSON structure correctly represents the action as 'move', and the parameters 'distance', 'linear_speed' and 'unit' match as well. However, the 'is_forward' parameter in the JSON is not mentioned in the natural language command, hence slightly reducing conformity."] +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['5; This natural language command and JSON structure both depict an action of moving forward at a certain speed for a certain distance, with all the necessary parameters provided and conforming to the sample ontology keys.'] +Go one meter ahead, moving at a rate of one meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Travel forward for 1 meter while maintaining a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The JSON correctly maps the instruction to move forward in a straight direction with a specified speed and distance.'] +Rotate clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['5; The JSON and the natural language command are exactly matched. The action "rotate" is clearly specified as well as the parameters "angle", "is_clockwise", and "unit" which correspond with the natural language command "Rotate clockwise by 270 degrees."'] +Turn 270 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['4; The action in the command matches correctly with the JSON structure. The parameters “angle” and “is_clockwise” also match perfectly, however, the "angular_velocity" value is missing in the natural language command but it is present in the JSON which leads to a slightly lower score.'] +Rotate by 270 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};["5; The JSON structure perfectly matches the command. 'Rotate' is a valid action according to the provided keys, 'angle' parameter value corresponds to '270 degrees' mentioned in the command, 'is_clockwise' is confirmed by 'in a clockwise manner', and 'unit' is suitable as 'degrees'. 'Angular_velocity' is not specified in the command but a null value is accepted as per the guidelines."] +Execute a clockwise rotation of 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The command asks for a specific action (rotation), direction (clockwise), and units (degrees), and all of these variables are present and correctly filled in the JSON. The "angular_velocity" isn\'t specified in the command, but is correctly left as null in the JSON.'] +Shift the orientation by 270 degrees in a clockwise fashion.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The natural language command \'Shift the orientation by 270 degrees in a clockwise fashion.\' exactly matches with the JSON command by specifying action as "rotate", angle as "270", the direction as "clockwise" and unit as "degrees". Angular_velocity is not specified but is accepted as a reasonable value for rotation.'] +Turn left and move forward for 2 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "second"}};['1; The natural language command says "Turn left and move forward for 2 seconds." which does specify a move action, but it also specifies a rotation (turning left) which is not represented in the JSON. The "distance" value in the JSON is assigned as 2 but in the natural language command, \'2 seconds\' doesn\'t necessarily pertain to distance. As such, it doesn\'t conform well to the sample ontology.'] +Proceed forward for 2 seconds, then make a left turn.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "second"}};["2; The natural language command refers to a 'move' action, which is correctly represented in the JSON structure. However, the 'rotate' action for the left turn is missing. Furthermore, 'distance' is given in time units (seconds), whereas the ontology assumes a spatial unit (meters)."] +Take a left turn and continue moving straight ahead for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The command does match the "rotate" action in the provided JSON structure, but missing information like "angular_velocity" and "angle", and also the command is not matched with other provided structures in the sample.'] +Make a left turn and drive forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The command involves a two-part action - a rotation (left turn) and a forward movement. The JSON structure provided only represents the rotation part partially. There are null values for "angular_velocity" and "angle" parameters which should have been given some values. The "is_clockwise": false corresponds to a left turn. However, the forward movement mentioned in the command is not represented in the JSON structure. Hence, the JSON structure is non-compliant to a large extent.'] +After turning left, continue moving straight for 2 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "second"}};['1; The natural language command requests the action of moving straight for two seconds, which is partially reflected in the JSON structure. However, the key "unit" in the JSON is wrong. It should be \'time\' instead of \'second\'. The command also includes the action of turning left, but this is not represented in the JSON at all.'] +Move 3 meters backward at a speed of 1.5 meters per second.,{"action": "move", "params": {"linear_speed": -1.5, "distance": 3, "is_forward": false, "unit": "meter"}};['5; The natural language command perfectly matches with the JSON structure, both the action and parameters, like the linear speed, distance, moving direction (interpreted as is_forward key) are appropriately provided.'] +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.2, "distance": 2, "is_forward":}};["1; The action 'move' and the parameters' keys 'linear_speed', 'distance' and 'is_forward' are matching. However, the values of these parameters from the natural language command do not match the ones from the JSON structure. The 'unit' parameter is missing in the JSON which is essential considering the command specifies the velocity and distance in meters."] +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second.,{"action": "move", "params": {"linear_speed": 1.5, "distance": 3, "is_forward": false, "unit": "meter"}};['5; Exactly conform.'] +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second.,{"action": "move", "params": {"linear_speed": 1.5, "distance": -3, "is_forward": false, "unit": "meter"}};['4; The natural language command matches well with the JSON structure, as both indicate a moving action. However, instead of a retreat action, the JSON action is "move" and the parameter "is_forward" is not explicitly mentioned in the natural language command but assumed from the context (retreat). The "linear_speed" and "distance" values match perfectly between the command and JSON.'] +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second.,{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": true, "unit}};['1; The command dictates a backwards movement but the JSON structure indicates a forwards motion ("is_forward" = true). The distances given don\'t match (3 versus 2) and the command specifies a speed which isn\'t included in the JSON structure. Despite these issues, the command can still be generally categorized under the "move" action.'] +Go to the dining room and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}};["0; The natural language command 'Go to the dining room and stop.' does not match with the provided JSON command for rotation. The JSON command of 'go_to_goal' would have been more appropriate."] +Proceed to the dining room and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}};['2; The natural language command matches with the "go_to_goal" action in terms of the Robot\'s movement, but the location provided ("Dining Room") does not match with the value ("Kitchen") specified in the JSON structure. Therefore, partial conformity.'] +Head over to the dining room and pause.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}};['4; The action "go_to_goal" and parameter "location" with value "Dining Room" in the JSON perfectly match the command "head over to the dining room". However, the command also specifies "pause", which does not have an equivalent in the provided JSON structure. This does not fully conform, so it loses a point.'] +Make your way to the dining room and bring yourself to a stop.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Dining Room"}};['3; The action "go_to_goal" is used and the location "Dining Room" aligns with the natural language command. However, there\'s no JSON instruction that corresponds to "bring yourself to a stop".'] +Move towards the dining room and cease your motion.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}};['1; The natural language command asks for motion towards the dining room which corresponds to the action "move", but the direction is not accurately specified. Furthermore, it asks to cease the motion which is not clearly represented in the JSON as all \'move\' parameters are set to 0. There\'s no reference to \'dining room\' in JSON. The action "go_to_goal" which would correspond to moving towards a specific location like the dining room is entirely missing.'] +Rotate counterclockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['4; While all keys match and the action correctly corresponds to the natural language command, angular velocity is not prompted for in the natural language command and cannot be presumed as a null value. It should have been assigned with a reasonable value since the natural language command did not specify a value for it.'] +Turn left by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['4; The command matches overall with the JSON structure, particularity it is a rotate action, angle and unit are correctly provided. But it doesn\'t specify the angular_velocity, and it also doesn\'t specify the rotation direction as "left", the JSON presumes the rotation is not clockwise, which is correct for most standard conventions, but is not explicitly mentioned in the command.'] +Rotate in the opposite direction by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -60, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The natural language command perfectly matches with the JSON information. The action "rotate" is correctly identified, as well as all the parameters like "angle", "is_clockwise", and "unit". The "angular_velocity" parameter isn\'t specified in the command but its value in the JSON is reasonable.'] +Execute a 60-degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['5; The natural language command precisely matches the JSON structure. The \'rotate\' action is used correctly and the angle to rotate is accurately converted from natural language to the JSON file. The rotation direction (counterclockwise) is correctly reflected in the "is_clockwise": false JSON parameter.'] +Rotate anticlockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The natural language command "Rotate anticlockwise by 60 degrees" matches perfectly with the provided JSON structure. The action "rotate" is confirmed, the "angle" value of 60 degrees, the direction interpreted as "is_clockwise" set to false, and "unit" as degrees are all accurate. "angular_velocity" is not mentioned in the text command but is admissible as it can assume any reasonable value.'] +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['4; The JSON structure matches the natural language command to move forward for 5 meters. However, the "linear_speed" parameter value is presumed to be 1, which is not specified in the natural language command.'] +Proceed ahead for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Advance straight ahead for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Travel forward for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};["4; The JSON has correct action and parameters such as 'distance', 'is_forward' and 'unit'. However, the 'linear_speed' is not specified in the natural language command but assigned a value in the JSON, which is accepted but not exact."] +Go in the forward direction for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Rotate counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['4; The JSON structure correctly represents the action "rotate" and the direction of rotation (counterclockwise, denoted by "is_clockwise": false), but the specific angular_velocity value is not mentioned in the command -- however, it is accepting any reasonable value. Also, the angle in JSON is represented as "-90" as it denotes counterclockwise rotation which is not clearly mentioned in natural language command but understood. There is minor inconsistency, but overall meaning is preserved.'] +Turn 90 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Rotate anticlockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['4; The JSON structure properly denotes the action of rotation to be performed as indicated in the natural language command. It also accurately captures the direction of the rotation (anticlockwise) and the angle (90 degrees). However, the angular_velocity is not specified in the natural language command, so the value of 1 in the JSON is assumed, which is acceptable but not exactly conforming.'] +Rotate to the left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The natural language command specifies an action of rotation, an angle of 90 degrees, and indicates that the rotation should be to the left (which translates to counter-clockwise, or "is_clockwise": false in the JSON. The unit is given in degrees, matching the command, and the angular_velocity is not specified in the command but is given a reasonable value in the JSON. Therefore, the JSON perfectly matches the command.'] +Change the orientation to the left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['4; The command \'Change the orientation to the left by 90 degrees.\' matches correctly with the JSON structure. However, the "angular_velocity" value is arbitrarily set to 1, not provided or indicated by the command, therefore is a minor mismatch between the command and the JSON. As per the given criteria if a parameter\'s value is not specified in the natural language command, any reasonable value in the JSON is accepted, hence, the reduction in score.'] +Move backward for 3 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}};['2; The action "move" matches, but the "is_forward" parameter should be False for moving backward. The "linear_speed" and "distance" parameters do not match. The "unit" parameter is fulfilled correctly, and the natural language command does not specify a value for the distance, hence it is accepted as correct.'] +Reverse for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};["2; While the action 'move' and parameter 'is_forward' are correctly translated in the JSON structure, the parameters 'linear_speed' and 'distance' don't match with the natural language command. The command asks for a specific amount of time (3 seconds), however, this is not reflected in the JSON structure. The natural language commands seems to require a time parameter not duration, but this key doesn't exist in provided ontology."] +Go in reverse for a period of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};["2; Partial Conform. The action 'move' and parameter 'is_forward' match correctly with false indicating reverse motion. However, 'linear_speed' and 'distance' values shouldn't be zero since it specifies movement, also in the command time mentioned where in JSON, time parameter is not specified."] +Travel backwards for a total of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 3, "unit": "second"}};['2; The action verb "move" is present in the JSON and the ontology, but some of the parameters such as "linear_speed" and "distance" do not exactly conform to the natural language command. In the command, it\'s not specified how far to move, but rather how long to move for (3 seconds). The JSON includes parameters for duration and "is_forward": false" which indicates a backward motion. Note that "duration" is not included in the sample ontology, therefore this lowers the conformity score.'] +Move in the opposite direction for 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "second"}};['1; Parameters such as "linear_speed", "distance" corresponding to the action "move" are misaligned in the JSON structure with respect to the natural language command. Therefore, this leads to a poor matching score.'] +Turn left and move forward for 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['2; The JSON structure partially matches the natural language command. The command involves turning left before moving forward, but the JSON structure only represents the movement part. There is no JSON provided for the turning action.'] +Proceed forward for 2 meters after making a left turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The command to rotate is fully matched and conform to the provided JSON. However, the command to go forward for a certain distance has not included in the JSON.'] +Make a left turn and advance for 2 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure matches with regards to "action" being "rotate" and the unit, but there is no specific value for angular velocity and angle in the command. Even though not explicitly phrased as "turn left", it can be reasonably interpreted as a counter clockwise rotation. The "advance for 2 meters" part of the command is not represented in the JSON at all.'] +Take a left and continue forward for a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['1; The natural language command includes the action of rotation (take a left) and moving forward which is not perfectly represented in the provided JSON structure. The JSON only reflects the "move" action. The "rotate" action and its parameters are not included in the JSON structure. Hence, the match is not perfect.'] +Move ahead for 2 meters after making a leftward turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['3; The JSON structure correctly reflects the "making a leftward turn" part of the command but doesn\'t cover the "Move ahead for 2 meters" part of the command. Therefore, it is not fully conform with the command.'] +Make a U-turn and move in the opposite direction for 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['2; The first part of the command (Make a U-turn and move in the opposite direction) almost matches with the JSON structure provided (angular_velocity is given as 0.35 but the user didn\'t specify the speed), the second part of the command "for 10 seconds" doesn\'t match any part or structure in the JSON command.'] +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command does suggest a rotation action, and translating it into "perform a 180 turn" is reasonable, as a U-turn typically means a 180 degree turn. This somewhat conforms to the "rotate" action in the JSON example. However, the speed of the rotation "angular_velocity" is not accurately represented in the natural language command, it suggests a duration of 10 seconds which is not equivalent to an angular velocity of "10". The conformity is therefore quite low.'] +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The action of the JSON command shows "move" and includes parameters such as "linear_speed", "distance", "is_forward" and "unit". However, the natural language command suggests a turn (rotation), and a time-based movement rather than distance-based which doesn\'t completely match with the provided JSON command. Therefore, the conformity is very low.'] +Turn around and travel in the opposite direction for a duration of 10 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 10, "unit": "second"}};['1; There are several mismatches between the natural language command and the JSON structure. The "rotate" action is missing in the JSON structure, which is needed for the robot to turn around. The "duration" parameter is also not part of the sample keys in the ontology. The "is_forward" is correctly set to false, matching the "travel in the opposite direction" command. However, the "linear_speed" and "distance" parameters are set to 0, which is not in line with the "travel" command.'] +Perform a U-turn and move in the opposite direction for 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['3; The action and unit match with the JSON structure, the angular_velocity value is not specified but 10 is a reasonable value. However, the "angle" value in the command (180 degrees in the case of a U-turn) is correctly doubled from the original 180 degrees, but there is no parameter in the JSON structure to indicate duration of movement or \'for 10 seconds\', so the JSON form partially matches the command.'] +Rotate clockwise by 180 degrees and stop.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure correctly implements the action and parameters described in the command. However, it does not specify an "angular_velocity" value while the command implies that there should be one.'] +Perform a 180-degree clockwise rotation and then come to a halt.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; The natural language command exactly conforms to the provided JSON. All necessary information, such as action (rotate), angle (180), is_clockwise (true), unit (degrees) is correctly provided. Angular velocity is not specified in the command but any reasonable value in JSON is accepted, so null value is also fine.'] +Execute a clockwise rotation of 180 degrees and then cease movement.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['3; The JSON structure partially matches the command. It correctly interprets the rotation action, direction, angle and unit. However, it does not provide a value for the "angular_velocity" which is mentioned in the sample keys but not specified in the natural language command. Therefore, it\'s allowed to have any reasonable value, including null. Also, the command "cease movement" is not represented in the JSON.'] +Turn right by 180 degrees and then stop.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": false, "unit": "degrees"}};["3; While the rotate command and the numeric value of the angle match, there are two significant deviations from the natural language command: The movement direction is incorrect (it should be clockwise), and there is no 'stop' command in the JSON."] +Rotate in a clockwise direction by 180 degrees and then come to a stop.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};["4; The command match the rotation action but the angular_velocity parameter is not specified in the command, which results in a null value in the JSON structure. The stop action should be reflected in a separate JSON structure, which is not provided here, hence it can't fully conform."] +Move diagonally to the right for 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}};["1; The natural language command involves moving, but the direction 'diagonally to the right' specifically is not supported in the given JSON structure, so it does not fully conform. The distance is correct, but the 'is_forward' in the JSON structure should be True for moving, not False. The linear_speed value does not have to match the command but it is a reasonable value."] +Go right at an angle for a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}};['1; The command in natural language indicates a rotation and movement at a certain angle for a distance of 4 meters, which would involve both moving in a specific direction and rotating to it. But the provided JSON structure represents a simple forward or backward linear movement, not taking into account the angular aspect. Moreover, the key "is_forward" in JSON has value false which contradicts the command. The "linear_speed" value of 1, although reasonable, is not stated in the natural language command.'] +Travel in a diagonal direction to the right covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": , "distance": 4, "is_forward": false, "unit": "meter"}};["1; Although the command mentions moving and a certain distance (both available in the specified JSON keys), direction and the parameter 'is_forward' has been set to 'false' in the JSON which does not satisfy the diagonal movement mentioned in the command. The 'linear_speed' is also left empty in the JSON."] +Proceed at a diagonal towards the right, moving 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": false, "unit": "meter"}};['1; The natural language command instructs about moving in a specific direction, with a specified distance but the conversion to JSON does not respect the direction specified and there is no key in the JSON structure that can represent "diagonal" or "right" movement. Also, the "is_forward" parameter contradicts the instruction since proceeding diagonally towards the right would infer forward motion. Therefore, the matching between the natural language command and the JSON structure is poor.'] +Move to the right diagonally, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": , "distance": 4, "is_forward": false, "unit": "meter"}};['1; The command asks to move diagonally to the right but there is no mention of moving diagonally in the JSON structure. Although the "distance" parameter matches, the JSON\'s "is_forward" key set as false contradict the forward movement implied in the command. The linear speed also is not given a value.'] +Turn right and move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['3; Although the instructions "Turn right" are correctly translated to "rotate" action in the JSON, the "move forward for 1 meter" command is missing in the JSON provided. Therefore, the JSON command does not fully match the natural language command. Also, the "is_clockwise" parameter is false, which may not correspond to the "turn right" instruction.'] +Make a right turn and proceed one meter forward.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['3; Partially conform. The "rotate" action matches with the natural language command, and the direction of rotation (right means clockwise) matches as well. However, the "angle" and "is_clockwise" parameters do not match the specification (deg=90, is_clockwise=True). The movement part from the natural language command ("proceed one meter forward") is not reflected in the JSON at all.'] +Take a right and continue moving ahead for a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['4; The command mostly matches with the JSON structure. The action move and its parameters like distance, is_forward and unit match correctly. However, the command "Take a right" is not represented in the JSON structure provided.'] +Rotate to the right and advance straight ahead for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['2; Partial conformity. The command includes both rotation and moving actions. The given JSON structure corresponds only to the rotating action and even for this action, two parameters (angular_velocity and angle) have null as value which doesn\'t provide any useful information. Moving action and the "1 meter" parameter are not represented in JSON at all.'] +Facing towards the right, progress forward for a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['4; The command correctly matches the move action, as well as the parameters for linear_speed, distance, is_forward, and unit. However, the part of the command specifying "Facing towards right" isn\'t directly translated to the JSON structure, which may suggest need for rotation action which is not included in the given JSON.'] +Move in a zigzag pattern for 8 seconds.,{"}};['0; The natural language command does not match any of the provided JSON structures. The command mentioning moving in a zigzag pattern, whereas none of the available actions in the JSON structures support this pattern. There are no keys pertaining to time or seconds as well.'] +Perform a zigzag movement continuously for a duration of 8 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['0; The natural language command involves a "zigzag" movement, which doesn\'t have a corresponding action in the sample ontology. The JSON structure presented involves a simple forward motion, not a zigzag movement, so it doesn\'t align with the command at all.'] +Traverse in a serpentine motion for 8 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['1; The JSON structure describes a straight move action, whereas the command specifies a "serpentine" motion which isn\'t detected anywhere in the JSON. The time of the motion, indicated as 8 seconds in the command, is not reflected in the JSON. Some parameters (\'is_forward\', \'linear_speed\', \'unit\') match the natural language command\'s vague information, therefore a score of 1 is given but the overall conformity is very low.'] +Alternate your path in a zigzagging pattern for the next 8 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};["0; The natural language command suggests alternating the path in a zigzag pattern while the JSON structure depicts a forward movement, they don't conform. Additionally, the time parameter mentioned in the command is not represented in the JSON."] +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['1; The action in the JSON structure is "move", which aligns with the nature of a zigzag motion in the command. However, the command doesn\'t specify a distance or other aspects of the parameters and the idea of a "back-and-forth" motion isn\'t represented in the JSON structure.'] +Rotate counterclockwise by 45 degrees and move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['4; While the rotation command is correctly interpreted in the JSON structure with correct values for "angle" and "unit" properties, and correct use of "is_clockwise" corresponding to the "rotate counterclockwise" command in the natural language command, "angular_velocity" value not specified in the command and the forward movement command is not represented in the JSON structure.'] +Turn left by 45 degrees and advance for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['3; The JSON command partially corresponds with the natural language command, but there is no JSON command accounting for the movement part of the sentence "advance for a distance of 3 meters."'] +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['3; The rotation part of the command completely conforms to the JSON structure, but the second part of the command (proceed ahead for a span of 3 meters) is not represented in the given JSON.'] +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['3; The command matches well with the "rotate" action in the JSON structure and the direction and angle parameters are correctly interpreted. However, the JSON for action "move" and its parameters "distance" is not provided as specified in the command. The "angular_velocity" parameter is also not specified in the command but is correctly marked as null in the JSON.'] +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters.,{"action": "move", "params": {"linear_speed": , "distance": 3, "is_forward": true, "unit": "meter"}};["2; The natural language command partially matches with the JSON structures. The movement action and parameters such as 'is_forward' and 'distance' match correctly. However, the rotation to the left by 45 degrees is missing in the JSON command, and the 'linear_speed' doesn't have a value."] +Move backward and stop at the nearest obstacle.,{"action": "move", "params": {"linear_speed": -1, "distance": null, "is_forward": false, "unit": "meter"}};['2; The natural language command partially matches with the JSON structure. While the action corresponds to "move", the "is_forward" key set to false also correctly indicates moving backward as stated in the command. However, the command\'s mention of stopping at the nearest obstacle is not represented in the given JSON. Moreover, the "distance" and "linear_speed" keys are inaccurately filled. The "distance" is not mentioned in the command and the "linear_speed" is negatively set, which is not specified in the command.'] +Reverse and come to a halt once you reach the closest object in your path.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The JSON command does carry out a reverse motion as indicated in the text command, but does not specify halting at the closest object. Therefore, it partially matches with the text command.'] +Back up and cease movement upon reaching the nearest obstruction.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The JSON representation is generally correct, but not entirely accurate according to the natural language command. The natural language command mentions "back up" and "cease movement upon reaching the nearest obstruction" which implies backward movement hence rightly represented by the "is_forward": false. However, the natural language command does not specify anything about the "linear_speed" or the "distance", hence they cannot be accurately determined. The "linear_speed" and "distance" both being 0 would mean that there is no movement, contrary to the "back up" command.'] +Retreat and come to a stop when you encounter the closest barrier.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['0; The given JSON does not match the command. The command refers to moving backwards until an obstacle is met, implying a negative linear speed and nonzero distance, which is not what the given JSON indicates. The given JSON shows a stop command, which is not mentioned in the natural language command.'] +Go in reverse and stop once you reach the nearest obstacle.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The natural language command talks about moving in reverse until an obstacle is reached, while the JSON structure just depicts a halt because both linear speed and distance are set to 0. The "is_forward" condition matches as false refers to going in reverse, but the other parameters do not match the command.'] +Turn left and move in a curved path for 6 meters.,{"action": "move", "params": {"linear_speed": , "distance": 6, "is_forward": false, "unit": "meter"}};['1; The JSON structure does somewhat match the natural language command as it involves moving a certain distance. However, it does not account for the action of turning left or moving in a curved path, nor the linear speed required for this action.'] +Take a left turn and travel in a curved trajectory covering a distance of 6 meters.,{"action": "move", "params": {"linear_speed": , "distance": 6, "is_forward": false, "unit": "meter"}};['1; The natural language command talks about taking a left turn and then moving hence the action should be "rotate" and not "move". Also, the JSON structure has "is_forward" as false, whereas it is not mentioned in the natural language command. Without this specification, we should accept any reasonable value in the JSON.'] +Make a leftward turn and proceed along a curving route spanning 6 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};["1; The natural language command includes a 'rotate' action which matches the JSON structure, but the command also includes a 'proceed along a curving route' which is not included in the JSON structure. Additionally, the parameters 'angular_velocity' and 'angle' are not fully defined in the natural language command."] +Go left and follow a curved path for a distance of 6 meters.,{"action": "move", "params": {"linear_speed": , "distance": 6, "is_forward": false, "unit": "meter"}};["1; The natural language command asks for a specific movement (going left) and following a curved path, which is not clearly supported by the given JSON structures. The movement direction and the shape of the path are not parameters in the JSON structure. On the other hand, distance and unit conform with the JSON. However, the direction of the movement i.e., if it is forward or not, is wrongly inferred in the JSON. The command doesn't specify about the direction."] +Regulate your movement to the left and travel in a curved trajectory for 6 meters.,{"action": "move", "params": {"linear_speed": , "distance": 6, "is_forward": false, "unit": "meter"}};['1; The command states a movement to the left in a curved trajectory but given JSON structures do not support this type of movement. The JSON script provided doesn\'t match the command fully. There is a value for the distance parameter but there is no linear_speed value in the command. Also "is_forward": false doesn\'t correspond with the natural language command.'] +Move forward at a speed of 1 meter per second for 10 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};['4; The command matches the "move" action but the "distance" key value is ambiguous, in the command it\'s specified as time ("10 seconds"), not an actual distance. The "unit" also does not match, the command asks for speed, not distance.'] +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};['3; The natural language command does align with the "move" action in the JSON instructions structure. However, the natural language command provides "duration" as the parameter, whereas the JSON structure requires "distance". Therefore, it is not a perfect match.'] +Advance at a rate of 1 meter per second for 10 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};["4; The natural language command is mostly according to the JSON structure, but there's a slight mismatch in terms of the 'distance' value. Here, in the natural language command, it is mentioned 'for 10 seconds' which might be interpreted as time, on the other side, in the provided JSON it's having 'distance' which refers to the distance to be covered not the time duration which is expected according to the natural language command."] +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};['4; The command and JSON structure are matching except for the minor discrepancy in the distance parameter. In the command, the distance is not directly mentioned but instead a time duration for the move action is given which can be translated into distance considering speed (as distance = speed * time), but this conversion is not directly provided in the command. Otherwise, all the other parameters in JSON structure matches with the command.'] +Travel forward for 10 seconds, covering a distance of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};['4; The JSON structure corresponds to the action of moving forward described in the natural language command. However, the given command specifies "time" (10 seconds) to cover a certain distance with a certain speed (1 m/s), yet the JSON structure presents "distance" (10 meters) with a certain speed, slightly differing from the original intent of the command. Still, the JSON structure\'s adherence to the overall \'move\' action and its parameters is satisfactory.'] +Rotate clockwise by 30 degrees and continue moving forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 30, "is_clockwise": true, "unit": "degrees"}};['3; The given command corresponds partially to the JSON structures. The command "Rotate clockwise by 30 degrees" matches with the JSON action "rotate" and parameters "angle", "is_clockwise", and "unit". However, "angular_velocity" parameter is not addressed in the command, so its null value is accepted. As for the second part of the command, "continue moving forward for 4 meters", it would necessitate another JSON structure associated with "action": "move", but no such structure is given. Therefore, the command only partially conforms to the provided JSON structures.'] +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['1; The natural language command specifies two actions - moving forward and rotating. But the given JSON structure is about the "go_to_goal" action to a location "Kitchen", which doesn\'t match with the command. Although elements of the "move" action and the "rotate" action are present in the command, they\'re not encapsulated in the provided JSON structure.'] +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 30, "is_clockwise": true, "unit": "degrees"}};['4; The natural language command partially matches with the JSON structures. Specifically, it matches the "rotate" action in the ontology with some parameters provided (angle, is_clockwise). However, the command to move forward for 4 meters does not match any of the JSON structures as there isn\'t any provided JSON for the "move" action in the given JSON structures.'] +After rotating 30 degrees clockwise, continue moving forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 30, "is_clockwise": true, "unit": "degrees"}};['4; The natural language command fits the provided JSON structure with some missing details. The rotation action and the parameters angle, is_clockwise and unit are correctly interpreted. However, the angular_velocity value is not specified in the natural language command so it is accepted as null. The command also includes an action for moving forward a certain distance, however, there is no corresponding JSON structure provided.'] +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 30, "is_clockwise": false, "unit": "degrees"}};['3; The format of the second JSON structure is matching but there\'s no JSON structure for the mentioned action in the command, "proceed with a forward movement of 4 meters." The clause "rotate to the right" specified in the command, suggests a clockwise rotation however in the JSON structure it is set to false which is incorrect. The parameter "angular_velocity" is null in the JSON structure but this is still acceptable as any reasonable value is accepted when it is not specifically mentioned in the command.'] +Move in a circular path with a radius of 2 meters for 7 seconds.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": null, "unit": null}};['1; The command refers to a type of movement, but the details given ("circular path with a radius of 2 meters for 7 seconds") do not correspond to any of the parameters listed in the JSON structure ("linear_speed", "distance", "is_forward").'] +Circle around with a radius of 2 meters for a duration of 7 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": null, "unit": null}};['1; The JSON structure provided corresponds to a rotation action. However, the specific parameters such as "angular_velocity", "angle", "is_clockwise", and "unit" are not specified in the natural language command. While "rotate" might be inferred from "circle around", the parameters don\'t match with the command given (i.e., radius and duration are not valid parameters for the sample ontology). The natural language command seems to refer more to a circular movement rather than a straightforward rotation in place.'] +Perform circular movement with a radius of 2 meters for 7 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": null, "unit": null}};['1; The natural language command suggests a type of rotation, however, the specific parameters of rotation such as angular_velocity, angle, is_clockwise, and unit are not mentioned in the command and therefore null in the JSON.'] +Rotate along a circular trajectory with a 2-meter radius for 7 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": null, "unit": null}};['0; The natural language command does not provide any parameters that match with the provided JSON structure. No angular velocity, angle, is_clockwise or unit parameters are provided in the command.'] +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds.,{"action": "move", "params": {"linear_speed": null, "distance": 2, "is_forward": null, "unit": "meter"}};["2; The natural language command partially matches with the JSON command. The action 'move' and the parameter 'distance' in 'params' match with the values in the JSON command. But, the 'duration' or the 'circular path' part of the command is not specified in JSON structure and the 'linear_speed' and 'is_forward' fields are omitted in the natural language command. Hence, it doesn't completely conform to the JSON structure."] +Turn right and move forward for 5 seconds, then revert back.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command asks for a sequence of actions, which include rotation, move forward for a certain amount of time, and then presumably reverting back to the original position. However, the JSON structure only represents one \'rotate\' action, with incorrect values for "is_clockwise" and missing angular_velocity and angle values. The command in natural language is not sufficiently matched by the provided JSON structure, thus the score is relatively low.'] +Make a right turn and proceed forward for 5 seconds, then return back.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["1; The provided JSON represents only the 'rotate' action of the command and lacks the details for 'move' action. Furthermore, 'is_clockwise' parameter in JSON structure is false, which doesn't match with the command 'Make a right turn'. Also, 'angular_velocity' is set to null in the JSON, while no clear specification is given in the instruction."] +Take a right turn and advance ahead for 5 seconds, then go back in reverse.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};["0; The natural language command includes both rotation and forward movement, which the JSON format does not support at the same time. Besides, the parameters 'angular_velocity' and 'angle' have null values in the JSON structure and are not specified in the command. Furthermore, the unit in the JSON structure is 'degrees', while the command mentions 'seconds'. Therefore, there is no conformity."] +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['2.5; The rotate action partially matches the command, but the command contains a movement direction that is not represented in the JSON. Additionally, the JSON lacks values for "angular_velocity" and "angle". Furthermore, the command mentions a duration ("5 seconds"), but this is not represented in the JSON. Finally, the command specifies reversing direction, but this is not reflected in the JSON.'] +Change direction to the right and go forward for 5 seconds, then reverse back.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}};['2; The JSON structure partially matches the natural language command. However, key elements of the natural language command, such as "change direction to the right" and "reverse back", are not captured at all within the JSON structure. Additionally, the "distance" parameter in the JSON structure is not specified in seconds, which doesn\'t match the units given in the natural language command.'] +Move along the perimeter of the room for 1 minute.,{"action": "move", "params": {"linear_speed": 0.1, "distance": 10, "is_forward": true, "unit": "meter"}};["2; The natural language command refers to moving along the perimeter of the room, while the JSON structure indicates a forward movement for a certain distance. The exact shape of the move (along the perimeter, in a straight line, etc.) is not represented in the JSON structure. Moreover, time is not represented in the JSON structure while it's mentioned in the command."] +Walk around the edges of the room for 1 minute.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The natural language command instructs to "walk around the edges of the room for 1 minute", which isn\'t completely in accordance with the JSON action "move", and there isn\'t any time or direction parameter in the JSON structure given to align with the instructions of the command. Only the movement is vaguely captured by the "move" action.'] +Circulate along the boundary of the room for 1 minute.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "degrees"}};['1; The JSON structure reflects an action of rotating, however, the natural language command does not specify any rotation but rather a circular movement along the boundary of the room. The circular movement could involve not only rotation but also linear movement, which is not represented in the JSON. Additionally, the time duration in the command ("for 1 minute") is not represented in the JSON structure.'] +Patrol the perimeter of the room for 1 minute.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}};["1; The instruction 'Patrol the perimeter of the room for 1 minute' is not correctly translated into the provided JSON. The action in the JSON is 'move', which might be a part of patrolling but does not capture the entire sense of 'patrol'. Moreover, the JSON mentions specific parameters like 'linear_speed', 'distance', 'is_forward', and 'unit' – none of which are implied in the original instruction. Also, the duration of one minute specified in the command is not represented in the JSON at all."] +Traverse the outer edges of the room for 1 minute.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}};['1; The command mentions traversing the outer edges of the room which likely involves movement, however, the specific parameters "linear_speed", "distance", "is_forward" and "unit" in the JSON structure do not match the unspecified parameters in the natural language command. The command also mentions for "1 minute" which is not addressed in the JSON structure at all. Thus, there\'s very low conformity.'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['2.5; The command mentions two actions - rotate and move but only the JSON structure for rotation action is provided, the move action is not reflected in the JSON structure which is why it doesn\'t match completely. Missing part: {"action": "move", "params": {"linear_speed": null, "distance": 3, "is_forward": true, "unit": "meter"}}.'] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['3.5; The JSON structure corresponds to half of the command: the rotation aspect. However, there isn\'t a corresponding JSON structure provided for the "proceed ahead for a distance of 3 meters" part of the command. The JSON structures should include "move" action for complete conformity.'] +Rotate anticlockwise by 60 degrees and advance 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['3; The JSON structure matches the initial part of the command, which is about rotation, perfectly. However, the second part of the command about moving forward for 3 meters does not have a corresponding JSON structure in the answer. Therefore, it’s an incomplete match.'] +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['2; The JSON contains the rotation action as it was said in the natural language command, however, the part that said "Face left and travel straight for 3 meters" was not represented in the JSON. Therefore, full matching wasn\'t achieved.'] +Make a 60-degree left turn and move forward 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['5; The command matches the "rotate" action, but does not provide a value for "angular_velocity", which is accepted as per the instructions. The "is_clockwise" value is correctly inferred as false for a left turn. The "angle" parameter is correctly set as 60 degrees. However, the command to move forward 3 meters should also be represented in a separate JSON for "move" action, which hasn\'t been provided.'] +Move forward at a variable speed for 10 seconds.,{"action": "move", "params": {"linear_speed": variable, "distance": 0, "is_forward": true, "unit": "meter"}};['2; The natural language command semi-aligns with the JSON structure. Although the "action" : "move" and "is_forward" : true is correct, the command specifies a duration to move rather than a linear speed or distance. The unit also does not match because it describes time, not distance.'] +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "duration": 10, "unit": "second"}};["1; The JSON command includes 'move' action which is present in the ontology. The 'is_forward' field is correct. However, 'linear_speed' and 'distance' fields cannot be null according to the given ontology. Also, the duration is not within the sample keys of ontology."] +Advance for a period of 10 seconds, with variable speed.,{"action": "rotate", "params": {"angular_velocity": -1 * math.pi, "angle": 180, "is_clockwise": false, "unit": "radian"}};['0; The natural language command is asking to move forward for a certain period with a variable speed, however the JSON structure represents a rotation command with specific angular velocity and angle parameters. There is no match between the command and the JSON structure.'] +Travel forward, varying the speed, for a total of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['0; The natural language command specifies a linear movement action with varying speed for a given time, however the JSON structure represents a rotation action. The parameters in the natural language command and the JSON structure do not correspond.'] +Move ahead for 10 seconds, adjusting the speed accordingly.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}};['1; The command refers to a time period rather than a distance to travel as well as indicating a possible speed adjustment, neither of these elements are represented in the JSON structure. However, the general action of moving forward is present within the JSON, hence the score of 1.'] +Move backward and stop 1 meter away from the designated target.,{"action": "move", "params": {"linear_speed": -0.5, "distance": 1, "is_forward": false, "unit": "meter"}};["1; The JSON structure matches the 'move' action from the ontology, however, in the natural language command, there's no information about 'linear_speed' and 'is_forward'."] +Reverse direction and come to a halt at a distance of 1 meter from the specified target.,{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": false, "unit": "meter"}};["3; The natural language command is partially matched with the JSON structure. The 'action' in JSON corresponds to 'move' which is represented as 'reverse direction' in the command and the 'distance' parameter is mentioned as 1 meter. However, 'is_forward' property is set to be false which is not clearly communicated in command. Also, linear_speed is set as 0 which means halt but it's not clear from JSON whether the halt is before or after moving (reverse direction) to specified distance. It could have been clearer if there were two different actions - one for reverse and one for halt - in two different JSON segments."] +Go in the opposite direction and pause when you are 1 meter away from the assigned target.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}};["2; The natural language command partially conforms to the JSON structure. The command refers to moving in the opposite direction which matches the 'move' action in the JSON but the command to 'pause' when a certain distance from an 'assigned target' is not reflected in the JSON structure. The distance parameter in the JSON structure also refers to how far to move, but not how far to stop from a target. Furthermore, the 'assigned target' in the command doesn't match with any keys in the JSON structure."] +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target.,{"action": "move", "params": {"linear_speed": 0, "distance": 1, "is_forward": false, "unit": "meter"}};['2; The natural language command partially matches with the JSON command. It involved movement and a specific distance just like in the JSON command. But the "retreat" in the command indicates a backward direction of movement, while "is_forward" in the JSON command is set to false. Additionally, there is no specified linear speed in the natural language command, incompatible with the JSON structure where linear speed is set to 0. However, it could be inferred that coming to a stop could mean a speed of 0. Finally, the "maintaining a distance" part of the command doesn\'t correspond to the "move" action in the JSON command, nor is there an action for maintaining distance in the JSON structures provided.'] +Move in a reverse motion and cease motion once you are 1 meter away from the specified target.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The natural language command suggests a backward movement towards a goal, but the provided JSON structure represents going towards a goal in a forward motion. Also, the JSON does not suggest a stopping condition based on a distance from the destination.'] +Move forward for 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['4.5; The command is well matched with the JSON. However, "linear_speed" value in JSON is 0.5 but not specified in the command. Although any reasonable value is accepted, for a full score it should be perfectly matched.'] +Proceed ahead by 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Advance for a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Travel in a forward direction for 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['5; The command "Travel in a forward direction for 1 meter" perfectly matches with the provided JSON command structure. The action "move" and parameter "is_forward" : true corresponds to "Travel in a forward direction", while "distance" : 1 and "unit": "meter" corresponds to "for 1 meter". The parameter "linear_speed" was not specified so its value in the JSON is accepted.'] +Go straight for a span of 1 meter.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command corresponds entirely with the provided JSON structure. The action "move" is correctly utilized with all necessary parameters specified, including linear speed, distance, direction (forward), and unit (meter). The command\'s requested actions and parameters are entirely compatible with the provided ontology.'] +Rotate counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The command "Rotate counterclockwise by 90 degrees" exactly fits the provided JSON structure. The action is correctly identified as "rotate", the angle and unit are explicitly given as -90 and degrees respectively, the fact that it\'s a counterclockwise rotation is correctly translates to a \'false\' value for "is_clockwise", and although the angular_velocity isn\'t specified in the command, the given value of 1 is a reasonable assumption.'] +Turn left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command mostly conforms to the JSON structure. The action "rotate" and the "degrees" unit are perfectly matched. The angle 90 and is_clockwise=false are also correct for left rotation. However, the natural language command does not specify the angular velocity, so the null value is accepted. The score is not 5 because of the unspecified angular velocity.'] +Rotate anticlockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['4; Even though the command matches the JSON structure, the angular_velocity is not mentioned in the command, hence the values may not accurately represent the command.'] +Rotate to the left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The angular_velocity value in the natural language command is not specified, but it is given a reasonable value in the JSON structure. All other keys in the JSON structure do match up with the natural language command.'] +Spin counterclockwise by 90 degrees.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The command given is to rotate counterclockwise by 90 degrees but the JSON structure represents an action to go to a specified location (Kitchen). There is no match.'] +Move backward for 2 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}};["2; The command asks for a time-dependent movement, while the JSON structure deals with a distance-dependent movement. While 'move' action and 'is_forward' param match, 'linear_speed' and 'distance' do not directly conform to the time request in the command."] +Go backward for a duration of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 2, "unit": "second"}};["1; The command matches the 'move' action but none of the guideline-provided parameter keys match with the keys provided in the JSON. Therefore, the match is low."] +Reverse direction and continue for 2 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "second"}};["4; The JSON structure has the correct action (move) and the correct parameters (linear_speed, distance, is_forward, unit) and the parameter value for is_forward (false) matches the command to reverse direction however, the command specifies duration (2 seconds) while the JSON implies distance, not time. Also, linear_speed parameter doesn't have a direct reference in the command."] +Retreat for a period of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};["1; The natural language command indicates a backwards movement for a period of 2 seconds but still involves motion which does align with the 'move' action in the JSON. However, the duration ('2 seconds') is not translated into any parameter in the JSON, and factors like 'linear_speed', 'distance' and 'unit' in the JSON structure are not mentioned in the command. 'is_forward' parameter in the JSON is correctly set to 'false' given the 'retreat' command."] +Take a step back and hold for 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": -0.1, "is_forward": false, "unit": "meter"}};['2; The action in the JSON structure is correct as it matches with the command of taking a step which involves movement. However, the parameters such as the linear speed and distance don\'t perfectly match with the natural language command. The "hold for 2 seconds" part of the command is not represented in the JSON at all.'] +Turn left and move forward for 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};['2; The linear_speed value is arbitrarily selected as 1, which does not match the natural language command. The JSON structure also lacks corresponding commands/parameters for "Turn left".'] +Take a left turn and proceed ahead for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['2; Partial conformity. The command indicates a move but specifics about the rotation element such "angular velocity" and "angle" are not provided in the natural language command. Only the direction of rotation is mentioned. It also contains an action (`move forward for 3 meters`) that corresponds to another JSON structure not provided in the example.'] +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['4; The command instructs to make a left turn which is partially covered by the JSON structure since the direction (left side) theoretically corresponds to a counterclockwise rotation, denoted by "is_clockwise": False. But the angle and the angular_velocity for turning left are not mentioned in the command, hence the \'?\' in the JSON. The movement ahead is not covered in the JSON structure provided, thus not in complete conformity.'] +Rotate to the left and proceed forward, covering a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command partially matches with the JSON structure. It covers the rotate action correctly, indicating a counterclockwise rotation. However, it does not specify the angular_velocity and angle parameters which are necessary keys in the JSON structure. Additionally, the command asks for a forward movement over a distance of 3 meters, which is not reflected at all in the given JSON structure.'] +Go left and move straight ahead for 3 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};['2; The command and the JSON structure only partially match. There is no mention of a "go left" action in the JSON, hence no action for "rotate" could be implemented, but the "move" part of the command is correctly represented.'] +Move at a speed of 2 meters per second for 5 seconds.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}};['4; The JSON structure correctly represents the action "move" but the calculation of distance via speed*time is not specified in the original command which is why the distance "10" can lead to confusion.'] +Travel with a velocity of 2 meters per second for a duration of 5 seconds.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}};["3; The natural language command specifies a 'duration' of travel, but this is not reflected in the given JSON structure. In the JSON, distance has been calculated by assuming that the robot is intended to move at the given velocity for the given duration (distance = speed * time). However, this assumes that 'duration' and 'distance' are interchangeable, whereas the ontology does not support this. Therefore, while there is a general match in the type of action (movement) and some of the parameters (linear speed), the command does not fully conform to the sample ontology. Hence, the conformity score is 3."] +Maintain a pace of 2 meters per second for a period of 5 seconds.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}};["4; The natural language command corresponds to the JSON structure of 'move' action. 'linear_speed' matches with the specified rate of 2 meters/sec, 'distance' can be calculated from the speed and time given so the value of 10 meters is reasonable, 'is_forward' is assumed true since forward direction was indicated by 'maintain a pace'. However, 'time' as a parameter was mentioned in the command but it does not exist in the JSON structure."] +Perform movement with a speed of 2 meters per second over a span of 5 seconds.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}};['3; The linear speed and the direction of movement are correctly represented in JSON. However, the distance parameter is misrepresented. The command mentions the duration of the movement, not the distance. Therefore, the JSON provides different information (distance) than what was stated in the command.'] +Cover a distance at 2 meters per second for a time period of 5 seconds.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}};['4; The natural language command matches with the JSON structure in terms of action ("move") and parameters like "linear_speed" and its unit but it doesn\'t specify the "is_forward" and "distance" parameters which are assumed to be true and 10 respectively based on the command stipulation. The command also brings up a time period which is not represented in the JSON structure.'] +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};["5; Exactly conform. The natural language command correctly maps to the JSON structure for rotation, including the fact that the rotation should be clockwise and the exact degrees of rotation (180). The angular_velocity's value is not specified in the command, and hence, a null value in the JSON is accepted."] +Rotate by 180 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure corresponds to the natural language command with the correct "action" value of "rotate" and the "is_clockwise" parameter correctly set as true. The angle (180) is also correctly captured in the JSON. But the "angular_velocity" is null in the JSON while it isn\'t specified in the command, it would be more appropriate to assume a reasonable value instead of null.'] +Perform a clockwise rotation of 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Turn 180 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Rotate in a clockwise fashion, making a 180-degree turn.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The natural language command perfectly fits with the JSON structure, all the required parameters (is_clockwise, angle, unit) are present although the "angular_velocity" is not specified it is accepted as it is not specified in the natural language command.'] +Move forward for 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Proceed straight ahead, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The JSON structure accurately represents the command to move straight ahead for a distance of 4 meters. All needed parameters (distance, is_forward, unit) have been included and are correctly represented.'] +Advance forward, spanning 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['4; The command is correctly converted into JSON, but the "linear_speed" value is not given in the natural language command and maintained as 1 in JSON, which is a reasonable value but not specifically mentioned.'] +Take 4 steps in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "step"}};['2; The natural language command partially matches with the JSON structure. The "move" action is correct, and "is_forward" parameter aligns well. However, the "linear_speed" parameter doesn\'t have a corresponding value in the natural language command, in addition, "unit": "step" is not an acceptable unit in the given ontology. Moreover, the use of "steps" as a distance unit in command is not in conformity with the sample ontology which uses "meter".'] +Travel a distance of 4 meters, moving in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command precisely instructs to move in a forward direction for a distance of 4 meters, fitting perfectly with the JSON structure. Irrespective of the linear speed value being different, it is considered acceptable as it is a reasonable value and is not specified in the natural language command.'] +Turn right and move backward for 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}};['2; There is some matching between the natural language command and the JSON structure. The command is mainly about moving, which matches the "move" action in the JSON structure and the properties such as "linear_speed" and "distance" are also expressed in the command. However, the direction of the movement is backward, which should be indicated with "is_forward: false", but the JSON structure shows "is_forward: true". Furthermore, the command also includes "turn right" which should trigger the "rotate" action in the JSON structure, but this is missing. Thus, the matching is partial and not exact.', ''] +Rotate to the right and travel in reverse for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure partially matches with the given command. The rotation action is somewhat referred to in the command, but the angle is not specified. Also, command refers to the action of moving (in reverse), which is absent in the JSON structure. Additionally, the "is_clockwise" parameter in the JSON structure is wrongly denoted as false. According to the command, it should be true as "rotate to the right" signifies a clockwise movement.'] +Make a right turn and proceed backwards for a length of 1 meter.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['2; The "rotate" action is correct, and "is_clockwise" is specified as false corresponding to a right turn, however, there is no angle of rotation provided in the natural language command, therefore ? is an incorrect value for the "angle" field. Further, the command to move backwards also isn\'t converted, and we should have a second JSON corresponding to a "move" action with "is_forward" as false.'] +Shift to the right and travel in the opposite direction, covering a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}};['4; The command and JSON structure match quite closely, but not perfectly. The "rotate" action is not specified in the command, so the shift to the right part of the command is not accounted for in the JSON. However, the "move" action with the parameters "distance": 1 and "is_forward": false (representing moving in the opposite direction) is correctly reflected in the JSON. The "linear_speed" value of 0.5 is not specified in the command but is a reasonable value.'] +Face right and move backwards, covering a distance of 1 meter.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}};["4; The JSON accurately represents the action of moving and the parameters of distance and direction from the command. However, the request to 'face right' in the command isn't represented in the JSON structure, causing a slight mismatch."] +Rotate counterclockwise by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};["5; Exactly conform. The 'rotate' action is correctly invoked and every parameter is defined properly, including 'angular_velocity', 'angle', 'is_clockwise', and 'unit'. The clockwise rotation is correctly identified as false for a counterclockwise movement."] +Rotate anti-clockwise by a 45-degree angle.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -45, "is_clockwise": false, "unit": "degrees"}};["4; The JSON structure matches well with the natural language command, but the angular_velocity given in the JSON structure is not mentioned in the command. Therefore, it's not fully conform."] +Turn left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Rotate in a counterclockwise direction by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Rotate to the left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['5; The natural language command fully matches the JSON structure with respect to the action and parameters. The angular velocity is assumed to be 1, which is a reasonable value.'] +Move forward for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "second"}};["2.5; The natural language command refers to a duration of movement (10 seconds), while the JSON structure represents the action 'move' correctly, but it uses 'distance' with value 10 instead of a duration. The 'unit' key is having value 'second' which doesn't have a corresponding element in the command. The keys are consistent with the ontology, but the values are not proper match of the command."] +Proceed straight ahead for a duration of 10 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "second"}};["0; The conformity is incorrect since the distance is given as time duration in the natural language command while in the JSON it is interpreted as distance. The unit parameter also doesn't match with the given command. Hence, the JSON is not reflecting the correct translation of the command."] +Advance continuously for a period of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['0; The JSON structure does not match the natural language command. The command instructs to "advance continuously for a period of 10 seconds" but the JSON indicates a rotation action. The keys and values in the JSON structure are not relevant to the given command.'] +Travel forwards for a span of 10 seconds.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "duration": 10, "unit": "second"}};["1; While the action 'move' matches with the action mentioned in the command and 'is_forward' is correctly set to True, the JSON structure proposes 'duration' as an attribute, which is not present in the sample ontology. Moreover, the attributes 'distance' and 'linear_speed' are set to null in the given JSON. While it is stated that unspecified parameters can take any reasonable value, null does not stand as a reasonable value for these parameters."] +Progress ahead for a time interval of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['0; The JSON structure does not correspond to the given natural language command. The command talks about moving ahead for a certain time, but the JSON structure is about rotation, indicating an action and parameters completely unrelated to the command.'] +Turn left and move at a speed of 1 meter per second for 2 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": false, "unit": "meter"}};['2; Only the movement of the robot is reflected in the JSON. The command to turn left is not represented in the JSON.'] +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['1; The natural language command does match in a general sense with the "move" action in the JSON structure(s), but the parameter "distance" is incorrectly used as time in the command and there is no mention or equivalent of "making a left turn" in the JSON structure(s).'] +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['2; The natural language command has the "move" action which does match but the parameters provided do not match up directly with the JSON structure. There is no "duration" parameter and distance is calculated differently in the JSON. The mention of a "left turn" is also not reflected in the JSON provided.'] +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["2; The natural language command covers both a rotation (turning left) and a move action (moving forward for 2 seconds with a speed of 1 meter per second). However, the given JSON structure only represents the rotate action. There is a mismatch in the 'angular_velocity', therefore the score is 2."] +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command partially matches with the JSON command sequence. It indicates a "rotate" action, which is correctly reflected in JSON. However, the natural language command specifies the direction ("left") but doesn\'t specify the "angular_velocity" and "angle". Moreover, the forward motion command, "proceed straight ahead for 2 seconds at a velocity of 1 meter per second" is not represented in the JSON commands at all.'] +Move backward for 3 meters.,{"action": "move", "params": {"linear_speed": -3, "distance": 3, "is_forward": false, "unit": "meter"}};['4; The JSON structure is almost consistent with the natural language command. The keys are correct, however, the "linear_speed" has an absolute value in the JSON structure which might not necessarily represent "moving backward" as stated in the natural language command, as speed is commonly a scalar quantity, not a vector. Nonetheless, the "is_forward" parameter correctly represents the backward movement.'] +Go back 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -3, "is_forward": false, "unit": "meter"}};['5; The given command asks to move back 3 meters, and the given JSON structure represents the action "move" with a distance of -3 which technically signifies moving backward, the direction indicated by the parameter "is_forward" is false, and the unit of distance is "meter". The linear speed is not specified, so any value like 0 in this case is acceptable. Thus, the JSON perfectly matches the given command.'] +Reverse your direction and travel 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}};['4; The natural language command and the JSON are similar, but the natural language command does not specify the linear speed to use in the movement, this is the only part that does not perfectly conform to the JSON structure.'] +Retreat for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};['2; The command partially matches with the JSON structure. However, the "linear_speed" value in the JSON structure is not in conformity with the command "Retreat for a distance of 3 meters.".+', ''] +Take 3 steps backwards.,{"action": "move", "params": {"linear_speed": -1, "distance": 3, "is_forward": false, "unit": "step"}};["0; The given JSON's keys do not match with the sample keys as in sample JSON 'linear_speed' is a float value(between 0 and 1), there is no 'is_forward' key and 'unit' of measurement is 'meter' which contrasts from the given 'step' value of unit.", ''] +Rotate clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure correctly translates the action to rotate and the direction to be clockwise from the command. It also correctly interprets the angle of rotation to be 270 degrees. However, the angular_velocity is left as null, while the command does not specify this parameter, it is expected to hold a value as per the sample JSON.'] +Rotate 270 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['4.5; Almost everything matches. However, the "angular_velocity" value isn\'t specified in the natural language command nor the JSON.'] +Perform a clockwise rotation of 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure generally conforms to the natural language command but the "angular_velocity" parameter is null, which is not explicitly specified in the natural language command. However, it is a reasonable assumption given that no specific velocity was mentioned.'] +Turn right by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command somewhat matches the JSON structure. The action "rotate" matches, and the "angle" is specified correctly as 270 degrees. However, the "is_clockwise" value should be True for a right turn, and the "angular_velocity" is not specified in the natural language command, hence its value is accepted as null although it could have been any reasonable value.'] +Rotate by 270 degrees in the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure correctly represents the rotation action and the angle of 270 degrees. However, the "angular_velocity" is null which should be any reasonable value as per the command.'] +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['4.5; The natural language command corresponds mostly to the JSON structure with the correct action, parameters and unit. The only difference is that in JSON structure the "linear_speed" is given as 1, while it\'s not specified in the natural language command. This is acceptable as per the guidelines, thus it\'s almost exactly conformed but not completely.'] +Proceed ahead for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['4; Although the exact speed isn\'t provided in the command, the JSON structure could reasonably accept any value for "linear_speed". The command prompts to move forward a certain distance which matches the "move", "distance", "is_forward", and "unit" keys in JSON. However, the action "proceed" isn\'t mentioned in the initial JSON, so this assumption could lower the score.'] +Advance 5 meters in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};["3; Partially conform. The action and most parameters match. However, the 'linear_speed' and its value in the JSON format do not correlate with the natural language command as the speed is not mentioned in the command."] +Take 5 meter steps forward.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};["0; The natural language command instructs a movement forward for a specific distance but the JSON structure corresponds to a 'go to goal' action for a specified location. The two don't conform."] +Go ahead and travel a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['4.5; The command describes an action that matches the "move" action in the JSON structures. However, the provided "linear_speed" value in the JSON structure is not specified in the natural language command, hence a minor deduction. The rest of the parameters (distance, is_forward, unit) match perfectly with the command.'] +Turn right and move at a speed of 1.5 meters per second for 4 seconds.,{"action": "move", "params": {"linear_speed": 1.5, "distance": 6, "is_forward": false, "unit": "meter"}};["2; The natural language command instructs the addition of 'rotating' & 'moving' actions, but the JSON only covers moving at '1.5 m/s' for '6 meters' and not the turning activity. The 'is_forward' key is 'false' which doesn't conform to the natural language command because 'moving forward' wasn't negated in the command."] +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds.,{"action": "move", "params": {"linear_speed": 1.5, "distance": 4, "is_forward": false, "unit": "meter"}};['1; The JSON structure does match an action of movement, but the natural language command asked for a rotation (turn) in addition to the movement, this action isn\'t represented in the JSON. Moreover, the "is_forward" parameter is set to false, while the command does not specify whether the motion should be forward or backward. Also, the "distance" is not quite correct as the command mentions duration rather than distance.'] +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['3; The natural language command specifies a rotation, which corresponds to the rotate action in the JSON. The direction of the rotation is specified as to the right, which corresponds to the clockwise direction in the JSON. However, the command does not provide enough information to determine the angular_velocity or angle parameters. Additionally, the command also specifies to advance with a velocity, which corresponds to the move action in the JSON. However, this action is not included in the provided JSON, which only contains the rotate action.'] +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds.,{"action": "move", "params": {"linear_speed": 1.5, "distance": 4, "is_forward": false, "unit": "meter"}};['1; The natural language command instructs to take a rightward turn and then travel a certain speed and distance. However, the corresponding JSON structure only covers the travel part without any information about turning or rotation. In addition, the "distance" parameter in the JSON should not be the time ("period of 4 seconds"). Therefore, the command and JSON structure only partially match.'] +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds.,{"action": "move", "params": {"linear_speed": 1.5, "distance": null, "is_forward": true, "unit": "meter"}};['1; The command requests a specific action (turn right), but this action is not reflected in the provided JSON. The JSON structure reflects moving forward at a specified speed rather than turning. The specification about maintaining a speed for a certain time period does not match any parameter in the JSON structure. It should ideally translate to a "rotate" action based on the sample ontology, but no such addition is made in the JSON.'] +Rotate counterclockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The natural language command clearly specifies an action of rotation, the direction as counterclockwise (represented as "is_clockwise": false in the JSON), and the angle of rotation. Although the angular velocity is not specified in the command, it remains a reasonable parameter within the JSON structure.'] +Turn left by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['3; The "rotate" action and the parameter "angle" are matching exactly with the values. However, the natural language command does not specify "angular_velocity" and "is_clockwise" parameters, and the system considered them as null and false respectively which may not be accurate.'] +Move in an anti-clockwise direction by 60 degrees.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};['1; The JSON structure refers to the action "go_to_goal" and moving to a specific location, namely "Living Room". The natural language command however refers to rotation ("Move in an anti-clockwise direction by 60 degrees") which would correspond to the action "rotate" in the sample JSON keys. Hence, the given JSON does not match the natural language command.'] +Rotate in the opposite direction by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -60, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The "rotate" action is clearly matched, and all parameters are correlated to an aspect of the natural language command. The opposite direction indicates "is_clockwise" is false and the angle is correctly translated to -60 degrees. Although the "angular_velocity" is not specified in the command, the provided velocity of 10 is a reasonable value thus keeping the overall conformity score at 5.'] +Perform a counterclockwise rotation of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['4; There is a strong match between the natural language command and the JSON information. However, "angular_velocity" value is missing in the natural command, therefore the perfect score cannot be achieved.'] +Move forward for 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command "Move forward for 2 meters" perfectly aligns with the provided JSON structure, including the "move" action, the "is_forward" parameter set to true and the "distance" as 2 meters. The "linear_speed" value is not specified in the command, but the value in the JSON is accepted as reasonable.'] +Proceed straight ahead for a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['4.5; The natural language command does match with the JSON in terms of action and parameters like "distance", "is_forward" and "unit". However, the linear speed is not specified in the command and hence the conformity isn\'t exact.'] +Advance onward by 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};["4; The command partially conforms to the JSON structure. The natural language command specifies a forward movement and distance, and these are present and correctly assigned in the provided structure. However, the command doesn't specify the linear_speed value."] +Travel straight ahead, covering a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The command corresponds correctly with the provided JSON structure. The intended action of moving, parameters for linear speed, distance, direction and unit all match perfectly.'] +Take 2 meters forward.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};["5; Exactly conform. The natural language command is perfectly represented in the JSON structure. All keys match and the parameter's values from the natural language command are correctly filled in the JSON structure."] +Turn left and move at a speed of 0.5 meters per second for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meter"}};["0; The command mentions 'turn left' and 'move at a speed of 0.5m/s for 10 seconds' while the JSON structure only includes the 'move' action. Moreover, the 'distance' value in the JSON does not match the stipulated linear_speed for 10 seconds in the command. Also, there is no orientation or turning action represented in JSON structure, that could represent turning left. Hence, the JSON does not correspond to the command at all."] +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": false, "unit": "meter"}};['2; The command partially matches the JSON structures. The "action" key in the command corresponds with "move", but the "params" values aren\'t completely matched; \'is_forward\' value is not mentioned, and \'distance\' is available in the command but is mentioned as \'null\' in the JSON while it\'s given indirectly by the speed and duration values in the command. Also, the command instructs to \'make a left turn\' which implies to a "rotate" action, but it\'s not addressed in the given JSON.'] +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};["2; The JSON structure represents the 'rotate' action of the command correctly, but the parameters 'angular_velocity' and 'angle' are not specified. Furthermore, the second part of the command, which is to 'proceed forward at a rate of 0.5 meters per second for a period of 10 seconds', is not represented in the JSON at all. So, the JSON structure only partially matches the natural language command."] +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meter"}};['1; The natural language command is partially matching with the JSON structure. The direction "leftward" and time for travel "10 seconds" mentioned in the command do not match with any structure keys and values. Also, the direction command cannot be represented in the provided JSON structures. The "linear_speed" parameter matches but "distance" is incorrectly given since the command refers to time, not distance. Moreover, there\'s a mismatch with the "is_forward" parameter as the command suggests moving leftwards, not backwards.'] +Face left and advance at a pace of 0.5 meters per second for 10 seconds.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};["1; The natural language command instructs to move in a certain direction at a specified speed for a certain amount of time, but the provided JSON structure has 'go_to_goal' action which instructs to go to a particular location, in this case, kitchen which doesn't match the natural language command.", 'Moreover, there is no JSON structure provided for the "move" action with "time" parameter. The natural language command doesn\'t match perfectly with the given JSON structures.'] +Move backward for 6 meters.,{"action": "go_to_}};["0; The natural language command refers to a 'move' action with specific parameters (distance, direction), however the provided JSON structure is related to the 'go_to_goal' action without any relevant parameters present. Therefore, there's no conformity between the command and the JSON."] +Go back 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -6, "is_forward": false, "unit": "meter"}};['4; The JSON structure mostly matches the natural language command, but a value of 0 for "linear_speed" does not correlate with the command to "Go back 6 meters". A value of 0 implies that there is no movement taking place.'] +Reverse direction and move 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 6, "is_forward": false, "unit": "meter"}};["4; The JSON structure mostly matches with the command. The action and the parameters 'distance', 'is_forward', and 'unit' are consistent with the command. However, the 'linear_speed' value doesn't match since it's not mentioned in the command and reasons can't be assumed to make it 0."] +Retreat for a distance of 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 6, "is_forward": false, "unit": "meter"}};['4; The JSON structure aligns with the command, as it involves the action "move" and the parameters "distance", "is_forward", and "unit" are correctly specified. However, the "linear_speed" key is set to 0, which is not described in the natural language command. The command also does not specify the bot\'s speed of retreat, so this key should not be considered non-conforming.'] +Travel in the opposite direction and cover a distance of 6 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}};['5; The natural language command exactly corresponds to the JSON structure information, follows the command and parameters keys in the sample ontology and all necessary information (action, is_forward, distance, unit) is present. The only unspecified value in the command - linear speed - is filled with a reasonable value (0.5) in the JSON.'] +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['4; The JSON structure correctly represents the command for moving forward for a certain distance, which in the natural language command is 5 meters. However, the "linear_speed" parameter value is not specified in the natural language command. The JSON structure assumes a linear speed of 1 which can be considered a reasonable value. Therefore, it\'s almost a perfect match but we cannot confirm the \'linear_speed\' value from the command so a point is deduced.'] +Proceed straight ahead for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; The JSON structure matches the natural language command correctly: the action "move" is specified, a forward movement is implied, and a distance of 5 meters is stated. The provided linear speed is a reasonable value.'] +Advance by 5 meters in a forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['4; The naturals language command matches the "move" action in the JSON structure, but the "linear_speed" value does not match because it was not specified in the command and the score is based on the assumption that any reasonable value in the JSON is accepted.'] +Go ahead for a span of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['4; The natural language command matches with the JSON structure in the context of moving forward for a certain distance. However, the "linear_speed" doesn\'t match since it\'s not provided in the natural language command, so a score of 4 is given.'] +Cover a distance of 5 meters by moving forward.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Rotate counterclockwise by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};["0; The command calls for a rotation, but the provided ontology only includes actions relating to 'go_to_goal' and doesn't include 'rotate'. Therefore, the command does not conform to the JSON structure."] +Turn 90 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Rotate in a counterclockwise direction by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The provided command is related to the "rotate" action which is not provided in the JSON structure. Hence, the given command can not be converted into the provided JSON information'] +Rotate anti-clockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The command \'Rotate anti-clockwise by 90 degrees.\' is perfectly represented in the provided JSON structure. The action "rotate" corresponds to the action. The rotation angle of 90 degrees is represented. The direction of rotation is represented through "is_clockwise" key with its value false indicating the anti-clockwise direction. The "unit" of the angle is correctly converted into \'degrees\'. Therefore, the natural language command perfectly conforms to the provided JSON structure.'] +Make a 90-degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["4; Command partially conforms. The given natural language command and the JSON structure both include a rotation as the action to be performed. Therefore, the parameter `is_clockwise` is correctly interpreted from the command as `false`. The `angle` parameter is also consistent at 90 degrees. However, the parameter `angular_velocity` is null in the JSON structure but not specified in the natural language command. While this could be a reasonable value, without explicit command for it, we cannot be sure it's correct."] +Stop.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The natural language command \'Stop\' does not match any of the JSON structures provided - neither "go_to_goal", "move", nor "rotate". The given commands in the JSON structures involve navigating or moving in some way, but no JSON structure for the \'stop\' action is defined in the given ontology.'] +Cease.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The natural language command "Cease." does not match with any of the provided JSON structures. The action specified in the command does not exist in any of the sample keys in the JSON structures.'] +Halt.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The command "Halt." doesn\'t match any of the JSON structure(s). Any recognizable action or parameters mentioned in the command do not align with the existing keys in the sample ontology.'] +Pause.,{"action": "rotate", "params": {"angular_velocity": 0, "angle": 0, "is_clockwise": false, "unit": "degrees"}};["1; The command 'Pause' does not conform at all to the given JSON. Although it's somewhat represented in JSON as 'rotate' action with all values nullifying any movement, there is no 'pause' action in the JSON structure. The Natural Language Command and the JSON don't match."] +Terminate.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The natural language command "Terminate" does not match nor conform with any of the provided JSON structures in the sample ontology.'] +Reverse for 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The provided JSON structure does align to the "move" action in the ontology but the parameter "is_forward" has been rightly set to \'false\' as the command refers to reversing. However, the command doesn\'t provide any information on \'linear_speed\' nor \'distance\' but it does mention a time frame for the move, which is not reflected in the given JSON structure.'] +Reverse for a duration of 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The natural language command implies a reverse action, the "move" action is correct, and "is_forward" is also correctly flagged as false to indicate a backwards movement. However, the command indicates a time duration but the JSON structure has no key related to time. Furthermore, "linear_speed" and "distance" in the JSON parameters are 0 which does not represent movement.'] +Go back for 2 seconds.,{"action": "move", "params": {"linear_speed": undef, "distance": -2, "is_forward": false, "unit": "second"}};['1; The natural language command partially matches the JSON structure with the action "move". However, the "distance" key in the JSON structure is used incorrectly. It should represent the spatial distance for the action of moving, instead of time duration which is represented as "2 seconds" in the command. Also, the "linear_speed" key does not match with the command because it is not mentioned in the natural language command. Therefore, the conformity is low.'] +Move in reverse for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['0; The natural language command indicates movement in reverse for a specified time, but the JSON structure describes a rotational action with specified parameters, not a reverse movement. Thus, there is no conformity.'] +Go in the opposite direction for 2 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "second"}};['3; The natural language command partially matches with the JSON structure. The command specifies to move in the opposite direction implying "is_forward" should be False. The duration of 2 seconds is translated into the JSON but not in the exact parameters; it is put under "unit". However, "distance" and "linear_speed" should not be 0 as it\'s assumed that there will be movement in the opposite direction and speed is not specified in the command.'] +Turn left and move forward for 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};['2; The command asks for two actions: a rotation (turn left) and a movement (move forward for 10 meters). However, the JSON only reflects the movement part of the command. The rotation part is not represented in the given JSON structure.'] +Proceed forward for a distance of 10 meters after making a left turn.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["2; The JSON aligns with the command 'making a left turn' by specifying rotation parameters. But the action 'proceed forward for a distance of 10 meters' is not represented in the provided JSON structure."] +Make a left-hand turn and continue straight ahead for a distance of 10 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['2; Part of the command has been correctly converted to JSON format with the action "rotate" and a correct value for "is_clockwise". However, the command to continue straight for a distance of 10 meters has not been converted into JSON format, hence the JSON structure is incomplete. Furthermore, the angular_velocity and angle parameters are missing from the JSON.'] +After turning left, continue moving straight ahead for a total of 10 meters.,{"action": "move", "params": {"linear_speed": null, "distance": 10, "is_forward": true, "unit": "meter"}};["4; Although the natural language command does mention the movement action and distance, it fails to mention the linear_speed parameter for 'move' action and doesn't address rotating before continuing straight. The JSON structure also should ideally have mentioned some angular rotation as per natural command."] +Execute a left turn and then travel forward for a distance of 10 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['4; Partially conform. The natural language command is asking for a rotation (left turn) which is represented correctly in the JSON structure with "action": "rotate" and "is_clockwise": false. However, there are no specific values given for "angular_velocity" and "angle" in the natural language command, so the \'null\' values in the JSON structure are acceptable. The command also mentions traveling forward for a distance which is not represented in the JSON structure, hence the score is not 5.'] +Move backward for 3 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}};['2; The natural language command is partially matching with the JSON structure. The action "move" and the direction (backward), which implies "is_forward": false are correct. However, the command mentions moving for a certain time which is not considered in the JSON. The JSON considers distance and linear speed, not time. Also, the negative value for the "linear_speed" is not appropriate since moving backward is already represented by "is_forward": false.'] +Go back for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": false, "unit": "second"}};['2; The action "move" is correct and the direction "is_forward": false also matches with the command "Go back". However, the parameter of "duration" is not defined in the JSON structures. Instead, distance and linear speed parameters are used for the action of moving. The "unit" in the command refers to time (seconds) but in the JSON it refers to the unit of distance (meter).'] +Reverse movement for a period of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};["1; The JSON structure corresponds to the move action, which is in line with the command, but the parameters details mentioned in command (particularly time/period of movement) doesn't match with parameters given in the JSON structure. The JSON structure has distance instead of period or time for moving in reverse."] +Retreat for 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['2; Partial match. The action type "move" and the parameter "is_forward": false are correctly interpreted from the command. However, the command mentions the parameter of time (3 seconds) which is not recognised or represented in the JSON. Furthermore, the JSON provides values for "linear_speed", "distance", and "unit" which do not conform with the natural language command.'] +Take a step back for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": -1, "is_forward": false, "duration": 3, "unit": "second"}};['0; The natural language command requests a backward movement action but none of such action exists in the provided sample JSON structures. The action "move" could be inferred but the ontology does not provide any "duration" parameter for the "move" action. The mentioned parameter "duration" is not amongst the sample keys hence the score is zero.'] +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The command specifies to rotate clockwise by 180 degrees, and the JSON structure correctly includes the action "rotate", with parameters indicating a clockwise rotation (is_clockwise: true), angle being 180, and unit as degrees. Even though angular_velocity is not specified in the command, it is allowed to be any reasonable value (null in this case).'] +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};["5; Exactly conform. The command is matched perfectly with the JSON structure. The action is to rotate, angle is 180, rotation is clockwise and the unit is in degrees. The angular_velocity value is reasonable as it's not specified in the command."] +Rotate in a clockwise direction by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Turn right and rotate 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['3; The JSON structure is correctly matching the action "rotate" and has the correct parameters. However, the "is_clockwise" value is incorrectly set to false while the natural language command instructs to turn right which should result in "is_clockwise": true.'] +Execute a rotation of 180 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure mostly conforms to the natural language command. The "action" key accurately reflects the action to be performed (rotate). The "angle" and "is_clockwise" parameters match the command\'s specifics perfectly. The "unit" key is correctly set to "degrees" as requested. However, the "angular_velocity" is not specified in the natural language command, hence the null value is acceptable but does leave it slightly incomplete with respect to the command.'] +Turn right and move forward for 8 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["2; The angle is correctly indicated while direction of rotation does not match given that to turn right requires a clockwise rotation. However, the rotation speed isn't mentioned in the natural language command and would be needed for optimal specification. The part of moving forward 8 meters is missing entirely from the action, thereby, leading to an incomplete JSON structure."] +Proceed forward for a distance of 8 meters after making a right turn.,{"action": "move", "params": {"linear_speed": 0.25, "distance": 4, "is_forward": false, "unit": "meter"}};['1; The natural language command instructs to move forward for a distance of 8 meters and to make a right turn. However, the JSON structure makes a move action with a distance of 4, not 8, is in backward direction rather than forward and it doesn’t mention about any rotation or turn. So, the JSON structure misrepresents the actual command.'] +Take a right turn and continue moving straight ahead for a duration of 8 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The command specifies to take a right turn, which partially matches with the action "rotate" in the JSON structure. However, the angular_velocity is not specified in the command, and the "angle" in the JSON structure is not set to the correct direction as stated in the command which is right. On the other hand, the distance or the action of moving straight for 8 meters wasn\'t converted to JSON.'] +After making a right-hand turn, advance 8 meters in a forward direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["3.5; The command partially matches the JSON structure. The rotate action and clockwise parameters are properly specified. However, the command also includes an action to move forward which is not represented in the JSON structure. The specific angle and unit of rotation are correctly interpreted but the angular_velocity is not mentioned in the command so it's accepted as null."] +Rotate to the right, then travel straight ahead for a distance of 8 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['2; The natural language command partially matches the JSON structure for the \'rotate\' action without specifying values for angular_velocity or angle. However, there is no matching action for "travel straight ahead for a distance of 8 meters" in the provided JSON structures.'] +Move forward for 1 meter and stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};["4.5; The natural language command matches with the JSON command structure, but it only refers to the 'move' action. The 'stop' command that is stated in the natural language command is not addressed in the JSON structure."] +Proceed straight ahead for a distance of 1 meter and come to a halt.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['4; The JSON structure correctly represents the command to move straight ahead for a distance of 1 meter. Although the command doesn\'t specify a speed, a reasonable value of 1 is used in the JSON. However, the command to "come to a halt" is not represented in the JSON structure.'] +Advance one meter ahead and then come to a stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['4; All keys in the JSON command match with the sample ontology. "action" is "move" and parameters "linear_speed", "distance", "is_forward", "unit" are present. The "unit" is even correctly used as "meter" however, there is an extra action implied in the command ("come to a stop") that is not represented in the JSON structure.'] +Travel in the forward direction for a length of 1 meter and then cease movement.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['4.5; The natural language command and JSON information match substantially. However, the command does not specify the "linear_speed", but the JSON structure includes it and it\'s acceptable as the speed can be a default or an arbitrary value.'] +Move ahead for a distance of 1 meter, and then bring the movement to a stop.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": true, "unit": "meter"}};['5; The natural language command directly matches the action "move" in the JSON structure, with parameters having exact values. The JSON structure precisely portrays the command, i.e., moving forward a distance of 1 meter. Even the unspecified parameters like "linear_speed" and "is_forward" in the command are reasonably valued in the JSON structure.'] +Rotate counterclockwise by 135 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 135, "is_clockwise": false, "unit": "degrees"}};['5; The JSON structure perfectly matches the natural language command. The rotation is defined, the angle and the direction of rotation (counterclockwise) are explicitly specified. Although the "angular_velocity" is not stated in the command, its presence in JSON without a definitive value still conforms to the conditions mentioned.'] +Rotate 135 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 135, "is_clockwise": false, "unit": "degrees"}};['4; The JSON command matches almost perfectly with the description given. "Angular_velocity" is not specified in the command, but this is accepted because this value was not specified in the natural language command. Other than, it matches well with the action of rotating and angle, but doesn\'t specify if it is clockwise or not in the parameters, which is mentioned in the command as counterclockwise.'] +Turn 135 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 135, "is_clockwise": false, "unit": "degrees"}};['4; The JSON structure matches the natural language command. The action "rotate" is correctly used with the correct "params". However, the "angular_velocity" value is not provided in the command and it\'s set as null in the JSON, it could potentially have a reasonable default value instead of null.'] +Rotate anticlockwise by 135 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 135, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The command request is a rotation, which matches the given "rotate" action in the JSON. The rotation direction requested is anticlockwise, corresponding to "is_clockwise": false as per the sample keys. The rotation angle matches exactly with the value in the JSON. "angular_velocity" value is not specified in the natural language command and the JSON has null value for that key, which is reasonable.'] +Perform a 135 degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 135, "is_clockwise": false, "unit": "degrees"}};['5; The command perfectly matches the JSON structure. The action is "rotate", the angle is correctly given as 135, the rotation is specified to be counterclockwise which translates to "is_clockwise": false in the JSON, and the unit is correctly given as "degrees". The angular_velocity is not specified in the command but that is acceptable according to the instruction.'] +Move backward for 6 meters.,{"action": "go_to_}};['0; The JSON structure does not match the command given. The action in the command is "move" but the JSON action is "go_to". Furthermore, \'6 meters\' and \'backward\' direction aren\'t reflected in the JSON structure at all.'] +Go in reverse for a distance of 6 meters.,{"action": "rotate", "params": {"angular_velocity": 0, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['0; The JSON structure does not match the given natural language command. The command is asking for the entity to move in reverse for a certain distance, while the JSON is instructing a rotation action.'] +Take 6 steps back.,{"action": "move", "params": {"linear_speed": 0.5, "distance": -6, "is_forward": false, "unit": "meter"}};['4; The natural language command corresponds well with the JSON structure, but the "linear_speed" parameter was not specified in the command and is therefore arbitrary. Also, the command specifies "steps" while the JSON uses "meters" as unit, this difference is accepted for the scoring but there\'s a clear disparity between them.'] +Retreat 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -6, "is_forward": false, "unit": "meter"}};['0; The natural language command asks the machine to retreat, which corresponds to the action "move" in the sample ontology, however, the JSON structure provided does not match the command. The JSON structure includes a "linear_speed" of 0, which would imply no movement, and the "is_forward" key is set to false instead of true, which would indicate moving backwards. Thus, the JSON structure does not properly represent the command.'] +Travel 6 meters in the opposite direction.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};['1; Only the "action" keyword matches in the natural language command and the provided JSON structure, but there are no matching elements or values within the "params" keyword. The natural language command specifies a direction ("opposite") and a distance ("6 meters"), which do not correspond to the given JSON\'s parameters (which specify a location). The command implies a movement which doesn\'t align with the provided JSON command "go_to_goal".'] +Turn left and move forward for 4 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": true, "unit": "second"}};['1; The JSON structure provided does correspond to the moving action mentioned in the natural language command as "move forward for 4 seconds." However, there is no indication or command in the JSON for turning left as mentioned in the natural language command. The time unit "seconds" while correct in a grammatical sense, is not part of the original sample ontology, this could lead to confusion as the sample ontology makes references to distance in a spatial sense, not temporal.'] +Take a left turn and proceed straight ahead for a duration of 4 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};["1; The action 'rotate' in the JSON structure could possibly match with the 'left turn' in the natural language command, however, the parameters for 'angular_velocity' and 'angle' in the JSON structure are declared as 'null', additionally, the 'is_clockwise' key is given a value as 'false' which is not mentioned in the natural language command, therefore, matching is only partial. The 'proceed straight ahead for a duration of 4 seconds' part of the command has no match in the JSON structure."] +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds.,{"action": "rotate", "params": {"angular_velocity": , "angle": , "is_clockwise": false, "unit": "degrees"}};['1; The natural language command and the JSON structure do not match adequately. The command describes rotating and moving forward, but the JSON structure only includes the action of rotation ("rotate"). Additionally, the "is_clockwise" parameter is correctly interpreted as false for a leftward turn but the unspecified "angular_velocity" and "angle" parameters are not mentioned in the command. The duration of the movement is also not covered by the provided JSON structure.'] +Pivot to the left and advance forward for a period of 4 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The command partially matches with the JSON structure. The "rotate" action and "is_clockwise" parameter matches, but the command says nothing about "angular_velocity" or "angle". Furthermore, the JSON does not account for the command\'s instruction to move forward for a certain amount of time.'] +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['0; The specified natural language command does not only concern rotating (the specified action in JSON structure), but also the action of moving forward which is not present in the provided JSON. The JSON structure also lacks information about "the movement lasting for 4 seconds". The rotation direction is also not a leftward direction, the JSON specifies "is_clockwise", not direction.'] +Rotate clockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['5; The natural language command perfectly matches with the JSON information: the action "rotate", the angle "60", the direction "clockwise", and the unit "degrees" are all correctly reflected in the JSON structure. The data key "angular_velocity" not being mentioned in the command is acceptable as the command allows for any reasonable value.'] +Turn 60 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Rotate the object by 60 degrees in the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The natural language command matches perfectly with the JSON structure as the action, rotation, rotation direction (clockwise) and the degree of rotation are all mentioned. Although the "angular_velocity" isn\'t specified, it is not a must in this context.'] +Move in a clockwise direction, making a 60 degree turn.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Rotate 60 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The natural language command matches perfectly with the provided JSON. The action, angles, direction and the unit elucidated in the command find exact match in the JSON structure.'] +Move forward for 7 meters and stop.,{"action": "go_to_goal", "params": {"location": "Kitchen"}};['1; The natural language command involves moving forward for a specified distance, which is better aligned with the "move" action in JSON. The provided JSON structure, however, refers to a "go_to_goal" action to move to the kitchen which isn\'t mentioned in the natural language command. Therefore, they don\'t match substantially.'] +Proceed straight for a distance of 7 meters and come to a halt.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Advance ahead covering a distance of 7 meters and then cease movement.,{"action": "move", "params": {"linear_speed": null, "distance": 7, "is_forward": true, "unit": "meter"}};['5; The natural language command exactly matches the JSON structure for the "move" action. Although "linear_speed" is not specified in the natural language command, any reasonable value (in this case, null) is accepted.'] +Go forward 7 meters and then come to a stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "meter"}};['5; The natural language command matches perfectly with the JSON structure. The command to move forward is translated to the "move" action with proper parameters set, like "is_forward": True, "distance": 7 and "unit": "meter". The given speed is a reasonable default. The "come to a stop" part is implied with the distance covered.'] +Move straight ahead, covering a distance of 7 meters, and then halt.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}};["5; The natural language command perfectly matches the JSON structure with all the required parameters being mentioned, including the action to be taken (move), the direction of movement (forward), the unit of measurement (meters), and the distance to be covered (7 meters). Therefore, it's an exact conform."] +Reverse for 5 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};["3; The natural language command indicates a specific time (5 seconds) for which the action should be performed. However, there is no parameter available in the JSON structure to represent this. Also, linear speed and distance values are 0 in the JSON whereas such information is not provided in the command. The action 'move' and 'is_forward' set to false are however correctly interpreted."] +Reverse for a duration of 5 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The JSON structure has fields with the action "move" and parameter "is_forward" set to false, which matches the command\'s instruction to "reverse". However, the command specifies a duration of 5 seconds, which is not represented in the JSON. Additionally, the JSON includes extra information not specified in the command with the fields "linear_speed", "distance", and "unit", all of which have values not mentioned in the command.'] +Perform a 5-second reverse.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};["2; The action type 'move' in the JSON corresponds correctly to the 'perform a reverse' command, as well as the 'is_forward' key set to 'false'. However, the linear_speed and distance in the JSON don't conform to the '5-second' specification in the command. Also, time duration isn't a measure in the ontology provided."] +Execute a reverse motion for 5 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The natural language command specifies a "reverse motion for 5 seconds" but the JSON structure provided corresponds more to just a general "move" action. Additionally, the "5 seconds" part is not translated into the JSON structure. The "is_forward": false does match the "reverse" direction indicated in the command, though.'] +Go backwards for a period of 5 seconds.,{"action": "move", "params": {"linear_speed": -0.5, "distance": 0, "is_forward": false, "unit": "meter"}};['2; The natural language command instructs to go backwards without specifying a specific distance but a time period of 5 seconds. However, JSON structure shows moving with a specific linear speed and distance instead of time. "is_forward" is correctly set as false. But the direction ("-0.5" linear speed for backward) does not exist in the sample ontology. It should be either forward ("True") or backward ("False") irrespective of speed. Concluding, the JSON partially conforms to the command.'] +Turn right and move forward for 9 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The rotation direction in the command is correct and matching with the JSON structure. However, the part of the command that states "move forward for 9 meters" is not represented in the provided JSON structure.'] +Move forward for 9 meters after turning right.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": null, "unit": null}};['1; The natural language command request both rotation and movement. However, the JSON structure only presents rotation details but without any parameter values. The movement action details are completely missing in the JSON.'] +After turning right, proceed ahead for a distance of 9 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 9, "is_forward": true, "unit": "meter"}};['3; The JSON structure matches with the sample keys and the parameters provided in the command. However, the command also includes a rotation action ("turning right") that is not represented in the JSON structure. So partial conformity is achieved.', ''] +Take a right turn, then continue moving straight for a distance of 9 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The JSON command correctly identifies that the natural language command is a rotate action. The action and parameters mostly correctly match the natural language command, particularly the turning right or anti-clockwise represented as "is_clockwise": false and 90 degrees angle. However, the JSON does not include the parameter for the action of \'moving straight for a distance of 9 meters\'. Therefore, only part of the natural language command is represented.'] +Make a right turn and travel forward for 9 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; Partial match. The natural language command dictates to rotate but does not specify the angular velocity, however, the command also mentions moving forward 9 meters, which is not represented in the provided JSON structure.'] +Move forward for 2 seconds and stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}};['1; The command is not directly linked to the JSON structure. The command instructs to move forward for a specific time (2 seconds) and stop, but the mentioned JSON structure does not provide a parameter to specify the duration of the move action. The "distance" parameter is set to 0 which contradicts the forward movement. The command also does not specify the linear speed or the distance which are present in the JSON structure. The only matching part is the forward movement.'] +Proceed in the forward direction for a duration of 2 seconds, then come to a stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "duration": 2, "unit": "second"}};['1; The JSON structure does not completely align with the natural language command. The command mentions "come to a stop" but there is no relevant parameter in the JSON structure. Also, the JSON structure includes parameters for speed and distance that aren\'t mentioned in the command. Additionally, the "duration" parameter in the JSON structure does not exist in the sample ontology.'] +Go ahead for 2 seconds and then halt.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['0; The natural language command talks about moving forward for 2 seconds and then stopping, which does not match with the provided JSON structure that represents rotation action.'] +Advance for a period of 2 seconds and then cease movement.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": null, "unit": null}};['1; The command is asking for an action that isn\'t properly defined in the provided JSON structures. There is no parameter to indicate a time period for movement in the JSON. Even though "move" is a valid action, the parameters required by the command do not match with the JSON structure, hence low conformity.'] +Travel forward for 2 seconds before stopping.,{"action": "move", "params": {"linear_speed": null, "distance": null, "is_forward": true, "duration": 2, "unit": "second"}};["2; The JSON structure represents the action 'move' and includes 'is_forward' parameter same as in the natural language command. However, the natural language command does not specify 'linear_speed' and 'distance' and the JSON includes an additional 'duration' parameter which is not included in the sample keys of the JSON ontology."] +Rotate counterclockwise by 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -30, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command conforms mostly to the JSON structure. The action "rotate" is correctly identified, and the "angle" parameter is correct. The command specifies a counterclockwise rotation, which correctly corresponds to "is_clockwise": false in the JSON. However, the "angular_velocity" isn\'t specified in the command, so the specific value of 1 in the JSON isn\'t directly derived from the natural language command.'] +Turn 30 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -30, "is_clockwise": false, "unit": "degrees"}};['4; The JSON structure matches the command closely with the action of rotation and specified angle. However, the angular_velocity is arbitrarily set in the JSON structure and not provided in the command. Therefore, it is not a perfect match.'] +Rotate in the anticlockwise direction by 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit":}};['2; The action command \'rotate\' matches in both JSON and the natural command. However, the angle value is not consistent as the natural command says \'30 degrees\' whereas the JSON information says \'90\'. Secondly, the \'unit\' does not specify any unit in the JSON whereas rotation action implies \'degrees\' or \'radians\'. "angular_velocity" also doesn’t match the command. The direction \'anticlockwise\' is rightly interpreted as "is_clockwise": false.'] +Rotate to the left by 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 30, "is_clockwise": false, "unit": "degrees"}};['4; The JSON command correctly corresponds to the "rotate" action and specifies the angle as 30 degrees, consistent with the natural language command. However, the direction of the rotation is also correctly defined as anti-clockwise since left rotation is usually anti-clockwise. The "angular_velocity" value was not specified in the natural language command, but its presence in the JSON command is acceptable. The reason for not giving a score of 5 is due to the inconsistency in angular velocity that was not specified in the natural language command.'] +Rotate in a counterclockwise direction, making a 30-degree turn.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 30, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command specifies a "rotate" action, an "angle" parameter of 30 degrees and a "is_clockwise" parameter of False, which all match with the JSON structure. However, the value of "angular_velocity" in the JSON structure is 10, whereas the natural language command does not provide a specific angular velocity. This divergence does not significantly impact conformity as it is a reasonable arbitrary value.'] +Reverse for 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}};['5; Exactly conform.'] +Move back for a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}};['4; The natural language command mostly matches up with the JSON structure. The action "move" and the parameters "distance" and "unit" correspond directly to the command\'s instruction to "move back for a distance of 4 meters". However, the command does not specify "linear_speed", so the given JSON value of 0.5 is tentatively acceptable. The direction of the movement is implied to be backward from the command but is not explicitly mentioned, hence JSON uses "is_forward": false which corresponds but is not an exact match.'] +Go in reverse for a span of 4 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}};["4; The command matches the JSON structure quite well, instructing a movement for a certain distance. However, the 'linear_speed' is not specified in the command, but is set to 0 in the JSON which would imply no movement, and it should be any reasonable value but zero. Therefore, it's not a perfect match."] +Retreat 4 meters in the opposite direction.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The given command suggests a specific move (retreat) for a specific distance in the opposite direction, but the JSON structure corresponds to going to a specific location (Kitchen) which is not mentioned in the command.'] +Travel backwards, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 4, "is_forward": false, "unit": "meter"}};["4; The action 'move' and its parameters match the natural language command, the 'distance' and 'unit' parameters specifically mentioned in the command and the 'is_forward' parameter correctly deduced from the command. However, the command does not mention the 'linear_speed', although it is correctly set to 0 in the JSON structure. But it should not be zero as robot cannot move with 0 speed."] +Turn left and move forward for 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}};['1; The command indicates that the bot needs to perform 2 actions - "Turn left" and "Move forward for 6 seconds". However, the JSON structure only contains one action, which is "move". Also, the units of the "distance" parameter in the JSON structure have been misunderstood. The units for moving shouldn\'t be "seconds" and turning isn\'t expressed among the JSON structures.'] +Proceed forward for 6 seconds after making a left turn.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}};['2; The JSON structure for moving forward matches with the command, but the command also includes an action of turning left, which is not reflected in the JSON. Therefore, a part of the command has been ignored in the JSON.'] +Make a left turn and advance for 6 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The JSON structure only loosely matches the natural language command. The "rotate" action does match "Make a left turn", but the parameters do not fully match. There is no specification for "advance for 6 seconds." Also, the "angular_velocity", "angle" and "is_clockwise" parameters\' values are not specified in the natural language command.'] +Move ahead for 6 seconds after turning to the left.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['1; The given natural language command corresponds partially to the "rotate" action in the JSON object. The rotation description is available in the command. However, the JSON representation also includes moving forward, which isn\'t represented in the given JSON structures, thus the low conformity score.'] +After veering left, continue straight for 6 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "second"}};['2; The command tells the robot to veer left and continue straight for 6 seconds. But the JSON structure only represents moving straight with no provision for the "veer left" action. Moreover, time (seconds) is used as a unit in the command instead of distance or velocity as depicted in the JSON structure.'] +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};["4; The action and all parameters match perfectly, but the linear speed value in the JSON is not mentioned in the original command. As per instructions, this should not affect the conformity score too much, because it is a reasonable value. However, it's not an exact match."] +Proceed ahead for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command tells the system to move forward for a certain distance, which perfectly matches with the provided JSON structure. All the keys in the JSON structure are present in the sample ontology and all parameter values in the natural language command have been correctly assigned in the JSON.'] +Advance straight on and cover a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};["5; The natural language command exactly matches with the JSON information. The 'action' is set as 'move' which corresponds to advancing straight. The 'distance' parameter is correctly interpreted as 5 and 'is_forward' as true, which indicates moving forward. The speed 'linear_speed' value does not contradict the natural language command, and hence can be accepted as a reasonable value. The 'unit' is correctly set to 'meter'."] +Head forward and travel 5 meters in that direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; The natural language command translates directly to the JSON structure. It includes the action "move" with all the necessary parameters such as "linear_speed", "distance", "is_forward" and "unit". All values are correctly specified in the JSON structure.'] +Move straight ahead and go a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; The command specifies all the keys correctly in the JSON structure like distance, linear_speed, is_forward and the units. Even though the speed is not specified, a value of 1 is reasonable and accepted.'] +Turn left and move forward for 2 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "second"}};['2; Partially conform. The command "Turn left" suggests a rotation action that is not present in the provided JSON structure, while "move forward for 2 seconds" aligns with the "move" action. However, the given JSON has distance in units of meters, not seconds.'] +Move ahead for 2 seconds after turning left.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["1; The JSON command refers only to the 'turn left' portion of the natural language command. There is no information reflecting the 'move ahead for 2 seconds' part of the command."] +After turning to the left, proceed forward for a duration of 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The provided JSON code partially matches the natural language command. The "rotate" action is implied by "After turning to the left," with "is_clockwise" implied as false since a left turn is anti-clockwise. However, the "angular_velocity" and "angle" are not specified. Additionally, the command to "proceed forward for a duration of 2 seconds" is not reflected at all in the JSON code.'] +Take a left turn and then proceed straight for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command instructs a left turn, which indeed matches the "rotate" action, and the direction "is_clockwise": false is inferred correctly. However, the command further includes a direct action to proceed straight which is absent in the provided JSON structure.'] +Make a left turn and continue moving forward for a duration of 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The command mentions a turn and moving forward, which would use both the "rotate" and the "move" actions. The provided JSON, however, only covers part of the rotate action and completely lacks the "move" action. Thus, the conformity is low.'] +Rotate counterclockwise by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The provided natural language command instructs a rotate action, but the given JSON structure only represents a "go_to_goal" action with "location" as a parameter. Since there is no match between the command and the JSON structure, the conformity score is 0.'] +Turn in the opposite direction by an angle of 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['4; The JSON structure partially matches to the command. The action in the command and the JSON is to "rotate". However, the "angular_velocity" is given as 1, which is not mentioned in the natural language command. The angle is given as -90, which indicates anticlockwise direction, is correct as "in the opposite direction" implies a rotation in anticlockwise direction. The "is_clockwise" set to false also matches the command "in the opposite direction". The unit is correctly mentioned as "degrees". The missing "angular_velocity" in the command results in a conformity score of 4.'] +Rotate anticlockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Spin to the left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The JSON command matches perfectly with the natural language command by providing rotation action with specified angle and direction. The angular_velocity is not specified in natural language command, but a null value is acceptable.'] +Twist counterclockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};["4; The natural language command is almost an exact match to the JSON. The 'angular_velocity' key doesn't have a specific value in the natural language command but is given any reasonable JSON value. However, the 'angle' key value is specified correctly as 90 and 'is_clockwise' key value is correctly set to false indicating a counterclockwise rotation."] +Move backward for 3 meters.,{"action": "move", "params": {"linear_speed": -3, "distance": 3, "is_forward": false, "unit": "meter"}};["4; The natural language command and the JSON structure match in terms of action and parameters like distance and unit. However, in the natural language command, there is no mention of linear speed while this parameter is included in the JSON structure. There is a logical discrepancy in the 'linear_speed' value, where -3 is stated in the JSON. Usually, the speed can't be negative, it semantically represents 'is_forward' as false which is already a separate parameter. This might cause confusion."] +Go in reverse for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};['4; Mostly conform. The action and parameters match correctly, but the "linear_speed" key in the JSON does not match the natural language command, as a speed was not specified. Additionally, the value of "is_forward" although correct within a common sense reasoning, it was also not explicitly mentioned in the command.'] +Travel three meters in the opposite direction.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}};['4; The command matches the "move" action but doesn\'t mention the "linear_speed" parameter. All other parameters align with the natural language command.'] +Retreat for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};['5; Exactly conform. The JSON structure perfectly matches the natural language command. The action is "move", and the parameters - distance, unit, is_forward - are correctly specified. The "is_forward": false parameter correctly captures the "retreat" command, which implies moving backward. The linear_speed is not mentioned in the command, hence any reasonable value in the JSON, such as 0, is accepted.'] +Reverse your movement and cover a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": false, "unit": "meter"}};['5; Exactly conform. The natural language command directly corresponds to the JSON structure in terms of action and parameters given. The "move" action is performed with a distance of "3" meters in reverse direction ("is_forward": false) which matches perfectly with the given command.'] +Turn right and move forward for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The action of rotating is present and the rotation direction is correctly recognized as right which infers to clockwise rotation in the JSON structure. However, the angle is set to 90 degrees in JSON which is not indicated in the natural language command. Also, the move forward action is not represented in the provided JSON.'] +Proceed forward for 1 meter after turning to the right.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command corresponds partially to the JSON structure. The \'rotate\' action is accurately represented with correct parameters even though \'angular_velocity\' value is not specified in the natural language command. However, the \'move\' action is indicated in the natural language command "Proceed forward for 1 meter" but completely missing in the given JSON structures.'] +Take a right turn and continue moving straight ahead for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command asks the system to take a right turn which is represented correctly as a clockwise rotation in the given JSON. However, the "continue moving straight ahead" part of the command is not represented at all in the JSON. It should have been an "action": "move" entry with appropriate parameters like a positive "distance" and "is_forward": true.'] +After making a right turn, proceed ahead for 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": true, "unit": "degrees"}};['2; Only the "action": "rotate" part of the command is correctly represented in the JSON structure. The command to move "ahead for 1 meter" is not reflected in the provided JSON at all.'] +Rotate to the right and then advance for a distance of 1 meter.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['2; The natural language command requests a "rotate" action which is correctly identified in the JSON structure. However, it also contains a command to "advance" which should be an action "move" with "is_forward" set to true and "distance" is specified as 1 meter, and is missing in JSON.'] +Move forward at a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Proceed ahead with a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};["5; Exactly conform. The command matches perfectly with the JSON data structure by correctly identifying the action as 'move' and specifying the 'linear_speed' value as 0.5. The 'distance' is not specified in the command but a reasonable value of 1 is used and the 'unit' is correctly identified as 'meter'. The 'is_forward' parameter is also correctly identified as true."] +Advance with a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "unit": "meter"}};['4; The command corresponds to the JSON structure correctly, but it does not specify the "distance" parameter, which is why the score is not perfect.'] +Go forward at a rate of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "unit": "meter"}};['4; The natural language command and JSON structure match in the "action" (move) and "linear_speed" (0.5 meters per second). The "is_forward": true also matches with the command to "Go forward". However, the "distance" isn\'t specified in the natural language command, resulting in a \'null\' value in the JSON, meaning not exactly all information is provided.'] +Travel in a forward direction at a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "unit": "meter"}};['3; Partially conform. The natural language command matches partially with the JSON information and its conformity with the keys of the JSON structure. The "linear_speed" and "unit" parameters match with the provided command. However the "is_forward" parameter, although implicit, is not explicitly mentioned in the command and the "distance" parameter isn\'t mentioned at all in the natural language command. The "action" keyword also matches.'] +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; The JSON structure accurately represents the natural language command. The action "rotate" and its parameters, especially "angle" 180, "is_clockwise": true, and "unit": "degrees", match perfectly with the command "Rotate clockwise by 180 degrees." Although "angular_velocity" is not specified in the command, it can be any reasonable value and doesn\'t affect the score.'] +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};["5; Exactly conform. The command 'Perform a 180-degree clockwise rotation.' matches perfectly with the provided JSON structure in terms of action, parameters and their values."] +Turn by 180 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};["5; The natural language command perfectly matches the JSON representation. All key elements like action, angle, is_clockwise and unit have been incorporated properly. Angular_velocity can be any reasonable value as it's not mentioned in the command."] +Rotate in a clockwise manner, completing a 180-degree turn.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The natural language command partially matches the JSON structure. The "action" and "params" with keys "angle", "is_clockwise", and "unit" completely match. However, "angular_velocity" in JSON structure does not have a correspondent in the natural language command.'] +Execute a clockwise rotation, rotating by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Move forward for 10 meters at a velocity of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}};['4; Even though the command requests to move forward, for a specific distance and at a specific speed which is all covered in the JSON structure, the speed request in the command is given in m/s, but no unit for speed is mentioned in the JSON structure. Therefore, the match is not exact.'] +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}};['5; The command is matched perfectly with the given JSON structure. All specified parameters in the command (moving direction, distance, and speed) are accurately represented in the JSON. The "unit" and "is_forward" keys also conform with the sample ontology.'] +Go ahead for 10 meters, moving at a pace of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The JSON correctly represents the action ("move"), direction ("is_forward": true), speed ("linear_speed": 2), distance ("distance": 10 meters), and the unit of distance ("unit": "meter") as stated in the natural language command.'] +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 10, "is_forward": true, "unit": "meter"}};['5; The natural language command corresponds perfectly to the JSON structure. All the parameters specified in the command are present in the JSON structure with the same or acceptable values: "action" is "move", "linear_speed" is 2, "distance" is 10, "is_forward" is true, and the "unit" of measurement is in "meter".'] +Turn left and move forward for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The command\'s instruction \'Turn left\' is correctly captured in the JSON structure under the "rotate" action with "is_clockwise": false (since turning left is counterclockwise). However, the \'move forward for 5 seconds\' instruction is not represented in the provided JSON at all. Moreover, "angular_velocity" and "angle" values are null, but in the command, we don\'t have values for these key.'] +Make a left turn and proceed straight ahead for a duration of 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The JSON structure is partially correct. The action "rotate" fits with the command "Make a left turn". However, the parameters for "angular_velocity" and "angle" are missing specific values, and the duration or movement forward is not covered within this JSON structure.'] +Take a left and advance in a forward direction for a span of 5 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['1; The natural language command involves a left turn which matches with neither of the provided JSON structures. Furthermore, the command specifies moving for a span of 5 seconds, which also do not conform with the JSON structures.'] +Rotate to the left and proceed ahead for a duration of 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command is partially matched with the JSON structure as there is only a \'rotate\' action captured. The direction of rotation is correctly identified as anti-clockwise (left). However, the "proceed ahead for a duration of 5 seconds" is not converted into the JSON. Furthermore, angular_velocity and angle values are not specified in the command and are thus null in the JSON data.'] +Veer left and move forward for an interval of 5 seconds.,{"action": "move", "params": {"linear_speed": 0.2, "distance": 2, "is_forward": false, "unit": "meter"}};['1; The natural language command requests a turn to the left, which indicates a "rotate" action that is not represented in the provided JSON structure. The command also calls for movement, which the JSON does cover with the "move" action, but the specified "is_forward" parameter is incorrectly set to false, instead of true. Also, the command\'s request for a certain time duration isn\'t accounted for in the JSON structure.'] +Move backward at a velocity of 1 meter per second.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 0, "is_clockwise": false, "unit": "degrees"}};["0; The natural language command refers to moving backward at a certain speed, however the JSON structure describes a rotation action and its parameters instead of depicting the 'move' action in linear direction. Also the 'angular_velocity' in JSON doesn't match the speed provided in the natural language command as per the action context."] +Go in reverse at a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}};['2; The keys in the JSON structure partially match the natural language command. The action "move" and parameters "linear_speed" and "unit" are mentioned in both. However, the command implies a direction of movement (reverse) but the JSON structure provided does not specify a "is_forward": false value. The command does not specify a distance, yet the JSON structure prescribes a one meter distance. This does not align with the general understanding of the command, as a reverse movement of one meter would be unusually specific.'] +Travel backwards with a velocity of 1 meter per second.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}};['4; The natural language command requests a backward movement which is correctly represented in the JSON structure with "is_forward": false. However, the linear speed is mentioned in the command as being 1 m/s, but it is represented in the JSON as -1, Instead of using negative speed, the "is_forward": false is used. The distance isn\'t specified in the natural language command, but it\'s assumed to be 1 which is accepted as per the prompt.'] +Move in the opposite direction at a rate of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 1, "is_forward": false, "unit": "meter"}};['4; Mostly conformed. The JSON structure correctly identifies the action as "move", and correctly assigns "linear_speed" and "is_forward". However, the natural language command does not specify the distance, yet it is included in the JSON structure.'] +Go backward at a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}};["1; The JSON structure does not perfectly align with the natural language command. The keys 'distance' and 'is_forward' do not match because they are not mentioned in the command. Further, the meaning of the negative 'linear_speed' is not clear and potentially contradicts 'is_forward' key. The command only mentions moving backward at a given speed, not the distance to be covered or the direction of movement."] +Rotate counterclockwise by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Rotate 45 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Turn left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command and JSON structure slightly conform. The desired action (rotate) and the angle (45 degrees) from the natural language command correspond properly in the JSON structure. However, the "is_clockwise" parameter from the JSON structure does not match with the natural language command because turning left is not considered clockwise. Furthermore, no value was mentioned for "angular_velocity" in the command.'] +Rotate in an anticlockwise direction by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['4; Although there is a small discrepancy in the "angular_velocity" value of the JSON and the provided natural language command, the remaining details like action, angle, is_clockwise and unit are aligned properly. Since the angular_velocity is not specified in the command, the provided value is still accepted.'] +Rotate to the left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command and the JSON information match, but the "angular_velocity" value doesn\'t match the sample ontology. According to the command, the "angular_velocity" cannot be determined so any reasonable value is accepted. However, the provided value of 1 is notably higher than the sample value of 0.35, thus it seems not fully reasonable.'] +Move forward for 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}};['4; The action and parameters match the natural language command. However, there is non-specified parameter in the natural language command which is the "linear_speed". Any reasonable value is accepted but 1 is not specified in the provided natural language command.'] +Proceed ahead for a distance of 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}};['4; The JSON structure largely matches the natural language command. The action and parameters are present in the JSON object. However, the linear_speed is given as 1 in the JSON structure, but no speed is specified in the natural language command.'] +Advance 7 meters in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Travel straight ahead for a length of 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Go straight for 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}};['5; The command instructs the AI to move forward, or "go straight," for a certain distance. This maps perfectly to the JSON structure provided, which details an action of "move," a distance of 7, a direction of forward (or "is_forward": true), and a unit of measurement being "meter." The linear_speed is not specified in the command but is reasonably given as 1 in the JSON.'] +Turn right and move forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command partially matches with the JSON structure. The turning right motion is opposite to what is conveyed in the JSON structure which indicates a non-clockwise rotation. The movement of forward for 4 meters is not represented in the JSON structure at all.'] +Take a right turn and proceed ahead for a distance of 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['3; The JSON partially conforms to the command. It captures the information for the "rotate" action part of the command, which includes taking a right turn, but doesn\'t include the "move" action, which refers to "proceed ahead for a distance of 4 meters". A JSON for the "move" action should be included to fully capture the command.'] +Make a right turn and advance straight ahead covering a distance of 4 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": true, "unit": "degrees"}};['2; The JSON structure partially conforms to the natural language command. The rotation direction \'right turn\' is correctly captured in the JSON as "is_clockwise": true. However, the part of the command \'advance straight ahead covering a distance of 4 meters\' is not represented in the provided JSON structure. The parameters for rotation such as \'angular_velocity\' and \'angle\' are also not clearly specified in the command.'] +Rotate towards the right and continue moving forward for 4 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['2; The JSON structure does not match with the command entirely. The action "rotate" is successfully mentioned along with the directive to do it clockwise. However, the command also includes moving forward for a certain distance which isn\'t represented in the JSON at all. Also the parameter values for angular_velocity and angle are missing which were required according to the JSON structure.'] +Go right and travel straight ahead, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['5; The natural language command mentions to move straight ahead for 4 meters which is correctly represented in the JSON structure as action "move" and parameters "distance" as 4 and "unit" as "meter". The direction is forward which is again correctly represented as "is_forward": true. The actual speed is not given in the natural language command, so any reasonable speed like 1 in the JSON is accepted.'] +Move forward for 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}};['2; The action command is correct. However, while the linear_speed value is acceptable, the distance value is wrong. "Distance" is measured in a spatial unit, not time (seconds). The natural language command doesn\'t fully fit the sample ontology because it mentions time instead of distance. The "is_forward" parameter also has a correct value. So, the command partially complies with the JSON structure.'] +Go straight ahead for a duration of 3 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['0; The JSON structure does not match the command. The command instructs to "go straight ahead for a duration of 3 seconds", but the JSON structure indicates a rotation action which is not present in the command.'] +Proceed in a forward direction for a span of 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "duration": 3, "unit": "second"}};["2; The natural language command corresponds to an action of moving which is present in the JSON structures. However, the parameters specified in the command ('span of 3 seconds') are not correctly reflected in the JSON structure. 'Duration' parameter is not included in the sample ontology and 'Distance' is given as 0, when it is not specified in the natural language command."] +Advance ahead for a period of 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1.5, "is_forward": true, "unit": "meter"}};["2; The command's general idea matches with the action of moving forward which is present in the JSON structure. However, the command's reference of time (3 seconds) does not align with the JSON structure which expects a distance value rather than a time duration."] +Travel forward for a duration of 3 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['0; The provided JSON structure does not match the natural language command. The command is about linear movement, but the JSON depicts a rotation action.'] +Turn left and move forward for 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['2; Although the "move" action and its parameters in the JSON structure mildly conform to the natural language command, the command also includes "Turn left" which is not reflected in the JSON package at all. This is supposed to be reflected in the "rotate" action and its parameters, using a is_clockwise key-value pair.', ''] +Proceed straight for a distance of 2 meters after making a left turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The "rotate" action corresponds to making a left turn, however, the command describes two sequential actions while the JSON structure only shows the rotate action. The linear movement described in the command does not match with any structure provided.'] +For a span of 2 meters, continue moving forward after taking a left turn.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};["2; The JSON structure only corresponds to the part of the command where the bot is moving forward for 2 meters but doesn't include the action of taking a left turn. There is a mismatch in the actions specified in the command and the actions described in the JSON structure."] +Make a left turn and advance ahead for 2 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}};["2; The given JSON structure only partially matches the command. The command instructs a left turn which is clockwise rotation marked as false in JSON, but there is no specific angle to turn mentioned in the command to match it with the JSON. Furthermore, the command also includes advancement for a certain distance, which isn't represented in the JSON at all."] +After turning left, go straight for a distance of 2 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command partially matches with the JSON structure. The "rotate" action is correctly interpreted, but the sample does not provide enough information to derive a specific "angular_velocity" or "angle" for a left turn. Also, the command to go straight for 2 meters is not represented in the provided JSON structure.'] +Rotate clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure matches with the natural language command correctly in rotation action and parameter values, however, it lacks a specified angular_velocity value.'] +Turn to the right by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}};["1; The command asks to rotate towards 'right' direction. But 'is_clockwise' is incorrectly set to false, which usually indicates a 'left' rotation. The angular_velocity is not specified in the command, but it should not have a 'null' value in JSON. It should have a reasonable value. The rest of the information is correct."] +Rotate in a clockwise direction by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Perform a 270-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The command "Perform a 270-degree clockwise rotation" matches exactly with the provided JSON structure where action is "rotate" and parameters include "angle": 270, "is_clockwise": true, both of which are in line with the command. Angular_velocity being null is accepted as the value is not specified in the natural language command.'] +Rotate by 270 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['4.5; The JSON structure almost perfectly matches the natural language command. The "is_clockwise": true parameter correctly translates the clockwise rotation, and "angle": 270 parameter matches the 270 degrees rotation. The "action": "rotate" also conforms to the rotation command. However, the "angular_velocity" is left null while it could\'ve been any reasonable value, that\'s why it is not a perfect 5.'] +Move backward for 6 meters.,{"action": "go_to_}};['1; The JSON structure and the natural language command do not conform well. The action type "move" is more appropriate for the given command than "go_to_" which is incomplete. Moreover, the parameter "is_forward" should be False for the direction \'backward\'. However, no points related to the value of distance and the unit of distance are mentioned.'] +Reverse direction and travel a distance of 6 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": false, "unit": "meter"}};['5; The natural language command exactly matches with the JSON structure. The action is correctly identified as "move" and all necessary parameters are included with correct values. The direction is correctly interpreted as not forward, represented by "is_forward": false, and the distance is correctly derived from the command. The unit is "meter" which matches with the information in JSON.'] +Go back 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -6, "is_forward": false, "unit": "meter"}};['3; The action type "move" and several parameters like "is_forward", "unit", "distance" match the natural language command. However, the inclusion of "linear_speed" with a value of 0 differs from the command as no speed was specified. Additionally, the "distance" should not be negative as described in the JSON. Negative distance is not clearly implied in natural language command, unlike direction, which is mentioned as "back".'] +Retreat for a distance of 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 6, "is_forward": false, "unit": "meter"}};['5; Exactly conform.'] +Move in the opposite direction for 6 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": false, "unit": "meter"}};['3; The "action" of "move" and parameter keys ("linear_speed", "is_forward", "unit") align. However, the "distance" key has a value of 0 in JSON, while the command implies a distance of 6 meters. Also, the "linear_speed" in command is not specified, so any reasonable value can be accepted. The conformity is thus partially correct.'] +Turn right and move forward for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['1; The natural language command instructs to "turn right" which partially matches with the "rotate" action in the JSON structure. However, there\'s a mismatch in the parameters, as "move forward for 5 seconds" does not align with the JSON parameters for rotation, i.e., "angular_velocity", "angle", "is_clockwise" and "unit". The duration for the movement (5 seconds) isn\'t represented in the JSON structure at all.'] +Take a right turn and proceed ahead for a duration of 5 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['3; The action "rotate" and the parameters "angular_velocity", "angle", "is_clockwise", "unit" match the JSON structure. However, the natural language command describes taking a right turn while the JSON structure has "is_clockwise" set to false which typically corresponds to a left turn. Similarly, the duration in the natural language command is not represented in the JSON structure.'] +Make a right turn and continue moving straight for 5 seconds.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; While the natural language command "make a right turn" does have some matching to the JSON action "rotate" and related parameters, the instruction "continue moving straight for 5 seconds" does not match the second JSON structure. The JSON structure makes reference to moving with a certain speed and distance, but does not incorporate a time element. Therefore, the natural language command does not fully match the JSON structures provided.'] +Go right and advance for a period of 5 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "second"}};['1; The natural language command involves a direction ("Go right") and a time duration ("for a period of 5 seconds"), while the JSON structure describes a linear movement with a certain speed, distance, direction and unit. However, the JSON structure refers to "linear_speed" and "distance", and not "rotation" or "duration". Hence conformity is low.'] +Shift to the right and travel in a forward direction for 5 seconds.,{"action": "move", "params": {"linear_speed": 0.2}};["1; The action in the JSON structure is in agreement with the natural language command. However, the parameters in the command do not match with the parameters in the JSON structure. The command mentions about moving in a forward direction for a certain time duration, but the JSON structure only specifies the linear speed. The parameters 'distance', 'is_forward' and 'unit' are not mentioned."] +Move forward at a velocity of 0.3 meters per second for 10 meters.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}};['4; The natural language command is congruent with the JSON structure but it doesn\'t exactly match. The JSON structure refers to speed as "linear_speed" while the natural language command refers it to as "velocity". Also, the JSON structure specifies a linear_speed of 0.5 while the command specifies a speed of 0.3. Hence, this is a close match but not the exact one.'] +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command matches the provided JSON structure perfectly. All the parameters like action, linear_speed, distance, is_forward, and unit in the command line are present in the JSON, and the values correspond accurately.'] +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 10, "is_forward": true, "unit": "meter"}};['5; The natural language command perfectly matches the JSON information provided. All the parameters and their respective values, including action, linear speed, distance, direction (is_forward), and unit, are captured correctly in the JSON structure.'] +Rotate counterclockwise by 120 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The natural language command "Rotate counterclockwise by 120 degrees." perfectly corresponds to the given JSON. The action "rotate" is correctly represented, as well as the parameters: "angle": 120, "is_clockwise": false, "unit": "degrees". Even the "angular_velocity" not being specified in the command, a null value is a reasonable placeholder.'] +Rotate 120 degrees counterclockwise.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}};["4.5; The natural language command almost perfectly matches the JSON structure. The 'angle' and the 'is_clockwise' parameters have been completely matched. However, the 'angular_velocity' parameter is not specified in the natural language command, resulting in a null value in the JSON structure. Thus, it is not a perfect match."] +Perform a counterclockwise rotation of 120 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}};['4.5; The JSON instruction mostly conforms to the natural language command. "Perform a counterclockwise rotation of 120 degrees." translates well to the JSON structure. The key "is_clockwise" is correctly set to false, in accordance with "counterclockwise," and the "angle" is accurately set to 120. The "angular_velocity" is not specified in the English command, and though a null value is permitted, it would ideally be some reasonable default value instead to better match the implied intent. The action and unit keys match perfectly. The 0.5 reduction of score is only due to the "angular_velocity" being set to null when it could contain a default value.'] +Turn left by 120 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": false, "unit": "degrees"}};['4.5; The JSON structure accurately presents the natural language command but the "angular_velocity" parameter does not have a value. In this case, a null value is reasonable when the velocity is not specified in the command.'] +Rotate in the opposite direction by 120 degrees.,{"action": "rotate", "params": {"angular_velocity": 120, "angle": 120, "is_clockwise": false, "unit": "degrees"}};['4; Mostly conform. The actions match, however, the "angular_velocity" is usually a measurement of speed, not the rotation angle. In this case, it is used incorrectly. The values for "angle" and "is_clockwise" match the natural language command.'] +Rotate counterclockwise by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['1; The natural language command calls for rotation which exists in the JSON ontology. However, the direction specified is counterclockwise while the JSON structure has a parameter for "is_clockwise". The degree of rotation is also mentioned (90 degrees) but with no corresponding value in the JSON. The command is also not related to the "go_to_goal" action and "location" parameter in the given ontology.'] +Turn left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command matches with the JSON structure, the action "rotate" corresponds to the command "Turn left". The parameter of 90 degrees also matches. However, the "is_clockwise" value should be true for a left turn and "angular_velocity" is not specified in the command but marked as null in the JSON.'] +Rotate anti-clockwise by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command precisely matches the JSON structure in terms of action and parameters. However, the natural language command requests an anti-clockwise rotation, represented as false in "is_clockwise" field, but the actual "angular_velocity" isn\'t specified in the command, so assigning it a "1" is arbitrary.'] +Rotate in the opposite direction by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['1; Only the action "rotate" matches partially with the given JSON structures. However, the parameter \'is_clockwise\' has a different value in the command. The degree of rotation is also mentioned but it does not match the value given in the JSON structure, and the direction is opposite.'] +Rotate counter to the clockwise direction by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The natural language command is for the action "rotate" but the provided JSON structure represents the action "go_to_goal". There is a mismatch as the action in the JSON does not support rotation and the parameters in the JSON do not contain information about the rotation action.'] +Move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Proceed straight ahead for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command matches the JSON information exactly as specified in the ontology. It correctly defines the action as "move", with the specified distance being 5 and the unit of measurement being meters. It further specifies going straight i.e., "is_forward" as true. Even though the linear_speed is not specified in the natural language command, 1 is a reasonable speed and acceptable as per the instructions.'] +Advance ahead by 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; The given natural language command perfectly matches the JSON representation. The action of moving forward along with the distance to be covered is appropriately represented in the JSON structure, and though the linear_speed is not specified in the command, its value in the JSON is accepted as it is a reasonable value.'] +Travel in a forward direction, covering a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Move straight ahead and travel a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};["4.5; The action in the command to move ahead and the action 'move' in the JSON match. The parameters also match with 'distance' specified as 5 meters in both. However, the only missing conformity is the 'linear_speed', which is specified as 1 in the JSON but not mentioned at all in the command. Nonetheless, a reasonable value is accepted in the JSON if a parameter's value is not specified in the command."] +Turn left and move forward for 2 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "second"}};["1; The natural language command mentions turning left which isn't reflected in any JSON structure. The movement command in the JSON structure doesn't match perfectly either, as it is measured in distance while the command specifies a duration of time."] +Proceed forward for 2 seconds after turning left.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0.5, "is_forward": true, "unit": "meter"}};['2; While the natural language command refers to a movement action, it does not actually reference all the correct parameters such as "linear_speed" and "distance" illustrated in the JSON structure. Additionally, the command also includes an action "turning left" which is not represented in the provided JSON structure at all.'] +After making a left turn, continue straight ahead for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};["1; The command does partially correspond to the 'rotate' action in the JSON structure, but lacks correct information on 'angular_velocity' and 'angle', also command asks to go straight ahead for 2 seconds which is not mentioned in JSON structure."] +Take a left turn and then advance forward for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command involves a rotate action and a move action, but only rotate action is considered in the JSON structure. The parameters of the rotation such as "angular_velocity" and "angle" are not specified in the natural language command, hence their null values in the JSON are accepted. However, the command mentions "Take a left turn", which implies counter-clockwise rotation, and this is correctly converted as "is_clockwise": false in the JSON. The missing translation for the move action and the wrong order of actions (rotate should be after move) contributes to the lower score.'] +Rotate to the left and travel straight for 2 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The JSON structure refers to a "rotate" action command, which is mentioned in the natural language command. However, the JSON parameters do not fully match the command. The direction of movement ("to the left") is addressed by the correct "is_clockwise" boolean in JSON, but there is no mention of "angular_velocity" or "angle" values, which would determine the extent of the rotation. Additionally, the command mentions "travel straight for 2 seconds", however this portion is ignored in the given JSON structure. A "move" or "go_to_goal" action with corresponding parameters would be expected here.'] +Stop and wait.,{"action": "wait", "params": {}};['0; The JSON structure does not match the natural language command ("Stop and wait."), as there is no "wait" action or any related parameters in the provided sample ontology.'] +Cease and remain still.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['0; The given natural language command asks the system to stop moving. However, the provided JSON structure\'s "action" is "move", suggesting some movement should be taking place. In addition, the values of the parameters are not matching with the command. It indicates a forward movement at a linear speed of 0.5 for an unspecified distance, which is not in compliance with the \'cease and remain still\' command.'] +Halt and stay put.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};["0; The natural language command indicates to stop not to move therefore it does not conform with the provided JSON structure in action 'move'."] +Pause and remain stationary.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['0; The natural language command indicates a requirement to stop moving or hold a position, but there is no corresponding action or parameter in the provided JSON structure to reflect this command. The existing JSON actions are "go_to_goal", "move", and "rotate", none of which satisfy the requirement to stop or remain stationary.'] +Desist and await further instruction.,{"action": "stop", "params": {}};["0; The natural language command doesn't match any of the JSON structures given as it instructs to stop not to go to a location, move, or rotate."] +Move backward for 10 meters.,{"action": "move", "params": {"linear_speed": -10, "distance": 10, "is_forward": false, "unit": "meter"}};['3; Partially conform. The action and parameters correspond with the natural language command, but the "linear_speed" value is incorrect. It should be a value that refers to the speed of the movement, not the direction. The direction is indicated by the "is_forward" key which is correctly set to false.'] +Go back a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -10, "is_forward": false, "unit": "meter"}};['5; Exactly conform. The command is moving back hence "is_forward": false. The linear speed isn\'t mentioned in the original command but any reasonable value is accepted as was in the JSON example. The distance is also exact and it is in the correct unit of measurement.'] +Retreat for a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 10, "is_forward": false, "unit": "meter"}};['4; The JSON structure matches with the natural language command. However, the "linear_speed" key is given a value of 0 in the JSON structure which is not reasonable for a movement action regardless of the natural language command not mentioning any specific speed. The robot would not be able to retreat or move at 0 speed.'] +Reverse your direction and travel 10 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": false, "unit": "meter"}};['4; The command asks the system to reverse which the JSON structure translates to traveling not forward. However, the linear speed is not mentioned in the natural language command.'] +Take 10 steps backward.,{"action": "move", "params": {"linear_speed": -1, "distance": 10, "is_forward": false, "unit": "step"}};['1; The natural language command corresponds to the "move" action, but the JSON structure doesn\'t strongly match the sample provided. The parameter "linear_speed" value doesn\'t match as negative speed is not logically correct. Also, "is_forward" set as false is not present in the ontology. The unit in JSON is "step" while in the ontology it\'s "meter".'] +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The natural language command matches the JSON structure in terms of the action to be executed and some parameters specified such as angle, is_clockwise and unit. However, angular_velocity is not specified in the natural language command, so while it is included in the JSON, it is null.'] +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; The natural language command matches perfectly to the provided JSON structure. The action "rotate" is correctly identified, as is the correct "is_clockwise" value (true for clockwise rotation), the "angle" value (180 degrees), and the unit of measurement ("degrees"). Angular velocity is not specified in the command but a null value is acceptable according to the prompt instructions.'] +Rotate in a clockwise direction by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The natural language command and the JSON information match up well, however, the "angular_velocity" value is not specified in the command, but this is accepted as the command doesn\'t require this information.'] +Turn by 180 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The natural language command "Turn by 180 degrees in a clockwise manner" perfectly translators to the JSON structure provided with correct action type \'rotate\' and parameter values. The \'angular_velocity\' is not specified in the natural command but any reasonable value is accepted as per the instructions.'] +Execute a clockwise rotation of 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The natural language command correctly matches the action in the JSON structure and most of the parameters in the JSON conform to those in the natural language command. The "angular_velocity" is not mentioned or implied in the command, so its null value is reasonable.'] +Turn right and move forward for 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};["1; The JSON structure captures the command 'turn right' partially but it doesn't specify to what value the 'angular_velocity' and 'angle' properties should be set, and also it doesn't capture 'move forward for 3 seconds'."] +Make a right turn and proceed forward for a duration of 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['1; The natural language command refers to a rotation, but the required angle and angular velocity parameters are not given in the command and cannot be inferred. Also, the direction of rotation is correct. The command then refers to linear motion, which is not represented in the provided JSON at all. Thus, the command only slightly matches the JSON structure.'] +Take a right and continue moving straight ahead for a total of 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3, "is_forward": true, "unit": "second"}};['2; The JSON command matches the action "move" and parameter "is_forward" as mentioned in the natural language command. However, the other parameters mentioned in the JSON command such as "linear_speed" and "unit" were not included in the natural language command. The "distance" parameter does not exactly match because the natural language command describes a duration ("3 seconds") rather than a physical distance. Also, the direction ("take a right") in the natural language command is not reflected in the JSON.'] +Rotate to the right and advance for a period of 3 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['2; The natural language command \'Rotate to the right\' is correctly mapped to JSON structure by "rotate" action but values for params "angular_velocity" and "angle" are missing in the JSON. Also, there\'s no JSON structure presented for \'advance for a period of 3 seconds\', so the match is not complete.'] +Face towards the right and travel forward for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "duration": 3, "unit": "second"}};['2; The natural language command correctly invokes a "move" action and the "is_forward" parameter is set to true in the JSON, thus matching with the description. However, the command\'s request to turn isn\'t captured in the JSON command at all. The specification of "duration" of 3 seconds in the command is not in line with the parameters in the JSON command, which delineates the "distance" traversed. "Duration" isn\'t present in the sample keys.'] +Go to the living room and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}};["0; The natural language command instructs the system to 'go to the living room and stop', but the provided JSON structure involves a 'rotate' action with parameters related to angular velocity, angle, clockwise direction and unit (degrees). There's no correlation between the command and JSON structure."] +Proceed to the living room and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};['4; The natural language command asks the system to move to a specific location (Living Room), which matches with the action "go_to_goal" and the "location" param in the first JSON structure. However, the "come to a halt" part of the command does not completely match with any action in the provided JSON structures.'] +Move to the living room and cease all movement.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};['2; The natural language command partially conforms to the JSON structure. The action "go_to_goal" along with the location parameter matches with the command to move to the living room. However, the command to "cease all movement" isn\'t represented anywhere in the provided JSON structures. Therefore, it isn\'t a complete match.'] +Make your way to the living room and stand still.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};['4.5; The natural language command correctly matches with the JSON structure in terms of action but the exact location ("Living Room") is different from the one ("Kitchen") provided in the sample ontology JSON. Yet it\'s a reasonable deviation because the command specifies a different, valid location.'] +Head to the living room and remain stationary.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};['5; The natural language command perfectly matches the JSON information with the action "go_to_goal" and the location value set as "Living Room".'] +Move 2 meters to the left.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}};['1; The natural language command ask for a move to the left which implies a rotation but the JSON structure has the action of moving forward or backward, not sideway. Also, the "is_forward" key in JSON structure is set to false representing backward movement which is not mentioned in the command.'] +Shift your position by 2 meters towards the left.,{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}};['1; The JSON structure doesn\'t match appropriately with the command. The command specifies moving towards the left but the "is_forward" parameter is set to false which indicates moving backward, not to the side. Furthermore, the "linear_speed" is set to 0, which means it won\'t move, contradicting the command.'] +Change your location by 2 meters in a leftward direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}};["1; The natural language command refers to a change in location which is mentioned in the JSON structure but not fully aligned. The natural language command indicates a leftward movement but the JSON structure does not carry this capacity. Instead, it contains parameters for linear speed and direction of motion (forward or backward) which don't completely correspond to the detailed aspects of the command. The distance in the command and the JSON matches."] +Relocate yourself 2 meters to the left.,{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}};['2; The natural language command does not exactly conform to the JSON structure. It has the notion of moving a certain distance, which is representable in JSON, however the "left" direction cannot be represented with the given JSON structure. We don\'t know if "left" means to rotate or move sideways as the JSON structure doesn\'t provide "left" or "right" as options for the action "move". Also, the moving action doesn\'t require the parameter "is_forward" in the given context.'] +Move to the left by a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": false, "unit": "meter"}};['4; The JSON structure almost perfectly matches the natural language command. The action "move" is present and the distance parameter is correctly set according to the natural language command. However, the direction (\'to the left\') is not appropriately represented in the JSON command. The "is_forward" key might not adequately capture the horizontal movement indicated by \'to the left\'. Besides, the "linear_speed" is arbitrary and not derived from the natural language command.'] +Rotate counterclockwise by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 45, "is_clockwise": false, "unit": "degrees"}};["4; While the natural language command does mostly conform to the JSON structure, the 'angular_velocity' is specified as '1' in the JSON while it's not specified in the command which would allow for any reasonable value to be accepted. The 'is_clockwise' attribute is correct, as counterclockwise would be 'false'. The 'angle' and 'unit' attributes are exactly conforming to the natural language command. The difference in 'angular_velocity' is not significant enough to fully discredit the match altogether, but it does prevent it from being an exact match."] +Turn left by 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['4; The action and the majority of the parameters match well with the JSON structure and the command. However, "angular_velocity" is not specified in the natural language command, so a null value in the JSON is not fully conformant, although it is acceptable.'] +Execute a counterclockwise rotation of 45 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};["0; The natural language command has no corresponding action in the provided JSON structure. The command 'Execute a counterclockwise rotation of 45 degrees' should be mapped to the 'rotate' action - which is not shown in the given JSON structure. Therefore, the command cannot be converted to JSON using the provided ontology."] +Rotate anticlockwise by an angle of 45 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};["4; The 'angular_velocity' is not defined but because it is not specified in the natural language command it is accepted. The command's 'action' and 'params' mostly conforms to the JSON structure with exception of the 'angular_velocity'."] +Perform a 45-degree rotation in the counterclockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 45, "is_clockwise": false, "unit": "degrees"}};["5; Exactly conform. The JSON and the natural language command match perfectly. The action is 'rotate' and all the parameters including 'angle', 'is_clockwise', and 'unit' matches too, even the direction of rotation is specified correctly as 'false' for 'is_clockwise' which is counterclockwise. 'Angular_velocity' is not specified in the natural language command, but a 'null' value is acceptable as per the instructions."] +Move forward at a speed of 0.5 meters per second for 4 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['4; The natural language command mostly conforms to the JSON structure. The action "move", "linear_speed" and "is_forward" are correctly identified. However, the natural language command specifies time (4 seconds) instead of distance, thus the corresponding "distance" in the JSON structure is not completely accurate. The unit of "meter" is assumed.'] +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "duration": 4, "unit": "second"}};['2; Partial match. The natural language command partially aligns with the JSON. The "move" action and "linear_speed" parameter are mentioned in the command, and the "is_forward" parameter can be inferred from \'proceed ahead\'. But the natural language command specifies a duration, which is not represented in the JSON structure. The JSON structure includes a \'distance\' parameter that is not mentioned in the command. The unit of \'second\' for duration also does not exist in the JSON format. Therefore, the match is partial.'] +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['4; The natural language command and the provided JSON structure both contain the action "move" and the parameter "linear_speed" with same value (0.5), indicating a match. The command specifies moving for 4 seconds at 0.5 meters/second, which results in a "distance" value of 2 meters in the JSON that matches the implied distance in the command. The "unit" value of "meter" and "is_forward" value of True in the JSON are reasonable assumptions from the command. However, the natural language command doesn\'t directly specify these, causing the deduction of a point.'] +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['5; Exactly conform. The natural language command specifies all parameters present in the provided JSON, including action, linear_speed, distance, direction and unit. The distance is inferred from the duration and speed which matches the JSON structure.'] +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['4; While the natural language text and JSON information are closely related in describing a forward movement, there is a slight mismatch in the parameters. The natural language command refers to time (seconds) while the JSON structure specifies distance in meters.'] +Turn left and move forward for 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}};['2; The natural language command includes the actions "turn left" and "move forward". These actions are represented in the sample ontology as "rotate" and "move" respectively. The "move" action in the JSON structure is consistent with the command, as it includes "distance": 7, "is_forward": true, and "unit": "meter". However, the "rotate" action is missing in the provided JSON structure, hence the low score.'] +Make a left turn and proceed straight ahead covering a distance of 7 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['2; While the command involves actions that can be mapped to the \'rotate\' and \'move\' actions in the sample ontology, the given JSON structure only covers the \'rotate\' action and omits the details about "proceed straight ahead". Additionally, the \'is_clockwise\' parameter value does not match the command ("left turn" would typically be counter-clockwise) and the \'angle\' and \'angular_velocity\' parameters are left unspecified. The command also specifies a distance ("7 meters"), but this is not reflected in the JSON structure.'] +Take a left turn and continue moving ahead, advancing 7 meters.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; Partial conformity. The natural language command uses "take a left turn", which matches with JSON\'s rotation action, however, the "angular_velocity" is not specified in the natural language command and is assumed to be 1 but is 0.35 in the JSON structure. Moreover, the command also mentions moving ahead and advancing 7 meters which should correspond to moving action in JSON, but this specific command is missing. Hence a not fully conform match.'] +Head to the left and travel straight for 7 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 7, "is_forward": true, "unit": "meter"}};['2; The JSON partially conforms to the natural language command. The "move" action and "distance" parameter match, however the command to move to the "left" is not represented in the JSON structure. The "linear_speed" parameter is not specified in the command, but its given value in the JSON is reasonable.'] +Rotate in the left direction and proceed forward, covering a distance of 7 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['4; The command refers to two different JSON structures. One where it instructs to rotate (but does not specify the angle to rotate or the angular_velocity) and the other to move forward for a certain distance, which is not mentioned in JSON. The "rotate" part matches completely with its JSON structure with an implied counter clockwise rotation (which is correctly identified as "is_clockwise": false). However, the "move" part is not given in JSON structure along with its parameters, hence the score stands at 4 with a minor mismatch.'] +Stop and reverse direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The given command asks for a stop and reversing the direction, which could be interpreted as a movement action, but it does not clearly match with the action and the keys in the provided JSON structure. The "move" action does not exist in the sample ontology and reversing direction could involve parameters such as linear_speed and is_forward. The JSON structure translation of the command is also incorrect as it sets the "linear_speed" and "distance" to 0, which does not correspond to reversing direction.'] +Come to a halt and begin moving in the opposite direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['0; The JSON structure does not match the natural language command. The command suggests that the subject should stop moving and then move in the opposite direction, this would require an “is_forward”: false statement after moving a certain distance, but the given JSON structure only illustrates the subject coming to a stop without any suggested backward movement.'] +Cease forward motion and start moving backwards.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};["1; The command refers to a movement action but it's not a perfect match to the provided JSON. The move action in the JSON requires 'linear_speed' and 'distance', but the natural language command does not specify these. The 'is_forward' parameter is correct, but the linear speed is not necessarily 0 when moving backwards as included in the JSON."] +Bring yourself to a stop and change your direction to the opposite way.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; While the command does mention stopping, which could be vaguely matched with a \'move\' action with zero \'linear_speed\' and \'distance\', it does not provide a direction or a distance, making the \'is_forward\': false and the \'unit\': "meter" command invalid. Also, the command to "change your direction to the opposite way" is not handled by the provided JSON as there\'s no parameter to specify direction change.'] +Halt your movement and proceed in the opposite direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The command suggests a halt and a move in the opposite direction. But the provided JSON structure only includes stopping the movement i.e., linear_speed and distance are set to 0, and does not include the information to move in opposite direction.'] +Move 3 meters to the right.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};["4; Partially conform. The command asks for moving to the right, while the JSON structure shows moving forward. The distance matches, but the direction doesn't. The speed is not specified in the command, so any value in JSON is acceptable. The unit of measurement is correctly represented."] +Shift 3 meters towards the right.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};['1; The action "move" matches but the command specifies a direction ("towards the right") which is not represented in the JSON structure. The JSON parameters "linear_speed", "is_forward", and "unit" are not mentioned in the command but are reasonable values. The command specifies a "distance" which matches with the JSON.'] +Go 3 meters horizontally in the right direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};['4; Although the action and parameters are correct, the "linear_speed" is not explicitly stated in the natural language command. A score of 5 would require the natural language command to specify all parameter values.'] +Change your position by moving 3 meters to the right.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};["2; The JSON structure matches the action of 'move' but the directions (right) provided in the command is not represented in the JSON and also the linear_speed is arbitrary as it is not mentioned in the natural language command."] +Traverse a distance of 3 meters towards the right.,{"action": "move", "params": {"linear_speed": 1, "distance": 3, "is_forward": true, "unit": "meter"}};["2; The natural language command does not match exactly with the provided JSON. The JSON structure does correctly identify the 'move' action which is implied in the command, but there is information lost. The command specifies a 'right' direction which is not provided for in the JSON. Also, the 'linear_speed' parameter does not have a specified value in the command, thus its JSON value of 1 is arbitrary."] +Rotate clockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}};["5; The natural language command is perfectly matched with the JSON structure. The action 'rotate' is correct, and all the parameters 'angle', 'is_clockwise', and 'unit' are included. Although 'angular_velocity' is not specified in the command, it's a reasonable null value in the JSON structure."] +Perform a clockwise rotation of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The command "Perform a clockwise rotation of 60 degrees" aligns perfectly with the "rotate" action in the JSON structure, including the "angle" of 60 and the "is_clockwise" parameter set to true. The "angular_velocity" value isn\'t specified in the command, but as per instruction, any reasonable value is accepted.'] +Rotate 60 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 60, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Turn to the right by 60 degrees.,{"action": "move", "params": {"linear_speed": 0.8, "distance": 2, "is_forward": true, "unit": "meter"}};['0; The natural language command instructs a rotation action but the JSON structure represents a movement action. There is no conformity between the command and JSON structure.'] +Rotate to the right by an angle of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['4; The JSON command matches the natural language command, but the "is_clockwise" key is set to false when it should be true as the command specifies a rotation to the right, which is typically considered a clockwise direction.'] +Turn right and move forward for 1 second.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command has been partially matched with the JSON structure. The \'rotate\' action in the JSON is somewhat correlated with the \'turn right\' part of the command, but the \'move forward\' part of the command is not represented in any way. Additionally, the command specifies a duration (\'1 second\') which is not represented in the JSON structure. Also, the "angular_velocity" value doesn\'t match with provided JSON structures.'] +Take a right turn and proceed straight ahead for 1 second.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The command instructs a right turn which matches the action \'rotate\' in the JSON structure and also implies a clockwise direction. However, the \'angular_velocity\' and \'angle\' are not specified in command and their values in the JSON do not seem to directly correlate with the command. Moreover, the "is_clockwise": false is opposite to the command of making a right turn. Also, the instruction to \'proceed straight ahead for 1 second\' does not have a corresponding JSON structure.'] +Make a right turn and advance for 1 second.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command doesn\'t conform much to the provided JSON structure(s). It talks about making a right turn which matches with the "rotate" action in JSON but the values of parameters like "angular_velocity", "angle" and "is_clockwise" are not fully accurate. The command also mentions advancing for 1 second which is not covered in the JSON structure.'] +Rotate to the right and move forward for 1 second.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};["1; The command wants to rotate to the right and move forward for a period of time. The JSON code given only carries out the rotate function, and it does not specify either the angular velocity or the angle of the turn. Also, the 'move forward' part of the command is not represented in the JSON code."] +Go right and continue moving forward for 1 second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['2; The natural language command instructs to "go right and continue moving forward for 1 second", but the JSON action is only "move". The JSON doesn\'t account for the direction ("right"). Moreover, the "distance" parameter in the JSON is not corresponding with "1 second" in the command. It appears to be moving a distance, not for a certain time duration.'] +Go to the bedroom and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['0; The command "Go to the bedroom and stop" does not conform to the JSON structure provided, as there isn\'t any action of going to a specific location ("bedroom") or stopping. The given JSON structure reflects a rotation action instead.'] +Head to the bedroom and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};['1; The natural language command asks for movement towards a location, "Bedroom", which corresponds to the action "go_to_goal" and the parameter\'s value "Bedroom" in the JSON structure. However, the command also asks for a halt, which does not exist in the provided JSON structure and sample keys. Thus, the conformity score is low.'] +Make your way to the bedroom and cease all movement.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};['1; The given command partially matches with the sample JSON structure. The action of going to a specific location is represented correctly in the JSON ("action": "go_to_goal" and "location": "Bedroom"). However, the command to "cease all movement" is not reflected in the JSON structure at all. Therefore, the match is incomplete.'] +Proceed to the bedroom and pause.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};['2; The natural language command only matches with the "go_to_goal" action in the JSON structure and not the "pause" action. There are no commands for pausing or stopping in the sample keys. Therefore it is a partial match.'] +Go to the bedroom and stand still.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};['3; The command corresponds to the "go_to_goal" action in the ontology, with "Bedroom" accurately filling the location parameter. However, the instruction to "stand still" isn\'t reflected in any action or parameters in the provided JSON examples.'] +Move backward for 8 meters.,{"action": "move", "params": {"linear_speed": -1, "distance": 8, "is_forward": false, "unit": "meter"}};['5; Exactly conform.'] +Go 8 meters in reverse.,{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": false, "unit": "meter"}};['3; Although the natural language command and the JSON structure match in terms of action, the given value for "linear_speed" in JSON structure does not match the command. The command says "Go 8 meters in reverse," which assumes some speed but doesn\'t necessitate it to be 0. Also, the "is_forward" key has a correct value as per the command.'] +Travel 8 meters in the opposite direction.,{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": false, "unit": "meter"}};['3; The command partially matches with the JSON structure. However, the "linear_speed" parameter is set to 0 in the JSON, while it is not specified in the command. This does not make sense because the robot cannot move without a speed. A reasonable value for "linear_speed" would make the JSON comply better with the command.'] +Retreat for a distance of 8 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 8, "is_forward": false, "unit": "meter"}};['3; The "linear_speed" value in JSON object is not provided in the natural language command, "is_forward" value is false while there is no such indication in the command as it just says to retreat and the distance and unit are correctly reflected from the command in JSON.'] +Reverse 8 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": -8, "is_forward": false, "unit": "meter"}};['4; Almost conform. The JSON structure matches the command fairly well, indicating a "move" action with distance specified as "-8" meters, which indicates a reverse movement. However, "linear_speed" is given as 0, which isn\'t likely a reasonable value for a move action. JSON structure isn\'t specifying direction which is present in natural language command.'] +Rotate counterclockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['5; The JSON structure aligns perfectly with the natural language command. The action "rotate" is correctly identified, and all parameters ("angular_velocity", "angle", "is_clockwise", and "unit") are properly converted to their corresponding values. Although the "angular_velocity" value is not specified in the command, a reasonable value is assigned in the JSON structure.'] +Turn left by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['4; The command is almost perfectly translated into the JSON structure. "Turn left by 270 degree" fits into the "rotate" action type. The angle parameter is correctly captured as 270. However, the "is_clockwise" flag is false as turning left implies a counterclockwise rotation and the angular_velocity is not specified in the command and therefore a null value in the corresponding field is acceptable. The orientation use case is not included in the sample ontology.'] +Rotate anti-clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Rotate in the opposite direction by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -270, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform. The command explicitly instructs to "rotate," which directly matches the "action" in the JSON. The "params" contain all necessary details, including "angle" (270 degrees) specified correctly, "angular_velocity" (with a reasonable value of 10), "is_clockwise" as false (since opposite direction is specified), and "unit" for the angle as "degrees.'] +Perform a 270-degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}};["4; The JSON command correctly identifies the action to be performed which is to rotate and also gives the appropriate direction and units which is counterclockwise and degrees respectively. However, the angular_velocity value is missing. Although the value is not specified, a null value indicates the absence of any value which isn't a reasonable assumption for a rotation command."] +Turn left and move forward for 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}};['2; The natural language command is partially conform to the JSON provided. Although the "move" action and the "is_forward" parameter can be correctly identified, but the "distance" parameter is specified in seconds in the natural language command, whereas in the JSON structure it is not clear what unit (it\'s suggested to be in "meter") it should be in. The "turn left" command has no corresponding action or parameter in the JSON structure.'] +Go forward for 6 seconds after turning left.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command instructs to \'go forward for 6 seconds\' but there is no JSON command for a move action. However, the \'turning left\' part of the natural language command is correctly translated in the corresponding JSON structure with the action "rotate" and the parameter "is_clockwise" set to false.'] +Take a left turn and proceed straight for 6 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};["1; The JSON structure does correspond to the action 'rotate' or 'turn' from the command, but none of the parameters are correctly defined according to the command. The 'is_clockwise' parameter is correctly set to false for a left turn, but angular velocity and angle are left undefined, which does not align with the command. There is also no JSON structure corresponding to the action of proceeding straight."] +After turning left, continue moving forward for 6 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 6, "is_forward": true, "unit": "second"}};['2; The JSON structure partially matches the command. The action of moving forward is correctly captured in the JSON, including the distance and direction. However, the action of turning left is not captured in the JSON. The unit of measurement for the distance should also be in "meters" based on the sample ontology, but instead it is given in "seconds", which is incorrect.'] +Make a left turn and move ahead for 6 seconds.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The JSON structure slightly matches the natural language command as it only covers the "make a left turn" with action "rotate" and parameter "is_clockwise" as false. However, it does not cover the part about moving ahead for 6 seconds and the angular_velocity and angle do not have values.'] +Turn left and move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};["1; The natural language command asks for both a 'turn' and a 'move' action. While the JSON structure does provide information for a 'move' action with parameters that play their respective parts in defining the move (linear_speed, distance, is_forward, unit), the 'rotate' action is not included in the provided JSON structure. Thus, there is a partial match but it doesn't completely conform to the natural language command."] +Take a left turn and proceed ahead covering a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};["2; Partial conformity. The action 'rotate' in the JSON matches with the command 'Take a left turn' but there are incomplete parameters. The second part of the command 'proceed ahead covering a distance of 5 meters' is not covered in the given JSON, hence the lower score."] +Make a left turn and continue moving straight, covering a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['3.5; The command suggests two different actions - rotation and movement, while the provided JSON structure only represents the rotation. However, the rotation action is correctly interpreted, with "is_clockwise" set to false indicating a left turn. Angular velocity and angle values could not be defined based on the natural language command, so placeholders are acceptable.'] +Go left and advance forward, traveling a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};['4; Mostly conform. The "move" action and all parameters (linear_speed, distance, is_forward, unit) match the natural language command. However, the command also specifies a direction ("Go left") that is not accounted for in the JSON.'] +Execute a left turn and proceed straight, ensuring a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['4; Partially conform. The command to execute a left turn is correctly expressed in the JSON representation for the action "rotate" and the parameter "is_clockwise" as false. However, there\'s no specific angle or angular_velocity given in the natural language command. Moreover, the instruction to proceed straight ensuring a distance of 5 meters is missing in the JSON structure. A second JSON conforming to the "move" action would be needed to completely match the original command.'] +Rotate counterclockwise by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['1; The command refers to an action ("rotate") that exists in the ontology, and even specifies the direction contrary to the default "is_clockwise": true in the JSON structure. However, the action in the command is different from the one defined in the given JSON structure ("go_to_goal"), and the "angular_velocity" is not specified. Therefore, it partially matches with sample JSON structure but not completely with the given example.'] +Turn 90 degrees in the counterclockwise direction.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -90, "is_clockwise": false, "unit": "degrees"}};['4; The command correctly calls for an action of rotation, and engages the angular_velocity, angle, is_clockwise, and unit parameters. However, the given angular_velocity and the direction ("-90") do not match with those in the JSON (0.35 and 90 respectively). A "reasonable" value for angular_velocity in the context of a rotation of 90 degrees could be anything less than or equal to 90, not necessarily 1, hence resulting in a point deduction.'] +Rotate anti-clockwise at a 90-degree angle.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; Although the "angular_velocity" is not specified in the natural language command, the other parameters ("angle", "is_clockwise", "unit") perfectly match their JSON structure. Hence, the conformity score is very high.'] +Spin to the left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; The JSON structure is completely in line with the natural language command. Although "angular_velocity" is null in the JSON, this is acceptable as the value was not specified in the original command. Therefore, the level of conformity is very high.'] +Rotate in the counterclockwise direction, making a 90-degree turn.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; The natural language command matches very well with the JSON information. Even though the "angular_velocity" in the JSON doesn\'t match a specific value in the command, it is a reasonable setting for a rotation action. The important details are all present: rotating, a 90 degree angle, and a counter-clockwise direction mentioned (therefore, "is_clockwise": false). The unit of rotation "degrees" is also correctly represented.'] +Move backward for 3 seconds.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}};["2; The natural language command does specify the action 'move' and the parameter 'is_forward' is false which correctly refers to moving backward. However, the command does not specify distance, but a duration of movement ('3 seconds'). The given JSON structure doesn't have any parameter for time duration. Moreover, the 'linear_speed' in JSON information is marked '-1', which is not specified in the natural language command either. So the match is not perfect."] +Go in reverse for a duration of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "duration": 3, "unit": "second"}};['2; The action "move" matches but many of the parameters in the JSON structure such as "linear_speed" and "distance" are not explicitly mentioned in the command or their values do not match. The "is_forward" parameter is false in JSON which matches the idea of moving in reverse in the command. The "duration" parameter does not exist in the ontology, but its use is reasonable.'] +Take a step back and continue for a total of 3 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}};['2; The command somewhat matches the JSON structure with the action of movement and direction (backwards). But the command mentions taking steps for a specific amount of time, which is not represented in the JSON structure. The unit of distance is also not mentioned in the natural language command.'] +Reverse your movement and maintain it for 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The JSON structure has the correct action type "move" and "is_forward": false correctly indicating a reverse movement, but the natural language command specifies maintaining this action for 3 seconds, which is not represented in the JSON. Furthermore, linear_speed and distance are set to 0 which does not represent a movement.'] +Retreat for a period of 3 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};["2; The action in the JSON structure 'move' can be interpreted as a 'retreat' action however, the parameters don't match the natural language command well. There is no mention of a period of '3 seconds' in the JSON structure."] +Turn right and move forward for 10 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['3; The JSON structure partially matches with the command. The angle to turn is mentioned correctly as 90 degrees but the "is_clockwise" parameter should be true for a right turn. However, the movement component of the command is not represented in the JSON structure at all. So, it\'s a partial match.'] +Proceed forward for 10 meters after making a right turn.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The JSON partially matches the command. Although the rotation parameters of the command are satisfied by the JSON, the "move forward" part of the command is not represented in the JSON provided.'] +Take a right and continue moving ahead for a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}};['2; The JSON structure partially reflects the natural language command. The action of moving forward for a certain distance is present in the JSON. However, the command of taking a right is not reflected in the JSON structure.'] +Make a right turn and travel straight ahead for a total of 10 meters.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command partially matches with the JSON information. It corresponds with the "rotate" action in the JSON structure but lacks the move or "go forward" action. The JSON given only reflects turning right but does not include going straight ahead for any distance.'] +After turning right, advance forward and cover a distance of 10 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};['1; The command instructs the system to turn right and move forward a certain distance, but the provided JSON structure only reflects the rotation action and not the moving forward action. Therefore, the correspondence between the command and the JSON structure is partial. Additionally, the parameters "angular_velocity" and "angle" are not specified in the natural language command, hence should be given as null in the JSON.'] +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Perform a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform.'] +Turn in a clockwise direction by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4; The action is correctly identified as "rotate" and parameters "angle", "is_clockwise", and "unit" are correctly set. The "angular_velocity" parameter wasn\'t mentioned in the command, so it has been marked as null. The score isn\'t 5 because "angular_velocity" being null technically mismatches the JSON information provided, even though it is an acceptable value.'] +Execute a rotation of 180 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The command, "exectute a rotation of 180 degrees in a clockwise manner" exactly matches with the provided JSON structure. The values of "action" is "rotate", "angle" is 180, "is_clockwise" is true, which are all correct. The field "angular_velocity" has been declared null which is acceptable because its value was not specified in the command.'] +Rotate by 180 degrees, following the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};["4; The JSON structure fully matches the command. Only the angular velocity isn't mentioned in the command, thus null is an acceptable value in the JSON structure."] +Move forward at a speed of 0.5 meters per second for 4 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};["3; Partial match. The command is interpreted correctly as a move action with a forward direction and a certain speed. However, the time for the movement is not represented within the JSON structure. Instead, a distance parameter is provided which isn't mentioned in the natural command. The value of 'distance' does not conform to the command either."] +Go ahead for 4 seconds at a velocity of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['4.5; The command matches well with the JSON structure in terms of the action and parameters however, the command mentions going forward for 4 seconds, not a specific distance. The JSON structure uses distance as a parameter, not time. Hence the given distance in the JSON is a presumption based on the speed and time mentioned in the command.'] +Progress at a speed of 0.5 meters per second for a duration of 4 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};["4; The natural language command and JSON information match in terms of action and linear speed. However, in the command, it specifies a 'duration', which isn't a parameter in the JSON structure. Instead of 'duration', 'distance' parameter is used in JSON. Although a distance is calculated in the JSON structure, it isn't mentioned in the command. Also, 'is_forward' parameter isn't specified in the command."] +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['4; The command partially matches the JSON information. The "action" and "linear_speed" parameters match, and while "is_forward" is inferred, the "distance" could be calculated from the command (0.5 meters/second * 4 seconds = 2 meters), However, the command doesn\'t specify the duration explicitly which is reflected in JSON as "distance". So, it\'s not a perfect match.'] +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 2, "is_forward": true, "unit": "meter"}};['4; The "distance" value can be deduced from the given "linear_speed" and "time span", but the natural language command does not precisely specify "distance". Other keys match correctly.'] +Turn left and move backward for 2 meters.,{"action": "move", "params": {"linear_speed": undef, "distance": 2, "is_forward": false, "unit": "meter"}};["2; Partially conform. The command matches with the movement but there's no mention of the 'rotate' action to justify turning left in the JSON."] +Take a left turn and proceed backwards for a distance of 2 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command instructs to "take a left turn" which partially matches with the "rotate" action in the JSON structure but no specific "angle" is provided. The direction "left" corresponds to "is_clockwise": false. However, the command also asks to "proceed backwards for a distance of 2 meters" which is not represented in the JSON structure.'] +Make a left turn and travel in reverse for a distance of 2 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 2, "is_forward": false, "unit": "meter"}};['2; The JSON structure matches the natural language command partially, the \'move\' action is correct and \'distance\': 2 and \'unit\': "meter" are correct. However, the command specifies to "Make a left turn" which is not represented in the JSON. Also, the command specifies to "travel in reverse" where \'is_forward\' should be false but the JSON has 0 for "linear_speed" which doesn\'t align with the command.'] +Rotate left and proceed in reverse for a total distance of 2 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The command asks for a rotation and then a move in reverse, but the JSON structure only contains a rotation action. The specification of "left" in the command is not represented in the JSON as an angle or direction, so it is a partial match. Therefore, it gets a score of 2.'] +Shift to the left and move backwards covering a distance of 2 meters.,{"action": "move", "params": {"linear_speed": , "distance": 2, "is_forward": false, "unit": "meter"}};['2; The command partially matches the JSON structure. The command "Shift to the left" can not be mapped to the provided JSON structures, hence it doesn\'t conform to the ontology. However, the command "move backwards covering a distance of 2 meters" perfectly maps to the "move" action in the JSON where "distance": 2, "is_forward": false are correctly interpreted. But there is no value provided for "linear_speed" which makes the JSON incomplete.'] +Move forward for 7 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 3.5, "is_forward": true, "unit": "meter"}};['3; Some parameters match such as "action": "move" and "is_forward": true. But the parameters "distance", "linear_speed" and "unit": "meter" aren\'t mentioned in the command. Moreover, "for 7 seconds" does not have a corresponding key-value pair in the JSON structure.'] +Proceed ahead for a duration of 7 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "duration": 7, "unit": "second"}};['1; The command has instructed the machine to move forward for a duration of 7 seconds. But this is not properly represented in JSON structure, and the attribute \'duration\' is not present in the provided sample keys. Also, there is a mismatch between the parameters specified in JSON ("distance") and the parameters not specified in the command.'] +Advance for a period of 7 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0, "is_forward": true, "unit": "meter"}};["1; The JSON structure reflects a move action, but there's no match with the natural language command's request to advance for a specific period of time. The parameters in the JSON are also not completely matching as it includes distance and unit parameters which are not specified in the command."] +Keep moving forward for 7 seconds.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The natural language command speaks about continuing to move forward for 7 seconds, but the provided JSON structure corresponds to going to a specific location ("Kitchen"), which doesn\'t match with the command.'] +Continue ahead for a total of 7 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 7, "is_forward": true, "unit": "second"}};['1; The command instructs a temporal movement that lasts for 7 seconds, which is quite different from distance-oriented movement. The parameter "distance" does not match with "7 seconds". Also, the unit "second" does not exist in the sample ontology which only integrates spacial measurements (meters, degrees), not temporal ones. So the use of "seconds" as a unit of distance is improper in this context.'] +Rotate counterclockwise by 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": -30, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command matches with the action "rotate" in the JSON structure but not all parameters match perfectly. The "angular_velocity" and the direction of rotation "is_clockwise" is not specified in the natural language command. The "angle" is specified as -30 in JSON structure which is incorrect as the angle is 30 in the natural language command and the direction is provided as "counterclockwise" which makes the "is_clockwise" false.'] +Turn left by an angle of 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 30, "is_clockwise": false, "unit": "degrees"}};['4; Angular velocity is not specified in the natural language command, but other key-value pairs in the JSON align perfectly with the command.'] +Rotate anticlockwise by 30 degrees.,NoneThe prompt does not contain any action in the ontology, so it should be ignored.Now give the JSON corresponding to this prompt:Move forward for}};['0; The provided natural language command is not related to any of the provided JSON structures.'] +Rotate in the opposite direction by 30 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -30, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command corresponds to the "rotate" action in the JSON structure. The "angle" parameter is correctly matched with a value of -30, which implies rotation in the opposite direction. The "unit" is correctly identified as "degrees". However, the "angular_velocity" is not mentioned in the natural language command and thus having a value of 10 in JSON is not justified. The "is_clockwise" parameter is logically determined as false from "opposite direction" in the command but not expressly stated.'] +Make a 30 degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 30, "is_clockwise": false, "unit": "degrees"}};["4.5; The JSON structure correctly represents the action of rotation, angle, direction, and unit from the natural language command. Though the 'angular_velocity' is not provided in the command, it accepts the null value which is reasonable. But since it is not from the command, a 0.5 point is deducted."] +Move backward at a speed of 1 meter per second for 6 seconds.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['0; The natural language command is related to the action of moving backwards, but the JSON structure presented involves rotate action and related parameters, which does not match with the natural language command. Hence, they are not in conformity.'] +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": -6, "is_forward": false, "unit": "meter"}};['5; The JSON structure accurately represents the command and conforms to the keys of the sample ontology. The action is "move" with parameters "linear_speed", "distance", "is_forward", and "unit". The natural language command indicates that the movement should be reversed (hence "is_forward" is false), at a speed of 1 meter per second for 6 seconds (hence "distance" is -6 and "linear_speed" is 1), which are all accurately represented in the JSON. The unit used is "meter" which matches the command.'] +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}};['4; The command is largely matched with the JSON structure but there is a disconnect in terms of parameters. The natural language command asks for a duration (6 seconds) at a certain speed (1 meter per second) but the JSON structure provided refers to a distance instead of a duration of travel time. Therefore, the command does not perfectly align with the sample JSON structure. However, rest of the values such as the action as "move", the linear_speed as 1, is_forward as false, and unit as "meter" all match directly.'] +Travel backwards for 6 seconds at a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": -6, "is_forward": false, "unit": "meter"}};['2; The JSON structure captures the command\'s intent to move and the speed to move at. However, it incorrectly represents the distance as -6 (resulting from an incorrect interpretation of "backwards for 6 seconds") and adds an "is_forward" key not mentioned in the command. The command also does not specify moving backwards, just moving for a specific amount of time. The "unit" value is also debatable since the command talks about time in seconds, not distance in meters.'] +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 6, "is_forward": false, "unit": "meter"}};['4.5; The natural language command almost perfectly matches the provided JSON information structure. However, the JSON structure lacks the "time" param, which was specified in the command ("for a period of 6 seconds"), so it\'s slightly mismatched.'] +Turn right and move forward for 8 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command and the JSON information have a partial conformity. Although the action of rotation is correctly reflected in the JSON structure, the "is_clockwise" parameter is false, which contradicts the command to "Turn right". Furthermore, the command request of "move forward for 8 meters" is not included in the JSON.'] +Proceed for 8 meters after taking a right turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}};['2; The JSON structure contains only the second part of the command and does not cover the action of taking a right turn. Therefore, it only partially matches with the natural language command.'] +Take a right and continue straight ahead for a distance of 8 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 8, "is_forward": true, "unit": "meter"}};["1; The command asks for a right turn and then movement, while the JSON structure only provides the movement action. The 'rotate' action with a specific angle is also necessary to fully capture the command and is not included in the JSON structure."] +Make a right turn and then proceed ahead for 8 meters.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": 90, "is_clockwise": true, "unit": "degrees"}};["4; The natural language command partially matches with the JSON information. The 'rotate' action is correctly translated into JSON structure, but there is no movement ahead in the JSON structure as indicated in the natural language command."] +After turning right, cover a distance of 8 meters by moving forward.,{"action": "move", "params": {"linear_speed": null, "distance": 8, "is_forward": true, "unit": "meter"}};['4; The command specifies the "move" action with "distance", "is_forward" and "unit" parameters matching. However, it also involves a rotation (turning right) but there\'s no corresponding JSON structure for the rotation. The "linear_speed" parameter also doesn\'t have a value in the command.'] +Rotate clockwise by 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['5; The JSON structure perfectly matches the command. The "rotate" action, the "angle" as 270 degrees, the direction as \'clockwise\' and the "unit" as degrees are all specified. The "angular_velocity" is not specified but a null value is acceptable for unspecified parameter.'] +Turn 270 degrees to the right.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": false, "unit": "degrees"}};['1; The command is partially accurate. It correctly identifies the action as "rotate" and the "angle" parameter as 270, "unit" as "degrees", but the "is_clockwise" parameter has been set to false, whereas in the natural language command, it\'s specified as "to the right" which would need "is_clockwise" to be true. The angular velocity is also set to null which is acceptable as per the rules but ideally should have been a valid value.'] +Turn three-quarters of a full rotation to the right.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command instructs the bot to turn three-quarters of a full rotation to the right. This is a rotation command, so the JSON structure aligns with the rotation action. However, the natural language command details do not exactly match the provided JSON structure details. ', '', 'In the JSON structure, the angle is set to 90 degrees, which would constitute a quarter turn, not a three-quarter turn as specified in the command. Additionally, the "is_clockwise" value is set to false in the JSON, which contradicts the command\'s instruction to rotate to the right (which would be a clockwise rotation).', '', 'The adjusted JSON structure should be: ', '{', ' "action": "rotate",', ' "params": {"angular_velocity":, "angle":270, "is_clockwise":True, "unit":"degrees"}', '} ', '', 'The angular_velocity is not explicitly stated in the command, so any reasonable value is acceptable in the JSON. ', '', 'The significant misalignment between the natural language command details and the JSON structure leads to a low conformity score.'] +Perform a clockwise rotation of 270 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure corresponds well to the natural language command. The action "rotate" and parameters "angle", "is_clockwise", and "unit" match with the command. However, the "angular_velocity" value doesn\'t have a value in the command which gives room for any reasonable value. Therefore, the score is not perfect.'] +Rotate in the clockwise direction, making a 270-degree turn.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 270, "is_clockwise": true, "unit": "degrees"}};['5; The JSON structure perfectly matches the natural language command. All the parameters ("angular_velocity", "angle", "is_clockwise", "unit") presented in the JSON correctly correspond to the information given in the command.'] +Move forward and then immediately stop.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 0.5, "is_forward": true, "unit": "meter"}};['3; Partially conform. The natural language command instructs a motion action but doesn\'t specify a "distance" and the JSON structure shows a "distance" of 0.5 which might be inferred as a short move, however it could be subjective based on different contexts. The command also instructs to "stop", this is not reflected or represented in this JSON.'] +Proceed forward and promptly come to a halt.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};["2; The JSON structure features a 'move' action which could be inferred from the natural language command 'proceed forward'. However, the command also mentions 'promptly come to a halt' which is not reflected in the JSON structure and there is no 'stop' or 'halt' action in the sample ontology. Specifying a distance can be considered as an implication of halting, hence the partial match. The value of 'distance' is also not specified in the command but is accepted in the JSON because any reasonable value is accepted when not specified in the command."] +Advance and instantaneously cease movement.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The natural language command talks about moving but stopping immediately. However, the given JSON doesn\'t match well because the properties "distance" and "is_forward" both have values that indicate movement. The "linear_speed" is correct, indicating no movement, but the consistent non-movement state is not correctly represented in all fields. Furthermore, the natural language command is not specific about any direction of movement which could have been suggested by the "is_forward" key in the JSON.'] +Go forward and abruptly pause.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};["0.5; The natural language command only partially conforms to the JSON information. It implies a movement action which is present in the JSON structure but it does not match the provided parameters as there isn't any command regarding an abrupt pause."] +Move ahead and promptly end motion.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};["4; The JSON structure largely conforms to the natural language command in that it contains an action of 'move' and indicates a forward direction. However, 'distance' and 'linear_speed' values are not specified in the command, making it incomplete. Additionally, 'promptly end motion' is not represented in the JSON structure."] +Turn left and move backward for 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}};['2; In the given JSON structure, the "rotate" action and the "is_clockwise" parameter, both of which are relevant to the command\'s instruction to "turn left," are missing. However, the "move" action and its associative parameters are correctly identified and have the appropriate values.'] +Make a left turn and proceed backwards for a distance of 4 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['1; There is only a partial match for the JSON and the command. The command includes a direction for a left turn, which matches the JSON structure for "rotate". However, specifics such as "angular_velocity" and "angle" aren\'t mentioned in the command and are therefore unspecified. The command also includes the instruction to go backwards for a specific distance, which is not represented in the JSON at all.'] +Go in the opposite direction and turn to the left, covering a distance of 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}};['3; The natural language command matches the "move" action in the JSON structure. The parameters such as "distance" and "unit" are also present. However, there\'s information about the direction of the movement and the rotation actions mentioned in the command are not represented in the JSON structure.'] +Rotate to your left and travel in the reverse direction, moving 4 meters behind.,{"action": "rotate", "params": {"angular_velocity": undef, "angle": undef, "is_clockwise": false, "unit": "degrees"}};["2; Partial match. The JSON structure includes the 'rotate' action similar to the command, however, since the angular_velocity and angle are undefined and there is no information about direction of rotation in the command, it can't be determined as a complete match. The command also mentions moving in a certain direction, but there's no corresponding JSON structure provided for the move action."] +Head left and travel in reverse for a total of 4 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 4, "is_forward": false, "unit": "meter"}};['4; Although the JSON structure correctly captures the action "move" and distance parameter as mentioned in the natural language command, it doesn\'t fully conform because the direction ("Head left") and method of traveling ("in reverse") are not accurately reflected in the JSON fields. However, it\'s partially conformed due to the correct action and the mention of distance. In addition, "linear_speed" is a reasonable inclusion since it goes hand-in-hand with "move" action although it was not explicitly stated in the command.'] +Move forward for 10 seconds at a speed of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}};['3; The command mostly matches the JSON structure except for the "distance" key. In the command, the distance is not mentioned. However, the JSON has "distance" set to 3. This discrepancy in information results in an incomplete match. The command refers to time ("10 seconds") which does not exist in the JSON structure. Thus, the conformity score is not perfect.'] +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": null, "is_forward": true, "duration": 10, "unit": "second"}};['3; The natural language command partially matches with the provided JSON structure. The action "move" and parameter "linear_speed" with a value of 0.3 are present in both. Additionally, the bot is moving forward (implied in "advance"). However, the natual language command gives a duration while the JSON structure uses distance. The duration is not part of the ontology. Also, "unit" in JSON structure does not match the command.'] +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}};['2; The natural language command matches with the "move" action in the JSON structure. The parameter "linear_speed" with value 0.3 is mentioned correctly. The "is_forward": true is implicit in "Proceed ahead". However, the "distance" parameter value in the JSON does not conform to natural language command. Instead of "a period of 10 seconds", the JSON should have a "time" parameter.'] +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}};["2; The natural language command specifies a duration of movement (10 seconds) specifically, while the JSON structure shows either distance or linear speed. While it's reasonable to infer the distance traveled based on these two figures, the structure doesn't perfectly correspond with the command given. Also, units to measure time is missing."] +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds.,{"action": "move", "params": {"linear_speed": 0.3, "distance": 3, "is_forward": true, "unit": "meter"}};['2; The command stated to move forward at a speed of 0.3 meters per second for 10 seconds, which will cover a distance of 3 meters (0.3 m/s x 10 s). However, the provided JSON incorrectly puts the distance as 3. Furthermore, the unit for speed in the JSON should have been meter per second instead of just meter.'] +Rotate counterclockwise by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};["5; Exactly conform. The natural language command accurately corresponds to the JSON structure where the action is 'rotate', the angle provided is 60 degrees, and the direction is counter-clockwise. The 'angular_velocity' value is not specified in the command but its null value is accepted according to the rules."] +Turn left by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command indeed corresponds to the "rotate" action, but the JSON structured command missing the "is_clockwise" key\'s value.'] +Rotate in the opposite direction by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": -60, "is_clockwise": false, "unit": "degrees"}};['4; The command corresponds to the "rotate" action in the JSON structure. The angle and rotation direction (using the "is_clockwise" key in JSON) are matched accurately. The value of angular_velocity doesn\'t match, however, it can be considered as a reasonable value. The "unit" is also correctly specified as "degrees" in the JSON.'] +Make a counterclockwise rotation of 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Rotate leftwards by 60 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['4.75; The JSON structure appropriately converts the natural language command. The action: "rotate" and parameters "angle" and "unit" are correctly identified. The "is_clockwise" is inferred from the direction "leftwards" as being false. However, the "angular_velocity" is not provided in the natural language command, so it could not be appropriately filled in.'] +Move backward and then immediately stop.,{"action": "move", "params": {"linear_speed": -1, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The command indicates a backward movement but the JSON response does not match the example ontology provided: the "linear_speed" has a negative value which is not in the possible values in the sample ontology, and "distance" is given as 0 which is not implied in the command. As a result, there\'s some matching but it\'s not entirely accurate.'] +Reverse and come to a sudden halt.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The natural language command fails to match with the JSON structure. The action "move" is correct but the parameters "linear_speed" and "distance" mentioned in JSON don\'t conform with natural language command, they should be assigned a reasonable value other than 0 according to the command. The "is_forward" parameter matches with the direction of movement indicated in the command as "reverse". The command, however, does not provide information about \'coming to a sudden halt\'.'] +Go in reverse and abruptly cease.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['2; The natural language command tells to "Go in reverse" which is represented in JSON by "is_forward": false. However, "abruptly cease" is not represented in the JSON structure. The linear_speed and distance are set to 0 which implies no movement, contradicting the command to go in reverse. Therefore, the conformity is partial.'] +Back up and instantly come to a standstill.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['2; The action and the \'is_forward\' key are appropriately implied as "move" and \'false\' respectively. However, \'linear_speed\' and \'distance\' values are not according to the command\'s instruction of backing up. The value for \'linear_speed\' has been set to 0, implying no movement while command says to back up, and the \'distance\' is also set to 0, meaning no movements, while the command talks about backing up which implies some distance coverage.'] +Move backwards and promptly come to a stop.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The action is somewhat compatible as moving does take place in the natural language command. However, \'is_forward\' in JSON structure should be true, not false as \'move backwards\' is suggested, and it\'s not clear that the \'linear_speed\' and \'distance\' should be 0 based on the command "Move backwards and promptly come to a stop".'] +Turn right and move forward for 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The natural language command specifies a movement forward and to the right, but the provided JSON structure only represents a stationary movement (0 linear speed, 0 distance). The direction of movement is also incorrect in the JSON structure, which indicates a backward movement ("is_forward": false) instead of the forward movement indicated in the command. However, the JSON action type "move" and the distance unit "meter" conform to the given command, hence a partial match.'] +Make a right turn and proceed straight ahead for a distance of 6 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": false, "unit": "meter"}};['1; The JSON structure given does not match the natural language command correctly. The command instructs a right turn before moving forward which is not reflected in the "action" and "params" keys of the JSON structure. The values for "linear_speed" and "distance" are also incorrect (0 instead of a reasonable value) and "is_forward" is false instead of true.'] +Go to your right and continue moving forward for a total of 6 meters.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The command does not match with the provided JSON structures. It instructs a movement in a specific direction and a certain distance, which isn\'t represented in the "go_to_goal" action. Furthermore, the "location" value of "Kitchen" in the JSON does not correspond to any part of the command.'] +Take a right turn and advance ahead, covering a distance of 6 meters.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The given natural language command is about making a right turn and moving ahead by a certain distance. However, the JSON structure describes the action of going to a specific location (Kitchen) which does not correspond with the command. Therefore, the conformity score is 0.'] +Head towards the right and maintain a straight path for 6 meters.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The provided JSON structure does not match the natural language command. The command is indicating a movement and distance, not going to a specific location as the "Kitchen".'] +Rotate clockwise by 120 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}};["5; The given natural language command corresponds perfectly to the JSON structure. All keys are correctly used and specified within the natural language command. The value is_clockwise is correctly set as true for a clockwise rotation and the rotation angle is correctly set as 120 degrees. The angular_velocity isn't specified in the natural language command, but any reasonable value in the JSON is accepted as per the guidelines."] +Turn 120 degrees in a clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The natural language command matches perfectly with the JSON structure. The action of rotating is clearly defined, as are the parameters, including the angle, the direction (clockwise), and the unit (degrees).'] +Move in a clockwise rotation by 120 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}};["5; The natural language command exactly conforms to the provided JSON structure. The action 'rotate', all parameters including 'angle', 'is_clockwise', and 'unit' match perfectly. The 'angular_velocity' is not specified in the command but it's considered acceptable as per the guidelines."] +Adjust the rotation by 120 degrees in a clockwise manner.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}};['4; The JSON structure accurately transcribes the command\'s instruction to rotate 120 degrees clockwise. The `angular_velocity` field is left as null, which is reasonable as the original command did not specify a speed for the rotation. However, it would have been more precise if the "unit" was specified in the natural language command.'] +Execute a 120-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The command can be directly mapped to the rotation action in JSON with all values present and matching.'] +Move forward and then backward for 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}};["1; The natural language command instructs to move forward and then backward for a certain distance which matches the 'move' action in the JSON ontology, but the corresponding JSON structure provided is for the 'rotate' action, which doesn't match the command. Thus, the correspondence is quite low."] +Proceed ahead and then return in reverse for a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 120, "is_clockwise": true, "unit": "degrees"}};["0; The JSON structure does not match with the given command. The command implies a 'move' action with a specified distance but the provided JSON denotes rotation action without specifying the values in the command."] +Advance forward and then retract for a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['3; The natural language command partially matches with the JSON structure. The action "move" and the parameter "is_forward" match, but the command mentions both advancing (moving forward) and retracting (presumably moving backwards), which doesn\'t match with the JSON\'s "is_forward": true. Additionally, the specified "distance": 5 matches the distance mentioned in the command but the "linear_speed": 1 doesn\'t have a corresponding match in the command. The command also doesn\'t provide information to align with the "unit" parameter.'] +Go straight ahead and then move backward covering a span of 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['1; None of the parameters of the natural language command match with the provided JSON command. For the "move" command, "linear_speed" is not specified in the natural language command, "distance" is mentioned but the direction is missing as it first instructs to move straight ahead and then backwards, so it is unclear about the exact movement. The "unit" matches but the overall conformity is minimal.'] +Propel forward and then reverse, covering a distance of 5 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};['3; The JSON structure partially matches the natural language command. The command "Propel forward and then reverse" would imply two actions (move forward and move backward) rather than a single one. However, the JSON structure only represents moving forward for a distance of 5 meters. The reverse action is not represented in the JSON structure.'] +Move forward for 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward":}};['3; The command matches the "move" action with a "is_forward" parameter, which corresponds with the JSON structure. However, the commanded distance (10 meters) does not match the given distance in the JSON structure (5 meters). Also, the "linear_speed" parameter is not specified in the natural language command so any reasonable value is accepted, but the JSON structure should not lack the "is_forward" value.'] +Proceed straight for a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward":}};['2; The natural language command\'s instruction does match the "move" action in JSON, however, the specified distance in natural language command ("10 meters") does not match the distance provided in JSON structure ("5"). Furthermore, the "is_forward" key in the JSON structure does not have a specified value which should be True according to the natural language command.'] +Advance ahead by 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward":}};['3; The "action" command matches as both refer to movement. The "distance" in the natural language command also corresponds with the JSON structure. However, the natural language command specifies a distance of 10 meters while the JSON structure specifies 5 meters. Additionally, the "is_forward" parameter in the JSON structure does not have a corresponding value, contrary to the natural language command which implies forward movement. Last, the "linear_speed" in the JSON structure does not correspond with any information in the natural language command.'] +Go straight ahead covering a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};['4; The JSON structure is aligned with the natural language command as it has properly translated the action to be carried out (moving) and the parameters needed (linear speed, distance, direction as forward, and the distance unit). However, the linear speed value in the JSON structure is not specified in the natural language command.'] +Travel in a forward direction for 10 meters.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Living Room"}};['1; The command provided asks the system to "travel in a forward direction for 10 meters." However, the JSON structure provided is for the action "go_to_goal" with a parameter value of "Living Room". This JSON structure more accurately corresponds to a command like "go to the living room". There is not much alignment in the natural language command to the JSON structure provided which is why the score is 1.'] +Turn left and move forward for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['2; The JSON structure partially matches the command. The direction of \'Turn left\' is not represented in the JSON structure, beside that the "move" action and the distance of 5 meters are correctly represented in JSON. Also, the value for linear_speed is not specified in the natural language command.'] +Make a left turn and proceed ahead for a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": false, "unit": "degrees"}};['1; The JSON structure partially matches the natural language command. It correctly identifies the action to "rotate" however, the parameters "angular_velocity" and "angle" are missing values. The command also includes the action to move forward, which is not represented in the given JSON.'] +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['1; The command includes two actions: "rotate" and "move", but the provided JSON only addresses the "rotate" action but without specific parameters. The "move" action and its parameters such as "distance" are not included in the JSON. The "is_clockwise" parameter in the JSON is correctly set to false as rotating to the left is counter-clockwise. However, it lacks specific values for "angular_velocity" and "angle".'] +Take a leftward turn and advance for 5 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": false, "unit": "meter"}};['1; The action type in the natural language command is not clearly defined in the JSON structure. The JSON represents a moving action, while the command mentions a turning action. Although a moving action is implied following the turn, it is not addressed in the JSON.'] +Face left and go straight for 5 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['2; While some elements of the JSON partially match with the command, the rotation or turning aspect is not reflected in the JSON. The "face left" command implies a rotational movement which is not present in the provided JSON.'] +Rotate counterclockwise by 90 degrees.,Consider the following ontology:{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['1; The natural language command corresponds to a "rotate" action which is not present in the provided ontology. The parameters "angle" and "is_clockwise" would match with the given values of 90 degrees and false (counterclockwise), however, the "action": "rotate" key itself is not included in the ontology. Therefore, while there is partial correspondence, the match is not exact.'] +Rotate in an anticlockwise direction by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "}};['1; The action mentioned in the natural language command matches with the "action" in the JSON structure. However, the values of the parameters in the JSON structure do not match those specified in the natural language command. The "angle" should be 90 in the JSON structure as indicated by the command, also, "is_clockwise" should be false in consideration of the "anticlockwise" direction in the command. The "angular_velocity" isn\'t specified in the command therefore its value in the JSON is accepted. The "unit" value in the JSON is incomplete.'] +Perform a 90-degree counterclockwise rotation.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "}};['2; The action "rotate" matches but the parameter values do not match: "angle" should be 90 instead of 360, "is_clockwise" should be false instead of true to reflect a counterclockwise rotation, and unit parameter is not fully provided in the JSON. The "angular_velocity" is not specified in the natural language command, thus any reasonable value in JSON is accepted.'] +Turn left by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['4; The JSON structure matches the command in terms of action("rotate") and parameters("angle", "unit"), but there is no specification for "angular_velocity" and "is_clockwise" values in the command. However, the JSON has reasonable values for these parameters.'] +Anti-rotate by 90 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['5; Exactly conform.'] +Move backward for 3 meters.,{"action": "move", "params": {"linear_speed": -3, "distance": 3, "is_forward": false, "unit": "meter"}};['5; Exactly conform.'] +Go in reverse for a distance of 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};['4; The JSON structure conforms well to the natural language command by covering the action of moving in reverse and the distance of 3 meters. However, the command does not specify the linear speed so the given value of 0 in the JSON could be inaccurate hence a point is deducted. The "is_forward": false value correctly represents going in reverse.', ''] +Retreat by 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};['1; The JSON structure partially matches the command. The command suggests a retreat or moving backwards which is represented by "is_forward": false. However, the linear_speed value in the JSON doesn\'t conform to the command as it is 0 while the command suggests actual movement. Also, the \'move\' action does not exist in the sample ontology.'] +Step back 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};['3;Although the requested action matches the action in the JSON response, the parameter "linear_speed" does not conform to the natural language instruction. The speed is not specified in the command, meaning any reasonable value can be accepted. However, in the JSON structure, the "linear_speed" is given a value of 0, which means no movement at all, and cannot be considered reasonable in this context.'] +Reverse direction and travel 3 meters.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};['2; The natural language command partially matches the JSON structure. The action "move" and parameter "distance" matches but the natural language command specifies reversing direction, which implies "is_forward" should be false. On the other hand, the JSON structure states "linear_speed" is 0, which means the robot won\'t move at all, contradicting the command to travel 3 meters.'] +Turn right and move forward at 0.5 m/s for 20 seconds.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};["2; Partially conform. The JSON action 'move' correctly corresponds to the 'move forward' part of the command. Also 'linear_speed' of 0.5 m/s is in the command and the JSON. However, 'is_forward' in the JSON is false, but the command specifies moving forward. The command also mentions 'turn right', which isn't mentioned in the JSON. The 'distance' of 3 meters in the JSON is not mentioned in the command, it specifies time (20 seconds) instead. Finally, the command does not specify unit, but 'meter' is a reasonable default."] +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};["1; The JSON structure provided doesn't match with the natural language command. The command talks about moving forward and turning right, while the JSON structure refers to a non-forward movement and doesn't mention any rotation action at all. Also, the linear speed mentioned in the command doesn't match with the one in JSON structure."] +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};['1; The action in the natural language command matches the "move" action in the JSON structure. However, the natural language command specifies the duration of the move action, which is not a parameter in the sample ontology. Additionally, the values for "linear_speed" and "is_forward" in the JSON structure do not match those specified in the natural language command. The value for "distance" in the JSON structure is shown as a variable rather than a specific measure, and the natural language command does not provide a corresponding distance measure.'] +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s.,{"action": "move", "params": {"linear_speed": 0, "distance": 3, "is_forward": false, "unit": "meter"}};['0; The natural language command talks about making a right turn, which reflects the "rotate" action, not "move". Moreover, the JSON structure given is inconsistent with the command. For instance, "linear_speed" is given as 0, though the command mentions a rate of 0.5 m/s. Distance and is_forward parameters are also irrelevant to the command. Hence, there is no compliance between the command and JSON information.'] +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": null, "is_forward": true, "unit": "meter"}};['2; The natural language command does include moving forward with a specific speed, which matches the action and the parameter "linear_speed" in the JSON structure. However, the command specifies a duration of movement (20 seconds) rather than a distance, which does not align with the "distance" parameter in the JSON. Furthermore, the command includes an action of turning right, which does not match anything in the provided JSON structure.'] +Go to the living room and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}};['0; The natural language command "Go to the living room and stop." doesn\'t match the provided JSON structure, which is a "rotate" action with specific parameters. Instead, the command indicates a "go_to_goal" action with a "location" parameter.'] +Please proceed to the living room and come to a halt.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}};["0; The natural language command is asking to go to the living room, indicating a movement or location change, but the JSON structure corresponds to a rotation action, thus there isn't conformity between the given command and the JSON structure."] +Make your way to the living room and cease movement.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}};["0; The command instructs the system to go to the living room, however the provided JSON structure represents a 'rotate' action instead of a 'go_to_goal' action. Additionally, the JSON parameters do not include a 'location' key which the command implies. Therefore, the command is not in conformity with the JSON structure."] +Head over to the living room and pause.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}};['0; The JSON structure does not match with the command. The command is asking to go to the living room which is not related to the provided JSON instruction of rotating at an angular velocity of 5 and angle 30 degrees.'] +Walk into the living room and stand still.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}};["0; The natural language command instructs the robot to go to a location (the living room), which would correspond to the 'go_to_goal' action type in the ontology, not the 'rotate' action provided. Furthermore, none of the parameters in the JSON align with those stated in the command."] +Move forward for 2 seconds at a speed of 1 meter per second.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}};['0; The natural language command instructs a forward move, which does not conform to the provided JSON command which instructs a rotation. Thus, there is no match between the command and the JSON information.'] +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 30, "is_clockwise": false, "unit": "degrees"}};['0; The JSON command does not match the natural language command. The action in the JSON structure is "rotate", while the natural language command involves moving straight ahead. There is also no key for duration in the sample keys.'] +Advance for 2 seconds with a speed of 1 meter per second in the forward direction.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Move ahead at a rate of 1 meter per second for 2 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['4; Mostly conform. The natural language command does match the action and most parameters of the provided JSON. However, the command phrase "for 2 seconds" does not directly translate to the "distance" parameter in the JSON. Some extra calculations would be expected here to convert time into distance using the given speed. The natural language command also lacks a definition for direction which the JSON string assumes as forward, yet it\'s reasonable to assume.'] +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 2, "is_forward": true, "unit": "meter"}};['5; The JSON structure accurately represents the action and parameters specified in the natural language command, with all parameters correctly labelled, and it works within the established ontology.'] +Rotate clockwise by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['4.5; The natural language command corresponds to the JSON structure in terms of action and parameters. But the value of "angular_velocity" is missing in the natural language command, so a null value in the JSON structure is accepted. However, with a stated value- this would have obtained a full score. Hence, a slight score deduction.'] +Perform a clockwise rotation of 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; Exactly conform. The natural language command instructs a clockwise rotation of 180 degrees which is perfectly translated in the provided JSON structure. The "action" is "rotate", the "angle" is 180, the rotation is "is_clockwise" and the "unit" is in "degrees". The "angular_velocity" is not provided in the natural language command, hence it is null in the JSON.'] +Rotate 180 degrees in the clockwise direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};["5; The command and the JSON structure match perfectly. The action is 'rotate', and the parameters are 'angle', 'is_clockwise' and 'unit', which are all included and correctly assigned in the JSON. The 'angular_velocity' is not specified in the command, but any value is accepted in this case."] +Turn in a clockwise direction and rotate by 180 degrees.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['5; The natural language command matches with the provided JSON structure. The command "Turn in a clockwise direction and rotate by 180 degrees." corresponds to the action "rotate", a specified angle of 180 degrees, a rotation direction which is clockwise, and the unit is in degrees. The unspecified value of "angular_velocity" in the command is correctly left as null in the JSON structure.'] +Execute a 180-degree clockwise rotation.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};["5; Exactly conform. The given natural language command is in exact accordance with the given JSON structure in terms of action and parameters. The 'angular_velocity' is not specified in the command, and a null value is acceptable as per the guidelines."] +Move forward for 4 meters and then turn left.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['1; The provided JSON structure only corresponds to the \'turn left\' part of the command, with the correct angle for a left turn. However, it misses the \'move forward\' part of the command. Also, the "angular_velocity" value is null which is not reasonable in a real-world scenario.'] +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['2; The natural language command partially matches the JSON structure. The "move" action and its parameters are correctly represented. However, the command to "make a left turn" isn\'t captured in any JSON. The provided JSON structure does not have a place to accommodate this rotational movement information. The "rotate" action JSON structure isn\'t used to represent the left turn, which is the mismatch in this case.', ''] +Go straight for a distance of 4 meters followed by a left turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['1; The provided JSON structure partially matches the command. The command includes two different actions - moving straight and making a turn. However, the provided JSON structure only describes the "move" action, not the turn. Additionally, the "linear_speed" parameter in the JSON structure is not specified in the command, so it can take any reasonable value. But the distance value in the JSON matches with the command.'] +Advance in the forward direction, covering 4 meters, and then make a leftward turn.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['2; The natural language command partially matches with the first JSON structure as it mentions to advance in a certain direction for a specific distance which is coherent with the action "move" and the parameters under it in the sample JSON keys. However, the command also includes a leftward turn which doesn\'t correspond to any action in the provided JSON structures. Therefore, the natural language command only partially conforms to the sample ontology.'] +Move ahead for 4 meters and then change direction by turning left.,{"action": "move", "params": {"linear_speed": 1, "distance": 4, "is_forward": true, "unit": "meter"}};['2; The natural language command has been partially converted into JSON. The "move" action matches, but the "rotate" action to "turn left" has not been represented in the JSON.'] +Rotate counterclockwise by 60 degrees and move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};["4; The natural language command partially matches with the JSON structure. Rotation action is well defined but movement action ('move forward for 3 meters') is missing in the JSON structure. The 'rotate' action and parameters align with the sample ontology. The value of 'angular_velocity' is not specified in the command, so null is accepted."] +Turn left by 60 degrees and proceed ahead for a distance of 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};["1; The JSON structure only matches the rotation part of the command but doesn't match the moving ahead part of the command."] +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command partially matches with the two JSON structures. The command "Perform a 60-degree counterclockwise rotation" accurately matches with the JSON rotation structure. However, the part of the command "then move forward for 3 meters." is not expressed in the provided JSON structure.'] +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 60, "is_clockwise": false, "unit": "degrees"}};['2; The natural language command includes both "rotate" and "move" actions, but only the "rotate" action is represented in the JSON structure provided. The "move" (advance 3 meters) action was not represented in the JSON.'] +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters.,{"action": "rotate", "params": {"angular_velocity": null, "angle": -60, "is_clockwise": false, "unit": "degrees"}};['4; The natural language command correctly corresponds to the rotation action in the JSON structure. The parameter "angular_velocity" is not specified in the natural command, so its null value in the JSON is accepted. The angle of -60 and "is_clockwise": false also align with the command of "turn 60 degrees to the left in a counterclockwise direction". But the second part of the command regarding moving forward 3 meters is not represented in the provided JSON structure.'] +Go to the bedroom and stop.,{"action": "rotate", "params": {"angular_velocity": 5, "angle": 45, "is_clockwise": false, "unit": "degrees"}};['0; The JSON structure does not match the command. The command says to go to the bedroom, which matches the "go_to_goal" action but it is not specified in JSON. The JSON structure has an "rotate" action but it isn\'t mentioned in the command. Also, the stop command is not represented in the JSON.'] +Proceed to the bedroom and come to a halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};["1; The action 'go_to_goal' and the value 'Bedroom' match the command, but 'come to a halt' is not represented in the JSON structure."] +Make your way to the bedroom and cease your movement.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};['4; The command aligns with the "go_to_goal" action in the JSON structure. However, the "cease your movement" part of the command is not reflected in the JSON structure provided.'] +Head towards the bedroom and come to a standstill.,{"action": "move", "params": {"linear_speed": 0, "distance": 0, "is_forward": true, "unit": "meter"}};['1; The natural language command says to head towards the bedroom but the JSON has an action of "move" with a distance of 0 and no specified location. This doesn\'t match completely with the command. The command also doesn\'t mention anything about moving forward or what unit, which are present in the JSON.'] +Move to the bedroom and pause.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Bedroom"}};['1; The natural language command partially aligns with the JSON structure. The "move to the bedroom" part maps correctly to the "go_to_goal" action and "location" parameter in the JSON structure. However, the "pause" command does not exist in the given sample JSON structures.'] +Move backward for 7 meters at a speed of 0.8 meters per second.,{"action": "move", "params": {"linear_speed": 0.8, "distance": -7, "is_forward": false, "unit": "meter"}};['5; Exactly conform. The natural language command correctly corresponds to the provided JSON structure. Action type "move" is correctly identified, parameter values for "linear_speed" is set to 0.8, "distance" is set to -7 dictating a backward movement, "is_forward" is correctly set to false for moving backward, and "unit" for the distance is appropriately assigned as "meter".'] +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second.,{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}};['5; Exactly conform.'] +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second.,{"action": "move", "params": {"linear_speed": 0.8, "distance": -7, "is_forward": false, "unit": "meter"}};['4; The overall JSON structure matches the intent of the natural language command. The keys \'action\', \'linear_speed\', \'distance\', \'is_forward\', and \'unit\' match the sample ontology. However, the "distance" value entered as -7 is not usually typical for a move action and instead, a positive distance with "is_forward" as false could be used for backward movement. The use of negative distance although understandable slightly deviates from typical usage.'] +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second.,{"action": "move", "params": {"linear_speed": 0.8, "distance": 7, "is_forward": false, "unit": "meter"}};["5; The JSON structure perfectly matches the command given, all parameters are correct: the action is move, the distance is 7, the linear speed is 0.8, it's not forward (it's in reverse direction as specified in the command), and the unit used is meters."] +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second.,{"action": "move", "params": {"linear_speed": 0.8, "distance": -7, "is_forward": false, "unit": "meter"}};['5; Exactly conform.'] +Turn left and move forward for 5 meters at a speed of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": true, "unit": "meter"}};["3; The natural language command includes the action 'turn left' which is not included in the JSON structure. However, the 'move' action is accurately represented in the JSON with correct parameters for speed, distance, direction, and unit."] +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['2; The command refers to a rotation, a movement, and a speed but the JSON structure only includes the rotation action. The angular velocity and angle are not specified in the command, so null is acceptable, and "is_clockwise": false aligns with "Take a left turn". However, the command\'s requests for straight movement and speed are not represented in the JSON structure.'] +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": null}};['2; The action "rotate" partially matches the natural language command "Make a left turn". However, there are no parameters specified for "angular_velocity", "angle" and "unit", hence they are given as null while in the command these values seem implied but not clearly stated. The part of the command "advance forward for 5 meters with a velocity of 2 meters per second" is not reflected in the JSON at all.'] +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": false, "unit": "degrees"}};['3; Partially conform. The rotate action in JSON is aligned with part of the command perfectly executing a left turn, though specific values such as angular_velocity, angle are not provided. The action of moving ahead for 5 metres is not reflected in the JSON provided.'] +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second.,{"action": "move", "params": {"linear_speed": 2, "distance": 5, "is_forward": false, "unit": "meter"}};['3; Partially conform. The natural language command includes both rotation and movement actions. However, the provided JSON structure only references the movement action. The "is_forward" parameter should also be "True" instead of "False" because the command states to "travel straight" which implies forward motion. The rotation action is not accounted for in the JSON structure.'] +Back up for 1 meter and then execute a 90-degree turn to the right.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}};['4; The first part of the command aligns with the JSON structure perfectly. However, the second part of the command about the 90-degree rotation to the right does not have a matching JSON structure present.'] +Reverse for 1 meter and then make a right turn of 90 degrees.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}};['3; The JSON partially matches the natural language command. The "move" action matches the "reverse" command and indicates that it is not moving forwards. The distance is also correctly stated as 1 meter. However, the command also includes a "right turn of 90 degrees," which is not taken into account in the provided JSON. This would likely be under a separate "rotate" action, which is not included in the JSON.'] +Move backwards by 1 meter and then perform a right turn at a 90-degree angle.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}};['1; The natural language command partially conforms to the JSON structure. The command to move is represented correctly in the JSON, including the linear_speed and is_forward parameters. However, the command to perform a right turn at a 90-degree angle is not included in the JSON structure.'] +Retreat by 1 meter and then make a right turn of 90 degrees.,{"action": "move", "params": {"linear_speed": -1, "distance": 1, "is_forward": false, "unit": "meter"}};['0; The provided JSON code does not match the natural language command. It only contains parameters for the "move" action, and not for the "rotate" action mentioned in the command. Additionally, the "is_forward" parameter in the JSON is false, but the command does not specify the direction of movement. Lastly, the command specifies a right turn of 90 degrees, which is not represented in the JSON at all.'] +Take a step back for 1 meter and then execute a 90-degree right turn.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": false, "unit": "meter"}};['2; The conformity score is 2. The natural language command partially matches with the JSON structures. It correctly maps to the "move" action with meaningful parameters (including the correct distance and direction). However, the second part of the command about turning right is not represented in any JSON.'] +Navigate to the specified GPS coordinates and play a pre-recorded message.,{"action": "go_to_goal", "params": {"location": {"type": "gps", "value": "40.7128,-74.0060"}};['0; The natural language command does not match any of the JSON structures. The action "go_to_goal" exists, but the parameters do not match the sample ontology as the "location" type in the command is "gps" while in the JSON structure the type is "str". Moreover, the part about playing a pre-recorded message cannot be reflected in any of the given JSON structures according to the sample ontology.'] +Please go to the given GPS coordinates and play the pre-recorded message.,}};["0; The natural language command does not match any JSON structures provided. The action 'go_to_goal' parameters don't include the option for GPS coordinates. Plus, the command to 'play the pre-recorded message' does not match any JSON action provided in the sample ontology."] +Can you navigate to the provided GPS coordinates and start playing the recorded message?,{"action": "go_to_goal", "params": {"location": {"type": "gps", "value": "40.7128,-74.0060"}};['0; The command asks for navigating to given GPS coordinates and then playing a recorded message, which does not conform to any of the provided JSON structures. The action keys "go_to_goal" and "play_message" needed for this command are not present. Additionally, the type "gps" is not provided in the sample ontology.'] +Follow the given GPS coordinates and play the message that has been prerecorded.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "GPS_coordinates"}};['1; The natural language command instructs to follow GPS coordinates and play a prerecorded message. However, the given JSON does not contain a "play_message" action or any relevant keys for handling sound or messages, thus only part of the command is reflected in the JSON structure.'] +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message.,{"action": "go_to_goal", "params": {"location": {"type": "gps", "value": "40.7128,-74.0060"}};['0; The natural language command does not match with any of the JSON structures provided. The action "go_to_goal" does match but the params in the JSON provided have a different key ("location") from the natural language command ("GPS coordinates") and also a different value. In addition, the action of initiating playback of a pre-recorded message does not exist in the sample keys.'] +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}};["1; The command asks for a zigzag pattern which isn't related to the linear movement in the JSON structure. The specified action and parameters in the command don't match fully to the given JSON structure. The distance is the only parameter that matches correctly."] +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}};['2; The natural language command requires both forward and backward movement indicative of a zigzag pattern, while the provided JSON structure only includes forward motion ("is_forward": true). Therefore, the JSON partially but not fully matches the command. Additionally, zigzag pattern details are not represented in the JSON.'] +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};["1; The command given involves moving in a zigzag pattern by alternating between forward and backward movements, which is not represented in the JSON structure. The 'is_forward' key will not be enough to capture this complex action. Also, the 'linear_speed' key's value is provided in the JSON, even though it's not mentioned in the command. Therefore, the command is not entirely conformant with the JSON information."] +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters.,{"action": "move", "params": {"linear_speed": 1, "distance": 10, "is_forward": true, "unit": "meter"}};['1; The natural language command instructs to do a zigzag pattern, which includes a movement forward and backward. However, the JSON structure represents a simple forward motion for a distance of 10 meters. The key for backward movement or zigzag pattern is missing. Therefore, the JSON structure partially matches the natural language command.'] +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 10, "is_forward": true, "unit": "meter"}};['2; The natural language command partially matches with the JSON structure. The distance and unit parameters match correctly. However, the natural language command mentions a zigzag pattern and switching between forward and backward motions, which do not exist in the JSON command structure. Therefore, the match is not exact.'] +Spin around in a circle three times and then stop abruptly.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "degrees"}};['1; The action in the command matches the action in the JSON, which is "rotate". However, there are several discrepancies. The specified times the robot should spin around in the command is not reflected in the JSON. The angular_velocity is arbitrarily set in the JSON and not mentioned in the command. There is no mention of stopping abruptly in the JSON.'] +Rotate in a full circle three times before coming to an abrupt halt.,{"action": "go_to_goal", "params": {"location": {"type": "str", "value": "Kitchen"}};['0; The natural language command to rotate does not match the action or parameters in the provided JSON structure. The JSON structures entail going to a location and moving at a certain speed, not rotating.'] +Perform three complete rotations in a circular motion and then abruptly come to a stop.,{"action": "rotate", "params": {"angular_velocity": null, "angle": 360, "is_clockwise": true, "unit": "degrees"}};['3; Partially conforms. The command is asking for three complete rotations, which would require the "angle" parameter to be set to 1080 (3*360) in the JSON not 360. Although the "angular_velocity" is not specified in the command, it\'s set to null in the JSON which is acceptable. Also, the command mentions abruptly coming to a stop, this is not reflected in the given JSON.'] +Turn around in a complete circle three times and then suddenly cease movement.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "degrees"}};['1; The natural language command loosely matches the JSON structure for "rotate" action. However, it does not specify all the parameters like \'angular_velocity\' and \'is_clockwise\'. Also, it suggests a repeating action (\'three times\') which is not accounted for in the JSON structure. Lastly, the \'cease movement\' command does not exist in the JSON structure.'] +Spin in a circle three times and then bring yourself to an immediate halt.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 360, "is_clockwise": true, "unit": "degrees"}};['1; The natural language command is partially matching with the JSON structure for action "rotate". The number of rotations is not reflected accurately in JSON parameters. Furthermore, the "halt" command does not exist in the JSON structure. For the action "rotate", the angle given in JSON is for one full rotation (360 degrees), not for three rotations and the "is_clockwise" is true in JSON although it is not mentioned in the command. Therefore, the score is low.'] +Move forward at a constant speed of 1 meter per second for 30 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}};['3; The natural language command corresponds partially to the JSON structure. The "move" action and "is_forward" parameter match correctly, and the linear_speed parameter is also interpreted correctly from \'1 meter per second\'. However, the command language specifies a time duration of 30 seconds, not a distance. The \'distance\' in command is converted from time duration and speed, which is not explicitly stated, making it partially matching. The action "move" and "unit" are also fulfilling the ontology conditions.'] +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds.,{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}};["2; The command specifies a duration (30 seconds) during which the action should be maintained, but the JSON structure translates this into a distance (which, while logically equivalent if maintaining a speed of 1 meter/second, deviates from the language used in the command). The command's formulation does not completely conform with the JSON structure."] +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter", "duration": 30}};['2; The natural language command partially matches the JSON structure. The "action" key is correct and the value for "linear_speed" matches in both the command and JSON. The "is_forward" key is assumed to be true as the command says to move ahead. However, the command dictates a duration of movement, saying to move for 30 seconds, but this is instead provided as "distance" in the JSON. "Duration" in the JSON is unnecessary according to the given ontology. Meanwhile, the command does not provide a value for "distance", which is required in the JSON structure according to the sample ontology.'] +Advance for 30 seconds with a consistent velocity of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}};['4; The command fairly matches with the JSON information as it implies movement for a certain distance with a specified linear speed. However, it doesn\'t explicitly assert direction of the movement (forward or backward); the assistant has assumed forward motion (is_forward: true). The unit of "distance" is given as meter in JSON and in the command it\'s in seconds which is contradictory.'] +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second.,{"action": "move", "params": {"linear_speed": 1, "distance": 30, "is_forward": true, "unit": "meter"}};['5; Exactly conform.'] +Turn right and follow a curved path for 2 meters, then stop and beep.,{"action": "rotate", "params": {"angular_velocity": null, "angle": null, "is_clockwise": true, "unit": "degrees"}};["1; While the action 'rotate' corresponds to 'Turn right', the sub command 'follow a curved path for 2 meters, then stop and beep' does not match any JSON structures. Furthermore, the details of 'angular_velocity' and 'angle' are not supplied in the command making the correspondence incomplete."] +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": true, "unit": "degrees"}};['1; The command calls for a rotation, which matches with the "rotate" action in the JSON structure. However, the exact value for the "angle" parameter is not specified and the JSON representation for the remaining part of the command (moving in a curved path, stopping and emitting a sound) is not provided as it doesn\'t exist in the sample ontology.'] +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.,{"action": "rotate", "params": {"angular_velocity": 1, "angle": 90, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command instructs the system to take a right turn which somewhat matches with the JSON structure of an action to "rotate". However, there is no conformity between the NLP and JSON Structures for moving along a 2 meter distance or for the action to pause and produce a beeping sound.'] +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.,{"action": "rotate", "params": {"angular_velocity": ?, "angle": ?, "is_clockwise": true, "unit": "degrees"}};['1; The JSON structure only covers the "execute a rightward turn" part of the command. It lacks information related to "navigate along a curving route for a distance of 2 meters", "cease movement", and "emit a beep."'] +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise.,{"action": "move", "params": {"linear_speed": , "distance": 2, "is_forward": false, "unit": "meter"}};["1; The command describes action of movement, but it also includes rotation ('Alter your direction towards the right') and producing a sound ('beeping noise') which do not conform with the given JSON structure which only describes the movement but not the type of movement or the operation of producing sound. The 'linear_speed' value is also missing in the JSON compared to the natural language command. Considering these points, the conformity is low."] +Move forward for 5 meters and then reverse for 2 meters, repeating twice.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['2; The natural language command is partially matched with one of the JSON structures but it does not cover the entirety of the natural language command, namely the reversing and repetition aspects are missing. Moreover, a specific "linear_speed" is not specified in the command, but it\'s included in JSON.'] +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};['1; The natural language command indicates a sequence of moving forward and reversing which should be represented by two separate JSON objects, but only one singular JSON object corresponding to moving forward is provided. Also, repeating this sequence is not reflected in the provided JSON objects.'] +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};['0; The natural language command is asking for a complex sequence of movements, including forward and reverse movements and repetitions, which the provided JSON structure lacks. Therefore, it is not possible to properly map the natural language command to the JSON structure.'] +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice.,{"action": "move", "params": {"linear_speed": 1, "distance": 5, "is_forward": true, "unit": "meter"}};['2; The command expresses a more complex instructions but only a simple forward move with specific distance parameter is represented in the JSON. Actions of reverse and repetition of the whole cycle twice are not considered in the JSON structure. The speed of 1 used in the JSON also not mentioned in the command.'] +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 5, "is_forward": true, "unit": "meter"}};['2; Partially conform. The command seems to have two actions, moving forward and back but the JSON structure only represents the forward movement. The command mention to stop and also to repeat, which cannot be found in the JSON structure. The value for distance matches in both instances.'] +Randomly select a direction and move forward for a random duration between 1 and 5 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};["2; The command is partially conforming to the JSON structure. The action 'move' and parameter 'is_forward' are present and correct but the 'linear_speed' and 'distance' values aren't specified in the natural language command. The duration to move and the direction to take aren't represented in the JSON."] +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['2; Some keys are matching (e.g. "action" and "is_forward") but other critical information is not matching such as "linear_speed" and "distance" values which have some random nature in the command. Parameter "unit" found in the JSON is also not mentioned in the command.'] +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['1; The natural language command does not fully conform to the JSON structure. The instruction "Randomly pick a direction and move in that direction..." does not match to the JSON\'s action "move" with the set parameters. Specifically, the random selection of direction is not represented in the JSON and neither is the random timeframe. A 0.5 m/s linear_speed and 1 meter distance have been designated in the JSON, neither of which are specified in the command.'] +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};["1; The command is partially matched with the JSON structure, but the request for a random direction and a randomly determined timeframe do not conform to the JSON keys. Also, the 'distance' key's value doesn't match with the command as time frame is mentioned in the command instead of distance."] +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds.,{"action": "move", "params": {"linear_speed": 0.5, "distance": 1, "is_forward": true, "unit": "meter"}};['2; Partially conform. The natural language command has been partially captured in the JSON structure. The "move" action and "is_forward": true have matched. However, the random direction, duration, and range of 1 to 5 seconds were not represented.'] +Perform a 180-degree turn, then launch a small drone from your back.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['2; The command to "Perform a 180-degree turn" is well represented by the JSON structure provided. However, the command to "launch a small drone from your back" is not represented in any JSON structure and is not in the sample keys. Therefore the conformity score is not full.'] +Execute a 180-degree rotation and subsequently release a compact drone from your rear.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": false, "unit": "degrees"}};["1; Only the rotation action from the command is properly converted to the JSON structure and exists in the sample keys. The rest of the command which is to release a compact drone from the rear doesn't have a matching JSON structure or exist in the keys."] +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you.,{"action": "rotate", "params": {"angular_velocity": 10, "angle": 180, "is_clockwise": true, "unit": "degrees"}};['2; Although the natural language command corresponds to the "rotate" action in the JSON, it does not fully conform to the JSON structure. The angular_velocity is not specified in the command, so any reasonable value in the JSON is accepted. However, the command also includes an action ("deployment of a diminutive drone") that doesn\'t exist in the sample keys and is not represented in the given JSON structure.'] +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside.,{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['1; The natural language command matches the JSON structure for the "rotate" action, but it also mentions launching a drone which is not an action in the ontology.'] +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.,{"action": "rotate", "params": {"angular_velocity": 180, "angle": 180, "is_clockwise": false, "unit": "degrees"}};['0.5; The rotate action in the JSON aligns with the "Carry out a 180-degree spin" in the instruction. However, the value of "angular_velocity" doesn\'t match the natural command as in this case it refers to the angle. The second part of the command, "activate the release mechanism to send a small drone flying from your posterior," doesn\'t conform with any actions in the provided JSON structures.'] diff --git a/evaluation/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot_SELECTED_5pct_for_manual_eval-HIST.png b/evaluation/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot_SELECTED_5pct_for_manual_eval-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..17cc5adcdf9b7ae88d17c24187699193c1ee9071 GIT binary patch literal 50297 zcmeFa30%#2`#*ffIv5Ng6_quK8bbSGEHNlqN}+~OiRx53rIlHT7DLung+ip#zFFFY z5-p@UO-ZyJl{)P`@9WIWeZI~7pZov%zka{xc|FhX*6Y5FobUO5Ki|)GUDx}1U+<6C zW?h}}W5vg^Sgi5u*R9^dVvS2;u|`&WJqrI4tM}Lf|50&Rv%_Jl%>f6_9=rXlO?w<{ z57{^zvfL}}xZlp+(#Bd*URnOTMbZ`y4z~8H3JQn+b%DH%ow>sDnE2bc$r#&pM)oY0 z{2coKS5DWp99gW#@7J$hxy>oCsnW%NYOx#tckVY^r?#X#U5667@kR|=46EIEweJ9N8mSp+td3s@SYg1gIds}ZyWvb3? zgF9_WUkm3}n_1c2-7yEAU(s{dvaNog+;s18n^NRgBU+Y?E7a^guN{`f?_OU_ra1$^NrEY`_ylZFd_KXdY|>qO6-7wIm1y?*zqG-q~GOzwNj@xm+K z>22S>9S^8E#~ox_1uQ+L_WXM^PqU-f%ui#5u6k>h`W@jC@pS0JMX@!m6NPtRd47FN zjq$73&=!ms^5Oa~AF^0qIswz=e{LuIj5YVK_0V=ZB}H|GO;sRIjHNxnp`}9Q)aicj zLoet3%b0i$OLT63zd%8ukpB%!di07zufN^De}8xIS4Y}HO#gKs7VFHvT}eY8`tsG` z;?E1LU(Ld<;kjyadhO#Kd}t0(+*%ch8=O(!ghZkT15vsjydJk_r8*C+Jf z*&|vQzs~($_&pX&d-Bi^SAO}BHTOTI6RytX4$sTje%m1X_{ecJ9c89|+`$2UYw1p# z?9w|sYs39CPieSxu6~(Y`enzJ_R?(Wp3RT4|~u1;&sk!XD|d}3C2 zeTauP+hz4?eSQ7U4JC2|?`;O=2Rqexy-s4AZ46kkSXcS?pK~q=H&@o?+sFIIz@y^$ z<>%+qXm2wxSc~10_F02ylbM)_&-iJo%~k1Y@)=z&g`U3{l}5R1YpZ`5=8~qIJmXrv6^O-&Q@1<#<|~ zMq}v4K;E+K%JD+%3sj7{O@#OGJRp(eC!r*t;_z|u`Sa(C z;;qVD3oWNaXAT^#aIOzJ5`59$KdU0yK5kkf!+YDe74t*KNBlf*j8Dt0+jmd7^>&sx zYg)d%Hhr1J<_V%gzl^mk7(Q9`gT9`!Oy7tQ_mqNmOvUUYWxFpvUL$M<%V$G%)#|>- zT79c>+SOW;<{00%_$_=n^8&rJEbZv7TdcsD%vn)i?GBH#9Wth(EX;YnV1Ev-*M{%wX~6^7zw*?wxT( zapr{|UdNc3J*VLJ&mZLl!}vchHqB7SvfWwVZLZmVnf&sD8oeLF{b~k!d44A(k1hyy z@A>#T!_6fp(O2dDCFTClugqTG+p}a}-WiLx3C&kGGFH3AcgI{FU0A&HLTle8Gv7Bn z9=6BD^Ywyfyo%8CyR$P<^3zT^!@J(+V_H z-tLZ3-27T+BcnGm9&V4vD`kE9{jnJ~RiDm*&gQpfkA5D*?tEje)WBzSaPive;Cmdd zn^LXwi3u}j&&E*SJ(W4wo9TDu%9W@lr}>bWKL@8*BuVB_W9c2SLea&>Qwp^PU4!c9&6~Fbfz$LAhjs)ymRr*Lf>0UwH)m0~Qf;d%T zxsonT?&f!l<4--FsHILD)^t?|i@tX1m7iV$rpJdOWdAJh80fGP^b> zo9E6??dq%7GUfHd)aJ-Vr@gE`EbMpI<*zG563h#OM^!4w%6h5Tzt4iHI=Y#6{^G^l zS9)4ABZ3@_b6iSFN|x+-^z%m&A79C6Vpmn=X}}1?IDCAm{PEhk2_MtTy=SVeSnE6EO=ux4I&ApjZsS<2?lOjB z`qMU{V=8E|=lt(6yD&c_ZL6!IO*1bkv-gIly~Wz-YW4G&;W1F}5!_luv!v^zo=5ot zn*r0hx;lLmld2EgaV+gu+bV9Xx^MAni7-~qJBDpB)OzvG1oi4vC9bQzzyGo-kLXX& zZQK<h@kSc(NXo} zK!xNaa?`x)d6|Rm23*E2G4=%B3k$~~ofA7Vsf^#R=Gc_i(95{b@89A+Xm>}IC3X%2 zrDA?RCd>1GT+Kzg@=35i{SX&V^54z~y4i=Csf8Q(t&SHX`tBe4@~{ zc|MwLtGA2IX76(P{TDIbvk)yUIU9xDDa)#`Uwd;#eKY;c`5~9jv9%eN(H_Lxryhc} za;W_N%_44)rrXh+b{L`D%jUsvKJXZO>o4nJdue!kK7ZU=-wpq$=5A`s!D1y?(aBna z-Gz!(V(Lz|_py)Y51D-zAEbLFwWKsI4b}@*S24J|>x~6(w{zY37}x-B&RRdoN(&~; z`E^CW$qn+!bID?<7AD$oC9xw|HdUtb&v1K6qTQ$Rt6Xey)N*HXc6}qZ^xYXQqm5ls zF#Ta`PET91Ki}V*6YMe2o%HF^IKr<+_ZI*%nI?qR@7e`}Me0k3mH&rD%oduq+M zwfX+n@e

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diff --git a/evaluation/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot_SELECTED_5pct_for_manual_eval.txt b/evaluation/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot_SELECTED_5pct_for_manual_eval.txt new file mode 100644 index 0000000..399d077 --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Ground_Robot_SELECTED_5pct_for_manual_eval.txt @@ -0,0 +1,53 @@ +;GPT;Human; +"356: Go left and follow a curved path for a distance of 6 meters.,{""action"": ""move"", ""params"": {""linear_speed"": , ""distance"": 6, ""is_forward"": false, ""unit"": ""meter""}}";"[""1";1.5;" The natural language command asks for a specific movement (going left) and following a curved path, which is not clearly supported by the given JSON structures. The movement direction and the shape of the path are not parameters in the JSON structure. On the other hand, distance and unit conform with the JSON. However, the direction of the movement i.e., if it is forward or not, is wrongly inferred in the JSON. The command doesn't specify about the direction.""]" +"455: Reverse your direction and travel 3 meters.,{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 3, ""is_forward"": false, ""unit"": ""meter""}}";['4;5; The natural language command and the JSON are similar, but the natural language command does not specify the linear speed to use in the movement, this is the only part that does not perfectly conform to the JSON structure.'] +"130: Rotate right and proceed ahead for a length of 1 meter.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": null, ""is_clockwise"": true, ""unit"": ""degrees""}}";"[""3";1.5;" Although the natural command dictates to rotate, it doesn't mention the angle and angular_velocity, but the JSON structure specifies the direction to the right, aligning with the command. Though, the command also includes moving forward for 1 meter, however, that is not reflected in the provided JSON."", '']" +"87: Take a right turn and proceed straight ahead for a distance of 4 meters.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 90, ""is_clockwise"": false, ""unit"": ""degrees""}}";['0;1.5;" The natural language command involves two actions (turning and moving straight ahead), but the given JSON structure only corresponds to one action (rotating). The parameters of the ""rotate"" action in the JSON structure also do not fully match with the natural language command. For instance, the ""is_clockwise"" key is set to false in the JSON, which does not match with the command to ""Take a right turn"". Furthermore, the natural language command\'s instruction to ""proceed straight ahead for a distance of 4 meters"" is not represented in the JSON at all.']" +"466: Take 5 meter steps forward.,{""action"": ""go_to_goal"", ""params"": {""location"": {""type"": ""str"", ""value"": ""Living Room""}}";"[""0";0;" The natural language command instructs a movement forward for a specific distance but the JSON structure corresponds to a 'go to goal' action for a specified location. The two don't conform.""]" +"268: Proceed ahead by 1 meter with a velocity of 1 meter per second.,{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""}}";"[""4";5;" The JSON structure correctly represents the action as 'move', and the parameters 'distance', 'linear_speed' and 'unit' match as well. However, the 'is_forward' parameter in the JSON is not mentioned in the natural language command, hence slightly reducing conformity.""]" +"993: Randomly select a direction and move forward for a random duration between 1 and 5 seconds.,{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""}}";"[""2";5;" The command is partially conforming to the JSON structure. The action 'move' and parameter 'is_forward' are present and correct but the 'linear_speed' and 'distance' values aren't specified in the natural language command. The duration to move and the direction to take aren't represented in the JSON.""]" +"521: Retreat for 3 seconds.,{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": false, ""unit"": ""meter""}}";['2;1;" Partial match. The action type ""move"" and the parameter ""is_forward"": false are correctly interpreted from the command. However, the command mentions the parameter of time (3 seconds) which is not recognised or represented in the JSON. Furthermore, the JSON provides values for ""linear_speed"", ""distance"", and ""unit"" which do not conform with the natural language command.']" +"2: Proceed straight ahead covering a distance of 1 meter.,{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""}}";['5;5;" Exactly conform. The given command perfectly matches with the JSON structure in terms of action and parameters. The action in the command ""Proceed straight ahead"" is the same as the ""action"" in the JSON: ""move"". The ""distance"" is stated as 1 meter in both the command and the JSON. Even though the linear speed is not specified in the command, it\'s okay as any reasonable value in the JSON is accepted if it\'s not specified in the natural language command. Overall, the keys in the JSON truly reflect the command given.']" +"679: Take a right turn and proceed ahead for a duration of 5 seconds.,{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 90, ""is_clockwise"": false, ""unit"": ""degrees""}}";['3;1.5;" The action ""rotate"" and the parameters ""angular_velocity"", ""angle"", ""is_clockwise"", ""unit"" match the JSON structure. However, the natural language command describes taking a right turn while the JSON structure has ""is_clockwise"" set to false which typically corresponds to a left turn. Similarly, the duration in the natural language command is not represented in the JSON structure.']" +"1002: Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior.,{""action"": ""rotate"", ""params"": {""angular_velocity"": 180, ""angle"": 180, ""is_clockwise"": false, ""unit"": ""degrees""}}";['0.5;5;" The rotate action in the JSON aligns with the ""Carry out a 180-degree spin"" in the instruction. However, the value of ""angular_velocity"" doesn\'t match the natural command as in this case it refers to the angle. The second part of the command, ""activate the release mechanism to send a small drone flying from your posterior,"" doesn\'t conform with any actions in the provided JSON structures.']" +"943: Go to the bedroom and stop.,{""action"": ""rotate"", ""params"": {""angular_velocity"": 5, ""angle"": 45, ""is_clockwise"": false, ""unit"": ""degrees""}}";['0;0;" The JSON structure does not match the command. The command says to go to the bedroom, which matches the ""go_to_goal"" action but it is not specified in JSON. The JSON structure has an ""rotate"" action but it isn\'t mentioned in the command. Also, the stop command is not represented in the JSON.']" +"262: Turn right and move forward for 4 meters.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 90, ""is_clockwise"": false, ""unit"": ""degrees""}}";['4;1.5; The command mentions turning right and moving forward for 4 meters. The JSON statement includes an action to rotate, which could correspond to turning right, and the parameters include angle and direction (clockwise), but there is no specification for the angular_velocity in the command. The command does not mention anything about moving forward after the rotation which is missing in the JSON. Therefore, the command and the JSON partly conform to each other.'] +"254: Make your way to the bedroom and cease your movement.,{""action"": ""go_to_goal"", ""params"": {""location"": {""type"": ""str"", ""value"": ""Bedroom""}}";['2;5;" The natural language command partially matches with the ""go_to_goal"" action in the JSON structure as the robot is being asked to go to a specific location (the bedroom). However, the command also includes a stop action (""cease your movement"") which doesn\'t match any of the actions provided in the JSON structures.']" +"385: Rotate anticlockwise by 60 degrees and advance 3 meters.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 60, ""is_clockwise"": false, ""unit"": ""degrees""}}";['3;2; The JSON structure matches the initial part of the command, which is about rotation, perfectly. However, the second part of the command about moving forward for 3 meters does not have a corresponding JSON structure in the answer. Therefore, it’s an incomplete match.'] +"259: Rotate anticlockwise at an angle of 45 degrees.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 45, ""is_clockwise"": false, ""unit"": ""degrees""}}";['4;4;" The command matches the JSON structure well, but the value for ""angular_velocity"" is null because it is not specified in the natural language command. However, as per the provided instruction, any reasonable value in the JSON is accepted if a parameter\'s value is not specified in the natural language command. Thus, it mostly conforms to the sample keys and structure.']" +"453: Move backward for 3 meters.,{""action"": ""move"", ""params"": {""linear_speed"": -3, ""distance"": 3, ""is_forward"": false, ""unit"": ""meter""}}";['4;5;" The JSON structure is almost consistent with the natural language command. The keys are correct, however, the ""linear_speed"" has an absolute value in the JSON structure which might not necessarily represent ""moving backward"" as stated in the natural language command, as speed is commonly a scalar quantity, not a vector. Nonetheless, the ""is_forward"" parameter correctly represents the backward movement.']" +"958: Back up for 1 meter and then execute a 90-degree turn to the right.,{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 1, ""is_forward"": false, ""unit"": ""meter""}}";['4;2.5; The first part of the command aligns with the JSON structure perfectly. However, the second part of the command about the 90-degree rotation to the right does not have a matching JSON structure present.'] +"21: Rotate clockwise by 180 degrees.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 180, ""is_clockwise"": true, ""unit"": ""degrees""}}";['4;4;" Mostly conform. While the JSON structure does match the natural language command to rotate clockwise by 180 degrees, the ""angular_velocity"" parameter is not specified in the natural language command and is therefore null in the JSON. However, this doesn\'t affect the main action of rotating, so the conformity score is still high.']" +"400: Advance for a distance of 1 meter.,{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 1, ""is_forward"": true, ""unit"": ""meter""}}";['5;5; Exactly conform.'] +"947: Move to the bedroom and pause.,{""action"": ""go_to_goal"", ""params"": {""location"": {""type"": ""str"", ""value"": ""Bedroom""}}";['1;5;" The natural language command partially aligns with the JSON structure. The ""move to the bedroom"" part maps correctly to the ""go_to_goal"" action and ""location"" parameter in the JSON structure. However, the ""pause"" command does not exist in the given sample JSON structures.']" +"494: Proceed straight ahead for a distance of 5 meters.,{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 5, ""is_forward"": true, ""unit"": ""meter""}}";['5;5;" The JSON structure matches the natural language command correctly: the action ""move"" is specified, a forward movement is implied, and a distance of 5 meters is stated. The provided linear speed is a reasonable value.']" +"66: Rotate counterclockwise by 120 degrees and move forward for 5 meters.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 120, ""is_clockwise"": false, ""unit"": ""degrees""}}";['2;2;" The natural language command fits partially with the JSON structure provided. It correctly maps to the ""rotate"" action, with 120 degrees and counterclockwise direction. However, the command also includes instruction to move forward for 5 meters, which cannot be represented in the given JSON structure, hence the command is not fully represented in the JSON.']" +"144: Go left and carry on for a distance of 7 meters.,{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 7, ""is_forward"": false, ""unit"": ""meter""}}";"[""2.5";2;" The direction 'left' is not captured in the JSON representation, though the distance of 7 meters is correctly represented. The command 'is_forward' in JSON does not correspond to 'go left' in the command. The 'action' field has been represented correctly.""]" +"124: Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second.,{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 6, ""is_forward"": true, ""unit"": ""meter""}}";"[""4";4;" The command asks to move forward with a total distance of approximately 3 meters calculated from (0.5m/s * 6s). However, the JSON indicates moving forward a distance of 6 meters at a speed of 0.5 m/s. The 'is_forward' key and value accurately matches the command. "", ""The 'unit' also conforms to the given command.""]" +"440: Turn left by 45 degrees.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 45, ""is_clockwise"": false, ""unit"": ""degrees""}}";['5;4; Exactly conform.'] +"827: Shift to the left and move backwards covering a distance of 2 meters.,{""action"": ""move"", ""params"": {""linear_speed"": , ""distance"": 2, ""is_forward"": false, ""unit"": ""meter""}}";['2;2;" The command partially matches the JSON structure. The command ""Shift to the left"" can not be mapped to the provided JSON structures, hence it doesn\'t conform to the ontology. However, the command ""move backwards covering a distance of 2 meters"" perfectly maps to the ""move"" action in the JSON where ""distance"": 2, ""is_forward"": false are correctly interpreted. But there is no value provided for ""linear_speed"" which makes the JSON incomplete.']" +"605: Rotate anticlockwise by 90 degrees.,{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": -90, ""is_clockwise"": false, ""unit"": ""degrees""}}";['5;5; Exactly conform.'] +"434: Rotate to the right and travel in reverse for a distance of 1 meter.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": null, ""is_clockwise"": false, ""unit"": ""degrees""}}";['2;1;" The JSON structure partially matches with the given command. The rotation action is somewhat referred to in the command, but the angle is not specified. Also, command refers to the action of moving (in reverse), which is absent in the JSON structure. Additionally, the ""is_clockwise"" parameter in the JSON structure is wrongly denoted as false. According to the command, it should be true as ""rotate to the right"" signifies a clockwise movement.']" +"907: Anti-rotate by 90 degrees.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 90, ""is_clockwise"": false, ""unit"": ""degrees""}}";['5;5; Exactly conform.'] +"556: Move in a clockwise direction, making a 60 degree turn.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 60, ""is_clockwise"": true, ""unit"": ""degrees""}}";['5;4; Exactly conform.'] +"711: Pause and remain stationary.,{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": false, ""unit"": ""meter""}}";['0;4;" The natural language command indicates a requirement to stop moving or hold a position, but there is no corresponding action or parameter in the provided JSON structure to reflect this command. The existing JSON actions are ""go_to_goal"", ""move"", and ""rotate"", none of which satisfy the requirement to stop or remain stationary.']" +"74: Advance forward with utmost speed for a period of 20 seconds.,{""action"": ""move"", ""params"": {""linear_speed"": null, ""distance"": null, ""is_forward"": true, ""duration"": 20, ""unit"": ""second""}}";['1;3;" The natural language command is partially matching the JSON structure. The action of moving forward is captured, but the ""utmost speed"" and ""period of 20 seconds"" is not represented in the JSON structure as it should be. The sample keys do not include a ""duration"" field under the ""move"" action, hence lowering the conformity score.']" +"713: Move backward for 10 meters.,{""action"": ""move"", ""params"": {""linear_speed"": -10, ""distance"": 10, ""is_forward"": false, ""unit"": ""meter""}}";['3;5;" Partially conform. The action and parameters correspond with the natural language command, but the ""linear_speed"" value is incorrect. It should be a value that refers to the speed of the movement, not the direction. The direction is indicated by the ""is_forward"" key which is correctly set to false.']" +"138: Reverse your movement for a total of 3 seconds.,{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 0, ""is_forward"": false, ""duration"": 3, ""unit"": ""second""}}";"[""1";2;" The JSON command partially matches the natural language command. However, the parameters 'linear_speed' and 'distance' are contained in the JSON command but not mentioned in the natural language command. Additionally, the 'duration' parameter is used in JSON, which is not mentioned in the ontology. Also, 'is_forward' value in JSON is false which is correct as command is to reverse but it doesn't mention moving in reverse, it's more of a time duration.""]" +"48: Advance for a span of 2 meters.,{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 2, ""is_forward"": true, ""unit"": ""meter""}}";['5;5;" The command ""Advance for a span of 2 meters"" matches perfectly with the JSON structure. The action ""move"" and parameter ""distance"" with value 2 and unit ""meter"" are correctly reflected in the JSON. The unspecified linear speed and direction (is_forward) are reasonably populated.']" +"98: Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 90, ""is_clockwise"": false, ""unit"": ""degrees""}}";"[""2";2;" The JSON structure partially matches the first part of the command, however, the 'angular_velocity' key does not have a value, and the second part of the command does not match with the provided JSON structures.""]" +"866: Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second.,{""action"": ""move"", ""params"": {""linear_speed"": 0.3, ""distance"": 3, ""is_forward"": true, ""unit"": ""meter""}}";"[""2";5;" The natural language command specifies a duration of movement (10 seconds) specifically, while the JSON structure shows either distance or linear speed. While it's reasonable to infer the distance traveled based on these two figures, the structure doesn't perfectly correspond with the command given. Also, units to measure time is missing.""]" +"790: Take a left turn and proceed straight for 6 seconds.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": null, ""is_clockwise"": false, ""unit"": ""degrees""}}";"[""1";1.5;" The JSON structure does correspond to the action 'rotate' or 'turn' from the command, but none of the parameters are correctly defined according to the command. The 'is_clockwise' parameter is correctly set to false for a left turn, but angular velocity and angle are left undefined, which does not align with the command. There is also no JSON structure corresponding to the action of proceeding straight.""]" +"598: Turn left and move forward for 2 seconds.,{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 2, ""is_forward"": true, ""unit"": ""second""}}";['2;1.5;" Partially conform. The command ""Turn left"" suggests a rotation action that is not present in the provided JSON structure, while ""move forward for 2 seconds"" aligns with the ""move"" action. However, the given JSON has distance in units of meters, not seconds.']" +"426: Turn 180 degrees in a clockwise manner.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 180, ""is_clockwise"": true, ""unit"": ""degrees""}}";['5;4; Exactly conform.'] +"68: Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 120, ""is_clockwise"": false, ""unit"": ""degrees""}}";['2;2;" The natural language command partially matches with the JSON structures. The ""rotate"" action with a 120-degree angle in a counter-clockwise (false ""is_clockwise"") direction is correct. This JSON also does not specify the ""angular_velocity"" which is acceptable. However, the natural language command also includes the instruction to ""proceed forward for a distance of 5 meters"" which is not represented as a ""move"" action in JSON format.']" +"736: Relocate yourself 2 meters to the left.,{""action"": ""move"", ""params"": {""linear_speed"": 0, ""distance"": 2, ""is_forward"": false, ""unit"": ""meter""}}";['2;1.5;" The natural language command does not exactly conform to the JSON structure. It has the notion of moving a certain distance, which is representable in JSON, however the ""left"" direction cannot be represented with the given JSON structure. We don\'t know if ""left"" means to rotate or move sideways as the JSON structure doesn\'t provide ""left"" or ""right"" as options for the action ""move"". Also, the moving action doesn\'t require the parameter ""is_forward"" in the given context.']" +"457: Take 3 steps backwards.,{""action"": ""move"", ""params"": {""linear_speed"": -1, ""distance"": 3, ""is_forward"": false, ""unit"": ""step""}}";"[""0";5;" The given JSON's keys do not match with the sample keys as in sample JSON 'linear_speed' is a float value(between 0 and 1), there is no 'is_forward' key and 'unit' of measurement is 'meter' which contrasts from the given 'step' value of unit."", '']" +"429: Proceed straight ahead, covering a distance of 4 meters.,{""action"": ""move"", ""params"": {""linear_speed"": 1, ""distance"": 4, ""is_forward"": true, ""unit"": ""meter""}}";['5;5; Exactly conform. The JSON structure accurately represents the command to move straight ahead for a distance of 4 meters. All needed parameters (distance, is_forward, unit) have been included and are correctly represented.'] +"985: Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound.,{""action"": ""rotate"", ""params"": {""angular_velocity"": 1, ""angle"": 90, ""is_clockwise"": false, ""unit"": ""degrees""}}";['1;2;" The natural language command instructs the system to take a right turn which somewhat matches with the JSON structure of an action to ""rotate"". However, there is no conformity between the NLP and JSON Structures for moving along a 2 meter distance or for the action to pause and produce a beeping sound.']" +"136: Move backward for 3 seconds.,{""action"": ""move"", ""params"": {""linear_speed"": -1, ""distance"": 0, ""is_forward"": false, ""unit"": ""meter""}}";['1;3; The natural language command talks about moving backward for 3 seconds, but in JSON structure, it tells to move with a negative linear speed and distance parameter is zero with unit mentioned as meters, which does not match with natural language command.'] +"186: Rotate counterclockwise by 60 degrees.,{""action"": ""rotate"", ""params"": {""angular_velocity"": null, ""angle"": 60, ""is_clockwise"": false, ""unit"": ""degrees""}}";"[""5";4;" Exactly conform. The command corresponds directly with the JSON structure, including the correct action verb, the 'rotate' parameters have been conformed with the keys followed by the correct values. The conversion has been done efficiently as per the given sample ontology.""]" +"831: Keep moving forward for 7 seconds.,{""action"": ""go_to_goal"", ""params"": {""location"": {""type"": ""str"", ""value"": ""Kitchen""}}";['0;0;" The natural language command speaks about continuing to move forward for 7 seconds, but the provided JSON structure corresponds to going to a specific location (""Kitchen""), which doesn\'t match with the command.']" +"322: Perform a U-turn and move in the opposite direction for 10 seconds.,{""action"": ""rotate"", ""params"": {""angular_velocity"": 10, ""angle"": 180, ""is_clockwise"": false, ""unit"": ""degrees""}}";['3;2.5;" The action and unit match with the JSON structure, the angular_velocity value is not specified but 10 is a reasonable value. However, the ""angle"" value in the command (180 degrees in the case of a U-turn) is correctly doubled from the original 180 degrees, but there is no parameter in the JSON structure to indicate duration of movement or \'for 10 seconds\', so the JSON form partially matches the command.']" +;;; +;;3.16; diff --git a/evaluation/evaluations/Ground-Robot/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Ground_Robot-HIST.png b/evaluation/evaluations/Ground-Robot/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Ground_Robot-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..68b89fe264ae50d84337f0e5e252cbabb20bd47e GIT binary patch literal 66741 zcmeFa3tY^3|2Cer%kDaa*d)YS6B>Q*`ll}g8{cI{GhU>(wFvb74O zb_yMIU`^#zp);KnMWu|IPE#|_^&Z^Ku)pX2J-_GqKd;~Of34T+Ufi0Q?|i zmD74t7YPZ)IrP5~9v5^DNsN$?*syl>R*$ImTKm&yxM!3a^tX+$Hrh1)3*F|`UtJ8l z`}yYBLwlCUA6fe?`!|mK-hDep+B`N`VQ}9yvi#)Kaq;?(EA3X;l?AZZ8cjSiCCGp5 zg2S^u`$=lv;cc6P*40Y(%18g`Wf;9B;j(#1N!nStV>u;tJV`~Jq2<>vUb%8*94_j^ 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b/evaluation/evaluations/Ground-Robot/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Ground_Robot_SELECTED_5pct_for_manual_eval.txt new file mode 100644 index 0000000..7a5d510 --- /dev/null +++ b/evaluation/evaluations/Ground-Robot/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Ground_Robot_SELECTED_5pct_for_manual_eval.txt @@ -0,0 +1,51 @@ +;GPT;Human;; +596: Turn left and move forward for 2 seconds.,Please provide the JSON response.}};['0;0;" The command involves two separate actions (rotate and move) which are not represented in the connected JSON structure. Additionally, the duration of movement (""for 2 seconds"") is not accounted for in the provided JSON. The mentioned parameters (\'turn left\' and \'move forward\') do not match with the keys (like ""action"", ""params"", ""linear_speed"", ""distance"", ""is_forward"", ""unit"", ""angular_velocity"", ""angle"", ""is_clockwise"") in the sample ontology.']"; +275: Shift the orientation by 270 degrees in a clockwise fashion.,Please provide the JSON response.}};['5;0;" The JSON representation correctly matches the command. The command instructs to rotate 270 degrees clockwise. This is accurately captured in the JSON with ""action"": ""rotate"", and ""params"": {""angle"": 270, ""is_clockwise"": True}. Even though the ""angular_velocity"" value wasn\'t specified in the command, a reasonable value of 0.35 is used.']"; +915: After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds.,Note: You can assume that the agent has already been initialized with the necessary information, such as its position, orientation, and velocity.}};['2;0;" The command includes the actions ""rotate"" and ""move"". However, the term ""turning right"" does not specify the angle or the angular velocity for rotation. The ""maintain a speed of 0.5 m/s"" matches with the parameter ""linear_speed"" in the ""move"" action, while ""move forward"" corresponds to ""is_forward"": true. The instruction ""for 20 seconds"" does not correspond to any parameter from the JSON structures. The ""distance"" parameter is not specified in the command.']"; +388: Advance for a period of 10 seconds, with variable speed.,Please provide the JSON response.}};"[""0";0;" The natural language command doesn't match any of the JSON structures provided. The command requests to advance for a specific period of time with a variable speed, neither of these parameters are present in the JSON structures.""]"; +245: Shift towards the left and travel straight for a distance of 3 meters.,Please provide the JSON response.}};['2;0;" The command can be understood as two separate actions, firstly rotate then move. However, the given ontology does not show a way to combine actions in a single command. The ""rotate"" action is not clearly defined as it doesn\'t provide any information about ""angular_velocity"", ""angle"", or ""is_clockwise"". The ""move"" action is partially matching, as ""distance"" is specified as 3 meters but ""linear_speed"" isn\'t provided and it doesn\'t specify ""is_forward"".']"; +863: Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds.,Please provide the JSON response.}};['2;0;" The command ""Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds."" could generally be compatible with the ""move"" action in the ontology, potentially indicating a linear speed and distance. However, the values and logic of the natural language command cannot be represented accurately with the given JSON keys and specifications. In specific, the command specifies the period of motion (time) instead of the distance, but the provided JSON structure does not contain keys for time or duration.']"; +515: Execute a left turn and then travel forward for a distance of 10 meters.,Please provide the JSON response.}};['2;0;" The command talks about executing a ""left turn"", which could be mapped to the ""rotate"" action from the sample ontology, but there are no specifics about angular velocity or angle, so the exact mapping is ambiguous. Also, moving ""forward for a distance of 10 meters"" could be signified by the ""move"" action, but there is no specification about the ""linear_speed"". Moreover, ""is_forward"" is true which is correct. So it somewhat matches but not completely.']"; +468: Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds.,Please provide the JSON response.}};['2;0;" The command partially conforms to the JSON structure. It mentions rotation (which falls under the ""rotate"" action) and moving with a certain speed (which falls under the ""move"" action). However, it lacks clarity on the angle for rotation and whether the direction is clockwise or anti-clockwise. Also, in the ""move"" action, the command give the velocity and time but not the resulting distance. These required parameters seem to be missing, hence the partial score.']"; +899: Take a leftward turn and advance for 5 meters.,Please provide the JSON response.}};['2;0;" Although the given language command indicates the action of movement which conforms with the ""move"" action in the JSON structure, there is no information in the JSON structure for direction of movement (like taking a ""leftward turn"").']"; +986: Move forward for 5 meters and then reverse for 2 meters, repeating twice.,Note: You can assume that the agent has enough energy and resources to perform the actions.}};['2;0;" The natural language command partially matches with the JSON structures. The command \'move forward for 5 meters\' can be translated to the \'move\' action with \'""linear_speed"": 0.5\', \'""distance"": 5\', \'""is_forward"": True\', and \'""unit"": ""meter""\'. However, the command \'reverse for 2 meters\' is also a move action, but there\'s no key indicating that it could move backward. Furthermore, the command \'repeating twice\' does not correspond to any of the provided JSON structure keys.']"; +814: Execute a rotation of 180 degrees in a clockwise manner.,Please provide the JSON response.}};['5;0;" {""action"": ""rotate"", ""params"": {""angular_velocity"": 0.35, ""angle"": 180, ""is_clockwise"": true, ""unit"": ""degrees""}}. The JSON structure matches the natural language command well. A rotation is requested, which corresponds to the ""rotate"" action. The angle for this rotation is specified as 180 degrees, so ""angle"" is 180.The direction of the rotation is also specified to be clockwise, so ""is_clockwise"" is true. The unit of the rotation is degrees, which also matches the JSON structure.', '']"; +730: Head to the living room and remain stationary.,Please provide the JSON response.}};['0;0;" The command instructs to go to a location but the specified location ""living room"" does not match with \'Kitchen\' mentioned in the JSON structure. Furthermore, the part ""remain stationary"" of the command does not have any corresponding JSON structure.']"; +"971: Spin around in a circle three times and then stop abruptly.,Please note that the prompt is asking for a sequence of actions, and the ontology only defines a single action. Therefore, you should return a json with multiple ""action"" fields, each corresponding to a different action in the sequence.}}";['1;0;" The natural language command asks for a spinning action which partially aligns with the ""rotate"" action in the JSON ontology. However, the command does not specify parameters such as angular velocity, angle or whether it is clockwise, and it also includes a stopping action not represented in the JSON structure.']"; +288: Head over to the dining room and pause.,Please provide the JSON response.}};['1;0;" The command contains a request for an action (""Head over to"") that is similar to the ""go_to_goal"" action, but the specific location (""dining room"") is not present in the sample JSON. There is no matching command for ""pause"".']"; +239: Rotate by 180 degrees in the clockwise direction.,Please provide the JSON response.}};['5;0; The natural language command matches with the third JSON structure where action is to rotate, the angle is 180 degrees and rotation is clockwise. The command completely matches with the JSON structure and keys.']; +122: Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second.,Please provide the JSON response.}};['0;0;" The natural language command does not match any of the provided JSON information structures. It talks about moving ahead at a certain speed for a specific duration, however, no such parameters are available in any of the given JSON templates. The closest one is ""move"" action but it does not have any parameter to specify a time duration.']"; +527: Proceed forward for a distance of 8 meters after making a right turn.,Please provide the JSON response.}};"[""4.5";0;" The JSON structure for the 'rotate' and 'move' actions reflects the command correctly but the missing specific values for the 'is_forward' and 'is_clockwise' keys prevent a perfect match.""]"; +260: Perform a 45-degree counterclockwise rotation.,Please provide the JSON response.}};['5;0;" Exactly conform. ', '', 'The command ""Perform a 45-degree counterclockwise rotation"" perfectly matches the JSON structure:', '', '{ ', ' ""action"": ""rotate"", ', ' ""params"": { ', ' ""angular_velocity"": 0.35, ', ' ""angle"": 45, ', ' ""is_clockwise"": false, ', ' ""unit"": ""degrees"" ', ' } ', '}', '', 'The action is clearly stated as rotation, and the parameters such as the angle and the direction are also given matching to the ontology. Therefore, conformity is full.']"; +70: Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}};['5;0;" The command is perfectly aligned with the JSON structures for move and rotate actions. The rotate action parameters ""angle"" and ""is_clockwise"" have been specified in the command as 120 degrees and counterclockwise respectively while the move action ""distance"" parameter is given as 5 meters. The unspecified parameters such as ""angular_velocity"" for rotate action and ""linear_speed"" and ""is_forward"" for move action can have any reasonable value.']"; +849: Perform a clockwise rotation of 270 degrees.,Please provide the JSON response.}};['5;0;" Exactly conform.', '', 'The JSON structure:', '{', '""action"": ""rotate"",', '""params"": {', '""angular_velocity"": 0.35,', '""angle"": 270,', '""is_clockwise"": True,', '""unit"": ""degrees""', '}', '}', '', 'matches with the given natural language command ""Perform a clockwise rotation of 270 degrees."". The action ""rotate"" and all parameters match with the natural language command. The parameter ""angular_velocity"" wasn\'t specified in the command but a reasonable value of 0.35 is accepted as per the rule.']"; +240: Turn in a clockwise fashion, rotating 180 degrees.,Please provide the JSON response.}};['5;0;" Exactly conform.', 'Justification: The natural language command states to turn clockwise rotating 180 degrees, which can be represented accurately by the JSON structure for the ""rotate"" action. ""is_clockwise"" can be set to True, and ""angle"" can be set to 180. Although the ""angular_velocity"" is not specified in the natural language command, any reasonable value in the JSON such as 0.35 is accepted.']"; +182: Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second.,Please provide the JSON response.}};"[""0";0;" The natural language command asks for moving ahead for a certain duration at a specific velocity. However, sample ontologies provided do not have any action or parameters associated with time or duration-based movement. Therefore, the JSON response for this command can't be provided based on the provided sample keys, hence the score is 0.""]"; +37: Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds.,Note: I will give you multiple prompts, and you must answer each one according to the ontology.}};"[""2";0;" The natural language command involves a moving action with specified speed, but it's not forward, making it impossible to match exactly with the existing JSON structures. The 'move' schema only incorporates forward motion and doesn't specify motion duration which can be interpreted as distance. However, some parameters like 'linear_speed' can be matched.""]"; +"101: Move forward for 5 meters., Consider the following ontology:{""action"": ""go_to_goal"", ""params"": {""location"": {""type"": ""str"", ""value"": ""Kitchen""}}";['1;0;" The natural language command instructs to ""Move forward for 5 meters"" while the JSON structure mentions an action to ""go_to_goal"" to the location ""kitchen"". The action and purpose specified in the command do not conform with the JSON structure provided. However, the action of ""move"" exists in the ontology but it\'s not the correct JSON structure provided.']"; +196: Turn right and move forward for 7 meters.,Please provide the JSON response.}};['2;0;" The natural language command includes both movement and rotation which correspond to the ""move"" and ""rotate"" actions in the JSON structures respectively. However, no exact information is provided on how much to ""turn right"". Thus the ""angle"" parameter in ""rotate"" action cannot be fully determined. And also, the direction of rotation (is_clockwise) is not specified in the command.']"; +645: Rotate to the left by 45 degrees.,Please provide the JSON response.}};['5;0;" The natural language command asks for a rotation to the left by 45 degrees. The JSON structure with the ""rotate"" action can be used for this command. The angle is defined, and the direction (to the left) suggests a counterclockwise rotation. The ""angular_velocity"" can be any reasonable value. Hence, the command conforms to JSON structure perfectly but the exact JSON response cannot be provided due to missing of angular_velocity value.']"; +81: Move backward at a velocity of 0.75 meters per second for 8 seconds.,Please provide the JSON response.}};"[""1";0;" The given natural language command involves backward movement at a certain speed for a specific time duration. There is no exact match in the JSON structures provided. The closest one is the 'move' action, but it considers distance and doesn't have a parameter for direction or time duration. Therefore, there's only a slight match.""]"; +762: Perform a clockwise rotation of 60 degrees.,Please provide the JSON response.}};"[""4";0;" The natural language command refers to the JSON structure for rotation with a specific angle in a specific direction (clockwise), which matches the keys of the ontology. However, the angles don't match as the JSON lists 40 degrees and the command requests 60 degrees.""]"; +669: Perform a 270-degree clockwise rotation.,Please provide the JSON response.}};['4.5;0;" The command matches the rotation but doesn\'t specify angular_velocity. Hence there is a slight mismatch. The JSON structure should be {""action"": ""rotate"", ""params"": {""angular_velocity"": 0.35, ""angle"": 270, ""is_clockwise"": True, ""unit"": ""degrees""}}.']"; +96: Rotate counterclockwise by 90 degrees and move forward for 2 seconds.,Please provide the JSON response.}};"[""3";0;" Partial Conform. The command asks the machine to rotate and move, which corresponds to the 'rotate' and 'move' actions in the JSON structures. However, for the rotate action, the command mentions 'counterclockwise' which does not match with 'clockwise' in the JSON structure. Also, the 'move' action in the command specifies time, whereas in the JSON structure, the parameters involve linear speed and distance, not time.""]"; +171: Rotate clockwise by 270 degrees.,Please provide the JSON response.}};['4.5;0;" The JSON structure correctly represents the action of ""rotate"" but the value of ""is_clockwise"" is not explicitly stated in the structure and it is not mentioned that what should be the direction of rotation.']"; +156: Go straight for 8 meters.,Please provide the JSON response.}};['3;0;" The command partially matches with the JSON structure with ""action"" as ""move"" and ""params"" involving ""distance"" and ""unit"". However, there is no parameter indicating directionality in the JSON structure that corresponds to ""Go straight"" in the command. Moreover, the ""linear_speed"" and ""is_forward"" parameters haven\'t been specified in the natural language command.']"; +901: Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}};['4;0;" The natural language command refers to a rotation counterclockwise by 90 degrees. The JSON structure for rotation is correctly provided, including the ""action"", ""params"", and ""unit"" keys. However, the ""is_clockwise"" parameter should be set to False to denote a counterclockwise rotation. Given that this information is missing, the score is not perfect.']"; +984: Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep.,Note: You can assume that the robot has already been initialized and is ready to execute actions.}};['1;0; The natural language command includes action for rightward turn and navigating along for certain distance, that can be translated into rotate and move actions in JSON structures respectively. However, there is no information in given JSON structure to convert the command for emitting a beep sound.']; +395: Move in a reverse motion and cease motion once you are 1 meter away from the specified target.,Please provide the JSON response.}};['1;0; The natural language command represents an action of moving by a certain distance in a reverse direction. However, the provided JSON structures do not include an option for specifying a target or a way to indicate reverse motion. The JSON structure for the move command does allow for the specification of distance, but without a way to specify reverse motion, the command cannot be fully converted.']; +634: Rotate to the left and proceed ahead for a duration of 5 seconds.,Please provide the JSON response.}};"[""0";0;" The command includes rotation and moving forward in a specific duration which doesn't match with any of the provided JSON structures. There is no provision for duration in the JSON structures nor is there a provision to specify the direction of rotation.""]"; +35: Execute a rightward turn and then travel straight ahead for 3 meters.,Please provide the JSON response.}};['4;0;" The command partially matches two JSON structures. It corresponds to the ""rotate"" structure wherein the direction of rotation isn\'t specified, but a rightward turn usually indicates a clockwise rotation.', 'Moreover, the command fits the ""move"" action with a distance of 3 meters, although the linear speed isn\'t mentioned.', 'However, it doesn\'t match the ""go_to_goal"" structure at all.']"; +614: After making a right turn, proceed ahead for 1 meter.,Please provide the JSON response.}};['2;0;" The natural language command gives instructions for two actions: ""rotate"" and ""move"". However, the rotation doesn\'t indicate if it\'s clockwise or counter clockwise and there\'s no details on the angular velocity, thus it doesn\'t conform fully with the JSON for rotation. The command for ""move"" partially conforms with JSON, since it has the distance but doesn\'t specify the linear speed or direction (forward or backward).']"; +747: Make a left turn and proceed straight ahead covering a distance of 7 meters.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt.}};['3;0;" The command partially conforms to the JSON structure. It includes the action ""move"" with the distance parameter. However, the command to ""Make a left turn"" doesn\'t fully match with the ""rotate"" action in the ontology because the direction (is_clockwise: False) and angle (not mentioned) are not clearly specified.']"; +291: Rotate counterclockwise by 60 degrees.,Please provide the JSON response.}};['5;0;" {""action"": ""rotate"", ""params"": {""angular_velocity"": 0.35, ""angle"": 60, ""is_clockwise"": False, ""unit"": ""degrees""}}. The natural language command conforms exactly to the JSON structure, with all keys properly identified and valued. The ""rotate"" action is specified, the angle of rotation is defined as 60 degrees, and the direction of rotation is defined as counterclockwise (which is correctly represented in JSON as ""is_clockwise"": False).']"; +211: Rotate counterclockwise by 90 degrees.,Please provide the JSON response.}};['5;0;" {""action"": ""rotate"", ""params"": {""angular_velocity"": 0.35, ""angle"": 90, ""is_clockwise"": False, ""unit"": ""degrees""}}. The command matches perfectly with the rotate action in the sample JSON keys. The angular_velocity is a reasonable value that exists in the sample keys even though it\'s not mentioned in the natural language command. The rotation is specified as counterclockwise which translates to ""is_clockwise"": False in JSON. The unit of measurement is also correctly mentioned as degrees.']"; +437: Rotate anti-clockwise by a 45-degree angle.,Please provide the JSON response.}};['4.5;0;" The command matches with the ""rotate"" action in JSON. However, the exact angle value isn\'t as specified in the command (""45"" instead of ""40"") but it\'s close and considered as a reasonable value. The direction of rotation \'anti-clockwise\' is not specifically mentioned in JSON structure, but it can be inferred from the ""is_clockwise"" parameter.']"; +90: Go to the right and keep moving straight for 4 meters.,Please provide the JSON response.}};['2;0;" The provided natural language command can partially be mapped to the JSON structure for the ""move"" action";" however, the part about ""going to the right"" cannot be accurately represented in the provided JSON samples. Here, ""moving straight for 4 meters"" can be represented but without the directional information. As per the command, no information is given about the speed of moving, therefore, a reasonable value can be accepted. The command does not fit perfectly within the ontology\'s language and not all elements can be found, hence the score is 2.']" +521: Rotate clockwise by 180 degrees.,Please provide the JSON response.}};['4;0;" The natural language command partially aligns with the JSON structure for ""rotate"". However, the specific angle of rotation is not mentioned in the JSON code.', 'Here is the JSON response should look like:', '{', '""action"": ""rotate"",', '""params"": {', '""angular_velocity"": 0.35,', '""angle"": 180,', '""is_clockwise"": true,', '""unit"": ""degrees""', '}', '}']"; +438: Turn left by 45 degrees.,Please provide the JSON corresponding to the given prompt.}};"[""0";0;" The command 'Turn left by 45 degrees' does not correspond to any of the provided JSON structures. The action of turning to a direction is not identified in the JSON's 'action' keys, which include 'go_to_goal', 'move', and 'rotate'. Although the 'rotate' action seems similar, it relies on an angular_velocity rather than a specific angle. Furthermore, the direction of rotation (left or right) also is not specified in the JSON.""]"; +372: Make a right turn and proceed forward for 5 seconds, then return back.,Note: You can assume that the agent has the necessary capabilities to perform the actions described in the prompt, and that the environment is safe for the agent to perform the actions.}};"[""0";0;" The given natural language command does not match or conform to any of the provided JSON information. The action 'turn right' and 'proceed forward for 5 seconds' and 'return back' are not represented in the sample ontology. The provided JSONs have actions like 'go_to_goal', 'move', 'rotate' and none of these fit the natural language command. Hence the score is 0.""]"; +431: Turn right and move backward for 1 meter.,Please provide the JSON response.}};['3;0;" The natural language command requires two actions: rotation (turn right) and movement (move backward). The JSON structures present only support individual actions, so it is not perfectly matched. However, the elements of the command are present across two different structures: ""rotate"" with ""is_clockwise"" as True for \'turn right\', and ""move"" with a ""distance"" of 1 and ""is_forward"" as False for \'move backward\'.']"; +356: Move forward at a speed of 1 meter per second for 10 seconds.,Please provide the JSON response.}};['1;0;" The natural language command can be mapped to the ""move"" action, but not exactly as per the sample JSON. The command specifies a duration of movement (10 seconds), but the sample JSON ontology does not have a duration parameter. The speed (\'1 meter per second\') can be partially mapped to \'linear_speed\' as the JSON ontology does not specify if \'linear_speed\' is in m/s. Also, \'distance\' is not mentioned in the command, but it is a necessary parameter in the JSON structure.']"; +309: Travel backwards for a total of 3 seconds.,Please provide the JSON response.}};"[""0";0;" The natural language command doesn't match any of the provided JSON structures. The command specifies traveling backwards for a period of time, but none of the JSON objects include parameters for both direction and time.""]"; +556: Move forward for 7 meters and stop.,Please provide the JSON response.}};"[""5";0;" The natural language command is perfectly matched with the 'move' action in the JSON structure, along with the 'distance', 'is_forward' and 'unit' parameters. However, the 'stop' part of the command isn't represented in the JSON, as there is no 'stop' action in this JSON structure. Considering that the 'stop' command may be implied in the completion of the 'move' action (as in, stop moving after 7 meters), I would still rate this a 5.""]"; diff --git a/evaluation/evaluations/Robotic-Arm/GPT3.5/Evaluated_JSON_commands_Robotic_Arm-GPT3.5-SCORES-only.txt b/evaluation/evaluations/Robotic-Arm/GPT3.5/Evaluated_JSON_commands_Robotic_Arm-GPT3.5-SCORES-only.txt new file mode 100644 index 0000000..e7004f8 --- /dev/null +++ b/evaluation/evaluations/Robotic-Arm/GPT3.5/Evaluated_JSON_commands_Robotic_Arm-GPT3.5-SCORES-only.txt @@ -0,0 +1,997 @@ +5.0 +4.0 +4.0 +4.0 +4.5 +5.0 +5.0 +4.5 +5.0 +5.0 +0.0 +0.0 +0.0 +0.0 +0.0 +4.0 +4.5 +4.5 +4.0 +5.0 +1.0 +1.0 +0.0 +3.0 +1.0 +4.0 +4.0 +4.5 +4.5 +5.0 +5.0 +5.0 +4.0 +5.0 +4.0 +0.0 +0.0 +0.0 +0.0 +0.0 +5.0 +4.0 +5.0 +5.0 +4.0 +0.0 +3.0 +3.0 +4.0 +4.0 +4.0 +4.0 +4.0 +4.0 +4.0 +5.0 +4.5 +5.0 +4.0 +4.0 +0.0 +0.0 +0.0 +0.0 +0.0 +5.0 +4.0 +4.0 +4.0 +5.0 +0.0 +5.0 +4.0 +4.0 +5.0 +4.0 +5.0 +4.0 +5.0 +4.0 +0.0 +0.0 +0.0 +0.0 +0.0 +3.0 +0.0 +2.0 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--git a/evaluation/evaluations/Robotic-Arm/GPT3.5/Evaluated_JSON_commands_Robotic_Arm_SELECTED_5pct_for_manual_eval.txt b/evaluation/evaluations/Robotic-Arm/GPT3.5/Evaluated_JSON_commands_Robotic_Arm_SELECTED_5pct_for_manual_eval.txt new file mode 100644 index 0000000..23d8b07 --- /dev/null +++ b/evaluation/evaluations/Robotic-Arm/GPT3.5/Evaluated_JSON_commands_Robotic_Arm_SELECTED_5pct_for_manual_eval.txt @@ -0,0 +1,52 @@ +;GPT;Human; +"392: Hold the arm halfway retracted and hover in place.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['1;3;" The command ""Hold the arm halfway retracted and hover in place"" somewhat aligns with the action ""extend_arm"" in a sense it points to modification of extension length but doesn\'t align well with the parameters provided. The extension_length value in the JSON is set to 0.0, which doesn\'t necessarily match ""halfway retracted"". The speed set to 0.0 in the JSON structure doesn\'t represent any aspect of ""hover in place"". Positioning to hover is not captured in the ontology.']" +"146: Stretch the arm outwards by 20 centimeters, then pull it back in by 10 centimeters.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 20.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['1;2.5;" The JSON action corresponds to the first action specified in the natural language command, which is to ""stretch the arm outwards by 20 centimeters"". However, the second part of the command (""then pull it back in by 10 centimeters"") is absent in the JSON structure. Additionally, the speed value in the JSON structure does not match directly with any information in the natural language command.']" +"812: Rotate the wrist joint anti-clockwise by 90 degrees.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""wrist""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""anticlockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['5;5; Exactly conform. The command is asking for a joint movement, namely the wrist, with a specified direction (anticlockwise), angle (90 degrees), and a reasonable speed is provided in the JSON. These all match with the ontology in the given JSON structure.'] +"353: Pull back the arm entirely and remain in a standby state.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": -10.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['2;4;" The JSON structure has the ""extend_arm"" action, which seems to correspond with ""pull back the arm"" command in a very broad sense. But ""pull back"" implies a reverse movement or retraction, which isn\'t represented in the JSON structure. Also, there is no provision for a ""standby"" state in the JSON. The value ""-10.0"" for ""extension_length"" could be understood as an attempt to represent the ""pull back"" motion, but it\'s a rather abstract representation.']" +"603: Adjust the robotic arm to reach X:50, Y:100, Z:200.,['{', ' ""action"": ""adjust_position"",', ' ""params"": {', ' ""x"": {', ' ""type"": ""float"",', ' ""value"": 50.0', ' },', ' ""y"": {', ' ""type"": ""float"",', ' ""value"": 100.0', ' },', ' ""z"": {', ' ""type"": ""float"",', ' ""value"": 200.0', ' }', ' }', '}']";['0;1;" The natural language command instructs a robotic arm to adjust its position, but the reference JSON structures provided in the ontology do not include an action function ""adjust_position"". Therefore, there\'s no conformity between the mentioned command and the available JSON structures.']" +"555: Retract the arm at a duration of 3 seconds.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": -10.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['0;2; The natural language command talks about retracting the arm but the JSON structure indicates extending the arm. Therefore, there is no conformity.'] +668: Shift the robotic arm to the X:100, Y:50, Z:150 position.,['{}'];['0;5; The command refers to moving the robotic arm to specific coordinates, but there is no corresponding action or parameters in the JSON structures that would match this command.'] +"873: Twist the wrist joint to the right by 30 degrees.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""wrist""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 30.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""right""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";"[""5";5;" The natural language command accurately matches the JSON structure. All keys are found within the sample ontology, and though the speed value was not directly stated, it's inferred the default speed 0.5 would be used.""]" +"347: Proceed towards the position X:0, Y:0, Z:50 with a velocity of 1 meter per second.,['{', ' ""action"": ""move_to_position"",', ' ""params"": {', ' ""position"": {', ' ""type"": ""str"",', ' ""value"": ""X:0, Y:0, Z:50""', ' },', ' ""velocity"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit"": ""meter"",', ' ""unit_speed"": ""m/s""', ' }', '}']";['0;0; The natural language command talks about moving to a position, but there is no such action in the JSON structures. Therefore the command does not conform to the sample keys.'] +"966: - Turn the wrist joint to the left by 45 degrees at a speed of 90 degrees per second.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""wrist""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 45.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""left""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['5;5; Exactly conform. The natural language command is correctly converted into a JSON structure. The action, joint_name, direction, angle, speed, unit, and unit_speed all match perfectly.'] +"940: Retract the arm by 30 centimeters.,['{', ' ""action"": ""retract_arm"",', ' ""params"": {', ' ""retraction_length"": {', ' ""type"": ""float"",', ' ""value"": 30.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";"[""0";1;" The 'retract_arm' action and its related parameters are not in the sample ontology. The action in the provided JSON also doesn't match with any of the actions in the ontology.""]" +"263: Hold onto the object with a force of 2 kilograms.,['{', ' ""action"": ""grip_object"",', ' ""params"": {', ' ""force"": {', ' ""type"": ""float"",', ' ""value"": 2.0', ' },', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_force"": ""kilograms"",', ' ""unit_duration"": ""seconds""', ' }', '}']";"[""1";;" The 'grip_object' action is correct, but the unit of force is not conforming to the ontology. The given JSON in ontology uses 'newtons' as the unit of force while the natural language command uses 'kilograms'.""]" +"900: Grip the object with 8 kilograms of force.,['{', ' ""action"": ""grip_object"",', ' ""params"": {', ' ""force"": {', ' ""type"": ""float"",', ' ""value"": 800.0', ' },', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 2.0', ' },', ' ""unit_force"": ""newtons"",', ' ""unit_duration"": ""seconds""', ' }', '}']";['1;3; The command required gripping the object but the force was represented in kilograms. Given the JSON structure, force should have been represented in newtons, therefore non-conform.'] +"167: Move the arm in reverse to reach the half position, then take a pause of 3 seconds.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""arm""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 50.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}', '', '{', ' ""action"": ""pause"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 3.0', ' },', ' ""unit_duration"": ""seconds""', ' }', '}']";['2;3;" The ""move_joint"" action in the JSON somewhat matches the natural language command however the joint_name ""arm"" doesn\'t match the required joint_name ""elbow"" in the template. Also, ""pause"" is not an action contained in the ontology, nor is ""counterclockwise"" a direction included in the ontology\'s sample keys. Hence a lower score because template structure and entries are only partially respected.']" +959: Transfer yourself to the specified coordinates: X:0, Y:0, and Z:50.,['{}'];['0;5; The natural language command does not correspond to any of the JSON structures provided in the sample ontology. There is no action related to moving to specific coordinates.'] +"563: Twist the arm joint counterclockwise by 180 degrees.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""arm""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 180.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['4;5;" The natural language command mostly matches with the JSON structure. However, as per the ontology, the joint_name should be ""elbow"", but in the provided JSON, it\'s ""arm"". Therefore, there is a minor mismatch.']" +"137: Set your destination to X:0, Y:0, Z:100 and travel at a velocity of 5 meters per second.,['{', ' ""action"": ""set_destination"",', ' ""params"": {', ' ""x"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""y"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""z"": {', ' ""type"": ""float"",', ' ""value"": 100.0', ' },', ' ""velocity"": {', ' ""type"": ""float"",', ' ""value"": 5.0', ' },', ' ""unit_distance"": ""meters"",', ' ""unit_velocity"": ""m/s""', ' }', '}']";['0;0;" The ""set_destination"" action and the parameters ""x"", ""y"", ""z"", and ""velocity"" do not exist in the sample ontology.']" +"714: Execute a 90-degree counterclockwise rotation of the base joint.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""base""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";"[""5";5;" Exactly conform. The natural language command specifies an action ('move_joint') and gives specific values for 'joint_name', 'angle', 'direction' and 'unit', which match perfectly with the ontology. The 'speed' value was not specified in the natural language command, but any reasonable value is acceptable as per the instructions.""]" +322: Travel to X:50, Y:20, Z:10 with a velocity of 0.5 meters per second.,['{}'];['0;5; The given command is asking for movement in three dimensions (X, Y, Z) at a specific velocity, but there is no applicable action or suitable parameters in the available JSON structures to capture this command. The structures provided deal with joint movement, arm extension, object gripping, grip release, and orientation setting, not coordinates or velocity in a 3D space.'] +"760: Extend the arm by 30 centimeters.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 30.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['5;5;" The natural language command is to extend the arm by 30 centimeters which perfectly matches with the action ""extend_arm"" and the value of ""extension_length"" in the given JSON structure. The speed is not specified in the command but as per instructions, any reasonable value is acceptable.']" +"99: Begin by rotating the wrist joint 90 degrees clockwise, followed by dancing.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""wrist""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""clockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['2;5;" The ""move_joint"" command is correctly structured to match the natural language command, although ""speed"" value is guessed as a reasonable value. But the second command, ""dancing"", does not fit any of the action commands in the sample ontology, which results in an incomplete matching.']" +847: Relocate the arm so that it is at position X:70, Y:80, Z:90.,['{}'];"[""0";5;" The given command does not match with any of the provided JSON structures. There is no 'action' called 'relocate' or parameters for positions 'X', 'Y' and 'Z' in the sample keys.""]" +"289: Perform a 90-degree clockwise rotation of the wrist joint.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""wrist""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""clockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['5;5; Exactly conform.'] +"74: Hoist the object up to a vertical distance of 2 meters.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 200.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['4;4;" The command and JSON mostly match. The action of ""extend_arm"" corresponds with ""Hoist the object up"". However, the ""vertical distance of 2 meters"" is correctly converted to ""200"" centimeters in the JSON, but the speed parameter in the JSON does not have a corresponding part in the natural language command.']" +"107: Turn the base joint 90 degrees counterclockwise.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""base""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['5;5; Exactly conform.'] +"647: Stretch the arm by an additional 10 inches.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 10.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""inches"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['4;5;" The action of the command is matched correctly in the JSON structure with \'extend_arm\'. The \'extension_length\' is also correct with a value of 10.0. However, the unit of length in the command is ""inches"" while it is ""centimeters"" in the sample ontology provided. And the \'speed\' was not specified in the command but exists in the JSON, hence it\'s acceptable.']" +"184: Grip the object with 6 kilograms of force, then release after 2 seconds.,['{', ' ""action"": ""grip_object"",', ' ""params"": {', ' ""force"": {', ' ""type"": ""float"",', ' ""value"": 600.0', ' },', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 2.0', ' },', ' ""unit_force"": ""newtons"",', ' ""unit_duration"": ""seconds""', ' }', '}']";['1;4;" The JSON structure corresponds to the ""grip_object"" action and includes the correct keys (""force"" and ""duration""). However, the force value in the JSON is not correctly converted, given that 1 kilogram-force is approximately 9.81 newtons, not 600 newtons. The conversion of units from ""kilograms"" to ""newtons"" is incorrect, hence the low score.']" +"8: Rotate the shoulder joint in a counterclockwise direction, making a 90-degree rotation.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""shoulder""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['4.5;5; The command in natural language and the JSON are almost perfect match. All the parameters included in the command are correctly depicted in the JSON. However, the speed parameter in the JSON is assumed and not mentioned in the command, hence the 0.5 points deduction.'] +"124: Use a force of 8 kilograms to activate the grip mechanism's gripping function.,['{', ' ""action"": ""grip_object"",', ' ""params"": {', ' ""force"": {', ' ""type"": ""float"",', ' ""value"": 8.0', ' },', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 2.0', ' },', ' ""unit_force"": ""kilograms"",', ' ""unit_duration"": ""seconds""', ' }', '}']";['1;4;" The action of ""grip_object"" matches, but the unit of force in the command is ""kilograms"" which is different from the ""newtons"" in the JSON structure. Plus, the duration is not mentioned in the natural language command.']" +"307: Rotate the base in a counterclockwise direction, making a 90-degree turn.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""base""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";"[""4";5;" The action, joint_name, angle, direction, and unit match exactly. However, the natural language command does not specify speed, so the JSON 'speed' value of 0.5 is an assumption.""]" +"220: Increase the arm length by 20 centimeters, moving at a speed of 10 cm/s.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 20.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 10.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['5;5;" The natural language command perfectly matches the JSON structure. It outlines an ""extend_arm"" action with an ""extension_length"" of 20.0 and a ""speed"" of 10.0. The units used (""centimeters"" and ""cm/s"") also align directly with the command.']" +"490: Retract the arm to the standby position.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['1;2;" The natural language command asks for a retraction of the arm, which would entail a different kind of action and not ""extend_arm"". There is also no mention of specific extension length and speed in the command that matches the values in the JSON. However, the \'standby position\' might suggest a zero length which would conform to \'extension_length\' of 0 in the JSON structure.']" +"669: Adjust the robotic arm to the desired coordinates: X:100, Y:50, Z:150.,['{', ' ""action"": ""adjust_coordinates"",', ' ""params"": {', ' ""x"": {', ' ""type"": ""float"",', ' ""value"": 100.0', ' },', ' ""y"": {', ' ""type"": ""float"",', ' ""value"": 50.0', ' },', ' ""z"": {', ' ""type"": ""float"",', ' ""value"": 150.0', ' }', ' }', '}']";"[""0";0;" The natural language command mentions the action of adjusting the robotic arm to certain coordinates, which does not exist in the provided sample keys. Hence, it can't be converted to a valid JSON structure.""]" +"75: Ascend the object to a 2 meter elevation.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 200.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['5;3;" All the parameters mentioned in the command match perfectly with the JSON structure. The action of \'extend_arm\' is correctly identified. The \'extension_length\' parameter is translated to 200.0 correctly considering the unit ""meters"" converted to ""centimeters"". Speed has a reasonable value. Therefore, the command and the JSON representation exactly conform.']" +"535: Lift the object at a velocity of 2 meters per second.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 2.0', ' },', ' ""unit_length"": ""meters"",', ' ""unit_speed"": ""m/s""', ' }', '}']";['1;3;" The JSON structure describes the ""extend_arm"" action, while the natural language command refers to lifting an object. The speed parameter matches the natural language command but the ""extension_length"" doesn\'t have a corresponding part in the command. Furthermore, the unit of length in the command, meters, does not exist in the given sample ontology.']" +"132: Bring the arm back to its home position.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""elbow""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""clockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['3;1;" Some of the key-value pairs in the JSON structure match with the natural language command such as ""action"": ""move_joint"" and ""joint_name"": ""elbow"". However, some information in the JSON such as ""angle"" and ""direction"" were not specified in the natural language command, which takes away from the overall conformity between the two. Additionally, the phrase ""bring the arm back to its home position"" could indicate a return to a default or resting position and not necessarily a movement of the elbow joint in a clockwise direction to an angle of 0.0 degrees.']" +"187: Clamp onto the object with a force of 6 kilograms, and then loosen your grip after 2 seconds.,['{', ' ""action"": ""grip_object"",', ' ""params"": {', ' ""force"": {', ' ""type"": ""float"",', ' ""value"": 6000.0', ' },', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 2.0', ' },', ' ""unit_force"": ""newtons"",', ' ""unit_duration"": ""seconds""', ' }', '}']";['1;4;" The provided JSON action is correct ""grip_object"" corresponding to the natural language command ""Clamp onto the object"". The parameters for ""duration"" are also correct - 2.0 seconds. However, the ""force"" parameter is translated inaccurately. The natural command specifies ""6 kilograms"", however, the JSON translates with ""6000.0 newtons"". Kilograms is a unit of mass, not force, and should not have been converted to newtons. Moreover, the conversion factor is not correct if we assume the force was meant to be calculated with earth gravity (it should be around 60 newtons, not 6000). Furthermore, the natural language command to “loosen your grip"" is not included in the provided JSON structure.']" +"800: Rotate the base joint counterclockwise by 180 degrees and dance.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""base""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 180.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['3;5;" The command ""Rotate the base joint counterclockwise by 180 degrees"" perfectly matches the JSON structure. However, the command ""dance."" does not exist in the given sample ontology and is not converted to JSON. Therefore, the overall conformity is partial.']" +604: Move the robotic arm so that it is located at X:50, Y:100, Z:200.,['{}'];['0;5; The JSON structure provided does not include any keys for the action of moving the robotic arm to specific X, Y, and Z coordinates. Thus, the natural language command does not match with the sample ontology provided.'] +"565: Extend the arm to a distance of 40 centimeters and hold for 2 seconds.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 40.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";"[""2";5;" The provided JSON action 'extend_arm' matches with the command but adoption length parameter matches while the speed parameter does not mention in the command. The command also mentions holding for 2 seconds, which is not represented in the provided JSON structure.""]" +"918: Withdraw the arm to standby position before waving.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": -10.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";"[""0";1;" The JSON structure does not match the given command. The command seems to suggest a retracting action, however, the action in the JSON structure is 'extend_arm'. Furthermore, there's no 'wave' action in the provided JSON structure. Also, negative values for length aren't suggested from the command or context.""]" +"793: Withdraw the arm to the standby position and expect further guidance.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";['1;1;" The given command ""Withdraw the arm to the standby position and expect further guidance"" somewhat matches the ""extend_arm"" action, but there\'s not enough clarity to establish that the arm needs to be moved to the ""standby"" position equates to ""extension_length"" being 0. Moreover, there\'s no info in JSON corresponding to ""expect further guidance"".']" +"152: Turn the base joint in a clockwise direction by 180 degrees and hold that position.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""base""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 180.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""clockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['5;4;" Exactly conform.', '', 'The natural language command matches the JSON structure perfectly. The ""action"" is ""move_joint"", the ""joint_name"" is ""base"", the ""angle"" is ""180.0"", the ""direction"" is ""clockwise"", and the ""unit"" is ""degrees"", all of which are specified in the command. Though the ""speed"" is not mentioned in the natural language command, it is given a reasonable value of ""0.0"" in the JSON structure. The ""unit_speed"" is also in ""degrees/s"", which is acceptable even though it is not specified in the command because it follows the sample ontology\'s keys.']" +667: Transfer the robotic arm to location X:100, Y:50, Z:150.,['{}'];['0;5; The command is referring to an action of moving the robotic arm to a specified location, however there is no equivalent action in the given JSON structures. The provided JSONs contain actions for moving a specific joint, extending the arm, gripping an object, releasing a grip, and setting an orientation. However, there are no parameters to represent position coordinates like X, Y, and Z. Hence, the command does not conform to the provided ontology.'] +926: Turn the wrist joint in a counterclockwise direction, rotating it by 90 degrees.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);['1;0;" The command asks for the wrist joint to be moved counterclockwise which partially aligns with the ""move_joint"" action. However, ""joint_name"" is ""elbow"" in the JSON structure, not ""wrist"". The degree of rotation matches with the ""angle"" key, but the direction does not match since the JSON structure mentions ""clockwise"" instead of ""counterclockwise"". Also, the ""joint_name"" is specified to ""wrist"" compared to ""elbow"" in the sample JSON, and the direction is not mentioned as well.']" +"390: Retract the arm halfway and hold in a hovering position.,['{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": -5.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";"[""0";4;" The natural language command speaks about retracting the arm, which implies a backward motion rather than extension. Furthermore, there is no representation in the JSON structure provided for a 'hovering' action/command. The JSON structure provided corresponds to the 'extend_arm' action which doesn't fully align with the specified natural language command.""]" +"9: Twist the shoulder joint in a counterclockwise manner, turning it by 90 degrees.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""shoulder""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['5;5;" The natural language command matches the JSON information perfectly. The joint ""shoulder"" was ordered to move in a ""counterclockwise"" manner, with an ""angle"" of 90 degrees. The JSON correctly uses the ""move_joint"" action, and the ""joint_name"", ""angle"", and ""direction"" parameters match their equivalents in the natural language command. The unspecified ""speed"" value in the command is also correctly assumed to be any reasonable value, here 0.5, in the JSON.']" +"344: Hold onto the object with a force of 10 newtons for a duration of 2 minutes.,['{', ' ""action"": ""grip_object"",', ' ""params"": {', ' ""force"": {', ' ""type"": ""float"",', ' ""value"": 10.0', ' },', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 120.0', ' },', ' ""unit_force"": ""newtons"",', ' ""unit_duration"": ""seconds""', ' }', '}']";['5;5;" The JSON exactly follows the requirements of the natural language command. It correctly identifies the action as ""grip_object"" and the force and duration parameters are correct. Even the conversion from minutes to seconds in the duration is correctly handled in the JSON.']" +"656: Perform a curved motion with the arm, ensuring a radius of 50 centimeters.,['{', ' ""action"": ""curve_motion"",', ' ""params"": {', ' ""radius"": {', ' ""type"": ""float"",', ' ""value"": 50.0', ' },', ' ""unit_radius"": ""centimeters""', ' }', '}']";['0;0;" The command\'s action (""curve_motion"") and parameters (""radius"") do not match the sample keys provided in the ontology.']" +;;; +;;3.53125; diff --git a/evaluation/evaluations/Robotic-Arm/GPT4/Evaluated_JSON_commands_GPT4_Robotic_Arm-GPT4-SCORES-only.txt b/evaluation/evaluations/Robotic-Arm/GPT4/Evaluated_JSON_commands_GPT4_Robotic_Arm-GPT4-SCORES-only.txt new file mode 100644 index 0000000..05616cd --- /dev/null +++ b/evaluation/evaluations/Robotic-Arm/GPT4/Evaluated_JSON_commands_GPT4_Robotic_Arm-GPT4-SCORES-only.txt @@ -0,0 +1,995 @@ +5.0 +4.0 +4.0 +0.0 +4.0 +5.0 +5.0 +4.0 +5.0 +4.5 +0.0 +0.0 +0.0 +0.0 +0.0 +5.0 +5.0 +4.0 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"action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Apply a 10 Newton force to lift the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; Almost all the elements including the action and the force parameter are present and correctly matching the command. However, in the command, it is not specified how long the 10 Newton force should be applied, so the duration value cannot be determined exactly from the command.'] +Exert a 10 Newton force to raise the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["4; The natural language command mostly conforms with the JSON structure. The 'grip_object' action and 'force' parameter are correctly represented with the correct value of 10.0. The 'unit_force' is also correctly stated as 'newtons'. However, the 'duration' is stated as 1.0 in the JSON while it is not specified in the natural language command. The command does not mention anything about raising the object, there might be a need for an 'action': 'set_orientation' command in the JSON structure which is currently absent.", ''] +Use a force of 10 Newtons to elevate the object.,['This action is not part of the given ontology so it should be ignored. The ontology includes actions for moving a joint, extending an arm, gripping an object, releasing a grip, and setting the orientation. There is no action for elevating or lifting an object. Please use a different action.'];['0; The command does not correspond to any of the provided JSON structures.'] +Employ a 10 Newton force to hoist the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command matches the "grip_object" action command in the JSON structure but the duration value was not provided in the original command. Thus, this value cannot be assumed to be 1.0. The score is not a perfect 5 due to this discrepancy.'] +Rotate the shoulder joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The command accurately instructs to move a joint, specifies the joint_name as "shoulder", the direction as "counterclockwise", and the angle as 90. Although the speed is not specified in the command, the JSON structure assumes a value, which is acceptable according to scoring rules. All keys are perfectly followed.'] +Turn the shoulder joint anti-clockwise at a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; All keys and values in the JSON align perfectly with the natural language command.'] +Rotate the shoulder joint in a counterclockwise direction, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure is mostly correct, containing all required parameters specified in the command. However, the "speed" parameter wasn\'t mentioned in the natural language command, so the JSON shouldn\'t arbitrarily assign it a value of 0.5.'] +Twist the shoulder joint in a counterclockwise manner, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches the JSON structure. The "action" is correctly identified as "move_joint", and the "params" are also correctly identified including "joint_name" (shoulder), "angle" (90 degrees), "direction" (counterclockwise). The unspecified speed in the natural language command is reasonably assumed in the JSON structure.'] +Rotate the shoulder joint in the opposite direction of the clock by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The JSON is largely consistent with the natural language command. However, no speed was specified in the command, so the JSON entry for speed of 0.5 degrees/s seems randomly inserted.'] +Move to position X:50, Y:30, Z:15.,['The input action "Move to position" is not in the ontology, hence it must be ignored. Therefore, there is no applicable JSON to return.'];["0; The provided natural language command doesn't match with any of the JSON structures in the sample ontology."] +Change your location to coordinates X:50, Y:30, Z:15.,['The provided action is not present in the provided ontology. Therefore, no valid JSON response can be generated.'];["0; The natural language command doesn't match any of the JSON structures, it talks about a movement to specific coordinates not represented in the sample ontology."] +Transfer yourself to the position with the coordinates X:50, Y:30, Z:15.,['This action is not in the ontology provided. Therefore, no command can be generated.'];['0; The provided natural language command does not match with any of the actions in the JSON structures provided.'] +Relocate to the coordinates X:50, Y:30, Z:15.,['{ "action": "undefined", "params": {} }'];['0; The command asks for a relocation, but none of the given JSON structures provide or discuss "relocation" nor any kind of moving to specific x/y/z coordinates. Therefore, the command doesn\'t match any part of the JSON examples.'] +Go to the point specified by X:50, Y:30, Z:15.,['{', ' "action": "set_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit": "cm"', ' }', '}'];['0; The natural language command is about setting a position, which does not exist in the provided JSON structures. The JSON structure listed next to the command is not part of the sample keys either, causing a mismatch between the command and the JSON structure.'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command and the JSON structure match in their specification of the action ("extend_arm") and parameters, particularly the length of extension (20cm). The speed value in the JSON structure is reasonable, even though it\'s not specified in the command.'] +Increase the length of the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command calls for the arm to be extended, which matches the "extend_arm" action in the JSON. The specified extension length of 20 centimeters is accurately represented in the "extension_length" parameter in the JSON, with the correct type and value. The speed and units are not mentioned in the command but their presence in the JSON is acceptable since the problem statement allows for reasonable values when not specified in the command.'] +Stretch the arm outwards by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command corresponds largely to the JSON structure, particularly with the "extend_arm" action. However, the speed is not mentioned in the command, although its value in the JSON structure is reasonable.'] +Lengthen the arm by an additional 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command perfectly fits the JSON structure. The action "extend_arm" corresponds accurately. Parameters like "extension_length" 20 and its unit being centimeters also match perfectly. The speed value is not specific in the command and hence any reasonable value in this case 1.0 units given in JSON is acceptable.'] +Expand the arm's reach by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Grip the object with a force of 15 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['0; The command and JSON does not conform. Although the action "grip_object" is correct, the unit of force in the JSON structure is represented as "kilograms" which is incorrect. The provided ontology only accepts "newtons" as the unit of force. The duration value being 1.0 seconds in JSON is also assumed without being mentioned in the command.'] +Apply a force of 15 kilograms to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; There is a mismatch in the unit of force (command specifies kilograms whereas the JSON specifies newtons), and there is no specification for the duration in the natural language command. Therefore, the command only partially matches the JSON structure.'] +Exert a 15 kilogram force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command is asking to grip an object using a force unit of kilograms, while the JSON structure uses a force unit of newtons, therefore there is a discrepancy in the unit of force used. Additionally, the duration value in the JSON structure appears arbitrary as it does not match the command.'] +Securely hold the object with a 15 kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The given JSON structure mostly aligns with the natural language command, but there is a significant error. In the command, the unit of force is specified as "kilograms", whereas in the JSON structure, it\'s "newtons". Kilograms measure mass, not force, so the conversion isn\'t accurate.'] +Use a force of 15 kilograms to get a firm grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action command is correct but the force unit specified in the natural language command is in kilograms while in JSON it is newtons. These units are not the same as force is usually measured in newtons not kilograms. The duration value in JSON does not match with the natural language command because there is no duration information provided in the command.'] +Rotate the elbow joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The command matches the "move_joint" action in the JSON, including the "joint_name", "angle", and "direction" parameters. The reason it\'s not a perfect match is because the speed is not specified in the command but it\'s included in the JSON.'] +Turn the elbow joint in a clockwise direction, rotating it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The given command matches the JSON structure to a large extent. However, the natural language command doesn't specify the speed of the action. The JSON structure assumes a speed value of 0.5 that aligns with the ontology. The command clearly identifies the action of moving the elbow joint, the angle, and the direction."] +Clockwise rotate the elbow joint by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command matches well with the JSON structure and it includes the appropriate action ("move_joint") along with three correct parameters ("joint_name" as "elbow", "angle" as 60.0, "direction" as "clockwise"). However, the "speed" parameter is not specified in the command but exists in the JSON. Thus it should not get the perfect score because of the missing "speed" value.'] +Rotate the elbow joint in the clockwise direction, making a 60 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The natural language command matches the JSON structure quite well. The commands for moving the joint, direction, angle, and unit all accurately match. The speed is not indicated in the original command, but it is a parameter in ontology, and the JSON value is plausible. However, because the speed was not indicated in the command, it would have been more accurate if the speed value was not defined or left as null. Therefore, the conformity score is slightly reduced.'] +Twist the elbow joint to the right, moving it 60 degrees in a clockwise rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON structure perfectly matches the command. However, even though the speed value is not mentioned in command, it is acceptable as per instructions. The joint name, direction and angle are correctly captured. The units also match up.'] +Lift the object to a height of 1 meter.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "upward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "meters",', ' "unit_speed": "meters/s"', ' }', '}'];['0; The JSON command does not conform to the natural language command. The natural language command is asking to lift an object to a height of 1 meter, which would correspond to an action of moving the arm rather than moving a specific joint. Additionally, distance, not angle, should be used to match the command and the `joint_name` should not be "arm". The `direction` also cannot be "upward", therefore the JSON structure is irrelevant to the command.'] +Elevate the object to a 1-meter height.,['This action is not in the given ontology. So no JSON output can be formulated.'];['0; The provided natural language command does not correlate with any of the actions provided in the sample ontology JSON structures.'] +Raise the object to a height of 1 meter.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The JSON structure provided does not reflect the command. While the command \'Raise the object to a height of 1 meter\' involves physically lifting or moving an object, the JSON instruction intends to "set_orientation" to an "upright" orientation. The parameters or actions do not correspond to the natural language command given.'] +Hoist the object to a 1-meter elevation.,["This action isn't supported according to the provided ontology. Therefore, no action will be performed and no JSON conformant to the ontology can be returned."];['0; The natural language command does not correspond to any of the given JSON structures. The command "Hoist the object to a 1-meter elevation" is not supported by the given sample ontology.'] +Bring the object up to a height of 1 meter.,['Your instruction could not be recognized based on the provided ontology for robot arm commands. The command does not specify which action to perform and lacks sufficient details to be mapped onto the available actions such as "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation".'];["0; The natural language command doesn't correspond to any of the available JSON structures, since there are no available actions or parameters in the JSON structures related to changing the height of an object."] +Move to position X:25, Y:40, Z:10 at a velocity of 10 cm/s.,['The given action "Move to position" is not covered by the provided ontology. Therefore, it\'s impossible to convert this to a conformant JSON object. Please provide actions that are suitable for the ontology.'];['0; The command given does not match with any of the provided actions in the JSON structure. The actions provided in the JSON are: move_joint, extend_arm, grip_object, release_grip, and set_orientation. The command given, "Move to position", is not represented in any of these actions.'] +Proceed to coordinates X:25, Y:40, Z:10 with a speed of 10 cm/s.,['This action is not in the provided ontology and therefore cannot be translated into the required JSON format.'];['0; The command is not present in the sample keys.'] +Travel to position X:25, Y:40, Z:10 traveling at a pace of 10 cm/s.,["I'm sorry, but the action of travelling to a coordinate is not defined in the given ontology. Therefore, I can't process this command."];['0; The provided natural language command does not match any of the action examples provided in the JSON structures. None of the JSON structure actions include travel to a specific position.'] +Transfer yourself to X:25, Y:40, Z:10 while maintaining a velocity of 10 cm/s.,['{', ' "action": "move_to_coords",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_coords": "centimeters",', ' "unit_velocity": "cm/s"', ' }', '}'];['0; The JSON structure does not match with the given command because "move_to_coords" action and parameters like "X", "Y", "Z" and "velocity" are not specified in the sample keys. Also the action described in JSON structure is not included in the provided list in the question.'] +Journey to coordinates X:25, Y:40, Z:10 at a rate of 10 cm/s.,['This action is not supported by the given ontology. Please provide a command within the functionality of the robotic arm such as moving a joint, extending the arm, gripping or releasing an object, or setting the orientation.'];['0; The natural language command refers to moving to specific coordinates at a certain speed, which is not included in the provided ontology. The ontology only supports actions such as moving a joint, extending the arm, gripping or releasing an object, or setting orientation. Hence, there is no matching JSON structure.'] +Rotate the wrist joint counterclockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; Almost all components of the JSON perfectly matched with the command. The parameter values for "joint_name", "angle", "direction", and "unit" in the JSON have been specified correctly in the command. However, the command doesn\'t mention anything about the "speed", and the JSON structure has a random value for "speed".'] +Turn the wrist joint anticlockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The JSON structure is mostly accurate and matches the text command. The joint_name, angle, direction and unit have been correctly specified, but speed is not mentioned in the text command so it should not receive a specific value in the JSON.'] +Twist the wrist joint in a counterclockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the wrist joint to the left by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure corresponds to the natural language command except for the "speed" value which does not exist in the command. Hence, it does not fully conform.'] +Adjust the position of the wrist joint by rotating it counterclockwise 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The natural language command correctly refers to the action of moving a joint with specified parameters for joint name, angle and direction that match the JSON structure. Even though the 'speed' value in the JSON is not specifically mentioned in the natural language command, it is considered an acceptable value."] +Retract the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The JSON command mentions the "extend_arm" action whilst the natural language command specifies retracing the arm. Although the practical outcome (retraction) might be the result of a negative extension manipulatively speaking, these are fundamentally different commands from a linguistic and logical perspective. However, the parameters in the JSON structure accurately reflect the natural language command in regards to amount (25cm) and units.'] +Pull the arm back by a distance of 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The action is mismatching. The command indicates a withdrawal or retraction of the arm, not an extension. However, the parameters given such as distance and unit of distance are in conformity with the JSON values.'] +Withdraw the arm, reducing its length by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The JSON structure matches the command in terms that it refers to the action of altering the arm\'s length. However, in the ontology "extend_arm" is used to increase the length, while the command says to reduce its length. A new action like "withdraw_arm" would be a better match. Additionally, the speed of the action is not specified in the command, so any value could be accepted but it is not directly derived from the command.'] +Bring the arm back, shortening it by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The natural language command is mostly aligned with the JSON structure, however, the intent seems to be contraction of the arm rather than extension, which is not explicitly defined in the ontology. Moreover, the "speed" parameter was not specified in the command, so any value is considered acceptable. Even so, the negative "extension_length" value implies a reverse operation (contraction instead of extension) which might not be supported by the system - this is not clear based on the available information.'] +Decrease the length of the arm by 25 centimeters through retraction.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The "extend_arm" action is used correctly in the JSON, and the "extension_length" parameter is correctly set to -25. However, the natural language command does not specify a speed, so the JSON\'s speed value of 1.0 cm/s is not based on any information in the command.'] +Grip the object with a force of 20 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command and JSON structure mostly conform. The "grip_object" action and "force" parameter are correctly represented. However, the duration parameter in the JSON structure does not conform with the natural language command, as no duration was specified in the command.'] +Apply a 20 Newton force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The command matches perfectly with the given JSON structure with the action to "grip_object" and the parameter\'s values for force and unit of force are specified correctly. Although the duration value in the JSON doesn\'t exactly match the command, it is a reasonable value and is therefore accepted.'] +Exert a grip on the object with a 20 Newton force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command corresponds to the JSON script for the most part. The action "grip_object" matches perfectly. However, a duration value is listed in the JSON, but it is not specified in the natural language command. Thus, we cannot say with certainty if this value is accurate. Given the absence of duration information in the command, we still accept any reasonable value for it, but this slight incongruity prevents the score from being a perfect 5.'] +Use 20 Newtons of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure correctly represents the action from the natural language command which is to grip an object with a certain force. However, duration is not mentioned in the command but it is specified in the JSON.'] +Ensure a 20 Newton force is applied when gripping the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command matches fairly well with the JSON structure with respect to the action ("grip_object") and adjusting the "force" parameter to 20.0 newtons. However, a value for "duration" is not mentioned in the command but it\'s given a value of 1.0 seconds in JSON which could be considered as a reasonable default value. Hence, the score is not a 5.'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; The provided JSON does correspond to the natural language command in terms of action, joint name, direction and angle. However, no speed/direction of movement is given in the natural language command, yet the JSON script specifies a speed of 0.5 degrees per second. This information should not have been assumed, thus lowering the conformity score.'] +Turn the shoulder joint in a clockwise direction for a 45-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command and the JSON structure match mostly. The 'action' and 'params' of the JSON align well with the command, including 'joint_name', 'angle', 'direction', and 'unit'. However, the 'speed' was not specified in the natural language command but is present in the JSON structure."] +Rotate the shoulder joint by 45 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; All elements of the natural language command are correctly represented in the JSON structure. The joint name, angle, direction, and units all match. The speed value in the JSON is reasonable as it is not specified in the natural language command.'] +Twist the shoulder joint in a clockwise manner, moving it 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command matches the JSON structure beside it as it conducts the move_joint action on the shoulder joint, moving it 45 degrees in a clockwise direction. The only reason it doesn't score a perfect 5 is because the speed is not mentioned in the command but has been included in the JSON information."] +Rotate the shoulder joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The instruction and the JSON structure largely conform with each other, the joint_name, angle, direction, and unit are accurately represented. The difference is the speed. In the natural language command, speed is not specified, however in the JSON, a value of 0.5 degrees/s is given which is reasonable.'] +Move to position X:15, Y:25, Z:5 at a velocity of 5 cm/s.,['The action provided in the prompt is not included in the ontology. Please provide a command from the following options: "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation".'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) +Travel to coordinates X:15, Y:25, Z:5 with a speed of 5 cm/s.,['{', ' "action": "move_to_coords",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 15.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_coords": "cm",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The JSON structure does not match with the sample keys provided in the ontology. The command includes an action of "move_to_coords" which is not present in the given sample ontology. The parameters "X", "Y", "Z" are also not included in the ontology.'] +Go to location X:15, Y:25, Z:5 with a velocity of 5 cm/s.,['{', ' "action": "move_to_location",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 15.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 5.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_location": "centimeters",', ' "unit_velocity": "cm/s"', ' }', '}'];['0; The provided JSON structure does not match the sample ontology keys. There\'s no "move_to_location" action and no parameters such as "X", "Y", "Z", or "velocity" present in the sample ontology.'] +Proceed towards position X:15, Y:25, Z:5 at a rate of 5 cm/s.,['The provided command is not in the ontology, therefore no valid output can be generated.'];['0; The command does not match any of the available actions in the ontology (move_joint, extend_arm, grip_object, release_grip, set_orientation). The command also mentions parameters (X, Y, Z position and rate) that do not exist in the ontology.'] +Travel at a speed of 5 cm/s to reach coordinates X:15, Y:25, Z:5.,['This action is not represented in the provided ontology. Therefore, it should be ignored and no compliant JSON can be generated.'];['0; The command refers to moving to specific coordinates, an action that is not represented in any of the available JSON structures in the sample ontology.'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The 'speed' key in the JSON structure doesn't match with the natural language command as the speed isn't specified in the command. Apart from that, all other keys and parameters are in conformity."] +Increase the length of the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The command conforms with most of the keys in the JSON structure. However, the speed value in the JSON structure doesn\'t match with the natural language because the speed isn\'t specified in the command. It complies with the "extend_arm" action and "extension_length" parameter with the correct unit and value.'] +Stretch the arm outwards by an additional 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The natural language command and the JSON structure mostly conform. The 'extension_length' value and 'unit_length' correctly match the command to extend the arm by 30 centimeters. However, the 'speed' value and 'unit_speed' in the JSON does not conform to the command as no speed is specified in the command."] +Elongate the arm to add 30 centimeters to its length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["5; Exact match as the JSON structure gives the correct action with proper parameters for extension length in centimeters. The speed value isn't specified in the natural language command, but an arbitrary reasonable value is accepted for it."] +Expand the arm's reach by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["5; The natural language command is perfectly conforming to the JSON structure. 'Extend_arm' action is correctly used with extension_length parameter where the value matches with the command (30.0). The speed, unit_length and unit_speed keys are properly represented in the JSON without contradiction to the user's command."] +Lift the object to a height of 2 meters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The command is asking to extend the arm to a certain height, which matches the JSON structure of the "extend_arm" action. However, the unit in the natural language command is meters, whereas in the JSON it\'s centimeters.'] +Raise the object to a height measuring 2 meters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The action "extend_arm" and parameter "extension_length" with a value of 200.0 cm (which is equivalent to 2 meters) is correctly represented in the JSON. However, the natural language command does not specify a speed for the action, therefore the speed value in the JSON does not have a direct correspondence in the command.'] +Elevate the object to a 2 meter height.,['This action is not defined in the ontology.'];['0; The natural language command does not fit any of the given JSON structures as there is no defined action for elevating an object.'] +Hoist the object up to a vertical distance of 2 meters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The natural language command and the JSON structure are partially matching. The desired action to "extend_arm" matches, however the value of "extension_length" in the JSON structure is 200.0 centimeters, which is 2 meters as stated in the command. The command also doesn\'t mention anything about speed, so it\'s not necessary in the JSON. The unit of the "extension_length" in the JSON is incorrect as the command mentions the length in meters, not in centimeters.'] +Ascend the object to a 2 meter elevation.,['The provided action is not present the ontology. Therefore, it cannot be converted into the defined json format.'];["0; The natural language command does not match any of the provided JSON structures as the action 'ascend the object' is not present in the ontology."] +Rotate the elbow joint counterclockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The natural language command and the JSON code match for the most part, as the "action" key is "move_joint" and the "joint_name" is given as "elbow", with the direction as "counterclockwise" and the angle as 75.0 degrees. However, the speed is set to 0.5 in the JSON, without any mention in the natural language command, so it can\'t be confirmed if this speed is in line with the command or not.'] +Twist the elbow joint in the opposite direction by an angle of 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command mostly matches the JSON structure. The JSON message correctly identifies moving an elbow joint counterclockwise and the angle of 75 degrees. However, it assumes a specific speed, which was not mentioned in the natural language command, making it not entirely accurate.'] +Turn the elbow joint anticlockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command exactly matches with the JSON structure. The action 'move_joint' is correct. All parameters - 'joint_name', 'angle', 'direction' are correctly mentioned. Although the 'speed' is not mentioned in the command, it is okay for it to have any reasonable value, as per the instructions. The values for unit 'degrees' and unit_speed 'degrees/s' are assumed and correctly mentioned."] +Rotate the elbow joint in a counterclockwise direction, making a 75 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command matches the JSON structure with the "move_joint" action and correct parameters such as "joint_name", "angle", "direction" and "unit". However, the "speed" value in the JSON structure doesn\'t match with the natural language command as it wasn\'t specified.'] +Adjust the elbow joint by rotating it counterclockwise with a 75 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; Most of the parameters match, including the action, joint_name, angle, direction, unit, and unit_speed. The only mismatch is the direction parameter - the command specified counterclockwise, while in JSON it's clockwise. The speed parameter in the command was not specified, but it is a reasonable default value in JSON."] +Move to position X:35, Y:50, Z:20.,['This action is not present in the ontology. Therefore, nothing can be returned as it must be ignored, as per the instruction.'];['0; The natural language command does not match any of the action commands and their respective parameters provided in the JSON structure.'] +Go to coordinates X:35, Y:50, Z:20.,['{', ' "action": "move_to_coordinate",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 35.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 20.0', ' }', ' }', '}'];["0; The command 'Go to coordinates' is not part of the provided ontology and therefore the provided JSON structure does not match with the command."] +Transfer yourself to the location with coordinates X:35, Y:50, Z:20.,['This action is not supported by the ontology. Therefore, there is no JSON to return.'];['0; The given command does not match with any of the available actions in the JSON structures provided.'] +Change your position to X:35, Y:50, Z:20.,['{', ' "action": "set_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 35.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit": "centimeters"', ' }', '}'];['0; The JSON structure does not match with the sample ontology. The action "set_position" and the parameters "x", "y", and "z" with their corresponding values are not present in the given sample ontology.'] +Relocate yourself to the coordinates X:35, Y:50, Z:20.,['{', ' "action": "",', ' "params": {}', '}'];['0; There\'s no match between the natural language command and the JSON structure. The action in the natural language command ("relocate") does not align with any of the actions in the sample JSON structures (move_joint, extend_arm, grip_object, release_grip, set_orientation). Similarly, the parameters in the natural language command (coordinates X, Y, Z) don\'t match with any of the parameters in the JSON structures.'] +Retract the arm by 10 centimeters at a velocity of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command and JSON structure are completely matching in terms of action type and parameters. However, the JSON structure shows an extension of arm not a retraction which would logically imply a negative value for the "extension_length". I am assuming this input was missed and therefore the score is reduced to 4.'] +Withdraw the arm by a distance of 10 centimeters, moving at a speed of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["3.8; Most of the components in the natural language command are represented in this JSON structure such as the action of extending the arm and the speed of 15 cm/s. However, the JSON value for extension length in the given JSON is -10.0. If we interpret this as the arm moving in the opposite direction, this is a match, but it's not immediately clear that withdrawing the arm corresponds to a negative extension length. Moreover, there isn't an explicit key in the ontology for decreasing lengths or retracting, so this might not be completely correct."] +Pull the arm back by 10 centimeters, with a velocity of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The action in JSON structure is "extend_arm" while the action in the command is "pull the arm back". The values of "extension_length" and "speed" match with the command. But, the direction of movement specified in the command (backwards) doesn\'t match with the action in JSON (extension). Hence, although the parameters of the action match, the overall action itself is not a match. Hence the score is 2.'] +Bring the arm back by a length of 10 centimeters, traveling at a rate of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The command clearly and correctly refers to the "extend_arm" action in the ontology. The parameters for extension_length and speed are correctly inferred from the command, and the values match with the ones given in the natural language command. The negative value for the extension_length signifies the "back" direction mentioned in the command. The units "centimeters" and "cm/s" are also correctly provided in the JSON.'] +Move the arm backwards by 10 centimeters at a speed of 15 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The JSON structure corresponds with the natural language command indicated. The action "extend_arm", extension_length of 10 cm, and speed of 15 cm/s are all correctly represented in the JSON.'] +Grip the object with a force of 25 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command and the JSON structure have limited matching. The "action" type as "grip_object" matches, but the "force" value in the natural language command is given in kilograms, while the JSON structure has the unit as "newtons".'] +Apply a 25-kilogram force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["1; The command asks for a force of 25 kilograms, however in the JSON structure, the 'force' parameter is defined in newtons, not kilograms. Therefore, the units don't match. Also, the 'duration' value is arbitrarily set in the JSON which may not align with the command as the duration is not specified in the command."] +Use a force of 25 kilograms to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action "grip_object" and the parameters \'force\' and \'duration\' are correct but \'force\' is measured in \'newtons\' in the ontology whilst the provided JSON converts it in \'kilograms\'.'] +Exert 25 kilograms of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action "grip_object" matches well and the parameters "force" and "duration" are both present. However, there is a mismatch in the unit of force specified. The natural language command specifies kilograms, which is a unit of mass, not force. The JSON structure specifies the unit as newtons, which is a unit of force. This discrepancy significantly affects the interpretation of the command.'] +Apply a grip to the object, using a 25-kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 25.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];["2; The action and structure of the JSON matches with the command. However, the 'force' unit in the JSON structure is given as 'kilograms' which is not a unit of force. In the given ontology, force is measured in 'newtons', not 'kilograms'. So the unit of force is incorrect in the JSON structure."] +Rotate the wrist joint clockwise by 90 degrees and dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['2; The natural language command specifies the "move_joint" action correctly, and the parameters "joint_name", "angle", "direction" match perfectly with the provided JSON structure. However, the speed value in the JSON structure does not match the natural language command as it\'s not specified in the command - though this is acceptable as per the instruction. The action "dance" mentioned in the command does not exist in the JSON structure, resulting in a lower score.'] +Dance while rotating the wrist joint 90 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; The JSON structure correctly represents the command to move the wrist joint 90 degrees clockwise. However, the speed is randomly assumed to be 0.5 degrees/s and not specified in the command. Also, the "dance" command is not represented in the JSON.'] +Perform a 90-degree clockwise wrist joint rotation and then dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['1; The JSON structure only conforms to the first half of the command ("Perform a 90-degree clockwise wrist joint rotation"). However, the command "and then dance" has no corresponding JSON structure, hence the low score.'] +Begin by rotating the wrist joint 90 degrees clockwise, followed by dancing.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['1; The JSON structure correctly represents the rotation of the wrist joint 90 degrees clockwise as indicated in the natural language command. However, the natural language command also includes the action "dancing", which cannot be translated into JSON based on the sample ontology. Due to this unconverted part, the JSON only partially matches with the natural language command.'] +Start by turning the wrist joint clockwise by 90 degrees, then proceed to dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; Half of the natural language command matches perfectly with the JSON structure - the "move_joint" action with "wrist" as the joint_name, "90.0" as the angle, "clockwise" as the direction, a float type speed, and the units as "degrees" and "degrees/s". However, the latter part of the command demanding to "proceed to dance" does not match any of the sample keys and thus cannot be converted to JSON.'] +Lift the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure accurately represents the action of "extend_arm" with proper parameters like "extension_length" and units. However, the speed in the JSON is not specified in the command hence doesn\'t fully conform.'] +Raise the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command matches perfectly with the JSON command. The parameters are perfectly converted ("extension_length" to 50.0 and the "unit_lenght" in centimeters). Speed isn\'t specified so it can take any reasonable value, which is the case here (1.0 cm/s).'] +Elevate the arm to a height of 50 centimeters.,['This action is not supported by the ontology.'];['0; The given command cannot be matched with any of the actions in the JSON structure, as there is no action related to elevating the arm.'] +Hoist the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The JSON structure matches the command perfectly, executing the correct action of "extend_arm" with the "extension_length" parameter of 50. Despite the missing speed, any reasonable value is accepted as per the instruction. The "unit_length" of "centimeters" and "unit_speed" of "cm/s" are also in accordance with the command.'] +Bring the arm up to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command is perfectly represented by the JSON structure where action is "extend_arm" and the parameter "extension_length" is set to 50 which matches the command of bringing the arm up to a height of 50 centimeters. Other parameters such as speed and the units are also correctly represented.'] +Rotate the base joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Turn the base joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The JSON structure matches the natural language command perfectly with the action "move_joint" and parameters "joint_name" as "base", "angle" as "90.0", "direction" as "counterclockwise". The speed parameter wasn\'t specified in the natural language command but it is acceptable since it is a reasonable value. The units "degrees" and "degrees/s" also conform with the instruction.'] +Rotate the base joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command is perfectly matched with the JSON structure, following the specified sample ontology. All key information from the command ("move_joint" action, "base" as joint_name, "counterclockwise" direction, "90.0" as angle in "degrees") is present. The speed is not specified in the natural language command, so a reasonable default of 0.5 degrees/s is used, which is acceptable.'] +Twist the base joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure. The action "move_joint" is present, and all the required parameters such as "joint_name", "angle", "direction", "speed", "unit", and "unit_speed" are included in the command and have appropriate values given in the JSON structure.'] +Make a 90-degree counterclockwise rotation of the base joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The JSON structure corresponds to the command of moving a joint, specifying the joint to be moved as the "base" joint, the angle of movement as 90 degrees, and the direction of movement as "counterclockwise". The action, joint_name, angle, and direction all match the natural language command perfectly. The speed is not specified in the natural language command, but a reasonable default value is given in the JSON.', ''] +Extend the arm by 30 centimeters and hold for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The JSON structure accurately represents the "extend_arm" action with an extension_length of 30.0 centimeters. However, it does not capture the "hold for 10 seconds" part mentioned in the natural language command. In addition, the speed of extension is not specified in the natural language command but is assumed to be 1.0 in the JSON structure.'] +Stretch the arm outwards, increasing its length by 30 centimeters for a duration of 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform. The command "Stretch the arm outwards, increasing its length by 30 centimeters for a duration of 10 seconds" aligns with the action of "extend_arm" in the JSON where "extension_length" is 30.0 and the unit of length is "centimeters". Also, the speed, calculated as length/duration (30/10), of 3.0 and the unit of speed "cm/s" also match.'] +Lengthen the arm by 30 centimeters and maintain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The given command corresponds well with the example JSON structure for the "extend_arm" action. The extension length \'30.0\' is also accurately represented in the JSON. However, there is no instruction in the command to match the \'speed\' parameter in the JSON which remains with it\'s default value \'1.0\'. Therefore, the command doesn\'t fully conform to the JSON structure.'] +Protract the arm by 30 centimeters and keep it in that state for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The JSON structure partially conforms to the natural language command but key for duration is missing in sample keys provided, hence no way to add part about "keep it in that state for 10 seconds". Also, "speed" parameter value doesn\'t match with the natural language command. It seems to have been arbitrarily assigned a value of 3.0.'] +Stretch the arm forward, elongating it by 30 centimeters, and sustain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure for extending the arm matches the command substantially, with the action being "extend_arm" and the right value for extension (30.0) along with the correct type and units. However, the speed of the action isn\'t mentioned in the natural language command, so the JSON parameter for speed may not be accurate.'] +Move to position X:100, Y:50, Z:80 with a velocity of 10 meters per second.,["The action provided is not present in the given ontology. Therefore, no JSON can be returned per the ontology's constraints."];['0; The command involves an unspecified action of moving position, which does not exist in the sample ontology provided JSON structures.'] +Travel to coordinates X:100, Y:50, Z:80 at a speed of 10 meters per second.,['This action is not in the ontology, it must be ignored.'];["0; The natural language command doesn't match any JSON structures provided since moving to coordinates and such specific unit of speed are not covered in the sample ontology."] +Go to location X:100, Y:50, Z:80 at a rate of 10 meters per second.,['This action is not supported by the provided ontology. Therefore, it cannot be converted to a corresponding JSON command.'];["0; The provided ontology does not support a command to move to a specific location, thus there's no corresponding JSON structure."] +Reach the point X:100, Y:50, Z:80 at a velocity of 10 meters per second.,['This action is not part of the provided ontology.'];["0; The command can't be executed because it's not included in the sample keys."] +Advance to position X:100, Y:50, Z:80 with a speed of 10 meters per second.,['This action is not defined in the provided ontology.'];['0; The command "Advance to position X:100, Y:50, Z:80 with a speed of 10 meters per second." does not map to any of the provided JSON structures. The command is requesting to move to a specific position, however, there is no action available in the provided ontology that corresponds to this movement.'] +Activate the grip mechanism with a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action ("grip_object") and a parameter ("force") match with the JSON structure, but the value of "force" is not correctly interpreted. The natural language command uses kilogram as a unit of force, while the JSON uses newton. Without a conversion from kilograms to newtons, the values are not interchangeable. Furthermore, the "duration" is not mentioned in the natural language command.'] +Engage the grip mechanism using a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The 'action' and 'duration' fields conform, but the 'force' value in the command doesn't match the 'unit_force' in the JSON structure. The command uses kilograms instead of newtons."] +Apply a force of 8 kilograms to activate the grip mechanism.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure action key matches with the command i.e., they both refer to implementing or activating the grip mechanism. However, the parameter force in the JSON structure and the command does not match. While the parameter value for the force in the command is "8 kilograms", the unit of force expected and defined in the JSON sample ontology is "newtons" and not "kilograms". Kilograms is a unit for mass not force. That is why the conformity score is low.'] +Use a force of 8 kilograms to activate the grip mechanism's gripping function.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action in the command (i.e. "activate the grip mechanism\'s gripping function") somewhat corresponds to the "grip_object" action in the JSON structure. However, the unit of force given in the command is in kilograms, while the JSON structure\'s force unit is in newtons, which is not compliant. Furthermore, the duration parameter in the JSON doesn\'t exist in the natural language command.'] +Activate the grip mechanism by exerting a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action command "grip_object" is translated correctly in the JSON format. However, the unit of force in the JSON is "newtons" whereas in the natural language command, the unit used is "kilograms", which are not directly comparable. The `duration` wasn\'t mentioned in the natural language command but is filled with a reasonable value in JSON.'] +Rotate the wrist joint clockwise by 30 degrees and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; The action command "move_joint" matches with the natural language command. The parameters "wrist", "30.0", and "clockwise" also match. However, it requires a "speed" parameter to calculate the needed speed for the action to be performed in 5 seconds. The speed calculation, although accurate (30 degrees divided by 5 seconds), is not directly stated in the natural language command. The number 5 seconds is introduced in the NLC without any corresponding parameter in the JSON.'] +Rotate the wrist joint in a clockwise direction, angling it by 30 degrees and maintaining the position for a duration of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The imperative instructions of the command match the "action" and "params" keys in the JSON structure. The "joint_name", "angle", "direction", and "speed" are all identified correctly. The joint name is "wrist", the angle is 30 degrees, the direction is "clockwise", and the speed is determined based on the given duration, it matches the JSON structure perfectly.'] +Turn the wrist joint to the right by 30 degrees, keeping it in that position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure has most of the parameters matching with the command such as "action", "joint_name", "angle", "direction", "unit", "unit_speed". However, no parameter for holding the position for a specific amount of time is present in the structure which was indicated in the command. Also, the speed is not specified in the command but is present in the JSON structure.'] +Retract the arm to its home position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The action "extend_arm" in JSON does match the "Retract the arm" action in the natural language command in the context that it involves movement of the arm, but the specified direction of movement is opposite. Also, "home position" is not clearly defined in the JSON structure. The speed value matches.'] +Move the arm back to its original position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];["1; While the action 'set_orientation' could possibly indicate moving the arm back to its original position, the parameter 'upright' does not specifically imply that. A more precise command would be required."] +Return the arm to the starting point.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['1; The natural language command "Return the arm to the starting point" does not match well with the provided JSON command that indicates setting an orientation with a value of "upright". The phrase "starting point" could imply a position rather than an orientation. However, there\'s a loose connection being both are about the arm\'s position or direction, hence not a complete mismatch.'] +Bring the arm back to its home position.,['This action request is not represented in the provided ontology and therefore cannot be converted into a structured command.'];['0; The command does not correspond to any action presented in the JSON structures.'] +Move the arm back to where it started.,['The given action is not in the ontology, the action cannot be represented in JSON.'];['0; The command does not match any action from the given JSON structures. The JSON keys do not provide any action for moving the arm back to where it started.'] +Move to position X:0, Y:0, Z:100 with a velocity of 5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];['0; The action "move_to_position" and the related parameters ("x", "y", "z", and "velocity") do not exist in the sample keys of the given ontology. The JSON information hence does not match with the natural language command.'] +Change your coordinates to X:0, Y:0, Z:100, and maintain a constant velocity of 5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x_coordinate": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y_coordinate": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z_coordinate": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_coordinate": "meters",', ' "unit_speed": "meters/s"', ' }', '}'];['0; The natural language command mentions some action related to movement along the X, Y, and Z coordinates. However, there is no such action described in the sample keys of the JSON ontology provided. The JSON structure next to the command does not match either; it mentions an action "move_to_position" which is again not included in the sample ontology. Hence, the command does not conform to the JSON structures described in the sample ontology.'] +Head towards position X:0, Y:0, Z:100 at a speed of 5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0', ' },', ' "y": {', ' "type": "float",', ' "value": 0', ' },', ' "z": {', ' "type": "float",', ' "value": 100', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['0; The natural language command refers to an "move_to_position" action which doesn\'t match any of the actions present in the JSON structures (move_joint, extend_arm, grip_object, release_grip, set_orientation). Besides, the parameters x, y, z in the natural language command also don\'t exist in the JSON structures.'] +Set your destination to X:0, Y:0, Z:100 and travel at a velocity of 5 meters per second.,['This action is not supported in the current ontology. Please refer to the ontology for valid actions.'];["0; The command ('Set your destination to X:0, Y:0, Z:100 and travel at a velocity of 5 meters per second.') doesn't match any of the actions or parameters in the sample ontology."] +Travel to the location specified by X:0, Y:0, Z:100 with a constant velocity of 5 meters per second.,['This action is not in the ontology, thus it cannot be represented as a valid JSON command for the robotic arm.'];['0; The command refers to an action ("travel to location") which is not supported in the JSON command ontology, so it cannot be accurately represented in the JSON structures given.'] +Grip the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The action in the JSON structure matches the command correctly as 'grip_object'. However, the value of force is given in kilograms in the command while it is specified in newtons in the JSON structure. The duration parameter in the JSON structure is not specified in the natural language command."] +Apply a force of 10 kilograms to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; Force value matches but the unit of force in the natural language command is in kilograms, while in the JSON structure, the unit of force is newtons. The duration in the JSON structure is also not mentioned in the natural language command.'] +Exert 10 kilograms of force to securely hold the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command specifies a force of "10 kilograms", while the JSON structure uses a force unit of "newtons". The parameters match but the units do not, suggesting some level of non-conformity. Also, the force value in the command differs from the JSON structure. There is a fundamental misunderstanding between the weight (kg) and force(Newtons). The object\'s weight on earth (10 kg) is equivalent to a downwards force of about 98 N, due to gravity.'] +Use 10 kilograms of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kgf",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action "grip_object" is correctly identified but the value of force is given in kilograms (kgf) which does not conform to the schema where force is measured in newtons. The unit of force should be "newtons" and not "kgf." The duration value is not specified in the command, so its JSON value is accepted but not reflective of the command.'] +Apply a gripping force of 10 kilograms to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command asks for a gripping force with a specific unit (kilograms), but the provided JSON representation uses a different unit (newtons). The action and overall structure of the JSON structure is correct, but the mismatch in units lowers the conformity score.'] +Extend the arm by 20 centimeters, then retract it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The JSON structure pertains only to the extension of the arm. The natural language command also asks for the arm to be retracted, which is not represented in the JSON at all. Furthermore, the natural language command does not specify the speed of the extension, so the value provided in the JSON is not necessarily correct.'] +Lengthen the arm by 20 centimeters, then shorten it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["0; The JSON structure refers to a command for extending the arm by 20 centimeters but the natural language command includes both an extension and a contraction of the arm. There's no provided JSON representation or ontology for the shortening action, therefore, it's not complete."] +Stretch the arm outwards by 20 centimeters, then pull it back in by 10 centimeters.,["Sorry, but the current ontology doesn't support this operation. Please refer to the provided ontology for supported operations."];['0; None of the actions described in the natural language command ("extend_arm" and "pull back arm") are reflected in the provided JSON structures.'] +Increase the arm's length by 20 centimeters, then decrease it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; The JSON structure only captures the first half of the command (increasing the arm's length by 20 cm). The second half of the command (decreasing it by 10 cm) is not reflected in the JSON structure."] +Expand the arm by 20 centimeters, then shrink it by 10 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The JSON structure provided only corresponds to the first part of the command (expanding the arm by 20 centimeters). The second part of the command (shrinking it by 10 centimeters) is completely ignored. Thus, it does not fully conform to the natural language command.'] +Rotate the base joint clockwise by 180 degrees and hold.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The JSON structure matches the natural language command in terms of values and keys. However, the natural language command does not specify the speed value, but there's a somewhat arbitrary value placed in the JSON (0.5). There's also a need to hold the position not mentioned in the JSON structure."] +Please rotate the base joint in a clockwise direction by 180 degrees and maintain that position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command and JSON structure match almost perfectly. The action and its parameters (joint name, angle, direction, unit, and unit speed) are accurately represented in the JSON. However, the JSON includes a "speed" parameter which isn\'t specified in the natural language command, hence a deduction of 1 point.'] +Rotate the base joint 180 degrees in a clockwise manner and keep it in place.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure perfectly matches the action and most of the parameters specified in the natural language command. However, the speed is not mentioned in the command but it is specified in the JSON.'] +Turn the base joint in a clockwise direction by 180 degrees and hold that position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command perfectly matches the JSON information. The action is correctly defined as 'move_joint' and the parameters 'joint_name', 'angle', 'direction', 'speed', 'unit', and 'unit_speed' are all accurately represented with suitable values in the JSON structure."] +Rotate the base joint in a clockwise fashion, making a 180-degree turn, and hold steady.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command perfectly matches with the structure and semantics of the provided JSON action—move_joint. The command specifies the "joint_name", "angle", and "direction". It does not specify speed, but it is given a reasonable value of 1.0 degrees/s in the JSON, which is acceptable as per the guidelines.'] +Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second.,['The provided command ("Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second.") is not outlined in the given ontology. Therefore, I am unable to return a corresponding JSON command.'];["0; The natural language command does not conform to any of the actions provided in the JSON structures. The command speaks about moving to a position, which isn't included among the available actions: move_joint, extend_arm, grip_object, release_grip, set_orientation."] +Go to coordinates X:50, Y:100, Z:0 at a speed of 7 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Y"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Z"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['0; The JSON structures do not match the natural language command. The command specifies a movement to coordinates, however the JSON structure only covers instances of moving a single joint at a time. Also, the speed unit in the command is "m/s" which doesn\'t match the units "degrees/s" in the JSON structures.'] +Travel to the point X:50, Y:100, Z:0 with a velocity of 7 meters per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "point_X": {', ' "type": "float",', ' "value": 50.0', ' },', ' "point_Y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "point_Z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit_velocity": "m/s",', ' "unit_coordinates": "meters"', ' }', '}'];['0; The given JSON structure doesn\'t match with any of the existing structures from the sample keys. The JSON object contains action "move_to_point" but there\'s no such action in the sample ontology. Also, the keys like point_X, point_Y, and point_Z in the JSON structure can\'t be found in the sample keys ontology.'] +Change your position to X:50, Y:100, Z:0 at a rate of 7 meters per second.,['{', ' "action": "set_position",', ' "params": {', ' "position": {', ' "type": "tuple",', ' "value": {', ' "x": {', ' "type": "int",', ' "value": 50', ' },', ' "y": {', ' "type": "int",', ' "value": 100', ' },', ' "z": {', ' "type": "int",', ' "value": 0', ' }', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit_position": "meters",', ' "unit_speed": "m/s"', ' }', '}'];["0; The provided JSON instruction is for an 'set_position' action which doesn't exist in the given ontology. The given ontology only supports 'move_joint', 'extend_arm', 'grip_object', 'release_grip', and 'set_orientation' actions. Therefore, we cannot match the natural language command to the JSON structure."] +Reach the coordinates X:50, Y:100, Z:0 while moving at a speed of 7 meters per second.,['{', ' "action": "move_to_coordinate",', ' "params": {', ' "coord_x": {', ' "type": "float",', ' "value": 50.0', ' }, ', ' "coord_y": {', ' "type": "float",', ' "value": 100.0', ' }, ', ' "coord_z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 7.0', ' },', ' "unit_coord": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['0; The natural language command refers to moving to a specific coordinate at a certain speed whereas there is no matching action or JSON structure provided in the sample ontology. The suggested JSON also contains several keys ("move_to_coordinate", "coord_x", "coord_y", "coord_z", "unit_coord") that do not appear in the sample ontology at all. Therefore, the natural language command does not conform to the given ontology.'] +Lift the arm to a height of 80 centimeters and hold for 8 seconds.,['This action is not supported by the ontology.'];["0; The provided natural language command does not conform to any JSON structures for the ontology. There is no action in the ontology that correlates to 'lifting the arm'."] +Raise the arm to a height of 80 centimeters and maintain the position for 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The action "extend_arm" matches the command. The parameter "extension_length" is correctly set to 80.0, but the command doesn\'t provide any information about the speed or duration. The duration parameter doesn\'t match with the sample keys.'] +Elevate the arm to a height of 80 centimeters and keep it there for a duration of 8 seconds.,['This prompt does not align with the provided ontology. Therefore, it cannot be translated into a complying JSON object.'];['0; The command doesn\'t match any of the example JSON structures because the command instructs to "elevate the arm" which doesn\'t correspond to any available actions such as "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation". Furthermore, the command references a parameter ("height") and an action ("keep it there for a duration") not included in the sample JSON structures.'] +Hoist the arm up to a height of 80 centimeters and remain in that position for a period of 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The given command requires the action "extend_arm" which is correctly identified in JSON structure. The "extension_length" is also correctly defined as 80.0 centimeters which matches with the command. However, the duration of 8 seconds specified in the command does not match with any parameter in the JSON structure. While the "speed" parameter exists in the JSON, its value is given without being specified in the command.'] +Move the arm upward to a height of 80 centimeters and hold steady for 8 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The given natural language command instructs to move the arm upward and hold steady for a certain duration but the JSON structure represents setting the orientation to "upright", which is not compliant with the original command. Moreover, the value of "height" or "duration" are not mentioned in the JSON structure.'] +Retract the arm halfway and pause for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The natural language command asks to "retract the arm halfway" and "pause for 3 seconds". This is not correctly represented in the provided JSON structure. It contains the "extend_arm" action which does not quite match the "retract" action from the command. The mention of a pause is also not represented in the JSON. The "extension_length" value is given as "-50.0", which might indicate a retraction, but isn\'t clearly specified in the ontology as a possibility. The "speed" is provided but without any reference or relevance to the original command.', ''] +Pull the arm back to the middle point and wait for 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['0; The JSON structure doesn\'t match with the given natural language command. The command indicates a general movement "to the middle point" which is unclear in terms of desired joint, angle or direction. Furthermore, the command includes a "wait" action which is not represented within the provided JSON structure.'] +Bring the arm back halfway and hold for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.5', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "ratio",', ' "unit_speed": "ratio/s"', ' }', '}'];['0; The natural language command does not match with the JSON structure given. The command refers to moving the arm back but the JSON structure is for extending the arm. Also, in the JSON structure the unit for extension_length is mentioned as ratio but no such unit is mentioned in the command. Additionally, the command mentions a holding duration of 3 seconds but no such parameter is represented in the JSON.'] +Move the arm in reverse to reach the half position, then take a pause of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.5', ' },', ' "speed": {', ' "type": "float",', ' "value": -1.0', ' },', ' "unit_length": "ratio",', ' "unit_speed": "ratio/s"', ' }', '}'];['0; The natural language command is asking to move the arm, pause, and there is no mention of "extend arm" action as described in the JSON. The parameters mentioned in the JSON also do not match with the command - there is no request for extension length or speed in the command. The direction, position, and pause duration changes requested are not represented in the JSON.'] +Withdraw the arm to the midpoint, then wait for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The command is asking to withdraw the arm to a midpoint, however the JSON structure indicates an action of extending the arm with a length of 0 which contradicts the command. Additionally, the action of waiting for 3 seconds is not present in the JSON structure.'] +Rotate the wrist joint counterclockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; Most of the command information matches with values, keys, and actions. However, the speed was not mentioned in the command but was given a value in the JSON.'] +Turn the wrist joint to the left by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; Almost perfect conformity. The natural language command does ask to move the joint "wrist" counterclockwise by 60 degrees. It matches with the "action" and "params" keys in the provided JSON structure. However, the "speed" value doesn\'t match because it was not specified in the command.'] +Twist the wrist joint anticlockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the wrist joint in a counterclockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure, all of the parameters (joint_name, angle, direction) are present with expected values.'] +Move the wrist joint 60 degrees in the opposite direction of the clock.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command matches with the \'move_joint\' action. All parameters (joint_name, angle, and direction) are correctly formatted except for the "direction" which should be \'counterclockwise\' instead of the \'opposite direction of the clock\'. The JSON does not specify the speed value provided in the natural language command.'] +Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second.,['I\'m sorry, but the given action "Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second" is not in the ontology. The available actions are "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation". Please provide a valid action.'];['0; The natural language command does not conform to any of the sample keys provided in the JSON structures. The action it involves, moving to a position, does not match the actions available, like "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation". Furthermore, the parameter keys specified in the command, such as position and velocity, do not exist in the sample keys.'] +Go to coordinates X:75, Y:25, Z:50 at a speed of 8 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "type": "dict",', ' "value": {', ' "X": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 50.0', ' }', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_coordinates": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['0; The command "move_to_coordinates" does not exist within the sample ontology. The available actions are: move_joint, extend_arm, grip_object, release_grip, and set_orientation. There is no match between the natural language command and the JSON structure according to the keys in the sample ontology.'] +Travel to X:75, Y:25, Z:50 at a velocity of 8 meters per second.,['This action is not in the ontology.'];['0; The command does not correspond to any actions or parameters in the given ontology.'] +Proceed to position X:75, Y:25, Z:50 at a rate of 8 meters per second.,['The action requested does not correspond to the provided ontology for robotic arm commands. Therefore, no action JSON object can be generated.'];["0; The command does not match any of the provided JSON structures. The command mentions parameters such as X, Y, Z positions and movement speed in meters per second which aren't available in any of the JSON structures."] +Head towards X:75, Y:25, Z:50 with a speed of 8 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_position": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['0; The provided JSON structure does not match with the available ones. There is no "move_to_position" action in the sample ontology. Also, there is no "x", "y", and "z" parameters in the given ontology. Therefore, the provided JSON does not conform to the expected structure.'] +Extend the arm by 25 centimeters and hold for 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The natural language command is not fully represented by the JSON structure. The command specifies to hold the action for 4 seconds, which is not taken into account in the JSON. The "duration" field is missing from the JSON structure.'] +Stretch out the arm, increasing its length by 25 centimeters, and keep it in that position for 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3.5; The command matches well with the action "extend_arm" and the parameter "extension_length". However, it does not quite agree with the parameter "speed". In the command, there is no mention of the speed, only the duration of the extension is mentioned, which the JSON structure does not accommodate.'] +Lengthen the arm by 25 centimeters and maintain the position for a duration of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The natural language command matches the structure of the "extend_arm" action JSON, however, it introduces a new parameter ("duration") which does not exist in our sample keys. Also, the "speed" value is not specified in the command but is present in the JSON. Thus, it\'s only a partial match.'] +Protract the arm, adding 25 centimeters to its length, and hold steady for a period of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The command does match the "extend_arm" action in the JSON. However, the "speed" argument in the JSON is not specified in the natural language command, so the given value of 1.0 may not be accurate. The command indicates that the arm should be held steady, not that it should be moved at a particular speed.'] +Elongate the arm by 25 centimeters and sustain the extension for a duration of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The action "extend_arm" is correctly identified and the "extension_length" value is also correctly parsed as 25.0. However, the speed value in the JSON structure (6.25 cm/s) does not match the command since the speed is not specified in the natural language command. Furthermore, the command mentions a duration of 4 seconds which is not represented in the JSON structure.'] +Grip the object with 6 kilograms of force, then release after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; Although the actions, "grip_object" and "release_grip" do exist, the value for the "force" parameter is given as "6 kilograms" which does not conform with the unit of measurement ("newtons") in the sample ontology. The JSON command does not include the release_grip action.'] +Apply a pressure of 6 kilograms to secure your grip on the object, and then let go after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action and duration are correctly interpreted from the natural language command to the JSON structure. However, the parameter for force is not correctly translated. The command specifies a force of "6 kilograms", while the JSON structure uses the unit of force "newtons". They are different units of measurement so can\'t be used interchangeably.', ''] +Exert a force of 6 kilograms to grasp the object tightly, and then release it after a duration of 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The values provided in the natural language command match those in the JSON structure for force and duration, however force unit is incorrect. In the JSON structure, force unit is described in newtons, but in the command it\'s described in kilograms which is not correct. As for the "release_grip" part of the command, the JSON structure is not provided in the sample, which makes it impossible to find a conform match.'] +Clamp onto the object with a force of 6 kilograms, and then loosen your grip after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["0; The command itself aligns with the 'grip_object' action, however, the units don't match: the command specifies the force in kilograms, while the JSON structure specifies it in newtons."] +Use 6 kilograms of pressure to firmly hold onto the object, and then release it after a 2-second interval.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['0; The parameter "force" in the JSON structure is incorrectly valued and labeled. The command says to use "6 kilograms of pressure" but kilograms is not a unit of pressure and does not match with the unit in the ontology which is "newtons".'] +Rotate the base joint counterclockwise by 270 degrees and hold.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure is mostly conforming to the command given. The action "move_joint" is correctly identified, the joint_name is assigned as "base", the angle of "270.0" degrees is specified and direction is correctly set as "counterclockwise". The "unit" and "unit_speed" also matches perfectly. However, in the natural language command, there is no information about the speed at which the joint should be moved, therefore, the specific speed value of 1.0 in the JSON may or may not be accurate.'] +Turn the base joint in an anti-clockwise direction by 270 degrees and maintain the new position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the base joint by 270 degrees in a counterclockwise direction and keep it there.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command aligns and matches with the JSON structure perfectly. The action "move_joint", the "joint_name" as "base", the "angle" as "270.0", the "direction" as "counterclockwise", the "speed" value, the "unit" as "degrees", and the "unit_speed" as "degrees/s" are all correctly interpreted and represented in the JSON structure.'] +Make a 270-degree counterclockwise rotation to the base joint and hold it.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Twist the base joint counterclockwise by 270 degrees and keep it steady.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The command exactly conforms with the given JSON structure. The action is "move_joint", the joint_name is "base", the angle is 270.0 (specified in degrees), and the direction is "counterclockwise". Though the speed is not specified in the command, any reasonable value is accepted. The given value "1.0" is reasonable for this case.'] +Move to position X:200, Y:150, Z:100 with a velocity of 12 meters per second and then dance.,["The command is not consonant with the ontology and so it's disregarded."];['0; The natural language command does not correspond with any of the action structures specified in the JSON information. The command requires moving to a position and dancing, none of which are actions mentioned in the JSON structures.'] +Dance after moving to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,['{', ' "action": "move_to_coords",', ' "params": {', ' "coord_x": {', ' "type": "float",', ' "value": 200.0', ' },', ' "coord_y": {', ' "type": "float",', ' "value": 150.0', ' },', ' "coord_z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 12.0', ' },', ' "unit_coords": "meters",', ' "unit_speed": "m/s"', ' }', '}'];["0; The natural language command and the JSON structure don't match. The command talks about moving to specific coordinates and then dancing, but neither of these actions ('move_to_coords' or 'dance') exist in the sample ontology. Additionally, the provided JSON structure doesn't match the sample keys or the command - it suggests a 'move_to_coords' action that isn't included in the sample ontology."] +After reaching the position X:200, Y:150, Z:100 with a velocity of 12 meters per second, start dancing.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X:200, Y:150, Z:100"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 12.0', ' },', ' "unit": "positions",', ' "unit_speed": "m/s"', ' }', '}'];['0; The action described in the natural language command does not correspond to any in the JSON structures provided. The command "start dancing" has no equivalent in the ontology, and the parameters of the move_joint action, such as joint_name and angle, are not mentioned in the command. Furthermore, the unit_speed parameter is measured in degrees/s in the ontology, while the command mentions a speed of 12 meters per second. Also, the joint_name "X:200, Y:150, Z:100" does not match with the joint_name "elbow" in the sample ontology.'] +Begin dancing once you have moved to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,['This action is not described in the ontology and must be ignored.'];['0; The command refers to an action ("begin dancing") and parameters ("coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second") that do not exist in the sample keys of the provided ontology. Therefore, it cannot be converted to JSON based on the provided ontology.'] +After traveling to the position X:200, Y:150, Z:100 at a velocity of 12 meters per second, proceed to dance.,['{}'];['0; The command does not conform to any of the provided JSON structure as there is no action to travel to a position or to perform the action of dancing.'] +Turn the robot arm on.,['This action is not included in the provided ontology. Therefore, no JSON command can be generated.'];['0; The command does not correspond to any of the sample JSON structures provided. The action of turning the robot arm on is not present in the ontology.'] +Activate the robot arm.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];["1; The natural language command asks to activate the robot arm which doesn't correspond to any action in the JSON structures. The provided JSON structure is for setting the orientation. Therefore, the command and the JSON structure don't match."] +Switch on the robot arm.,['{', ' "action": "turn_on",', ' "params": {}', '}'];['0; The natural language command mentions about the action of turning on the robot arm, but the sample keys do not include a "turn_on" action. Therefore, the provided JSON structure does not conform to the sample ontology.'] +Power up the robot arm.,['{', ' "action": "power_up",', ' "params": {}', '}'];['0; The natural language command "Power up the robot arm" does not match any action in the given JSON structures. The presented JSON structure also doesn\'t match with the sample ontology.'] +Enable the robot arm.,['{', ' "action": "enable_arm",', ' "params": {}', '}'];["0; The natural language command 'Enable the robot arm.' does not match with any JSON information provided. The action 'enable_arm' does not exist in the sample keys."] +Open the gripper completely.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Fully open the gripper.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform. The natural language command is asking to open the gripper which conforms exactly with the JSON command of "release_grip" that also indicates the same action without having any parameters.'] +Open the gripper all the way.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Ensure that the gripper is completely open.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Make sure the gripper is fully opened.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Move the arm to position X:50, Y:75, Z:100.,['Since the action "move_arm_to_position" does not exist in the given ontology, we cannot provide a JSON for it. Only the actions "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation" exist in the ontology.'];["0; The command doesn't match with any of the given JSON structures because there is no action related to moving the arm to a specific position in the sample ontology."] +Position the arm to coordinates X:50, Y:75, Z:100.,['The command is not supported by the ontology.'];['0; The provided natural language command does not match any of the actions defined in the provided JSON structures. The command refers to positioning an arm to specific coordinates, which is not covered in the available actions in the JSON structures: "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation". Therefore, the command cannot be converted into any of these JSON structures.'] +Adjust the arm to X:50, Y:75, Z:100.,['The given prompt action "Adjust the arm to X:50, Y:75, Z:100." is not conformant to the ontology provided. Hence, it cannot be translated into the JSON format as per the ontology.'];["0; The command 'Adjust the arm to X:50, Y:75, Z:100' does not match with any of the provided JSON structures. The sample ontology does not include a way to interpret or execute this command."] +Shift the arm to coordinates X:50, Y:75, Z:100.,['The action provided in the prompt "Shift the arm to coordinates X:50, Y:75, Z:100" is not included in the ontology. Therefore, the action will be ignored.'];['0; The provided natural language command does not conform to any of the JSON structures provided in the ontology.'] +Set the arm to position X:50, Y:75, Z:100.,['{', ' "action": "set_position",', ' "params": {', ' "coordinates": {', ' "type": "dict",', ' "value": {', ' "X": 50.0,', ' "Y": 75.0,', ' "Z": 100.0', ' }', ' },', ' "unit": "centimeters"', ' }', '}'];['0; The given natural language command ("Set the arm to position X:50, Y:75, Z:100") does not match any of the provided JSON structures. There are no keys in the sample ontology that correspond to "set_position" or coordinates like X, Y, Z. Therefore, the command cannot be converted to any of the provided JSON structures and so it gets a conformity score of 0.'] +Rotate the elbow joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command matches with the JSON structure in terms of action (move_joint), joint_name (elbow), direction (counterclockwise), and unit (degrees). However, the angle specified in the command (90 degrees) doesn't match with the angle in the JSON structure (45 degrees). The speed is unspecified in the command but it's provided in the JSON structure (0.5).", ''] +Turn the elbow joint in the counterclockwise direction, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command precisely matches the provided JSON structure. The actions, direction and the degree of rotation are all correctly represented, including the elbow joint and the counterclockwise movement.'] +Rotate the elbow joint towards the left, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The natural language command essentially conforms to the JSON structure, with correctly identified action and parameters like joint_name, angle, and direction. However, the direction indicated in the command is \'left\' while in the JSON structure, it\'s \'counterclockwise\'. While \'left\' and \'counterclockwise\' can be similar in certain contexts, they may not always be interchangeable. The "speed" parameter is also not specified in the command but has a reasonable value in the JSON.'] +Twist the elbow joint counterclockwise, making a rotation of 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command and the JSON structure match fairly well, the "action" is "move_joint", the "joint_name" is "elbow", the "direction" is "counterclockwise" and the "angle" is 90.0. The command does not specify the "speed", hence any valid value is acceptable. However, the direction is counterclockwise in the command while it\'s clockwise in the sample, it is assumed that change in direction would be allowed.'] +Spin the elbow joint in a counterclockwise manner, angling it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command matches the JSON structure overall, but the speed is not specified in the command while it is in the JSON structure. Further, the unit of the speed is degrees per second which is not explicitly mentioned in the command but assumed based on the action of moving a joint by a certain angle. Hence, it's a near match but the unspecified speed causes it to not be an exact match."] +Extend the arm by 20 centimeters at a velocity of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Increase the arm length by 20 centimeters, moving at a speed of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Stretch the arm out by an additional 20 centimeters, with a velocity of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Lengthen the arm by 20 centimeters, moving at a rate of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Expand the arm's reach by 20 centimeters at a speed of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Grip the object with 3 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['0; The command asks the system to grip an object with 3 kilograms of force. However, the unit of force in the given JSON structure is wrongly specified as "kilograms" instead of "newtons". The duration of the action is specified in the JSON structure, but the initial command does not mention it. Thus, this does not conform to the rules.'] +Apply a 3-kilogram force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command and the JSON structure only partly conform to the ontology as the action "grip_object" is correct. However, the "force" unit in the JSON structure is "kilograms" while it should be "newtons" according to the ontology. The "duration" value and unit are properly aligned with the ontology, but it is not specified in the command.'] +Exert 3 kilograms of force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];["2; There is a mismatch in the unit of force used in the command ('kilograms') and the one present in the JSON ('newtons'). However, the action and the parameter type is correct, hence the partial score."] +Use a force of 3 kilograms to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kg",', ' "unit_duration": "seconds"', ' }', '}'];["1; The action in the natural language command matches with the JSON structure, but force's unit is mentioned as 'kilograms' in the command, which doesn't match with the 'newtons' in the sample JSON. Also, duration is specified in the JSON structure, but it's not mentioned in the command."] +Hold the object with a force of 3 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 3.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command aligns with the JSON structure in terms of the action: "grip_object" and sets the appropriate force value. However, the unit of force in the command is mentioned as "kilograms", while in the JSON structure it is "newtons", which represents a mismatch in terms of units. Besides, the duration parameter in the JSON seems to be arbitrarily assumed as it\'s not mentioned in the command.'] +Retract the arm by 30 centimeters at a velocity of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure accurately represents the action of extending the arm, however, the negative value for extension_length could lead to confusion as it could be interpreted as retraction rather than extension. Thus, while the negative value might be used to denote retraction, this is not explicitly noted in the ontology, hence the deduction in the score.'] +Move the arm backwards by a distance of 30 centimeters, with a speed of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Withdraw the arm by 30 centimeters, advancing at a rate of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The action name "extend_arm" in JSON does not exactly conform to the verb "Withdraw" in the command. However, the parameters values, units and types match the command.'] +Pull back the arm by 30 centimeters, traveling at a velocity of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The action and parameters in the JSON structure align with the natural language command but the extension_length says -30.0 instead of 30.0 which is mentioned in the command. There is no action called 'pull back' in the JSON structure but assuming this refers to the 'extend_arm' action with a negative 'extension_length' value, the command could conform to the structure. So, due to this assumption needed, the score can't be a perfect 5."] +Reverse the arm's position by 30 centimeters, with a speed of 5 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The JSON structure generally fits the natural language command, the action is correct as is the unit of measure for the extension and the speed. But in the 'extension_length' parameter, the JSON writes the value as '-30.0' instead of '30.0'. Even though the command clearly states that it's a 'reverse' movement, the JSON structure does not have any key that expresses direction, and as such the negative value could be seen as incorrect. Hence a point was deducted."] +Rotate the wrist joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4.5; The action, joint_name, angle and direction within the 'params' key match exactly with the natural language command. However, the 'speed' is not mentioned in the command, thus the JSON's 'speed' would not exactly match with the command. Thus a 0.5 deduction in the score."] +Alter the position of the wrist joint in a counterclockwise direction by an angle of 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The command\'s action and parameters match perfectly with the move_joint JSON structure where joint_name is "wrist", angle is 180.0, direction is "counterclockwise", and the units are in degrees and degrees/s.'] +Turn the wrist joint counterclockwise with a rotation of 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command perfectly matches the JSON structure. The \'action\' is correctly defined as "move_joint" and \'params\' such as "joint_name", "angle", "direction", "speed", "unit", and "unit_speed" are provided with appropriate values according to the command.'] +Rotate the wrist joint in a counterclockwise manner, shifting it by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Almost perfect match, the "speed" value was not specified in the natural language command however the JSON structure provided a reasonable default value of 0.5 degrees/s which can be accepted.'] +Perform a 180 degree counterclockwise rotation on the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Move the arm to position X:100, Y:0, Z:50.,['The action mentioned in the prompt is not found in the provided ontology. The action must be one of the following: "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation". Therefore, no conforming json can be returned for this prompt.'];['0; The natural command instructions do not correspond with any of the given JSON structures.'] +Adjust the position of the arm to X:100, Y:0, Z:50.,['Sorry, this action is not within the ontology provided.'];['0; The natural language command talks about adjusting the position of the arm in a XYZ coordinate system. However, there is no matching JSON structure or action in the ontology that corresponds to this command.'] +Relocate the arm so that it is at X:100, Y:0, Z:50.,['{', ' "action": "ignore",', ' "params": {}', '}'];["0; The action command of moving the arm in specific X, Y, Z coordinates doesn't match with any actions provided in the sample ontology. The action in the JSON structure is to 'ignore', which also doesn't match the natural language command."] +Shift the arm's position to X:100, Y:0, Z:50.,['The current ontology does not support the requested action. Therefore, no valid JSON command can be created for this prompt based on the existing ontology.'];["0; The command requests a movement of the arm's position to specific coordinates, which is not supported by the provided JSON structure. The actions available in the ontology include 'move_joint', 'extend_arm', 'grip_object', 'release_grip', and 'set_orientation', none of which cater to movement to specific XYZ coordinates. Therefore, there is no match."] +Transfer the arm to the coordinates X:100, Y:0, Z:50.,['This action is not present in the provided ontology. Therefore, no JSON can be returned.'];['0; The natural language command does not match any of the provided JSON actions or parameters.'] +Open the gripper halfway.,['This action is not in the ontology, so it has to be ignored according to the rules.'];['0; The provided natural language command does not conform to any of the available JSON structures in the sample keys given.'] +Partially open the gripper.,['The given prompt requires an action related to a partial grip or opening of the gripper which is not in the ontology. Therefore, this prompt cannot be represented in a JSON command based on the given ontology.'];['0; The natural language command does not match any of the available actions in the JSON structures provided in the sample ontology.'] +Open the gripper to a halfway position.,['This action is not in the ontology.'];['0; The natural language command does not match any of the actions or parameters in the given JSON structures.'] +Adjust the gripper to a halfway open position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "unknown"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["2; The action 'move_joint' and parameter 'joint_name' with value 'gripper' can be inferred from the natural language command. The parameter 'angle' with a value of 50.0 can be assumed as half open position for a gripper. However, the direction is stated as 'unknown' which is not clear from the command. The 'speed' parameter has been assigned a general value which hasn't been requested in the command."] +Set the gripper to open at a midpoint.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['1; The action in the JSON structure - "release_grip" - isn\'t entirely consistent with the command mentioned ("Set the gripper to open at a midpoint."). The command implies a specific opening position ("midpoint"), which is not represented in the JSON structure. However, the action of \'releasing grip\' could be loosely interpreted as opening the gripper, hence the low score.'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The action type "move_joint" and the parameters joint_name, angle, direction, and unit all conform to the natural language command. However, the speed and unit_speed are not mentioned in the natural language command. Therefore, the assumption of reasonable values for these parameters is required, resulting in a partial conformity score.'] +Turn the shoulder joint in a clockwise direction at a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The JSON structure perfectly matched the natural language command expressing a 'move_joint' action for the 'shoulder' joint in a 'clockwise' direction at a '45-degree' angle. The speed value not being specified in the command, the given speed in the JSON is acceptable."] +Rotate the shoulder joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The action and most of the parameters match correctly. The joint name in the command ("shoulder") matches the joint name in the JSON ("shoulder"). The angle in the command (45 degrees) matches the angle in the JSON (45.0). The direction in the command ("right") corresponds to "clockwise" in the JSON. However, the speed is not mentioned in the natural language command, so the value in the JSON could be any reasonable float value, not necessarily 0.5.'] +Twist the shoulder joint in a clockwise motion, 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; All information is correctly encoded in the JSON object, but the specified speed in the JSON object does not match with the natural language command, because the speed is not mentioned in the command.'] +Adjust the shoulder joint by rotating it clockwise at a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The given natural language command and the JSON information exactly conform to each other by matching both, the action (move_joint) and parameters such as joint_name (shoulder), direction (clockwise), and angle (45.0). Despite the command not specifying the speed, the JSON information providing a default speed (0.5 degrees/s) is considered acceptable.'] +Extend the arm by 10 centimeters at a velocity of 8 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The "action" and "params" in the JSON structure perfectly match the natural language command, and the "extension_length", "speed", "unit_length", and "unit_speed" parameters are correct. However, the "speed" "value" in the JSON structure does not match the value in the natural language command. The JSON has a value of 8.0, while the command stipulates a speed of 1.0 cm/s.'] +Increase the length of the arm by 10 centimeters at a speed of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Lengthen the arm by 10 centimeters with a velocity of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Stretch the arm outwards by 10 centimeters, moving at a speed of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Expand the arm's length by 10 centimeters, while maintaining a velocity of 8 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command perfectly matches with the JSON structure, It correctly identifies the action as "extend_arm", the extension length as 10 cm, and the speed as 8 cm/s. It uses the correct units for both values ("cm" and "cm/s" respectively) as described in the sample ontology.'] +Grip the object with 2 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];["2; The command is interpreted incorrectly. The force unit in the JSON structure is kilogram while in the ontology sample it's newton. Also, the duration value is not mentioned in the command but is given in the JSON structure as 1.0."] +Apply 2 kilograms of force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action in the JSON corresponds to the command, but the unit of force is incorrect. The command specifies using kilograms to measure force, while the sample ontology uses newtons.'] +Exert a force of 2 kilograms to grab hold of the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['0; The force unit in the JSON structure is "newtons" not "kilograms". The natural language command and the JSON structure don\'t match.'] +Hold onto the object with a force of 2 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command somewhat matches the JSON structure, as the action "grip_object" is correct. However, force in the JSON is given in newtons whereas the command specifies kilograms. The value of duration in the JSON doesn\'t match with the command as well as the command doesn\'t specify any duration. Therefore, the lack of complete conformity results in a low score.'] +Use 2 kilograms of force to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The given JSON structure does match the natural language command with the action ("grip_object") and the parameter "force" with a value of 2.0, but it is not using the correct unit of measurement for force. In the natural language command, force is measured in kilograms while the JSON structure measures force in newtons. Additionally, the "duration" value in the JSON is arbitrary and not mentioned in the natural language command. The use of incorrect metrics and unsolicited parameters yield a low conformity score.'] +Retract the arm by 15 centimeters at a velocity of 6 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The action in the command is executed correctly in the JSON structure. However, the direction isn\'t right because the "extend_arm" action should have a positive value, but the "value" is -15.0 in the "extension_length" category.'] +Move the arm back by 15 centimeters with a speed of 6 cm per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command matches perfectly with the provided JSON structure. The action (extend_arm), parameters (extension_length and speed), and units (cm and cm/s) all conform to the sample ontology, even with the negative value to indicate moving the arm back.'] +Withdraw the arm, reducing its length by 15 centimeters, at a rate of 6 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4.5; The action in the natural language command is the opposite of the "extend_arm" action in the JSON structure. Even if the execution could be similar (a negative extension length representing the withdrawal), the semantics of the action do not perfectly match. All parameters match correctly.'] +Pull back the arm, decreasing its extension by 15 centimeters, moving at a pace of 6 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; Mostly conform. The natural language command gives a command to decrease the extension length of a robot\'s arm which is not exactly \'extend_arm\'. It\'s rather \'retract_arm\'. Since \'retract_arm\' is not in the sample keys, it could be interpreted under \'extend_arm\' with a negative value of extension_length. The values provided for "speed" and "extension_length" reflects correctly to the negative movement in centimeters and speed of movement in cm/s. However, the exact conformity is not there because the key \'extend_arm\' doesn\'t precisely depict the command given.'] +Reverse the position of the arm, reducing its protrusion by 15 centimeters, traveling at a speed of 6 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["3.5; Partially conform. The command can be interpreted as an 'extend_arm' action with negative extension length, but this interpretation is not a typical or straightforward use of extend command. Usually, a separate action to 'retract' arm might be used for such operation. So such a JSON structure may not exist in similar ontology. However, this interpretation is plausible in the given ontology as it does not explicitly restrict the 'extension_length' to only positive values."] +Rotate the elbow joint clockwise by 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Twist the elbow joint in a clockwise direction, turning it 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The natural language command closely matches the JSON structure. However, the command doesn\'t specify the speed of the joint movement, so the "speed" key-value pair in the JSON structure isn\'t confirmed by the command. Therefore, a perfect score can\'t be given.'] +Turn the elbow joint to the right, rotating it by 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the elbow joint in a clockwise manner, making a 135-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Twist the elbow joint to the right, adjusting it by 135 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 135.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The command and the JSON structure match perfectly. The "move_joint" action is used for turning the elbow joint 135 degrees in a clockwise direction. The speed is not specified in natural language command but represented in the JSON which is also acceptable.'] +Move the arm to position X:0, Y:100, Z:20.,['This action is not in the ontology.'];["0; The natural language command refers to moving the arm to a specific position, but the JSON structure does not contain a key for positional movement or coordinates. The ontological sample provided doesn't cover this action."] +Adjust the position of the arm to X coordinate 0, Y coordinate 100, and Z coordinate 20.,['This action is not within the provided ontology, so it cannot be converted into JSON according to the given rules.'];['0; The given command does not match any of the actions or parameters provided in the sample ontology.'] +Alter the arm's location to X:0, Y:100, Z:20.,['The action "alter the arm\'s location" is not recognized in the provided ontology, thus it should be ignored and no command created.'];['0; The natural language command does not conform with any of the available JSON structures within the provided ontology. The command "Alter the arm\'s location" does not match with any existing actions such as "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation".'] +Shift the arm's position to the coordinates X:0, Y:100, and Z:20.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command talks about moving the arm to specific coordinates, but this is not reflected in any of the JSON structures provided. The JSON provided talks about setting an orientation, which does not match the command.'] +Change the arm's placement to X coordinate 0, Y coordinate 100, and Z coordinate 20.,['{', ' "action": "ignore",', ' "params": {}', '}'];["0; The natural language command is about positioning an arm in certain 3D coordinates while the JSON structure indicates to 'ignore' an action which is not compliant with the instruction, hence there's no conformity."] +Close the gripper completely.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['5; The "grip_object" command and all parameters match the sample JSON. The specifics of the force or duration are not given in the natural language command, but the JSON values are reasonable and within the conformity of the structure.'] +Fully close the gripper.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['5; The natural language command "Fully close the gripper" aligns perfectly with the JSON Action "grip_object", and the parameters value in JSON ("force" & "duration") are accepted because it\'s a reasonable value for the command provided. Therefore, the score given is 5 due to the conformity with the keys of the sample ontology.'] +Shut the gripper completely.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command "Shut the gripper completely." seems to somewhat match the "grip_object" action in the JSON structure. However, the JSON structure doesn\'t exactly represent the shutting of a gripper, but rather applying a certain force for a certain duration. Therefore, the matching is only partial and not exactly conforming to the command.'] +Ensure the gripper is completely closed.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; Although the action "grip_object" is similar to the command "ensure the gripper is completely closed", the JSON structure does not fully convey this command as there is no measure of how \'closed\' the gripper is. The parameters in the JSON are about the force and duration, and does not provide any information on the state/degree of closure of the gripper.'] +Make sure the gripper is closed tightly.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command corresponds perfectly with the "grip_object" action in JSON format, which includes parameters like force and duration. Those parameter\'s values aren\'t specified in the command, but any reasonable value is accepted, so the given values are in compliance.'] +Rotate the wrist joint clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The JSON structure mostly matches the natural language command. The action and parameters for joint name, direction, angle, and unit correctly reflect the joint movement instruction. However, the speed value in the JSON doesn't match the command as the speed isn't specified in the command."] +Turn the wrist joint 90 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the wrist joint in a clockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Twist the wrist joint by 90 degrees in a clockwise manner.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The JSON structure is mostly aligned with the natural language command. All parameters, such as the joint_name as "wrist", the angle as 90.0, the direction as "clockwise", and the units are correct. But, the command doesn\'t specify the speed of the action, thus using 0.5 as speed in JSON is an assumption.'] +Perform a 90-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON structure completely matches with the natural language command. The "move_joint" action is correctly used with appropriate parameters such as "joint_name" ("wrist"), "angle" (90.0), "direction" ("clockwise"), and a reasonable "speed" (0.5). The units of "degrees" and "degrees/s" are also in conformity with the context.'] +Swim.,['{}'];['0; The natural language command "Swim." does not align with any action in the JSON structures provided. Therefore, it cannot be converted into JSON based on the sample keys.'] +Take a swim.,['{}'];["0; The natural language command 'Take a swim.' does not match any of the JSON actions and therefore has no conformity with the sample keys."] +Go for a swim.,['{}'];['0; The natural language command does not match any of the JSON structures provided. The command \'Go for a swim.\' does not correspond to any actions such as "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation".'] +Jump in the water and swim.,['{}'];["0; The natural language command 'Jump in the water and swim.' does not match any of the actions specified in the JSON structures. The command therefore cannot be converted into any of the given JSON formats."] +Engage in swimming.,['{}'];["0; The natural language command 'Engage in swimming.' does not relate to any of the JSON structures provided. The sample keys do not contain any information regarding the action of 'swimming.'"] +Watch TV.,['{}'];["0; The command 'Watch TV.' does not match any of the given JSON structures. Therefore, it cannot be converted."] +Please turn on the television and start watching.,['{', '}'];["0; The natural language command is about a television operation, which is not reflected in any of the given JSON structures. The available JSON structures are about robot joint movements, arm extension, gripping an object, releasing a grip, and setting an orientation, none of which relate to operating a television. Therefore, the command doesn't match with the information and ontology keys in the provided JSON structures."] +Begin watching television.,['{}'];['0; The natural language command "Begin watching television." does not match any of the actions in the JSON structures provided, such as "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation". Therefore, the conformity score is 0.'] +Start watching your favorite TV show.,[''];["0; The natural language command 'Start watching your favorite TV show.' does not conform to any of the JSON structures provided, thus it cannot be converted into any of these JSON. The actions listed in the JSON structures do not include any commands related to watching a TV show."] +Get ready to enjoy some television programming.,['{}'];['0; The command does not correspond to any of the JSON structures provided. The command is requesting to prepare for watching television, but no such action or parameters exists within the given JSONs.'] +Lift the object and move it 30 centimeters to the left.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["0; The command talks about lifting an object and moving it, not about moving a joint. The JSON data represents the action of moving a joint not the object. The parameters in the JSON like joint_name, angle, direction are not mentioned in the command. The command and the JSON structure don't match."] +Pick up the item and shift it 30 centimeters towards the left.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The JSON structure corresponds to the "extend_arm" action. However, the action described in the natural language command involves picking up an item and moving it to the left, not an arm movement. This command would require a mix of several actions, i.e., "grip_object" and "move_joint" which are not reflected in the given JSON.'] +Grasp the object and relocate it 30 centimeters towards the left.,['Sorry, but the provided action is not existent in the given ontology. Please provide an action that is supported by the ontology.'];['0; The natural language command refers to an action ("Grasp the object and relocate it") that doesn\'t exist in the JSON structure. The JSON ontology lacks actions and parameters to support moving an object in a specified direction (e.g., "towards the left"). There is no key for location or displacement in any direction.'] +Raise and transfer the item 30 centimeters to the left.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The natural language command involves raising and moving an item, however, the JSON structure only represents extending the arm by 30 centimeters. There is no representation of the movement to the left or the action of gripping and lifting an item.'] +Elevate the object and shift it 30 centimeters in the leftward direction.,['This action is not specified in the ontology. The prompt must contain one of the following actions: "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation".'];['0; The natural language command does not conform to any of the provided JSON structures as there is no information or action regarding elevating or shifting objects in any specific direction in the sample ontology.'] +Rotate the base counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Turn the base 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the base in a counterclockwise direction, making a 90-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches the perimeters in the JSON structure. The "action" is to "move_joint" which corresponds to the rotation of the base. The parameters also match. "joint_name" is the base, the "angle" is 90 degrees, and the "direction" is counterclockwise. The speed value in JSON is 1.0, which is acceptable as the command does not specify the speed. The units are also correctly identified as degrees for angle and degrees per second for speed.'] +Rotate the base in an anti-clockwise direction, making a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The command is correctly converted to the JSON structure. All parameters like action, joint_name, angle, direction, speed, and units used are present in the sample ontology and their values in the JSON match with the information provided in the command.', ''] +Twist the base counterclockwise, creating a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4.5; The natural language command nearly perfectly matches the JSON structure. The only unspecified item is the 'speed' in which the action should be conducted."] +Extend the arm by 20 centimeters and hold position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["2; The natural language command mentions extending the arm by 20 cm which is correctly captured in the json. It also mentions holding the position for 10 seconds but this information isn't converted into the json. The 'speed' param in the json is a default value and not derived from the command."] +Increase the arm's length by 20 centimeters and maintain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; Partial match. The extend_arm action and extension_length of 20.0 centimeters are aligned with the command. However, the command indicates a duration of maintaining the position, while the JSON structure only represents the speed of the action, not the duration.'] +Stretch the arm outwards by 20 centimeters and keep it still for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["3; The natural language command asks to keep the arm still for 10 seconds after extending it, but the JSON structure does not provide any functionality or command for waiting or keeping still. The extension action and the values align well, however, the remainder of the command's instructions don't have a corresponding JSON structure."] +Protract the arm by 20 centimeters and sustain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The natural language command does ask to extend the arm, which matches from the JSON structure. The parameter "extension_length" is also specified correctly in the JSON. However, the natural language command also asks to sustain the position for 10 seconds, but this information is not reflected in the JSON.'] +Elongate the arm by 20 centimeters and stay in that position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The json structure matches the command in terms of action, which is extending the arm and the extension_length for which the value is accurately captured from the command as 20.0. The speed value prescribed in the json structure doesn\'t match the command as there is no reference to speed in it. Also, the command mentions "stay in that position for 10 seconds" which is not represented in the JSON structure.'] +Open the gripper and release the object gently.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Gently release the object by opening the gripper.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Carefully open the gripper to let go of the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Softly release the object by opening the gripper.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Open the gripper in a gentle manner to release the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position_x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "position_y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "position_z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];['0; The JSON structure does not conform to the provided ontology. The action "move_to_position" and parameters "position_x", "position_y", "position_z", and "velocity" are not present in the sample ontology.'] +Go to coordinates X:50, Y:20, Z:10 with a speed of 0.5 meters per second.,['{ "action": "ignore", "params": {} }'];['0; The provided command asks for movement to specified coordinates at a certain speed. This does not match with any of the actions listed in the provided JSON structures.'] +Travel to X:50, Y:20, Z:10 with a velocity of 0.5 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];['0; The provided JSON does not match with the sample keys in the ontology. The action "move_to_position" and its associated parameters ("x", "y", "z", and "velocity") are not present in the sample ontology. Thus, the natural language command cannot be correctly translated to the JSON format according to the given template.'] +Reach position X:50, Y:20, Z:10 at a pace of 0.5 meters per second.,['{', ' "action": "ignore",', ' "params": {}', '}'];["0; The command instructs to reach a certain position at a specific pace, but the provided JSON structure only contains an 'ignore' action with no parameters. It is not even related to moving or positioning."] +Proceed to point X:50, Y:20, Z:10 at a rate of 0.5 meters per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "x_coordinate": {', ' "type": "int",', ' "value": 50', ' },', ' "y_coordinate": {', ' "type": "int",', ' "value": 20', ' },', ' "z_coordinate": {', ' "type": "int",', ' "value": 10', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_coordinate": "meters",', ' "unit_speed": "meters/s"', ' }', '}'];['0; The provided JSON structure does not match with the given command. The action in the JSON structure is "move_to_point", but there is no such action in the sample ontology. The keys like "x_coordinate", "y_coordinate", "z_coordinate", etc., are also not present in the sample ontology.'] +Bend the elbow joint to a 45-degree angle and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "undefined"', ' },', ' "speed": {', ' "type": "float",', ' "value": "undefined"', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command matches well with the JSON structure as it correctly identifies the action (move_joint) and the joint_name (elbow). It contains most parameters like angle (45.0), unit (degrees) but it fails to specify the direction and speed of the movement which are present in JSON structure. Also, 'hold for 5 seconds' part from the command isn't represented anywhere in the JSON."] +Flex the elbow joint at a 45-degree angle and maintain the position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "flex"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Almost conform. The natural language command correctly translates into the "move_joint" action with appropriate parameters such as "joint_name", "angle", and "unit". However, the direction is inaccurate (should be clockwise or counterclockwise, not "flex") and the duration or maintenance of the position for 5 seconds is not represented in the JSON structure. This is also why the value of "speed" cannot be accurately determined.'] +Angle the elbow joint to 45 degrees, and keep it in that position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 9.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["3; The natural language command matches with the 'move_joint' action, 'elbow' joint_name, 45 degrees angle and 'degrees' unit in the JSON. However, 'speed' and 'direction' in the JSON do not correlate with anything in the command and the duration of 5 seconds mentioned in the command is not represented in the JSON."] +Curve the elbow joint to a 45-degree angle, and hold it for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 9.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; While the action "move_joint" and parameters "joint_name" with value "elbow" and "angle" with value 45.0 are correctly identified, the direction (clockwise) is wrong as it\'s not specified in the natural language command. Also, the holding duration mentioned in the command is not translated into JSON. The "speed" parameter seems to be irrelevant in this case, as it\'s not mentioned in the command but is included in the JSON.'] +Fold the elbow joint to a 45-degree angle and sustain the pose for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 9.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["3; The JSON structure is matching the command in terms of action and parameters such as joint_name and angle. The value of 'direction' is contrary to the command as the command specifies to 'fold' the elbow joint, but the value in JSON is 'clockwise' which usually means opening or extending. The speed doesn't match the command either, as the command does not specify a speed, instead it mentions a duration of 5 seconds. The speed value in the JSON is thus arbitrary and does not reflect the natural language command."] +Readjust the wrist joint to a neutral position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The natural language command refers to moving a joint (the wrist to a neutral, or 0 degree, position), and the corresponding JSON structure also describes the action of moving a joint. The only reason that a perfect score is not awarded is due to the "direction" key in the JSON. In the command, there\'s no explicit mention of direction (clockwise or counter-clockwise), so the counterclockwise direction given in the JSON is an assumed detail, not explicitly stated in the command.'] +Adjust the position of the wrist joint to a neutral stance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON command corresponds with the action "move_joint" of the natural language command. Although the direction value in the JSON structure doesn\'t entirely match with the natural language command, its semantics are correct, and the rest of the parameters are in conformity with the provided ontology keys. The "neutral" stance could be interpreted as an angle of 0.0 degrees which is a reasonable assumption.'] +Correct the position of the wrist joint to a neutral alignment.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure mostly matches the natural language command in that it correctly identifies the action as "move_joint" and properly specifies the "joint_name" as "wrist". However, the "direction" value is stated as "neutral" but it\'s not clear from the command as there is no such direction specified in the natural language command. Also the "angle" in the natural language command is suggested to be 0.0 though it\'s not explicitly stated. Similarly, the speed is assumed to be 1.0 which is not specified in the command. These uncertainties cause it not to be a perfect match.'] +Realign the wrist joint to a neutral position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure conforms to the natural language command, it correctly identifies the action as "move_joint" and the joint as "wrist". However, the term "neutral" in the direction does not match with the given ontology. The "angle" field is properly filled, matching the "neutral" position specified. The "speed" value is also properly filled, as its actual value is not specified in the command.'] +Reset the wrist joint to a neutral stance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3.5; The "action" and "params" in the JSON do match the command given with some degree of accuracy. The "joint_name" value "wrist" correctly reflect the "wrist joint" from the command. However, "direction" value "clockwise" in JSON doesn\'t match the command as no direction is mentioned. Therefore, the score can\'t be perfect.'] +Rotate the arm horizontally by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command mostly matches the JSON structure. However, the "joint_name" in JSON structure is labeled as "arm" instead of "elbow" as in the sample ontology. Also, the direction "clockwise" in the JSON structure was not specified in the natural language command.'] +Turn the arm in a horizontal direction by a full 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON command almost exactly conforms to the natural language command. However, given the mention of "horizontal direction" in the natural language command, there might be an additional direction parameter required in defining the arm\'s movement.'] +Rotate the arm sideways, making it complete a 180-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "sideways"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure includes all required keys matching the natural language command, but the value for "direction" is a bit unclear as "sideways" doesn\'t directly relate to "clockwise" or "counterclockwise". "Joint_name" with the value of "arm" doesn\'t exactly match "elbow", but it is reasonably close in the context of the ontology.'] +Perform a horizontal rotation of the arm, spanning 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command mostly matches the JSON structure. The command pertains to movement of a joint, as evidenced in the action value of the JSON structure. Additionally, the 180 degree angle for the joint movement is correctly mentioned. There is, however, no mention of which joint to move, contrary to what is specified in the JSON structure ("elbow"). Furthermore, the language command does not specify the direction of the movement or the speed, which are present in the JSON structure. The direction in the JSON structure is "clockwise", but the natural language pinpoints a horizontal rotation, which can technically be in either direction. The speed, while not specified in the natural language command, can be accepted as the JSON value (0.5 degrees per second) per the guidelines.'] +Twist the arm horizontally, ensuring it moves precisely 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure corresponds well to the natural language command. Action type "move_joint" and parameters such as joint_name, angle, and unit match. However, the direction of the rotation isn\'t specified in the command, while the JSON presumes it to be "clockwise". The speed value in the JSON structure is also assumed as it is not specified in the command.'] +Grip the object with 10 newtons of force for 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "minutes"', ' }', '}'];['5; Exactly conform.'] +Apply a force of 10 newtons to firmly hold onto the object for a duration of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Grasp the object firmly with a force of 10 newtons and maintain the grip for a period of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches the JSON structure. The action "grip_object" is correctly recognized, and both parameters "force" and "duration" are clearly specified with the correct values and units.'] +Exert a 10-newton force to grip the object tightly for 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Hold onto the object with a force of 10 newtons for a duration of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; Almost perfect match, but the duration in the JSON structure is in seconds while in the natural language command is in minutes.'] +Move to position X:0, Y:0, Z:50 at a velocity of 1 meter per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 0.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];['0; The JSON structure does not match any of the given ontology, and also, the "move_to_position" action does not exist in the sample keys. The parameters such as "X", "Y", "Z", and "velocity" are also not included in the sample ontology.'] +Travel to the coordinates X:0, Y:0, Z:50 with a speed of 1 meter per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 0.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_coordinates": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['0; The command does not match with the provided JSON structures. The action \'move_to_coordinates\' is not present among the sample JSON actions, and the "params" keys such as \'x\', \'y\', \'z\' aren\'t present among the sample JSON parameter keys.'] +Proceed towards the position X:0, Y:0, Z:50 with a velocity of 1 meter per second.,['This action is not part of the robotic arm commands ontology specified. Therefore, it should be ignored, and no JSON should be returned.'];['0; The command instructs a movement to a specified position, which is not found within the given JSON structures. None of the available actions ("move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation") match the given command.'] +Go to the location at X:0, Y:0, Z:50 while moving at a rate of 1 meter per second.,['The action described in the given prompt does not match the available actions in the ontology. Therefore, no JSON conforming to the ontology can be returned.'];['0; The command does not match with any of the action types in the provided JSON structures, therefore it cannot be converted to a JSON using the given ontology.'] +Navigate to the point X:0, Y:0, Z:50 at a speed of 1 meter per second.,["I'm afraid the command for navigating to specific coordinates is not listed in the given ontology. Only actions defined in the ontology can be issued to the robotic arm, such as moving a joint, extending the arm, gripping an object, releasing the grip, and setting the orientation."];["0; The command 'Navigate to the point X:0, Y:0, Z:50 at a speed of 1 meter per second.' doesn't correspond to any of the provided JSON structures. The natural language command involves navigation which is not a feature included in the given ontology. The ontology only includes 'move_joint', 'extend_arm', 'grip_object', 'release_grip', and 'set_orientation' actions."] +Retract the arm completely and hold in standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; The command asks to retract the arm, but the JSON structure corresponds to the action of extending the arm, hence it does not conform to the command accurately, even though the 'extension_length' might be set to 0.0. Further, the command states to 'hold in standby', which is not represented in the JSON."] +Fully withdraw the arm and keep it in standby mode.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The natural language command and JSON partially conform. The command refers to withdrawing the arm and keeping it in standby which can be connected to the "extend_arm" action with a value of 0.0. However, the part about putting the arm in standby mode is not catered in the provided JSON structure.'] +Completely retract the arm and maintain it in a standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The JSON structure corresponds to the action of moving the arm (i.e., "extend_arm") with certain parameters. However, the command asks for the arm to be retracted, which isn\'t exactly the same thing as extending the arm to a length of 0.0. Additionally, the command also includes an action ("maintain it in a standby position") that is not covered by the JSON structure.'] +Pull back the arm entirely and remain in a standby state.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The action "extend_arm" in the JSON matches the "pull back the arm" in the command, but the value of "extension_length" in the JSON is not compatible with the "entirely" in the command. The word "entirely" suggests a full extension but in the JSON it\'s set to "0". Also, the command refers to a "standby state" which is not addressed in the JSON.'] +Withdraw the arm fully and hold it in a standby position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The JSON structure seems to partially interpret the command but there are mismatches. The action "extend_arm" wouldn\'t be correct to withdraw the arm. The "extension_length" value of 0.0 may not indicate a withdrawn state. The speed details are unnecessary as they are not specified in the natural language command. More suitable actions could be "move_joint" or a non-existent action like "withdraw_arm".'] +Rotate the gripper 360 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Turn the gripper in a clockwise direction for a full 360 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; The JSON in general conforms to the natural language command in terms of action ("move_joint") and a few parameters such as joint_name as "gripper", angle of 360 degrees and its clockwise direction. However, the given natural language command does not state anything about the speed of movement, so the field "speed": {"type": "float","value": 1.0} does not align perfectly with the command even though its presence does not contradict the command.'] +Rotate the gripper to the right by 360 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The JSON structure generally corresponds well to the natural language command. The action is 'move_joint' which matches to the concept of rotation of the joint. The joint_name matches 'gripper', the angle and the direction 'clockwise' matches with 'rotating right by 360 degrees'. The units are correct, however, the speed value is not indicated in the natural language command, therefore it would not be justified to either include or penalize the 0.5 value in the JSON format. The parameter could have been omitted or any other reasonable value would be accepted."] +Make a complete clockwise rotation of 360 degrees with the gripper.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The command 'Make a complete clockwise rotation of 360 degrees with the gripper.' exactly matches the action move_joint with the joint_name as gripper, angle as 360 degrees and direction as clockwise. The speed isn't specified in the command, hence any reasonable value, in this case, 1.0 is accepted. The unit and unit_speed also conform to the wordings of the command."] +Rotate the gripper in a clockwise motion for an entire 360 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "gripper"', ' },', ' "angle": {', ' "type": "float",', ' "value": 360.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command and the JSON structure match up well in terms of the 'action', 'joint_name', 'angle', 'direction' and 'unit' keys. The only non-conforming element is 'speed', which isn't mentioned in the command and is therefore an arbitrary value."] +Extend the arm by 30 centimeters and hold position for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["2; The action in the natural language command matches with the 'extend_arm' action in the JSON. The 'extension_length' parameter also matches with the provided value 30.0 and the unit as 'centimeters'. However, the command also mentions 'hold position for 3 seconds' which doesn't correspond to any parameter in the JSON. The 'speed' parameter value in the JSON is arbitrary and does not comply with the natural language command. So, it's only partially conform."] +Increase the length of the arm by 30 centimeters and maintain that position for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["3; The 'extend_arm' action and 'extension_length' parameter match with the natural language command but the 'speed' parameter does not correspond to any part of the command and there is no mention of a 'duration' parameter in the JSON data. So, while the general structure of the JSON structure is correct, some details do not align correctly with the command and a clear mention of exactly maintaining the position of the extended arm for a duration of 3 seconds is missed."] +Stretch out the arm by an additional 30 centimeters and keep it in that posture for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; While the JSON structure does represent the "extend_arm" action mentioned in the command with correct parameters of the extension length and its unit, it lacks the representation for keeping the arm in the same posture for an estimated duration. Any speed value is accepted, but the JSON structure still misses essential information to fully convey the command.'] +Lengthen the arm by 30 centimeters and hold it steady for a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The "extend_arm" action is correctly represented in the JSON, and the "extension_length" parameter also matches with a value of 30.0. However, the command also mentions to "hold it steady for a period of 3 seconds", but there is no corresponding parameter in the JSON structure for this instruction. Furthermore, the "speed" parameter in the JSON is fixed at 1.0 cm/s, which is not mentioned in the command.'] +Straighten out the arm by adding 30 centimeters of length and maintain that pose for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command correctly matches the action "extend_arm" and the associated parameters. However, the natural language command includes a duration ("maintain that pose for 3 seconds") that is not reflected in the corresponding JSON, so there is a minor discrepancy.'] +Move to position X:30, Y:40, Z:10 at a velocity of 0.3 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 30.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];["0; The given JSON structure does not match with the provided samples from the ontology. The samples do not include any 'move_to_position' action or corresponding parameters such as 'X', 'Y', 'Z', and 'velocity'. Therefore, the natural language command cannot be converted to JSON according to the sample keys."] +Change your position to X:30, Y:40, Z:10 with a speed of 0.3 meters per second.,['{', ' "action": "move_position",', ' "params": {', ' "x_coordinate": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y_coordinate": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z_coordinate": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_position": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['0; The sample ontology does not have a matching "move_position" action. The JSON structure does not conform to the available keys in the sample ontology.'] +Go to the coordinates X:30, Y:40, Z:10 at a speed of 0.3 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_distance": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['0; The natural language command refers to an action ("move_to_coordinates") that does not exist in the sample keys. The key parameters "x", "y", "z" and "unit_distance" are likewise absent from the sample ontology.'] +Adjust your location to X:30, Y:40, Z:10 with a velocity of 0.3 meters per second.,['{', ' "action": "set_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_position": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['0; The JSON structure does not align with the structure provided in the sample keys. In the sample key "action": "set_position" and the parameters "x", "y", "z", and "speed" do not exist. Therefore, the JSON structure cannot be compared with the command.'] +Transition to position X:30, Y:40, Z:10, moving at a rate of 0.3 meters per second.,['The provided prompt is asking for an action ("Transition to position X:30, Y:40, Z:10, moving at a rate of 0.3 meters per second") that is not present in the ontology. Therefore, the prompt cannot be translated into a corresponding JSON command following the given ontology.'];['0; The provided command does not conform to any of the available actions in the sample ontology.'] +Bend the elbow joint to a 90-degree angle and hold for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; Partially conform. The natural language command and JSON structure match in terms of action and one parameter (joint_name with value as "elbow" and angle with 90 degrees). However, the duration for holding the bent joint is absent in the JSON structure. Also, the direction value in JSON is incorrect. It should be null or not present, as the bending direction isn\'t specified in the command.'] +Flex the elbow joint to form a 90-degree angle and maintain the position for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; The action "move_joint" matches with the natural language command of flexing the elbow joint. The joint_name "elbow" also matches, and the angle "90.0" degrees is stated. However, the direction as "clockwise" doesn\'t quite align with the command as it doesn\'t specify a direction. Similarly, a speed of "0.5" degrees/s is not specified in the command and neither is the unit of speed as "degrees/s". Additionally, there is no parameter in the JSON structure that represents the \'maintain the position for 10 seconds\' part of the command.'] +Curve the elbow joint, bringing it to a 90-degree angle, and keep the posture for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['2.5; The JSON structure does provide the "move_joint" action and "elbow" joint_name which is consistent with the natural language command, as well as the "angle" of 90 degrees. However, there are mismatches: the direction parameter is not mentioned in the command, and the duration of keeping the posture is not represented in the JSON structure. The command doesn\'t specify the speed of the movement, but the JSON structure has a "speed" parameter.'] +Fold the elbow joint to create a 90-degree angle and sustain the position for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "n/a"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The action and joint name is perfectly matching. The angle value also corresponds perfectly to the natural language command. However, there are mismatches in terms of direction and speed. The direction is not mentioned in the command, hence 'n/a' may not be a proper placeholder. The speed is also not mentioned in the command, but setting it to zero does not seem right as it would suggest the movement is not happening. Furthermore, the sustaining of the position for 10 seconds is not represented in the JSON."] +Crimp the elbow joint to a 90-degree angle and remain in this stance for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; The natural language command asks to crimp or move the elbow joint at a 90-degree angle, which matches with the "move_joint" action and the "joint_name" and "angle" parameters in the JSON. However, the "direction" in the JSON is specified as "clockwise," which isn\'t mentioned in the command. Also, the command mentions about remaining in the stance for 10 seconds but the JSON doesn\'t have a parameter for duration. The "speed" value in the JSON also doesn\'t match with the command\'s instruction.'] +Open the gripper and close it with 7 kilograms of force.,['{', ' "action": "release_grip",', ' "params": {}', '},', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command demands for the gripper to be opened and to close it with a force that needs to be converted from kilograms to newtons for it to match the JSON structure (as the unit is different). Furthermore, the mentioned "7 kilograms of force" is considered incorrect because kilograms is a unit of mass, not force. The duration parameter in the JSON structure also lacks a corresponding value in the command, although this discrepancy is acceptable based on the prompt instruction that permits reasonable values when a parameter isn\'t specified.'] +Begin by opening the gripper, then apply 7 kilograms of force to close it.,['{', ' "action": "release_grip",', ' "params": {}', '},', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 68.68', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["3; The commands 'opening the gripper' and 'closing it' correspond to the 'release_grip' and 'grip_object' actions respectively in the JSON structure. However, the command gives the force parameter in 'kilograms' while the JSON structure has it in 'newtons'. There is a conversion but it should be specified in the command. Moreover, the duration parameter is not mentioned in the command but is present in the JSON structure."] +Use 7 kilograms of force to close the gripper after initially opening it.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command matches the action "grip_object", but the unit of force in the JSON, which is "kilograms", does not conform to the ontology. The correct unit should be "newtons". Also, the command includes an action ("initially opening it") that is not represented in the JSON.'] +Start by opening the gripper, and proceed to close it by exerting 7 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command calls for the grip to be opened first but there\'s no corresponding JSON request for this operation. Although the "grip_object" action is mentioned, it corresponds to closing the grip not opening. Furthermore, the unit of force in the command is in kilograms which doesn\'t match with the unit in JSON structure (newtons).'] +After opening the gripper, apply 7 kilograms of force to seal it shut.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command talks about opening the gripper first, which doesn\'t match the "grip_object" action in the JSON structure. Additionally, the force unit in the JSON is "newtons", while the command uses "kilograms".'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command perfectly matches the JSON structure. All the necessary details such as action, joint_name, angle, direction, unit are correctly conveyed in the JSON. Although the 'speed' is not mentioned in the command, the provided value does not contradict the command, therefore, it can be considered acceptable."] +Turn the wrist joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command generally matches the JSON structure but there is a mismatch in one aspect. Following the ontology, the action key is conformed as 'move_joint' and the parameters joint_name (wrist), angle (90), direction (counterclockwise), and unit (degrees) are all specified correctly. However, there's no indication in the natural language command about the 'speed' which the ontology's JSON structure has set to 0.5 degrees/s."] +Rotate the wrist joint in an anti-clockwise manner by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The JSON structure corresponds perfectly to the natural language command given, with the action being correctly identified as "move_joint", the joint_name being \'wrist\', and the direction being \'counterclockwise\'. The angle of rotation is specified as 90 degrees. Speed and unit_speed also have reasonable values in the JSON.'] +Twist the wrist joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Majority of the elements conform. The "move_joint" action, "joint_name" as "wrist", "angle" as 90.0 , "direction" as "counterclockwise" and the "unit" as "degrees" aligns with the natural language command. However, the "speed" parameter does not align with the natural language command as it has not been specified.'] +Rotate the wrist joint in the opposite direction to the clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The natural language command matches the JSON structure very closely. The action "move_joint" and parameters like "wrist", "counterclockwise", "degrees" match, but the speed of rotation is not specified in the command, thus the value in the JSON (0.5 degrees/s) is a reasonable assumption based on the given sample ontology.'] +Move to position X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,['I\'m sorry, but the provided ontology does not include a command for direct Cartesian movement. The existing commands are: "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation".'];['0; The natural language command is asking for a specific type of movement which involves moving to specific x, y, z coordinates, but none of the provided JSON structures offer a way to interpret this command. The current structures only support moving a specific joint, extending an arm, gripping an object, releasing a grip, and setting an orientation.'] +Proceed to coordinates X:10, Y:50, Z:20 with a speed of 0.8 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "X": {', ' "type": "float",', ' "value": 10.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 20.0', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_coordinates": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['0; The provided JSON does not match the command. The command refers to moving to specific coordinates at a certain speed. However, the sample keys provide no option for this action. Thus, the command cannot be converted into JSON.'] +Travel to point X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];["0; The natural language command relates to 'move_to_point', which does not exist in the provided JSON structures. Only four actions exist in the JSON structures: 'move_joint', 'extend_arm', 'grip_object', 'set_orientation' and 'release_grip'."] +Relocate to position X:10, Y:50, Z:20 at a pace of 0.8 meters per second.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "X:10, Y:50, Z:20"', ' }', ' }', '}'];['0; The command talks about a move to a specific position, which does not match any of the actions in the JSON structures shown. Moreover, the example JSON for set_orientation does not match the actions in the command as it is about changing orientation, not moving to a location.'] +Shift to the coordinates X:10, Y:50, Z:20 with a velocity of 0.8 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_coordinates": "meters",', ' "unit_speed": "meters/s"', ' }', '}'];['0; The natural language command mentions an action "move_to_coordinates" that doesn\'t exist in the provided sample keys. Thus, it can\'t be accurately compared to the JSON structures.'] +Retract the arm halfway and hold in a hovering position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -0.5', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "percentage",', ' "unit_speed": "percentage/s"', ' }', '}'];["1; The command given is not fully conform with the JSON structure provided. The action of the natural language command matches with the 'extend arm' action in the JSON structures but the parameters 'extension_length' and 'speed' from the JSON structure are not matching in the given command. And, assigning percentage as unit is not mentioned in the JSON structure."] +Position the arm in a hovering state, maintaining a halfway retracted position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "hovering"', ' }', ' }', '}'];['1; The action "set_orientation" in the JSON structure is somewhat related to "position the arm" in the natural language command, and the "orientation" "hovering" is slightly related to the concept of the arm being in a hovering state. However, there\'s no clear match for the concept of the arm being "halfway retracted" in the JSON structure. The overall match is quite weak, and most of the specific details in the natural language command aren\'t represented in the JSON structure.'] +Hold the arm halfway retracted and hover in place.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The natural language command asks for the arm to hold halfway retracted and hover in place, however, the provided JSON structure is for the action "extend_arm" with a value of 0 which implies no movement or extension, and there are no relevant keys in the JSON structure to represent the \'hovering in place\' part of the command.'] +Hover while keeping the arm partially retracted.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The natural language command talks about hovering which is not covered in any action of the sample ontology. However, it does relate to the "extend_arm" action but the "extension_length" has a value of 5.0 instead of being partially retracted. The speed parameter has a reasonable value but it\'s not mentioned in the command.'] +Maintain a hovering position while retracting the arm halfway.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "hover"', ' }', ' }', '}'];['0; The natural language command instructs the system to maintain a hovering position while retracting the arm. However, the provided JSON structure corresponds to the action of setting orientation, and there is no information or corresponding action for arm retraction within the provided JSON. Therefore, the JSON does not match the command.'] +Swim in a circular motion while waving.,['{}'];["0; The command and the JSON have no matching elements. The command specifies an action ('swim in a circular motion while waving') that is not present in the sample keys provided in the JSON structures."] +Wave your hand while swimming in a circular motion.,['{}'];["0; The command 'Wave your hand while swimming in a circular motion.' cannot be mapped to any of the JSON structures provided in the sample ontology. There are no keys or corresponding values that match the action and parameters described in the command."] +Perform circular motions while swimming and waving.,['{}'];['0; The given command does not match any provided action in the JSON structure. The actions in the JSON structure are related to moving a joint, extending an arm, gripping an object, releasing a grip, and setting orientation. The command\'s action of "performing circular motions while swimming and waving" is not represented anywhere in these JSON actions.'] +Swim in a circular pattern and wave at the same time.,[''];['0; The command does not match any of the JSON structures provided in the ontology sample keys. It is not related to actions such as "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation". Consequently, the command cannot be converted to JSON using the sample keys.'] +Combine swimming in a circular motion with waving gestures.,['{ "action": "ignored", "params": {} }'];["0; The natural language command does not refer to any of the actions in the sample JSON keys and the JSON structure therefore it's completely irrelevant."] +Move the base of the arm 90 degrees to the left.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The command asks for moving a particular joint, which matches the action "move_joint". Also the direction, "angle", "joint_name", "unit", and "unit_speed" params in JSON structure are all relevant and mentioned in the natural language command. Despite not specifying the speed, a reasonable value is accepted.'] +Rotate the arm's base 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure correctly identifies the "action" as "move_joint" and includes the correct "joint_name" (base), "angle" (90.0 degrees), and "direction" (counterclockwise). However, the "speed" value of 0.5 isn\'t mentioned in the natural language command, so although it\'s a reasonable value, it doesn\'t precisely match the natural language command.'] +Adjust the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches with the JSON structure. The "move_joint" action is correctly mentioned with all parameters like "joint_name", "angle", "direction", and "speed" specified correctly.'] +Turn the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Everything mentioned in the natural language command matches exactly the information in the JSON structure, including the action, joint name, angle, direction, and unit.'] +Pivot the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4.5; Almost perfect conformity. The 'joint_name' value is correctly interpreted as 'base', and the 'angle' value and 'direction' are correctly derived from 'to the left by 90 degrees'. However, the 'speed' value in JSON (0.5) is not clearly mentioned in the natural language command. But it's a reasonable value."] +Extend the arm by 20 centimeters at a velocity of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'];['5; Exactly conform.'] +Increase the arm length by 20 centimeters at a rate of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; There is a discrepancy in the units of speed in the command and the JSON, the command mentions meters/second but JSON uses the unit as cm/second, consequently, the value of speed is 200 in JSON instead of 2.'] +Stretch the arm outwards by 20 centimeters, moving at a speed of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The action "extend_arm" matches the natural language command correctly. The parameter for "extension_length" with the value and unit "20.0 centimeters" are also correct. However, the speed parameter value in the JSON structure is incorrect. The natural language command mentions "2 meters per second" but the JSON structure has "200.0 cm/s". While the units are different, they represent the same speed.'] +Lengthen the arm by 20 centimeters while moving with a velocity of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The action correctly corresponds to "extend_arm". However, there are two main issues. Firstly, the "speed" value in the JSON is given as 200.0 which is not in the correct unit as per the natural language command which specifies "meters per second", not centimeters. Secondly, the "unit_speed" in the JSON is specified as "cm/s" instead of "m/s".'] +Propel the arm forward by 20 centimeters at a rate of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The 'action' and 'extension_length' keys match correctly. However, the 'speed' value in the natural language command is provided in meters per second whereas it should be in centimeters per second according to the JSON structure. The value in JSON is 200.0 cm/s which is equivalent to the mentioned 2 m/s. This leads the instruction to be mostly, not entirely compliant with the ontology."] +Rotate the elbow joint counterclockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The JSON structure and the natural language command match well. The action "move_joint", the joint_name "elbow", the direction "counterclockwise", and the unit of measure "degrees" are present in both. The angle in the command is 60 degrees in contrast to the 45 degrees in the JSON, which is fine as any reasonable value is accepted. The only lack of full conformity is that the speed is not specified in the command, but is present in the JSON structure as 0.5 degrees/s. It could be inferred, but the explicit mention in the command would be necessary for the full score.'] +Turn the elbow joint in the opposite direction (counterclockwise) by an angle of 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command matches the JSON structure perfectly. The action is "move_joint", the joint_name is "elbow", the angle is 60.0, the direction is "counterclockwise", and while the speed is not specified in the command, the JSON structure still includes it as 0.5, which is acceptable. The units are also specified correctly as "degrees" and "degrees/s".'] +Rotate the elbow joint anticlockwise, making a 60-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure correctly represents the natural language command with the "action" as "move_joint", the "joint_name" has the correct value "elbow", the "angle" is accurately represented, as well as the "direction" being "anticlockwise". However, the speed value in the JSON doesn\'t match the initial command because the natural language command didn\'t specify any speed. As per the rules above, this isn\'t an issue, hence the score isn\'t reduced to 0, but it is not exactly conforming, therefore it is not a perfect 5.'] +Twist the elbow joint counterclockwise, adjusting it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4.5; The natural language command and the JSON information almost perfectly match. The action, joint_name, direction, and angle values are exactly correspondent. However, the speed value in the natural language command is not mentioned, while it's set to 0.5 in the JSON. The scores is reduced slightly because of this.", ''] +Spin the elbow joint to the left, rotating it 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. All the command details 'move the elbow joint', '60 degrees', 'to the left', are represented correctly in the JSON structure.'Speed' is 'not mentioned' in the command but it is a 'reasonable' parameter in the JSON structure because it is not contradictory with the command."] +Grip the object with 10 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action and duration match perfectly with the JSON structure. However, the unit of force in the JSON structure is newtons while in the natural language command it is kilograms. The system would need to convert kilograms to newtons to match the required JSON structure.'] +Apply a force of 10 kilograms to firmly hold the object for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command is in accordance with the "grip_object" action but the value of force in the command is in kilograms while the unit_force in the JSON structure is in Newtons which is not the same. Also in the command, there\'s no specification for the unit of force as well as no explicit mention of using Newtons for force in the command.'] +Squeeze the object with a force of 10 kilograms for a period of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; While the overall action and structure match with the grip_object key in the sample ontology, the unit for force in the natural language command is given as kilograms, while the ontology specifies the force units as newtons.'] +Exert 10 kilograms of pressure while grasping the object for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command is partially conforming. In the JSON structure, the "force" is given in newtons but the command refers to kilograms, which is a measure of mass not pressure. However, the "action" and "duration" parameters match the natural language command.'] +Maintain a grip on the object with a force of 10 kilograms for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["3; The action and duration are correctly translated into JSON. However, the unit of force is incorrect (it should be newtons, but in the command it's kilograms)."] +Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second.,['This action is not in the given ontology. Therefore, it should be ignored.'];['0; The command does not match any of the sample keys provided in the JSON structures.'] +Go to coordinates X:50, Y:50, Z:0 with a speed of 1 meter per second.,['This action is not available in the given ontology. Actions not in the ontology must be ignored.'];["0; The provided natural language command does not match any actions from the sample ontology, hence, it's impossible to convert it into JSON."] +Travel to position X:50, Y:50, Z:0 with a velocity of 1 meter per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];['0; The provided JSON structure with action as "move_to_position" and parameters such as "x", "y", "z", and "velocity" does not conform to any of the actions and parameters in the provided sample ontology. As such, the conformity score is 0.'] +Reach the point X:50, Y:50, Z:0 at a speed of 1 meter per second.,['{', ' "action": "",', ' "params": {}', '}'];['0; The natural language command gives instructions about reaching a certain point which does not match any of the JSON structures provided. Therefore, there is no conformity with the keys of the sample ontology.'] +Achieve the location X:50, Y:50, Z:0 with a velocity of 1 meter per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];['0; The given JSON does not conform to the example ontology provided, as there is no "move_to_position" action defined in the sample keys, and the "x", "y", "z", and "velocity" parameters do not exist within the provided ontology keys.'] +Retract the arm by 30 centimeters in 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; While the action "extend_arm" matches the verb in the command, the values for "extension_length" and "speed" should both be positive values: 30.0 and 300.0/60=5.0 respectively, as these are absolute measures and the direction of the movement ("retract") is not considered in this JSON structure.'] +Withdraw the arm by a distance of 30 centimeters in a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; The JSON structure corresponds to the 'extend_arm' action, which is not completely correct. It seems that the command to 'withdraw the arm' is the opposite of 'extend arm'. However, it has been suggested to use a negative value to indicate the withdrawal, which is a legitimate interpretation. The speed value in JSON does not adhere to the natural language command as well - it says 'in a duration of 5 seconds', but in JSON, the 'speed' value is -6 cm/s, not corresponding to the 5-second duration."] +Move the arm back by 30 centimeters within a time frame of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; Although the action itself is correct 'extend_arm', the values provided in JSON for 'extension_length' and 'speed' contradict the command. The extension_length should not be negative. The 'speed' is also incorrect as it should be 6 not -6. The time frame is 5 seconds, not the speed, so the speed calculation should approximate how fast the arm should move to cover the distance in five seconds."] +Bring the arm back by 30 centimeters while taking 5 seconds to do so.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; Even though the action "extend_arm" and the units "centimeters" and "cm/s" match the natural language command, there are mismatches with the parameters and their values. The extension_length in the command is positive while it is negative in the JSON, the speed to perform the action specified in the command is 5 seconds while the value provided in the JSON is -6 cm/s indicating incorrect conversion.'] +Pull the arm away by 30 centimeters over the span of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The action in the command matches the \'extend_arm\' action in the JSON structure. The parameter \'extension_length\' is specified as 30.0 centimeters in both the command and the JSON, which matches perfectly. The duration of the action is indicated in the command ("over the span of 5 seconds") but it\'s represented as speed "value": 6.0 in the JSON, not exactly the same, but within reasonable boundaries.'] +Rotate the wrist joint clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The natural language command matches the JSON structure in the "action", "joint_name", "angle", and "direction" keys. The discrepancy lies in the "speed" key, as the speed is not specified in the command, but is included in the JSON structure.'] +Turn the wrist joint 90 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command precisely asks for the wrist joint to be moved, which aligns with the "move_joint" action in the JSON structure. The joint name, angle, direction, and unit provided match up with the values given in the original command. The speed is not specified in the natural language command, but its presence in the JSON structure with a reasonable value is accepted.'] +Rotate the wrist joint in a clockwise manner, making a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The action type and most parameters are correct. The direction, angle, and joint name extracted match correctly with the command. However, the speed parameter is not mentioned in the command but is included in the JSON structure.'] +Twist the wrist joint in a clockwise direction, creating a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Almost complete match. All parameters in the command correspond to keys in JSON structure and have the correct values except for "speed" which is not mentioned in the command, so any reasonable value in the JSON is accepted. However, the command does not specify when and how the action should be performed, so we can\'t justify a perfect score.'] +Adjust the wrist joint by turning it 90 degrees in a clockwise fashion.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Grip the object with 2 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action "grip_object" and the value of "force" match with the natural language command, however, the unit of force is inconsistent. In the command the force is given in kilograms, while in the JSON it should be in newtons. The "duration" key-value pair in the JSON doesn\'t match anything specified in the command.'] +Apply a 2-kilogram force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];["3; The action 'grip_object' and the parameter 'force' with its value '2.0' matches correctly with the command. However, the 'force' unit in JSON is 'newtons' but in the given command it is 'kilograms' which do not match. Also, 'duration' parameter is not mentioned in the command but provided in the JSON."] +Exert 2 kilograms of force to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command and the JSON structure Aligned in some aspects like the action "grip_object" and force. However, the force measurement unit mismatches - "kilograms" is given, but "newtons" is expected per the sample keys.'] +Grasp the object firmly with a force of 2 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure closely follows the command\'s instructions on the action ("grip_object") and force value (2.0). However, the unit of force in the command is "kilograms", while the JSON uses "newtons", which are not equivalent units of force. Also, the command doesn\'t specify any duration, while the JSON includes a duration value.'] +Employ a 2-kilogram force to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action in the command correctly matches the "grip_object" action in the JSON. However, the unit of force in the JSON does not match with the natural language command, as kilograms is a unit of mass, not force. The duration value is merely assumed and not explicitly mentioned in the command. Therefore, the score is only 2 as it requires some interpretation and has a mismatch in units.'] +Move to position X:100, Y:0, Z:100 at a velocity of 0.5 meters per second.,['This action is not defined in the ontology and should be ignored.'];['0; The provided command is talking about moving to a certain position at a specific speed. However, neither an action nor parameters in the sample ontology match with this command. Therefore, it cannot be converted to a JSON structure from the sample ontology.'] +Go to coordinates X:100, Y:0, Z:100 gradually with a speed of 0.5 meters per second.,['The prompt does not match with any action defined in the ontology. Therefore, it should be ignored and no JSON command can be returned.'];['0; The command does not match any of the actions in the JSON structures. There is no "go to coordinates" option available in the sample ontology.'] +Travel to the point X:100, Y:0, Z:100 using a velocity of 0.5 meters per second.,['{', ' "action": "move_to_point",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_distance": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];['0; The given command does not match any action or parameters in the ontology. The command instructs the device to move to a specific point at a certain velocity, however, the ontology does not include an action for moving to points or any parameters for specifying coordinates or velocity. The sample ontology deals with joints, arm extensions, grips, and orientation.'] +Reach the position X:100, Y:0, Z:100 while moving at a speed of 0.5 meters per second.,['Action not available in the ontology.'];['0; The provided command cannot be mapped to any actions available in the sample ontology as it involves an unavailable action of moving to a certain position.'] +Proceed towards X:100, Y:0, Z:100 at a rate of 0.5 meters per second.,['This action is not defined in the ontology. Therefore no ontology-based output can be provided.'];['0; The command does not match any of the provided JSON structures in the ontology. The command is about moving in a certain direction, which is not an action available in the provided sample keys. Therefore, it cannot be converted to a corresponding JSON command.'] +Retract the arm to the starting position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The JSON structure matches the action type and speed parameter mentioned in the command but the "extension_length" key in the JSON does not match with the command. There is no mention of the extension length in the command so a value of 0.0 is not justifiable. However, retracting the arm to the starting position may imply a length of 0.0, but it\'s not directly mentioned in the command. That\'s where the score is not very high.'] +Bring the arm back to the initial position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['1; The natural language command wants to bring the arm back to its initial position, but the JSON structure is for setting the orientation to upright. These are not the same action, the command does not necessarily mean setting the orientation to "upright".'] +Withdraw the arm and return it to its original position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; While the "extend_arm" action could arguably be used to retract an arm by specifying a negative extension length, the JSON has a value of 0.0 which does not reflect the command to "withdraw the arm". Furthermore, the command to "return it to its original position" is not represented at all.'] +Pull the arm back to the starting point.,["This action cannot be accomplished because it's not covered by the ontology."];['0; The natural language command does not fit any of the sample JSON structures provided in the ontology.'] +Move the arm back to the initial location.,['This action is not in the provided ontology, so no conformant JSON can be generated.'];['0; The command does not correspond to any action or parameters in the sample JSON structures.'] +Extend the arm by 10 centimeters at a velocity of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'];['3; The action (extend_arm), extension_length (10.0), and unit_length (centimeters) parameters matches perfectly with the command. However, the speed in the command is given in meters per second (m/s), whereas the ontology and the JSON structure use centimeters per second (cm/s). It is not accurate to just change the units without converting the values.'] +Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'];["2; The command and JSON structure partially match. The 'extend_arm' action and 'extension_length' parameter match exactly. However, the speed given in the command is not correctly represented in the JSON. The command specifies a speed of 0.2 metres per second, but the JSON gives a value of 0.2 with units of 'm/s', which is incorrect as the speed in the command is given in centimeters per second. This discrepancy in speed units results in a lower score."] +Stretch out the arm by 10 centimeters, moving at a velocity of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'];['2; The units for speed in the JSON structure does not match the units provided in the command. The JSON structure is in meters per second (m/s), while the command states centimeters per second (cm/s). However, the action, extension_length and its unit, match the command perfectly.'] +Lengthen the arm by 10 centimeters while maintaining a speed of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'];['4; The natural language command and JSON structure match regarding the "extend_arm" action and the "extension_length" parameter with a value of 10. However, the units of speed in the command ("meters per second") does not match the unit of speed in the JSON structure ("cm/s").'] +Expand the arm by 10 centimeters, advancing at a rate of 0.2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'];['3; The "extend_arm" action in the JSON structure matches the command. Additionally, the value of "extension_length" is correct. The unit of length used, "centimeters", also matches the command. However, the speed value given in the command ("0.2") doesn\'t match the JSON\'s speed value ("1.0"), and the units of speed ("m/s") don\'t translate to the command\'s "cm/s". Therefore, it isn\'t an exact match.'] +Rotate the elbow joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; Almost perfect conformity. All key parameters needed in the JSON are provided in natural language command, such as "action", "joint_name", "angle", "direction", and "unit". However, the "speed" value in JSON ("0.5") is not specified in the command; it\'s acceptable, but for a perfect conformity, it should\'ve been mentioned in the command.'] +Turn the elbow joint 30 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command matches most of the keys in the JSON structure including the "action", "joint_name", "angle", and "direction". However, the command does not specify the "speed" hence the score is 4 and not 5.'] +Rotate the elbow joint to the right by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Almost all of the content is matched correctly including the "action", "joint_name", "angle", "direction" and "unit". The only discrepancy is that the speed is not specified in the natural language command but it is present in the JSON structure.'] +Twist the elbow joint in a clockwise motion, moving it 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The command correctly translates to the action of moving the joint, specifies the joint as "elbow", the direction as "clockwise", and the angle as 30. However, the speed is unspecified in the natural language command but the JSON assigns it a value of 1.0 degrees/s which is a reasonable value but not directly mentioned.'] +Adjust the elbow joint by rotating it clockwise, making a 30 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The JSON structure accurately describes the action "move_joint" with the specified parameters: the joint name "elbow", the angle of 30 degrees, and the direction "clockwise". However, the "speed" of rotation is not mentioned in the natural language command, although it is included in the JSON structure, with a reasonable value of 0.5 degrees per second. Since the natural language command doesn\'t specify the speed of rotation, the JSON structure does not 100% align with the command, hence the score is 4.5, not 5.'] +Grip the object with 8 kilograms of force for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command and the JSON are not in conformity. In the command, the unit of force is mentioned in kilograms while the JSON structure has the unit in newtons. The conversion of units between natural language command and JSON is not acceptable.'] +Apply a force of 8 kilograms to hold onto the object for a duration of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action "grip_object" and parameter "duration" with a value of 3.0 matches well. However, the force value of 8.0 does not match since force should be measured in newtons, not kilograms.'] +Use a grip strength of 8 kilograms to firmly hold the object for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['3; The "action" field matches correctly as "grip_object". However, the wrong unit of force ("kilograms") is used in the JSON structure, it should be "newtons". Duration and its units are correct.'] +Exert 8 kilograms of pressure to maintain a hold on the object for a period of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The command and JSON structure majorly match but the unit of force in the command (kilograms) doesn't correspond to the JSON structure (newtons)."] +Securely grasp the object with an 8 kilogram force for a duration of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action and parameters match the JSON structure, but the unit of force given in the command is in kilograms, while the accepted unit in the JSON structure is newtons.'] +Move to position X:0, Y:0, Z:50 at a velocity of 0.1 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 0.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 0.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 50.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];['0; The natural language command mentions an action ("move to position") and parameters ("X", "Y", "Z", and "velocity") which do not exist in the sample keys. Therefore, it cannot be converted to JSON that matches the given ontology.'] +Travel to coordinates X:0, Y:0, Z:50 with a speed of 0.1 m/s.,['The given action is not part of the provided ontology. Hence, it should be ignored as per the instructions.'];['0; The provided natural language command ("Travel to coordinates X:0, Y:0, Z:50 with a speed of 0.1 m/s.") does not conform to any of the JSON structure in the sample ontology. The action of \'travelling to coordinates\' or similar doesn\'t exist in the sample keys.'] +Go to position X:0, Y:0, Z:50 with a velocity of 0.1 meters per second.,['The action and parameters provided in the prompt are not present in the given ontology. Therefore, no valid JSON can be returned.'];['0; The command does not match any of the given JSON structures because both the action and the parameters do not exist in the sample keys.'] +Shift to the location X:0, Y:0, Z:50 at a rate of 0.1 m/s.,['The given command is not part of the specified ontology for robotic arm commands.'];['0; The given command does not conform to any of the available JSON structures provided in the ontology. It mentions a movement command to a specific location, not present in the ontology.'] +Reach the point X:0, Y:0, Z:50 at a speed of 0.1 meters per second.,['This action is not defined in the ontology.'];['0; The natural language command does not match any of the JSON structures in the ontology.'] +Retract the arm by 25 centimeters in 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The action in the natural language command is to "retreat" the arm, however, the provided JSON structure points to "extend_arm" which does not correspond. Additionally, the "speed" value is negative in JSON which does not match the natural language command specifying a speed of four seconds.'] +Within a time frame of 4 seconds, pull the arm back by a distance of 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The natural language command talks about pulling the arm back while the JSON structure refers to extending the arm, which is the opposite action. The speed value also does not match; the command implies a speed of -6.25 cm/s while it is not specified in the JSON.'] +Withdraw the arm, moving it backwards by 25 centimeters over a period of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The action \'extend_arm\' does match the command of withdrawing the arm but it seems to be interpreted incorrectly as it should actually be moving backward not extending, the \'extension_length\' value does match but \'speed\' value does not. it should be 6.25 not -6.25 as speed can\'t be negative. Also, the speed value generated (6.25 cm/s) is not consistent with the command "over a period of 4 seconds". The correct speed would be 25 cm / 4 s = 6.25 cm/s. Negative values don\'t make sense in this context. A negative speed could potentially denote a direction (i.e., moving backwards), but the task description does not include such an interpretation.'] +Over the course of 4 seconds, decrease the arm's extension by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure properly identifies the action as "extend_arm" and that it is decreasing the arm\'s extension by 25 centimeters but there is some ambiguity in the command. Rather than decreasing the speed, the duration of the action should be 4 seconds (not specified). Also, the speed should be positive (6.25), as it represents the magnitude of the movement, not the direction. The direction is already given by the negative extension_length.'] +In 4 seconds, bring the arm back by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -6.25', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command and the JSON structure match for the most part, but the speed calculation in the JSON structure is a bit off. The command asks to bring the arm back by 25 centimeters in 4 seconds, which would make the speed 6.25 cm/s not -6.25 cm/s. Also, in the action of extending the arm, it is understood that the arm is extending outward, but in this case the arm is retracting or coming back which is not clearly represented in the JSON.'] +Rotate the wrist joint counterclockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The command matches perfectly with the JSON structure. All the components such as the action of moving a joint, the joint_name as the wrist, the angle of 45 degrees, and the direction as counterclockwise are present in the JSON. The speed and units are unspecified in the command, but they are filled with reasonable values in the JSON ('degrees' for unit and 'degrees/s' for unit_speed), that's acceptable as per guidelines."] +Rotate the wrist joint in an anticlockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; Almost exact match. The natural language command matches with the 'move_joint' action of the JSON structure except for the 'speed' parameter where no corresponding information is given in the command and hence value set in the JSON structure cannot be determined for correctness."] +Turn the wrist joint to the left by an angle of 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the wrist joint in a counterclockwise motion, angling it by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command aligns perfectly with the provided JSON structure. All parameters in the natural language command ("wrist" joint, 45 degree angle, "counterclockwise" direction) are presented in the JSON structure with appropriate keys and matching values.'] +Twist the wrist joint anti-clockwise, changing its position by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The natural language command and the JSON structure match greatly. However, the parameter "speed" is not mentioned in the command, but it is given a value in the JSON.'] +Grip the object with 4 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action and parameters match but the force is given in the wrong units. The JSON uses the correct unit "newtons", but the command refers to the force as "4 kilograms".'] +Apply a 4-kilogram force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['4; The action "grip_object" and the force parameter (4 kilograms) match in both the command and the JSON. However, the actual unit in JSON is "newtons", not "kilograms", as described in the command. Also, the duration in the JSON does not match with the command, since the command doesn\'t specify any duration.'] +Exert 4 kilograms of pressure to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The ontology states that the unit for "force" is "newtons," but the command and JSON uses "kilograms" instead. Also, the duration in the JSON structure isn\'t mentioned in the command.'] +Employ 4 kilograms of force to securely hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; Partial match. The action "grip_object" correctly matches with the natural language command. The value of "force" is represented incorrectly (expected newtons, given kilograms), although the quantity (4.0) is correct. The "duration" is also included in the JSON structure despite not being mentioned in the natural language command.'] +Apply a grip force of 4 kilograms to firmly hold the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action "grip_object" matches the action in the JSON structure, but there are non-conformities in the parameters. In the command, force is given in kilograms, but in the JSON structure, force should be in newtons. Also, duration in the JSON structure is not specified in the command.'] +Move to position X:75, Y:75, Z:75 at a velocity of 0.3 meters per second.,['There is no provided ontology that supports the action of moving to a specific 3D position. Please refer to a suitable ontology using the actions "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation".'];['0; The natural language command refers to moving to a specific 3D position which doesn\'t match with any actions in the provided JSON structures. The given JSON structures only support the actions "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation".'] +Adjust the coordinates to X:75, Y:75, Z:75 with a speed of 0.3 meters per second.,['The command falls outside of the provided ontology for robotic arm commands, thus cannot be converted into a JSON command structure.'];['0; The provided command does not match any of the sample keys in the ontology. It relates to coordinate adjustment, not the specific actions included in the sample ontology.'] +Shift to position X:75, Y:75, Z:75 using a velocity of 0.3 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_position": "meters",', ' "unit_velocity": "m/s"', ' }', '}'];['0; The natural language command is requesting to move to a certain position, but the JSON structure that was given doesn\'t match this or any actions within the given sample ontology, which only includes "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation". Therefore, it isn\'t consistent with the sample ontology.', ''] +Go to X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_position": "meters",', ' "unit_speed": "meters/s"', ' }', '}'];['0; The JSON structure does not match the natural language command. The action "move_to_coordinates" and its corresponding parameters are not included in the sample keys of the given ontology.'] +Travel to the location X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,['{', ' "action": "travel_to_location",', ' "params": {', ' "location": {', ' "type": "object",', ' "value": {', ' "X": 75.0,', ' "Y": 75.0,', ' "Z": 75.0', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit_location": "meters",', ' "unit_speed": "meters/s"', ' }', '}'];["0; The JSON structure does not match the provided ontology. The action 'travel_to_location' and the parameters 'location' and 'unit_location' do not exist in the sample keys provided."] +Retract the arm to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['1; The natural language command "Retract the arm to the standby position" does not clearly match with any of the JSON structure provided. The JSON structure refers to setting the orientation to "standby" but it doesn\'t specify if it\'s related to the act of "retracting the arm". Hence, it\'s a low conformity.'] +Move the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['5; The JSON structure perfectly corresponds to the command. The "action" is "set_orientation", and the orientation "value" is accurately denoted as "standby", corresponding to the \'move the arm back to the standby position\' command.'] +Return the arm to its standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['5; Exactly conform.'] +Withdraw the arm to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['1; The action of withdrawing the arm to the standby position is not present in the ontology. However, it is mapped to the "set_orientation" action with "standby" as the orientation, which doesn\'t fully conform because setting orientation doesn\'t necessarily denote withdrawing the arm. Furthermore, there\'s no such orientation as \'standby\' in the sample ontology. It\'s quite different from the original meaning of the command.'] +Pull the arm back into the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['3; The command "Pull the arm back into the standby position" is reasonably converted into the JSON structure of setting an orientation with a value of "standby". However, it isn\'t a perfect match as the term "standby" does not necessarily imply a specific orientation, and the term "pull back" is not represented in the JSON action.'] +Extend the arm by 15 centimeters, then do a little dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The natural language command includes an action, "do a little dance", that does not exist in the provided sample keys. Also, it does not include any speed of the extension, while the JSON structure does include the speed. However, the action of extending the arm is correctly converted to JSON.'] +Stretch the arm outwards by 15 centimeters before performing a small dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The JSON structure includes the command "extend_arm" with the correct extension_length of 15.0 centimeters. The speed value isn\'t specified in the natural language command, but a reasonable value of 1.0 is provided. However, the part of the command about "performing a small dance" is not captured in the JSON at all.'] +Increase the arm's length by 15 centimeters and proceed to do a brief dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["2; The action 'extend_arm' matches with the command and the 'extension_length' value matches as well. However, there's no representation of the 'brief dance' in the JSON commands."] +Lengthen the arm by 15 centimeters and then perform a mini dance routine.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The JSON structure correctly interprets the natural language command to lengthen the arm by 15 centimeters. However, the instruction to perform a mini dance routine is not translated, resulting in only a partial match.'] +Extend the arm's reach by 15 centimeters, followed by a playful dance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The JSON structure represents the action of extending the arm by 15 centimeters, which matches the first part of the natural command. However, the command to perform a "playful dance" is not represented in the JSON at all.'] +Lift the object at a velocity of 5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "undefined"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "upwards"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit": "degrees",', ' "unit_speed": "m/s"', ' }', '}'];['0; The natural language command is asking to lift an object with a certain speed. However, the JSON structure used is "move_joint", expecting a joint name, angle, direction, speed and unit to be defined. The direction "upwards" and unit of speed "m/s" mentioned in the JSON are not conforming with the JSON ontology of a \'move_joint\' action. There is no conformity between the command and the JSON structure.'] +Elevate the object at a rate of 5 meters per second.,['This action is not in the ontology, so it should be ignored.'];['0; The given command does not match any of the JSON structures provided in the sample ontology.'] +Raise the object with a speed of 5 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 1.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'];["1; The action 'extend_arm' matches well with 'raise the object' and the 'speed' parameter matches perfectly, but the 'unit_speed' is misinterpreted in the JSON structure as the command mentions 'meters/second' whereas it should be 'centimeters/second' as per the ontology. Also, the 'extension_length' parameter value is not mentioned in the command."] +Hoist the object at a velocity of 5 meters per second.,['{', ' "action": "hoist_object",', ' "params": {', ' "velocity": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_speed": "m/s"', ' }', '}'];['0; The action "hoist_object" and parameter "velocity" do not exist in the sample keys, thus the provided JSON does not conform.'] +Ascend the object with a rate of 5 meters per second.,['The action "ascend the object" is not defined in the given ontology. Therefore, there is no valid return for this prompt.'];['0; The provided natural language command does not conform to any of the actions described in the JSON structures. There\'s no "ascend object" action in the sample ontology.'] +Rotate the arm joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The action "move_joint" and parameters like "angle", "direction", "unit" are correctly represented in the JSON. However, the joint_name in the command is "arm" whereas in the JSON it\'s "elbow". Therefore, it\'s not an exact match.'] +Turn the arm joint in the opposite direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The command "Turn the arm joint in the opposite direction by 90 degrees" perfectly matches with the given JSON structure related to the "move_joint" action. The "joint_name" is reasonably assumed to be "elbow", the "angle" is correctly specified as 90 degrees, and the "direction" is "counterclockwise", which corresponds to the "opposite direction". The speed in this case is not specified in the natural language command, so any reasonable speed value in the JSON is accepted. The units of measure ("degrees" and "degrees/s") also match.'] +Rotate the arm joint anticlockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) +Twist the arm joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The command is correctly identified as "move_joint", the angle value and direction are translated correctly. The joint name is not exactly aligned with the command. In the command the joint is refered to as the "arm" not the "elbow", but they could be seen as the same since the arm is mainly composed of the elbow joint. Therefore, only a small inconsistency is present but overall conformity is high.'] +Rotate the arm joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure properly represents the action "move_joint" with parameter values mostly consistent with the natural language command. But there\'s no information given on the speed in the command, whereas in the JSON structure it\'s specified as 1.0. So it\'s not a perfect match.'] +Extend the arm to a distance of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command and JSON structure do match in terms of action and parameters, but the original order of the JSON has been altered. The score is not a 5 (perfect match) because the "speed" parameter in the JSON does not perfectly match with the natural language command (as the speed was not specified in the NL command so it must be deemed as an assumption).'] +Reach out the arm and stretch it to a length of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Lengthen the arm by 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command and JSON perfectly conform. The action "extend_arm" matches, as does the "extension_length" parameter. The speed value in the JSON doesn\'t have to exactly match as it was not specified in the natural command and any reasonable value is acceptable. The units also match.'] +Increase the arm's length to 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform. The natural language command specifies the action of extending the arm and the value expected in the JSON structure is present. The unit of length matches and the speed, although not specified in the command, is a reasonable value.'] +Stretch out the arm until it measures 50 centimeters in distance.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform. The command correctly corresponds to the "extend_arm" action in the JSON structure. All parameters mentioned in the command (extension_length) are correctly reflected in the JSON, including the value and the units. The speed, even though it\'s not mentioned in the command, it\'s a reasonable default value.'] +Move to position X:15, Y:25, Z:35 at a duration of 10 seconds.,['This action is not supported by the provided ontology. The provided ontology only supports "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation" actions.'];["0; The command is asking to move to a specific location in a three-dimensional space, which doesn't match any of the available actions in the sample ontology hence there is no conformity."] +Go to position X:15, Y:25, Z:35 within a duration of 10 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 35.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_position": "centimeters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The action "move_to_position" and its parameters "x", "y", "z", and "duration" do not exist in the sample keys provided in the ontology.'] +Travel to the coordinates X:15, Y:25, Z:35 in a span of 10 seconds.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 35.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_coordinates": "meter",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command refers to a "move_to_coordinates" action, which does not exist in the sample ontology provided. Therefore, no matching can be done between the command and the JSON structures.'] +Adjust your position to X:15, Y:25, Z:35 over a period of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "X:15, Y:25, Z:35"', ' }', ' }', '}'];['0; The natural language command instructs adjusting of position coordinates which is not captured by the JSON. The JSON structure corresponds to "set_orientation" action which is not in line with the command.'] +Reach the specified location X:15, Y:25, Z:35 within 10 seconds.,['{', ' "action": "move_to_location",', ' "params": {', ' "location": {', ' "type": "dict",', ' "value": {', ' "X": {', ' "type": "float",', ' "value": 15.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 35.0', ' }', ' }', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_location": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure has an action "move_to_location" and parameters "location" and "duration" which do not exist in the given sample keys at all. Therefore, it does not match with the sample ontology.'] +Grip the object with a force of 10 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure correctly identifies the action and force value, as well as the type and units of the force. However, the duration value in the JSON is not specified in the command and therefore it is an assumption. This makes it less than perfect match.'] +Apply a force of 10 Newtons to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON matches the natural language command on the "grip_object" action and force value. It is missing the duration value mentioned in the natural language command, but a reasonable default value (2.0 seconds) is accepted according to the instructions.'] +Exert a 10 Newton force to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command is correctly matching the "grip_object" action with most of the essential parameters. However, the duration value 1.0 seconds doesn\'t match with the command because the duration is not mentioned in the natural language command. So, this mismatch in duration reduces the score to 4.'] +Use a 10 Newton force to tightly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command mostly conforms with the JSON structure. The action and the amount of force to be applied are correctly mentioned. However, the duration of force application is not mentioned in the command but is given in the JSON. Hence not a complete match.'] +Apply a firm 10 Newton force to firmly seize the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure matches the natural language command in the action of gripping an object and the force applied. However, the duration of the grip is not mentioned in the command and it's arbitrarily assigned as 1.0 in the JSON structure, which does not completely conform to the command. Hence, it is not an exact match."] +Retract the arm to its starting position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["2; Although the action of retraction can be seen as extending the arm with a negative extension, the natural language command does not conform well to the intentions of the JSON structure. The JSON structure provided is about extending the arm, not retracting it. The values mentioned in the natural language command also don't match the values in the JSON structure (retraction is not the same as extension to zero). The command should be processed into a separate JSON command for retraction, not an extend command with zero units."] +Pull the arm back to its initial position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command talks about pulling the arm back to its initial position but the corresponding JSON structure indicates setting the orientation to upright. There is no matching connection between the command and the JSON structure.'] +Withdraw the arm and return it to its original location.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The JSON structure represents the action of extending the arm, not withdrawing it. However, there is a slight match in terms of movement of arm represented in both the command and the JSON structure which makes it not a total mismatch. The value of extension_length in the JSON being negative might imply a retraction rather than extension, but this is not clear from the ontology provided.'] +Move the arm back to its starting point.,['The provided prompt cannot be interpreted according to the given ontology as the action is not specified in the ontology.'];['0; The command does not match any action provided in the JSON structures.'] +Bring the arm back to its initial position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['3; The command "bring the arm back to its initial position" could imply a set orientation, however, the initial position is not explicitly mentioned as “upright”. It may be the correct command for a specific application if the initial position is always upright, but it is not a one-to-one equivalent translated command.'] +Rotate the wrist joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure generally matches the natural language command, with action "move_joint" and parameters for "joint_name" as \'wrist\', "angle" as 30.0, "direction" as \'clockwise\', "unit" as \'degrees\', and "unit_speed" as \'degrees/s\'. The "speed" parameter (0.5) does not correctly match the natural language command, as no speed was given; but it is a reasonable default.'] +Turn the wrist joint 30 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The JSON block exactly follows the command given in natural language. It has got all the properties mentioned in the line i.e., joint_name as wrist, angle as 30.0, direction as clockwise and other properties as speed and unit along with their given values.'] +Rotate the wrist joint by 30 degrees in a clockwise manner.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; Except for the "speed" value that is not mentioned in the command but present in the JSON structure. All other key-value pairs are perfectly matched, hence -0.5.'] +Twist the wrist joint in a clockwise direction, moving it 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the wrist joint in the clockwise direction, making a 30-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command and the JSON structure match completely, including the action and all parameters. Even though the speed is not specified in the natural language command, it is considered a reasonable value according to the rule.'] +Lift the object at a velocity of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 2.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['4; The command is mostly reflected in the JSON structure. The action "extend_arm" matches the command "Lift the object". However, considering the command was given to "lift" an object, it is questionable whether the action "extend_arm" can always fulfil the command since it only refers to making the arm longer. Also, there is a mismatch with the "extension_length": even though lifting the object doesn\'t specify a clear length, the given JSON value of 2.0 may not always correspond to an adequate parameter for lifting. The speed and its unit "m/s" are represented correctly in the JSON.'] +Raise the object with a speed of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 2.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['3; Some will argue that extend_arm should not relate to lifting an object, but considering the ontology provided, the correspondent JSON structure makes sense (although the unit "meters" is not entirely right, since "centimeters" was used in the example to dictate the "extension_length". Furthermore, the "extension_length" value provided, 2.0, falls into assumption rather than being mentioned in the command.'] +Elevate the object, moving at a velocity of 2 meters per second.,['This action is not defined in the ontology, so it will be ignored. Thus, no JSON example will be provided.'];["0; The command 'Elevate the object, moving at a velocity of 2 meters per second' doesn't correspond to any of the provided JSON structures as no 'elevate' action or 'velocity' parameter are defined in the sample ontology."] +Hoist the object, maintaining a rate of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 2.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'];['4; The JSON structure does reflect a movement action and the speed as specified in the command. However, the action "extend_arm" might not precisely suggest "hoisting an object". Moreover, the command does not mention a specific extension_length, but since it can be any reasonable value, this does not decrease the conformity score much. Therefore, the JSON and the command are mostly but not exactly conform.'] +Pick up the object, traveling at a speed of 2 meters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 1.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "meters",', ' "unit_speed": "m/s"', ' }', '}'];["2; The JSON structure corresponds with the natural language command in terms of action and speed but it mentions 'extension_length' whose value does not align with the command. Additionally, the command refers to 'pickup the object' which corresponds more to the 'grip_object' action than 'extend_arm', but the latter is used in this JSON structure. Therefore, the action and one of the parameters do not conform to the natural language command."] +Extend the arm to a distance of 30 centimeters and hold for 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The natural language command and the JSON structure partially conform. The action "extend_arm" and parameter "extension_length" with the value of 30.0 and the unit "centimeters" match well. However, the command also mentions of "holding for 5 seconds" which does not correspond to any parameters in the given JSON structure.'] +Stretch the arm out to a length of 30 centimeters and maintain for a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The action in the JSON structure correctly corresponds to the instruction ("extend_arm"). However, the "duration" mentioned in the natural language command is not included in the JSON structure. Also, there is an unmatched parameter "speed" in the JSON structure, which is not mentioned in the command.'] +Reach the arm out to a span of 30 centimeters and keep it there for a period of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The command mostly matches the JSON structure and adheres to the ontology keys for the action "extend_arm". However, there\'s no parameter "duration" in the "extend_arm" action to keep the arm span for 5 seconds, which is specified in the natural language command, hence the score is not 5.'] +Protract the arm to a distance of 30 centimeters and sustain the position for 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The natural command matches the action "extend_arm" and the parameter "extension_length" correctly. However, the command also includes the additional information to "sustain the position for 5 seconds" which is not represented in the provided JSON. Therefore, the match isn\'t perfect but it\'s partially correct.'] +Lengthen the arm to a distance of 30 centimeters and maintain the extension for a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 6.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; The natural language command refers to maintaining the extension for a certain amount of time, not the speed at which the extension occurs. The equivalent JSON structure should ideally have a key for 'duration' instead of 'speed', which is incorrect and does not conform to the command's intention."] +Move to position X:5, Y:10, Z:15 and halt immediately.,['{', ' "action": "set_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 5.0', ' },', ' "y": {', ' "type": "float",', ' "value": 10.0', ' },', ' "z": {', ' "type": "float",', ' "value": 15.0', ' },', ' "halt_immediately": {', ' "type": "bool",', ' "value": true', ' }', ' }', '}'];['0; The natural language command speaks of moving to a position and halting immediately, while the JSON structure implies setting a position and a halt immediately parameter. The action names and parameters do not match the provided sample ontology, namely "set_position" and "halt_immediately" are not in the sample keys.'] +Immediately halt and move to position X:5, Y:10, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X"', ' },', ' "angle": {', ' "type": "float",', ' "value": 5.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Y"', ' },', ' "angle": {', ' "type": "float",', ' "value": 10.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Z"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["0; The command is asking for a halt and to move to a specific position in a 3-dimensional coordinate system (X:5, Y:10, Z:15). However, the JSON structure shows a joint movement specific to an elbow joint moving at a given angle in a specific direction with a specified speed. The command does not comply with the action 'move_joint' as it's not specified which joint to move and even the coordinate-based movement is not supported by the given JSON structure. Also, there's no 'halt' action in the given JSON structures. Hence, the command doesn't match the ontology structure at all. Therefore, the score is 0."] +Halt at once and move to the coordinates X:5, Y:10, Z:15.,['{', ' "action": "",', ' "params": {}', '}'];['0; The JSON structure does not match with the natural language command at all, with neither a corresponding action nor any parameters.'] +Move to the specified coordinates X:5, Y:10, Z:15 and come to an immediate stop.,['This action is not in the given ontology and should be ignored.'];["0; The natural language command doesn't match any of the JSON structures provided in the sample ontology. The action of moving to specific coordinates or stopping immediately is not present in the available actions."] +Come to a stop without delay after moving to the position X:5, Y:10, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X:5, Y:10, Z:15"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['0; The natural language command requests a "stop" action, which is not represented in the provided JSON structure. Additionally, the parameters indicated in the JSON structure (X:5, Y:10, Z:15) are not conforming with any of the key-value pairs in the sample ontology.'] +Grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; While the action "grip_object" correctly matches, the force value given in the command is in kilograms and not newtons as expected in the JSON structure. The duration in JSON structure could have been indicated as a reasonable value however the duration was not specified in the natural language command.'] +Apply a force of 8 kilograms to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command in natural language is asking for the action "grip_object". This is correctly represented in the JSON structure. However, there is a mismatch in units. The command specifies force in kilograms whereas the JSON structure represents it in newtons.'] +Exert 8 kilograms of pressure to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];["0; The JSON structure does not conform to the natural language command. In the command, force is mentioned in kilograms while in JSON data it's represented in newtons (a unit of force). Kilograms is a unit of mass, not force, hence the misunderstanding."] +Use 8 kilograms of force to tightly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "force" value in the natural language command is 8.0 which matches the JSON information. However, the unit of force in the natural language command is kilograms, which does not match the unit of force in the JSON structure, where the unit is newtons. Also, duration is not specified in the natural language command.'] +Employ an 8-kilogram force to firmly grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 78.48', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The action and most of the parameters match correctly. However, the value of the "force" is given as "8 kilograms" in the command, which has been incorrectly converted to 78.48 Newtons in the JSON structure. The proper conversion value of 8 kg to Newtons, assuming standard gravity, should be approximately 78.5 Newtons.'] +Retract the arm at a duration of 3 seconds.,['This action is not present in the ontology, therefore it cannot be represented as a json conformant to the ontology. Please provide another action.'];["0; The command 'retract the arm' doesn't exist in the sample ontology and therefore cannot be converted to JSON."] +Withdraw the arm over a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -1.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -0.33', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; The JSON structure corresponds to the 'extend_arm' action, which might be considered the opposite of withdrawing the arm. However, the values of 'extension_length' and 'speed' are negative which is not reasonable for 'extend_arm' action and does not follow the given ontology. Also, the duration which is mentioned in the command is not represented in the JSON structure."] +Pull back the arm for a total of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -3.33', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; The JSON information corresponds to an 'extend_arm' action, but the natural language command doesn't specify the extension length or the speed. Additionally, pulling back the arm could potentially relate to a different action than extending it (e.g., it might involve a different joint movement)."] +Bring the arm back slowly for a duration of 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["2; The JSON structure corresponds to a 'move_joint' action with correct 'joint_name', 'angle', 'direction' and 'speed' parameters. However, the natural language command does not specify these details and also talks of a 'duration' which is absent in the JSON. The direction mentioned as 'back' in command can't be directly mapped to 'counterclockwise' in the JSON without assumptions. So it's a partial match."] +Depress the arm gradually, taking 3 seconds to complete the action.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": -3.33', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The command "Depress the arm gradually, taking 3 seconds to complete the action." is not accurately reflected in the provided JSON structure as it doesn\'t match with the action \'Extend arm\' and speed value is negative instead. The "Depress" refers to lowering mechanism which is not present in the sample ontology.'] +Rotate the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command properly matches the JSON information with the \'action\' key correctly defined as "move_joint" and correct attributes like "joint_name", "angle", "direction". However, the joint_name value in JSON is \'arm\' while in the natural language command it\'s mentioned as \'arm joint\', which results in a small mismatch. Also, the speed value in JSON is arbitrary and not derived from the natural language command.'] +Turn the arm joint in a counterclockwise direction by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command perfectly matches with the JSON structure. All the requisite parameters like 'joint_name', 'angle', 'direction' have been correctly mentioned and even the 'speed' which is not specified in the natural language command has a reasonable value in the JSON."] +Rotate the arm joint in an anti-clockwise direction by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The action, direction, and angle of the joint match exactly with the natural language command. However, the speed doesn\'t match because while the JSON structure has a specified speed, the command does not mention any speed. The joint_name doesn\'t match because the joint_name in the command is "arm" while in the JSON structure it is "elbow".'] +Twist the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command precisely maps to the "move_joint" action with all parameters like "joint_name", "angle", "direction", "speed", "unit", and "unit_speed" perfectly matching with the command and JSON structure.'] +Pivot the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure adheres to the format of the sample ontology, with all keyword names identical. The action is correctly identified as "move_joint". In the params section, the joint_name, angle, direction, speed, unit, and unit_speed are correctly stated. The only difference is the joint_name; in the natural language command, it mentioned "arm" while in the sample ontology, the joint is specified as "elbow".'] +Extend the arm to a distance of 40 centimeters and hold for 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The natural language command and the JSON information match in terms of the action "extend_arm" and the unit of "extension_length" which is "centimeters". However, the value of "speed" in JSON information (20.0 cm/s) does not correspond to any indicative speed in the natural language command and also there is no matching information for the "hold for 2 seconds" part in the command.'] +Stretch the arm outwards to a length of 40 centimeters and keep it in that position for a duration of 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; While the action "extend_arm" and extension_length aligns with the command, the parameter of "duration" does not feature in the JSON structure. Speed is included in the JSON but not mentioned in the command.'] +Protrude the arm at a distance of 40 centimeters and maintain the position for 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["3; The natural command refers to extending the arm by 40 cm, which correctly correlates with the 'extend_arm' action and 'extension_length' parameter in the provided JSON structure but it doesn't mention anything about speed as the available JSON structure do. The part about 'maintain the position for 2 seconds' is not represented at all in the JSON and its relevance to the 'extend_arm' action is not clear."] +Lengthen the arm to 40 centimeters and sustain the extension for a period of 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The 'extend_arm' action and 'extension_length' parameters match, along with their corresponding units and values. But the speed is calculated incorrectly. It isn't stated in the natural language command, so a direct speed input of 20.0 cm/s isn't justified."] +Reach out the arm to a distance of 40 centimeters and keep it there for a duration of 2 seconds.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);["0; No JSON structure matches the command given. The command refers to 'reaching out the arm' and 'keeping it there for a duration', but none of the JSON structures include parameters for position maintenance or duration. The 'extend_arm' action seems closest but has no parameter for time duration."] +Lift the object at a velocity of 3 meters per second and move to position X:20, Y:30, Z:40.,['{', ' "action": "",', ' "params": {}', '}'];['0; The natural language command includes instructions to lift an object and move it to a specific position, however, the JSON structure is completely empty, providing no corresponding action or parameters.'] +Move the object to position X:20, Y:30, Z:40 while lifting it at a velocity of 3 meters per second.,['This action is not possible as it is not part of the given ontology.'];['0; The natural language command does not match with any of the JSON structure(s) provided in the sample ontology. The keys used in the command such as, position and velocity, are not expected in any of the available structures.'] +Lift the object at a speed of 3 meters per second and transport it to point X:20, Y:30, Z:40.,['{', ' "action": "unsupported_action",', ' "params": {}', '}'];["0; The natural language command doesn't match the JSON structure at all, because the JSON structure signifies an unsupported action, while the natural language command contains action details."] +Raise the object at 3 meters per second and relocate it to coordinates X:20, Y:30, Z:40.,['{', ' "action": "undefined",', ' "params": {}', '}'];["0; The JSON structure doesn't match the natural language command because the action in the JSON is 'undefined' and it has no parameters. The command indicates speed and coordinates for relocation, but these are neither represented in the action field nor the parameters field of the JSON structure."] +With a velocity of 3 meters per second, elevate the object and shift it to position X:20, Y:30, Z:40.,['This action does not match the ontology.'];['0; The given natural language command does not conform to any of the actions provided in the JSON structures. The actions from the sample ontology (move joint, extend arm, grip object, release grip, and set orientation) do not correspond with the command to elevate and shift an object to a specific position. Thus, this command cannot be converted into a JSON structure based on the given sample ontology.'] +Grip the object with a force of 15 Newtons and rotate the wrist joint clockwise by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; Part of the JSON matches with the command given - "grip_object" action and "force" parameter align with the command \'Grip the object with a force of 15 Newtons\'. However, there isn\'t a JSON structure present for \'rotate the wrist joint clockwise by 60 degrees\', which is stated in the command, so they don\'t fully conform.'] +Apply a force of 15 Newtons to grasp the object, then turn the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; There is a minor non-conformity as the speed of the joint movement is not specified in the natural language command but has a given value in the JSON.'] +Exert a 15 Newton force to firmly hold the object, and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['3; The given command matches partially with the JSON structures. Only the "grip_object" action is correctly represented in the JSON, with the "force" parameter and "unit_force" matching the command. However, the "duration" parameter in the JSON does not have any equivalent mention in the command. Moreover, the command also mentions rotating the wrist joint, which is not represented in the provided JSON structure at all. The action of rotating the joint should be represented similarly to the "move_joint" action in the sample ontology, but it\'s not present. Thus, the overall match is partial.'] +Use a force of 15 Newtons to grip the object and then twist the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The natural language command specifies two actions, 'grip_object' and 'move_joint'. Both of these actions are represented in the JSON structures with matching parameters. In the 'grip_object' action, the 'force' value corresponds to the stated 15 Newtons. In the 'move_joint' action, the 'joint_name' corresponds to 'wrist', the direction is specified as 'clockwise', and the angle matches the stated 60 degrees. The speed and duration values in the JSON structures are not specified in the command, but the given values are reasonable."] +Grasp the object firmly with a 15 Newton force and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Almost all values specified in the natural language command are correctly translated into the JSON structure. The "grip_object" action accurately matches with a force of 15 newtons. However, the "move_joint" action in the JSON structure includes a "speed" parameter which was not specified in the natural language command.'] +Retract the arm to its starting position and hold for 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The JSON structure does not conform with the command. The command talks about retracting the arm to its starting position and hold for 4 seconds, however the JSON structure has an extend arm command, not a retract one. Also, the hold duration is not included in the JSON structure.'] +Bring the arm back to its initial position and maintain that position for a duration of 4 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['3; The action in the JSON structure corresponds to the command but there is no mention of the duration parameter in the command or the parameters for action "set_orientation" in JSON structure.'] +Withdraw the arm to its original position and keep it there for a period of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["2; The command involves two actions, the 'extension_length' action to move the arm back to its original position and a 'wait' command to keep it there for 4 seconds. However, the 'wait' action and its respective parameters are not included in the JSON structure. Also, the value of 'extension_length' should be negative to represent a withdrawal but 0.0 is the value mentioned in the JSON. Therefore, the JSON partially represents the command but does not completely conform to it."] +Move the arm back to where it started and keep it stationary for 4 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command asks to move the arm back to its original position and stay still, but the corresponding JSON structure represents an action to set the orientation to "upright", which doesn\'t match the command given. Also the command mentioned keeping the arm stationary for 4 seconds which is not represented in the JSON.'] +Pull the arm back to its starting point and hold it for 4 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['0; The natural language command mentioned "pull the arm back" which doesn\'t align with any of the actions provided in the sample keys. Also, "hold it for 4 seconds" doesn\'t conform with any of the parameters in the JSON structure. The provided JSON does not match any part of the command.'] +Lift the object at a velocity of 4 meters per second and extend the arm to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The JSON structure correctly represents the action "extend_arm" with the correct parameters: extension length and speed. However, in the natural language command, there is an additional instruction to "lift the object" which isn\'t captured or represented in the JSON script. Furthermore, the speed unit in the natural language command is in "meters per second" but in the JSON structure it\'s in "cm/s". So, it does not fully conform to the command.'] +Raise the object with a speed of 4 meters per second while stretching the arm to a length of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'];["3; The 'extend_arm' action and 'extension_length' field match correctly between the command and JSON. The 'unit_length' field of 'centimeters' also matches. However, the 'speed' input does not conform as the unit within the JSON structure is 'm/s' whereas within the sample ontology, the 'unit_speed' is 'cm/s'."] +Elevate the object, moving at a velocity of 4 meters per second, and lengthen the arm to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command and JSON structure match mostly. The action "extend_arm" is represented correctly in JSON format with correct parameters like "extension_length" and "speed". The values for these parameters are also copied accurately from the natural language command to the JSON structure. However, there seems to be a misunderstanding in the unit of speed, it\'s supposed to be in "m/s" according to the command, but the given JSON structure has "cm/s" which is not a direct match. Hence, a point is deducted.'] +Increase the height of the object by lifting it at a rate of 4 meters per second and extending the arm to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "m/s"', ' }', '}'];['3.5; The JSON structure partially matches the command. The action "extend_arm" is correct. The "extension_length" is correct with a value of 60.0 and unit length "centimeters". However, there is a discrepancy in the "speed" value as it is mentioned as "4.0", but the unit is specified as "m/s" in the JSON while the command refers to it in "cm/s". The "lift" action of the object is not covered in the JSON.'] +Hoist the object, maintaining a speed of 4 meters per second, as the arm is extended to a distance of 60 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 60.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; There\'s no \'hoist\' action in the JSON structures provided. The action described \'extend_arm\' is partially correct however the speed unit in JSON is specified as "cm/s" while the natural language command specifies speed in "meters per second". The mismatch in speed units and the non-existent hoist action justify the low score.'] +Move to position X:10, Y:20, Z:30 at a duration of 8 seconds and rotate the arm joint counterclockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.625', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['2; The JSON structure matches partially with the natural language command. The action of moving the joint and the parameters such as joint name, direction, and unit are matching. However, there is no command in the JSON structure that matches with the natural language command mentioning about moving to a certain position (X:10, Y:20, Z:30) in 8 seconds. The speed value in the JSON does not match with the duration mentioned in the natural language command for moving the joint.'] +Adjust the position to X:10, Y:20, Z:30 over a period of 8 seconds, while rotating the arm joint 45 degrees in the counterclockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.625', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; Although the "move_joint" action is correctly represented, there is an discrepancy between the commands and the JSON structure. The command makes mention of moving in X, Y, and Z coordinates, which do not exist within the provided JSON. Additionally, the speed parameter is inferred and wasn\'t explicitly given in the natural language command.'] +Transition to coordinates X:10, Y:20, Z:30 in 8 seconds, simultaneously rotating the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.625', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['1; The natural language command mentions moving to certain coordinates which is not represented in the JSON at all. There also seems to be some confusion around speed; the natural language command indicates a total time to complete multiple actions, but the JSON only provides a speed for the joint movement specifically. Other values such as the joint name, direction and angle do match in the command and the JSON.'] +Shift to the specified position (X:10, Y:20, Z:30) in 8 seconds, while also rotating the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.625', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["1; The command talks about shifting to a certain position which is not covered by the 'move_joint' action in the JSON. The 'move_joint' action in JSON only covers moving a specific joint at a certain angle, speed and direction. Also, 'arm' isn't mentioned in the JSON as a joint name. However, the rotation of arm joint 45 degrees counterclockwise is correctly matched with the JSON structure. The speed value '8 seconds' in the command doesn't clearly match with the 'speed' key in JSON as it's unclear what it refers to."] +Transfer to the designated coordinates (X:10, Y:20, Z:30) smoothly within an 8-second timeframe, while turning the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "arm"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.625', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['2; The natural language command asks the robotic arm to move to a specific location, while also turning its arm joint. The JSON command does refer to the turning of the arm joint, but it does not provide any information about the motion of the robotic arm to a specified location. This is a partial match. Moreover, there are discrepancies in speed parameter. The natural language command refers to an 8-second timeframe, while the JSON command refers to a specific speed of rotation in degrees per second.'] +Swim.,['{', ' "action": "invalid",', ' "params": {}', '}'];['0; The command "Swim" is not present in the JSON structure, hence \'invalid\'. Therefore, there\'s no conformity at all.'] +Take a swim.,['{}'];['0; The natural language command \'Take a swim.\' does not align with any of the JSON actions given in the structure provided, such as "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation". Therefore it does not conform.'] +Engage in swimming.,['{}'];['0; The command "Engage in swimming." does not conform to any of the available actions in the JSON structure(s), such as move_joint, extend_arm, grip_object, release_grip, or set_orientation.'] +Get in the water and swim.,['{}'];["0; The command 'Get in the water and swim' does not correspond to any of the JSON actions provided in the sample ontology."] +Dive in and start swimming.,['The provided command is not acceptable according to the provided ontology, as it includes an action (swimming) that is not recognized. Therefore, no response could be generated.'];['0; The given command does not match any action in the sample ontology.'] +Move the robotic arm to position X:50, Y:100, Z:200.,['This action is not defined in the ontology.'];["0; The command 'Move the robotic arm to position X:50, Y:100, Z:200.' does not conform to any of the provided JSON structures in the sample keys. The action of moving the robotic arm to 3D coordinates does not exist in the provided JSON structures."] +Position the robotic arm at X:50, Y:100, Z:200.,['{', ' "action": "set_position",', ' "params": {', ' "x_position": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y_position": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z_position": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit": "units"', ' }', '}'];["0; The JSON command does not match the ontology provided. The JSON command is correctly formed for 'set_position' action but the keys 'set_position', 'x_position', 'y_position' and 'z_position' do not exist in the sample ontology."] +Set the robotic arm to coordinates X:50, Y:100, Z:200.,["The prompt requires an action which doesn't exist in the ontology, hence it must be ignored."];['0; The command does not match any of the provided JSON structures, as there is no action in the ontology involving setting coordinates.'] +Adjust the robotic arm to reach X:50, Y:100, Z:200.,["This action is not present in the robot arm's action ontology, it should be ignored."];['0; There is no matching command in the given JSON structures for adjusting the robotic arm to reach specific coordinates (X, Y, Z).'] +Move the robotic arm so that it is located at X:50, Y:100, Z:200.,['This action is not specified in the ontology. Therefore, according to the instructions, it must be ignored.'];['0; The provided command does not match any of the provided JSON structures, as there is no action for moving the robotic arm to specific X, Y, Z coordinates.'] +Rotate the shoulder joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The instruction \'Rotate the shoulder joint counterclockwise by 90 degrees\', fairly conforms to the JSON data structure. However, the speed "value": 0.5 could be arbitrary as it was not specifically mentioned in the instruction.'] +Turn the shoulder joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The command 'Turn the shoulder joint 90 degrees counterclockwise' perfectly matches the action 'move_joint' and all the parameters (joint_name, angle, direction) are correctly specified in the JSON structure. Although the 'speed' was not specified in the natural language command, 1.0 is a reasonable value for it."] +Twist the shoulder joint counterclockwise, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The action and parameters mentioned in the natural language command are correctly mapped to the JSON structure. However, the speed was not specified in the original command, but a value of 1.0 is assumed in the JSON structure which leads to a slight mismatch.'] +Rotate the shoulder joint in a counterclockwise direction, reaching a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Almost all information are correctly detected and converted into JSON such as the "action", "joint_name", "angle", and "direction". However, the speed wasn\'t mentioned in the natural language command and assumed as 0.5 in the JSON, yet our criteria allows for any reasonable assumed value.'] +Pivot the shoulder joint counterclockwise, achieving a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The JSON correctly describes the action of moving a joint which in this case is the shoulder. It also accurately captures the direction (counterclockwise) and the angle (90 degrees) of movement. However, the speed value (1.0 degrees/s) in the JSON is assumed as it's not specified in the natural language command."] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["5; The natural language command matches the JSON structure perfectly. The action 'extend_arm' is present in the JSON, and the parameter 'extension_length' with an exact value of '30.0' in centimeters is correctly identified. The speed is not mentioned in the command but as per the guideline above, any reasonable value in the JSON for non-specified parameters is acceptable and here '1.0' is a reasonable value for speed. Thus, the command to JSON conversion is correct."] +Increase the arm's length by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure matches with the action command in terms of action and parameters. However, the value of speed is not mentioned in the command, but it is present in the JSON.'] +Lengthen the arm by an additional 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4.5; The action and extension length from the natural language command match perfectly with the JSON structure. However, the speed value was not specified in the natural language command and a value was included in the JSON structure, which is permitted but might not reflect the actual command's intent."] +Stretch the arm outwards by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure correctly identifies the action to be "extend_arm" and matches the extension_length of 30.0 centimeters as indicated in the natural language command. However, the speed parameter in the JSON does not match the natural language command since the command does not specify a speed.'] +Add 30 centimeters to the arm's reach.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["5; The command perfectly conforms to the JSON structure for increasing arm reach or extension by a specific length. The parameters such as 'extension_length', 'unit_length' and 'speed' etc. mentioned in the JSON structure perfectly align with the command given in natural language. The 'extension_length' value '30.0' and the 'unit_length' 'centimeters' match the command of adding 30 centimeters. The speed value in the JSON structure is also reasonable even though it's not specified in the command."] +Grip the object with 10 pounds of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'];["0; The JSON structure does not match the natural language command well due to the unit of force used. In the sample ontology, the unit of force is newtons, whereas in the natural language command, it's given as pounds."] +Apply a force of 10 pounds to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action "grip_object" and parameter "force" is matched correctly, even the value of force is correct. However, the unit of force in the command is given in "pounds" whereas, in ontology, it is given in "newtons". Also, the value for duration is not provided in the command but it is added in the JSON, which is unnecessary.'] +Exert 10 pounds of pressure to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command and JSON are mostly conforming with each other. The action and parameters match well, but there\'s one less matching detail: the unit of force in the command ("pounds") does not match the unit in the sample ontology ("newtons").'] +Use 10 pounds of strength to tightly grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command partially conforms to the JSON structure. The action "grip_object" and parameters "force" and "duration" match, However, the unit of force in the command is "pounds" while the sample ontology uses "newtons".'] +Securely hold the object with a force of 10 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'];['2; Partial conformity. The "action" and "force" keys match correctly, but the ontology provided measures force in newtons, not pounds. The "duration" key doesn\'t match with the spoken command because there is no given duration in the command.'] +Move the arm in a straight line at a velocity of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; While the command does match the "extend_arm" action and unit values, there is an inconsistency with the speed value mentioned in the command (50 centimeters per second) and the speed in the JSON structure (1.0). The "extension_length" value is also unspecified in the natural language command while it is specified in the JSON structure, so a reasonable value is randomly assumed. Hence, it doesn\'t match completely.'] +Adjust the arm to move in a linear path with a speed of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The action and the speed are mentioned correctly but the extension_length value differs from the natural language command. The command convey moving in a linear path which seems similar to extending the arm but it does not indicate any particular extension_length so it\'s unclear how this value was determined.instead, the value 50.0 should be assigned to the "speed" parameter.'] +Direct the arm to travel in a straight line at a rate of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The command matches the "extend_arm" action but the speed value in the JSON is not consistent with the natural language command which mentions a speed of 50 cm/s but the JSON shows a speed of 1 cm/s. The extension_length value is not mentioned in the command.'] +Command the arm to execute a straight-line motion at a velocity of 50 centimeters per second.,['The command does not match the ontology for robotic arm commands. Therefore no JSON object conferrable to the ontology can be produced.'];['0; The given command does not match with any of the provided JSON structures. There is no action or parameter related to straight-line motion or a specific velocity in centimeters per second.'] +Instruct the arm to move in a straight line, maintaining a speed of 50 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The action in the natural language command corresponds to the "extend_arm" action in the JSON structure. However, the parameter "speed" in the natural language command has a value of 50 which doesn\'t match to the provided value of 1 in the JSON structure. Furthermore, the JSON structure has an "extension_length" parameter, but the natural language command doesn\'t specify the length for the arm to be extended which leads to inconsistency.'] +Rotate the elbow joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The command and JSON structure agree in terms of the action performed ("move_joint"), the joint involved ("elbow"), the direction of rotation ("clockwise"), and the unit of rotation ("degrees"). The angle of rotation given in the command (60 degrees) is accurately reflected in the JSON. However, the "speed" value is not specified in the command, so the JSON does not perfectly match the command.'] +Turn the elbow joint in a clockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command and the JSON information match well. All the keys in the JSON structure correspond to information in the command. However, the natural language command does not specify a speed, so the JSON\'s inclusion of the "speed" key with a value of 0.5 is an inferred detail rather than a directly commanded action. It is not mismated but not specified either in the command.'] +Rotate the elbow joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches with the JSON information in the action "move_joint". The "joint_name" is "elbow", the "angle" is 60.0 with "unit" as degrees, the "direction" is "clockwise", and the speed is not specified in the command but it is reasonable as 0.5 with "unit_speed" as degrees/s.'] +Twist the elbow joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The natural language command and the JSON structure largely align with each other. The action, joint_name, angle, direction, and unit are all correctly represented. However, the speed in the JSON is 0.5 while it is not specified in the command, we will accept it as a reasonable value, hence the score is not a perfect 5.'] +Move the elbow joint in a clockwise rotation, making a 60-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The command and JSON structure match perfectly in action, joint_name, angle, direction, unit and unit_speed. However, speed value in JSON is not mentioned in the command, it is put as 0.5 instead of an unspecified value.'] +Retract the arm to its starting position.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The natural language command is asking for the arm to retract, but the JSON structure corresponds to an extend arm action. Though the extension length is 0.0 which could imply a retraction, the action does not fully match the command.'] +Move the arm back to its original position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['1; The natural language command refers to moving the arm back to its original position. The corresponding JSON structure represents the action of setting an orientation, which might be part of moving an arm to its original position. However, there can be different actions involved in moving an arm to its original position (e.g., moving multiple joints, extending or retracting the arm), so the match between the command and JSON information is not precise.'] +Withdraw the arm and return it to its initial location.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The action is not consistent with the natural language command. The action \'extend_arm\' in the JSON structure is supposed to make the arm extend or reach out, while the command "Withdraw the arm and return it to its initial location" suggests the arm should be pulled back or retracted. Additionally, there\'s no reference in the ontology for arm retraction. While the value of "extension_length" is rightly negative to indicate retraction, it\'s an extrapolation that the system does not explicitly support.'] +Bring the arm back to where it started.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];["1; The command 'Bring the arm back to where it started' does not match the action 'set_orientation' in the JSON. The natural language command seems to be indicating a movement rather than changing the orientation. It would be more suited to JSON structures involving moving joints or extending the arm, but the particular action requested is not present in the JSON."] +Pull the arm back until it reaches its starting point.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 0.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; The natural language command talks about pulling the arm back to its starting point, which is more of a retraction rather than an extension. The action in the JSON is 'extend_arm' which does not match with the action stated in the natural language command. Also, the 'extension_length' in the JSON is set to 0.0, which might indicate a retraction but it contradicts with the action 'extend_arm'. The 'speed' and units ('unit_length', 'unit_speed') are acceptable as they could apply to any arm movement."] +Move the robotic arm to position X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['0; The natural language command does not conform to the provided JSON structure. It introduces parameters (X, Y, Z) that aren\'t in the JSON structure and doesn\'t match the "move_joint" action which only involves a single joint. The command seems to be requiring a different kind of action not available in the sample ontology, like moving the entire arm to a specific coordinate.'] +Adjust the robotic arm to coordinates X:0, Y:0, Z:0.,['This action is not specified in the ontology and thus cannot be performed.'];['0; The given command does not conform to any of the JSON structures provided in the sample ontology. There is no "adjust_to_coordinates" action or related keys in the JSON structures.'] +Shift the robotic arm to position X:0, Y:0, Z:0.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The given command refers to moving a robotic arm to a specific XYZ position, while the JSON structure refers to setting an orientation. No matching keys or values are found between the command and the JSON structure.'] +Realign the robotic arm to coordinates X:0, Y:0, Z:0.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];["0; The natural language command talks about setting coordinates which is not seen or represented in the given JSON structure. The JSON structure mentions the action as setting orientation to 'upright' which does not match with the command. Hence, there is no conformity."] +Position the robotic arm at X:0, Y:0, Z:0.,["This action is not included in the ontology, therefore, it can't be returned in the JSON format."];['0; The command doesn\'t correlate to any JSON structure in the provided ontology. The action in the command is "position", while the ontology provides keys for actions such as "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation". There is no action to set coordinates in the JSON structures.'] +Grip the object with a force of 20 newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command conforms well with the JSON structure: the "action" is "grip_object" and the "force" parameter is specified correctly as 20 newtons ("type": "float", "value": 20) which perfectly matches the natural language command. However, the "duration" parameter was not mentioned in the command but it is included in the JSON with a reasonable value of 2 seconds. Thus not a perfect match, but still highly conforming.'] +Exert a 20 newton force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["4; The command fits well with the 'grip_object' action with force adjusted to 20.0, which matches what the command requested. However, the JSON structure also contains a 'duration' parameter which is not explicitly mentioned in the natural language command. So a random value of 1.0 is assumed, which may or may not be accurate. For this small discrepancy, 1 point is deducted."] +Apply a 20 newton force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['5; The JSON structure entirely conforms to the natural language command as the values, parameters and action all match appropriately to the command.'] +Use a force of 20 newtons to grip the object securely.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The overall structure and keys match exactly, but the value for "duration" is not mentioned in the natural language command, so having a specific value given in JSON is not entirely accurate, even if it\'s a reasonable placeholder based on the ontology.'] +Hold onto the object with a 20 newton force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command matches the "grip_object" action and the "force" parameter, but the "duration" parameter in the JSON doesn\'t match relevant information in the command, it seems to be a placeholder. Therefore, it is not a perfect match.'] +Extend the arm by 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'];['4; The action "extend_arm" and "extension_length" value match the command, but the unit of measurement is specified as inches in the command and centimeters in the JSON structure. Also, the speed value in the JSON structure is assumed because it is not provided in the command.'] +Increase the arm's length by 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'];['4; The natural language command and the JSON structure conform to each other to a great extent. The "extend_arm" action, extension_length, and unit_length parameters are aligned. However, the unit of length in the JSON structure is inches instead of centimeters as in the sample key.'] +Stretch the arm by an additional 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.4', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; Although the command corresponds to the JSON structure, there is a discrepancy in units. The command mentions inches, but the JSON structure denotes centimeters as the unit which caused the value of length to be inaccurate.'] +Lengthen the arm by 10 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'];['4; The command matches with the "extend_arm" action but the unit used in the command is "inches" unlike the unit in the sample JSON which is "centimeters". However, it\'s just a change in unit and the overall context is the same.'] +Add 10 inches to the arm's extension.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'];['4.75; The command and the JSON structurally match perfectly, action and parameters align correctly. However, the unit of measurement in the command is inches, while the unit in the JSON sample ontology is centimeters. This difference is minor and both units represent length, which is contextually correct. Hence the .25 deduction.'] +Rotate the wrist joint counterclockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure is correctly formed according to the ontology provided. However, the speed value in the JSON does not match the command as no speed was mentioned in the command.'] +Turn the wrist joint in a counterclockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON structure correctly corresponds to the command given. It indicates the action "move_joint" which agrees with "Turn the wrist joint", has the joint name "wrist", direction "counterclockwise" and angle "30.0" which matches "in a counterclockwise direction by 30 degrees." The speed itself is left as a reasonable default per the guidelines and units match the degrees and degrees/s of the command.'] +Rotate the wrist joint anticlockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON conforms perfectly to the natural language command, mentioning the correct joint to be moved (wrist), the correct direction (anticlockwise), the correct angle (30), the unit of angle (degrees), and also includes a speed entry (even though it was not mentioned in the command any reasonable value is accepted).'] +Move the wrist joint in a counterclockwise rotation of 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure correctly represents the action "move_joint" with most of the required parameters accurately filled. However, the speed value in the JSON does not match with the natural language command, as the command doesn\'t specify the speed of the movement.'] +Adjust the wrist joint by rotating it counterclockwise at a 30-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON structure matches the command exactly. The action "move_joint" is correctly captured, and all parameters: joint_name (wrist), angle (30.0), direction (counterclockwise) are present. Although speed is not mentioned in the natural language command, the provided value of 0.5 is reasonable. The units of measurement for the angle and speed are also provided correctly as "degrees" and "degrees/s" respectively.'] +Move the arm in a curve with a radius of 50 centimeters.,['{', ' "action": "Invalid",', ' "params": {}', '}'];['0; The command asks to move the arm in a curve which is not an existing action of provided JSON structures. Therefore, it is rated as zero.'] +Perform a curved motion with the arm, ensuring a radius of 50 centimeters.,['This action is not supported by the ontology provided.'];['0; The command "Perform a curved motion with the arm, ensuring a radius of 50 centimeters." does not match any of the sample ontology keys provided.'] +Rotate the arm in a circular path, maintaining a curvature with a radius measuring 50 centimeters.,['This action is not represented in the provided ontology, thus it should be ignored.'];['0; The provided natural language command does not match any of the action or parameter keys in the given JSON structures. The command speaks about rotation with a specific radius, which does not correspond to the existing ontology.'] +Execute a curvilinear movement with the arm, guaranteeing a 50-centimeter radius.,["The action 'execute a curvilinear movement' is not part of the provided ontology."];["0; The natural language command is not represented in the JSON structures provided, as the action 'execute a curvilinear movement' and the parameter 'radius' do not exist in any of the ontology examples."] +Maneuver the arm in a curved trajectory, ensuring a radius spanning 50 centimeters.,['This action is not recognized by the current ontology. ', 'No json to return.'];['0; The natural language command does not match with any of the provided actions in the JSON structure and therefore, the JSON structure cannot be obtained from this command.'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The command and the JSON structure match for the most part, as they both indicate the action of moving a joint, the joint name (though different from the example), the direction 'clockwise', and the angle of 45 degrees. However, the speed isn't mentioned in the natural language command but it's included in the JSON structure."] +Rotate the shoulder joint in a clockwise direction, turning it by an angle of 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure matches the natural language command nearly perfectly. The joint_name, angle, and direction all match, and the unit of measure is correctly specified. The command does not specify a speed, but as it\'s not stated, the default value in the JSON is accepted. The one point of mismatch is that the joint_name is "shoulder" instead of "elbow" as in the ontology sample, but the structure still conforms to the ontology.'] +Turn the shoulder joint clockwise, rotating it by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The JSON structure mostly conforms to the natural language command. The command for moving a joint is accurate; however, the speed is assumed and not mentioned in the initial command.'] +Twist the shoulder joint in a clockwise manner, changing its position by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The action, joint_name, angle, direction, unit and unit_speed keys correctly match the natural language command. However, the speed value is specific at 0.5 in the JSON structure while it's not mentioned in the natural language command. Since it's not contradictory, the speed value can be considered reasonable for this command."] +Rotate the shoulder joint in the clockwise direction, making a 45-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The structure of JSON and the command align with each other. The action "move_joint", parameter units "degrees" and "degrees/s", and the keys "joint_name", "direction", and "angle" match. The "speed" key does not have a specified value in the command but the JSON value 0.5 is accepted as it is a reasonable value. The joint_name value differs ("shoulder" instead of "elbow"), but this is acceptable as the natural language command may require actions on different joints.'] +Move the robotic arm to position X:100, Y:50, Z:150.,['The action "move to position X:100, Y:50, Z:150" is not in the provided ontology. Thus, it is ignored.'];['0; The natural language command does not match any of the JSON structures provided in the sample ontology. The action "move to position X:100, Y:50, Z:150" is not described in the ontology, thus, the command cannot be converted into a JSON structure.'] +Position the robotic arm at coordinates X:100, Y:50, Z:150.,['{', ' "action": "ignore",', ' "params": {}', '}'];["0; The natural language command talks about positioning robotic arm at specific coordinates but there are no corresponding JSON data concerning changing a robotic arm's position based on coordinates."] +Transfer the robotic arm to location X:100, Y:50, Z:150.,['{', ' "action": "move_to_location",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 100.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 150.0', ' },', ' "unit": "centimeters"', ' }', '}'];['0; The JSON commands do not contain any action named "move_to_location". Furthermore, there is no key for parameters such as "X", "Y", or "Z", hence the command does not match the JSON provided.'] +Shift the robotic arm to the X:100, Y:50, Z:150 position.,['{', ' "action": "set_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 100.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 150.0', ' },', ' "unit": "mm"', ' }', '}'];['0; The natural language command talks about shifting the robotic arm to a specific position (in x, y, z coordinates), but the JSON structure is not available in the sample keys provided. The available actions in the sample keys are "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation". Therefore, the command does not conform to the JSON structures provided.'] +Adjust the robotic arm to the desired coordinates: X:100, Y:50, Z:150.,['This action is not included in the provided ontology. Therefore, no JSON can be returned.'];['0; The provided command does not match any JSON structure in the provided ontology. There is no action related to adjusting to specific coordinates in the sample ontology.'] +Grip the object with a force of 15 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command is to grip an object with a certain force, and the action in the JSON structure corresponds to this command. However, the unit of force in the command is given as pounds, while the unit in the JSON structure is Newtons. If we ignore unit difference and consider only force value and action then it conforms, but considering the overall structure it does not conform fully.'] +Apply a 15-pound force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'];["2; Incorrect units in 'unit_force'. The ontology uses 'newtons' instead of 'pounds'. The duration value has not been specified in the command, hence assuming duration as 1.0 is not incorrect."] +Exert 15 pounds of force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "pounds",', ' "unit_duration": "seconds"', ' }', '}'];["2; The JSON structure partially conforms to the natural language command. The action and duration are correctly captured but the unit of force is misrepresented. The command demands force in 'pounds' but the JSON structure includes 'newtons' as the unit of force. However, the value of the force has been correctly interpreted in the JSON structure."] +Use a 15-pound grip to secure the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 66.7231', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4.3; The "grip_object" action and "force" parameter are correctly represented, and the conversion from pounds to newtons is accurate. However, the "duration" parameter is arbitrarily defined as 2, which was not specified in the natural language command.'] +Hold the object firmly with a force of 15 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; While the natural language command and JSON structure have similar actions ("grip_object") and have a parameter for "force", there is discrepancy in the unit of force used. The command specifies the force in "pounds" whereas the JSON structure specifies the force in "newtons". Furthermore, the value of "duration" isn\'t specified in the natural language command, which does not conform perfectly with the JSON structure.'] +Retract the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The JSON structure represents the "extend_arm" action which does not match the command that requests for retraction. The retraction of the arm might be represented by a negative extension_length, but it is not clear if this negative convention is accepted by the device performing the actions.'] +Move the arm back by a distance of 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; While the action corresponds to "extend_arm" in the ontology, a negative value (-20.0) is used in the JSON to signify "moving back", which may not be technically correct. The original command does not specify speed, so any value is accepted. However, the value of extension_length does not exactly conform to the expected positive float value based on the sample keys.'] +Pull the arm inward, reducing its length by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The action in the JSON is "extend_arm" which seems to be the opposite of the natural language command "pull the arm inward". However, the "extension_length" is understood correctly as reducing its length by 20 centimeters.'] +Withdraw the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; While the "extend_arm" action seems to hold the closest match, there is no functionality for retraction or withdrawal of the arm indicated in the JSON structure.'] +Bring the arm back, shortening it by a measurement of 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The command "shortening" instead of "extend" may lead to confusion but it follows the structure of "extension_length" correctly with a negative value, which implies shortening. Other parameters\' values match correctly even though the command didn\'t explicitly mention them. The given speed value remains the same as in the JSON structure, indicating it can be any reasonable value.'] +Rotate the elbow joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Justification: The natural language command perfectly matches the provided JSON structure. The "action" command is "move_joint", the correct joint_name "elbow" is provided, the angle of rotation is correctly represented as 90.0, the direction is "counterclockwise" (the opposite of the sample but nonetheless correctly represented), and while a speed isn\'t provided in the command a reasonable default is used in the JSON. Units are also correct.'] +Turn the elbow joint in an anticlockwise direction, rotating it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the elbow joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON structure correctly matches the natural language command. The action "move_joint" is represented accurately. The parameters "joint_name" with a value of "elbow", "angle" with a value of 90, "direction" with a value of "counterclockwise", and a speed value, (though not provided in the natural language command, a reasonable value is accepted) are all matching. The units of degree and degrees/s for the movement and speed, respectively, are also accounted for in the JSON structure.'] +Perform a 90-degree counterclockwise rotation of the elbow joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure provided. The action "move_joint" has all its parameters defined such as the "joint_name" as "elbow", "angle" as 90, "direction" as "counterclockwise" and the units match as well. The "speed" value of 1.0 is considered as a reasonable value since it\'s not specified in the command.'] +Twist the elbow joint counterclockwise, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; All the parameters in the natural language command, such as the action ("move_joint"), the joint name ("elbow"), the direction ("counterclockwise"), the angle (90 degrees), etc., match perfectly with the keys in the JSON command. The speed value "0.5" in the JSON is also acceptable, as it\'s a reasonable value and is not specified in the natural language command.'] +Move the arm in a zigzag pattern with a velocity of 75 centimeters per second.,['{', ' "action": "ignore",', ' "params": {}', '}'];['0; The natural language command mentions about moving the arm in a zigzag pattern, however, there is no corresponding action or parameters in the JSON structures. Hence, the command cannot be converted adequately.'] +The arm should be moved in a zigzag pattern at a speed of 75 centimeters per second.,['{', ' "action": "move_arm",', ' "params": {', ' "pattern": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "speed": {', ' "type": "float",', ' "value": 75.0', ' },', ' "unit_pattern": "none specified",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The natural language command refers to the action \'move_arm\' which does not exist in the sample keys of the JSON structure. Additionally, there is no "pattern" parameter in the sample ontology, making \'zigzag\' an unrecognized value. Therefore, the command cannot be converted to JSON using this ontology.'] +Move the arm with a velocity of 75 centimeters per second in a zigzag pattern.,['{', ' "action": "ignore",', ' "params": {}', '}'];['1; The command asks to move the arm, however, the action in the JSON structure is set to "ignore". Additionally, the command asks for a specific movement pattern ("zigzag") which isn\'t addressed by the JSON structure, hence it doesn\'t completely conform to the example keys.'] +With a speed of 75 centimeters per second, move the arm in a zigzag pattern.,['{}'];['0; The natural language command speaks of a movement action that is not reflected at all in the JSON structure. There is no action to move the arm in a zigzag pattern and there is no speed parameter set to 75 cm/s in any of the actions.'] +In a zigzag pattern, move the arm with a velocity of 75 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 75.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 75.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["3; The JSON structure corresponds with the action of extending the arm and specifies the speed of the movement. However, the 'extension_length' parameter doesn't have a clear value from the natural language command. Furthermore, the 'zigzag pattern' is not represented in the JSON structure."] +Extend the arm by 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'];['5; The JSON structure correctly refers to extending the arm action, with the right extension length of 5.0 and the unit in inches. The speed and its unit are also included, thus complying with the natural language command.'] +Increase the arm's length by 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'];['4; While the action ("extend_arm") and the extension_length value (5.0) are matched perfectly, the units used in the natural language command are in inches while the JSON structure\'s base ontology uses centimeters. The base ontology does not provide a sample key to recognize measurements in inches. The value of speed was not specified in the command but as per the scoring guidelines, any reasonable value in the JSON is accepted.'] +Lengthen the arm by an additional 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'];['4; The action and extension_length parameters match the natural language command but the speed and unit_speed parameters do not match since no speed was specified in the command. Furthermore, the unit_length parameter matches since inches are specified, however in the existing ontology it is in centimeters which may create a constraint.'] +Stretch the arm outwards, adding 5 inches to its total length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'];['4; The JSON structure nearly matches the natural language command perfectly. The action is "extend_arm", and "extension_length" is 5.0. However, the natural language command did not specify "speed". Therefore, the value for "speed" in the JSON structure of 1.0 or "unit_speed" as "inches/s" is assumed and does not precisely conform to the command. Also, units of measurements in natural command ("inches") and JSON ("centimeters") are different.'] +Expand the arm's size by 5 inches.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "inches",', ' "unit_speed": "inches/s"', ' }', '}'];['0; The JSON structure does not match the example ontology. The ontology uses "centimeters" as the unit of measurement for extending the arm, not "inches". Also, the "speed" parameter is not specified in the natural language command, hence it should not be set to a specific value in the JSON structure.'] +Rotate the wrist joint clockwise by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The "speed" parameter doesn\'t exist in the natural language command, so while the JSON contains a reasonable value for it, it can\'t be considered a perfect match.'] +Turn the wrist joint in a clockwise direction, angling it 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4.5; Almost all of the parameters in JSON match with the natural language command, but the speed is unreasonable due to not being mentioned in the natural language command. However, the command's absence is validated by the scoring instructions."] +Rotate the wrist joint to the right by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The command "Rotate the wrist joint to the right by 15 degrees" perfectly matches the "action" and "params" in the JSON structure. The "action" is \'move_joint\', the \'joint_name\' is \'wrist\', \'angle\' is 15.0, \'direction\' is \'clockwise\'. Although the \'speed\' is unspecified, the value provided in the JSON is reasonable, hence it does not affect the score. The units are specified correctly as \'degrees\' and \'degrees/s\'.'] +Twist the wrist joint in a clockwise motion, adjusting it by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The command mostly conforms with the JSON structure. The "action", "joint_name", "angle", and "direction" are correct, but the speed value is provided in the JSON while it isn\'t specified in the natural language command.'] +Move the wrist joint in a clockwise rotation, offsetting it by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The command's action and parameters including joint_name, direction and angle match perfectly with the JSON structure. The speed value is missing in the command but that is acceptable as with the compliance with the example keys given."] +Swim.,['{}'];['0; The command "Swim" does not exist in the sample keys.'] +Take a swim.,['{}'];['0; The command \'Take a swim.\' is not related to any of the JSON structure actions - "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation" and hence cannot be converted to JSON.'] +Go for a swim.,['{}'];['0; The natural language command \'Go for a swim.\' does not conform with any of the action commands provided in the JSON object. The JSON object deals with actions like "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation", but does not include anything related to swimming.'] +Dive into the water.,['This action is not part of the ontology, so no command will be produced.'];['0; The command provided does not match with any command in the JSON structures.'] +Engage in swimming.,['{}'];["0; The command 'Engage in swimming' does not match any of the action types in the sample JSON keys, hence it can't be converted to JSON using this structure."] +Lift the object 5 centimeters off the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform. The natural language command contains the same action and parameters values as those expressed in the JSON structure. It\'s clear that the action is "extend_arm", the unit of extension length is "centimeters" and the extension length itself is 5.0, which matches the provided JSON structure.'] +Raise the object to a height of 5 centimeters above the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The command is perfectly aligned with the JSON structure, having the action of extending the arm to a height of 5 centimeters- this command is indicated in the "extend_arm" action with an extension length of 5.0 ("extension_length" : {"type": "float", "value" : 5.0}). The unspecified speed parameter in the natural language command has been reasonably defaulted to 1.0 ("speed": {"type": "float","value": 1.0}). The units mentioned in the natural language command conform with the units given in the JSON structure as well ("unit_length": "centimeters", "unit_speed":"cm/s").'] +Elevate the object so that it is positioned 5 centimeters above the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The natural language command suggests that the object itself should be elevated, rather than the arm being extended. The parameters are correct, but the action does not exactly conform to the command provided.'] +Increase the height of the object by 5 centimeters from its current position on the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command matches with the JSON structure, though the speed of the action is not specified in the natural language command but is mentioned in the JSON structure.'] +Ascend the object by 5 centimeters, lifting it away from the ground.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The JSON structure has the correctly mapped action "extend_arm" with corresponding parameters that exactly conform to the natural language command. The extension_length is 5 centimeters, which matches with the command, and the unit of measurement is also correctly stated as centimeters. The speed is 1.0 cm/s in the JSON, which, although not mentioned in the command, is a reasonable value and is therefore accepted.'] +Rotate the base joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command accurately matches the provided JSON structure. The action "move_joint" is correctly invoked in the JSON, and all parameters: "joint_name", "angle", "direction", "speed", "unit", and "unit_speed" are correctly filled out. The values for these parameters also match the input command perfectly.'] +Turn the base joint anti-clockwise by an angle of 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The natural language command mentions about moving a joint ('base') in a certain direction ('anti-clockwise') by a specific angle (90 degrees). All these details exactly match with corresponding JSON structure where action is 'move_joint', joint_name value is 'base', angle value is 90.0, and direction value is 'anti-clockwise'. The command does not specify speed, however the JSON showing a speed value is acceptable as instruction doesn't contradict it."] +Twist the base joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The command asks for a specific joint ("base") to be moved in a specific direction ("counterclockwise") by a specific angle (90). The JSON structure accurately represents this with the matching "action" of "move_joint" and proper "params" for "joint_name", "direction", "angle", and provided reasonable values for "speed", "unit", and "unit_speed".'] +Rotate the base joint in the counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command and the JSON structure match perfectly. All elements in the command are represented accurately in the JSON, including the specified action of moving a joint, the name, angle, and direction of the joint, and the implicit unit of degrees for the angle. The speed is not mentioned in the command, but the JSON structure's value of 0.5 degrees/s is a reasonable default speed. Therefore, the command conforms exactly to the JSON information."] +Execute a 90-degree counterclockwise rotation of the base joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The JSON structure correctly reflects the natural language command, with the appropriate action and all specified parameters accurately represented. The joint name "base", an angle of 90 degrees, a counterclockwise direction, a speed (even if not specified in the command, a reasonable value is provided) and appropriate units of measure are all included in the JSON.'] +Extend the arm to position X:50, Y:0, Z:80.,['This action is not defined in the given ontology. The assistant should ignore it.'];['0; The given natural language command instructs to extend the arm to a specific position, a command not present in the provided JSON structures. Therefore, it does not conform to the sample ontology.'] +Move the arm to coordinates X:50, Y:0, Z:80.,["I'm sorry, but the ontology doesn't support moving the arm to specific coordinates."];['0; The ontology does not support moving the arm to specific coordinates.'] +Adjust the arm to reach position X:50, Y:0, Z:80.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "X:50, Y:0, Z:80"', ' }', ' }', '}'];['1; The natural language command is asking to adjust the arm\'s position, but the JSON structure is setting the orientation, so it\'s not a match. The JSON structure would ideally need an action such as "set_position" with parameters for X, Y, and Z coordinates, but no such action or keys exist in the sample ontology. Thus, the command and JSON structure are not a match.'] +Stretch out the arm until it reaches X:50, Y:0, Z:80.,['This action is not available in the ontology.'];['0; The given command requires a move action to specific coordinates, which is not provided for in the given sample JSON structures.'] +Set the arm's coordinates to X:50, Y:0, Z:80.,['The action does not conform to the ontology.'];['0; The natural language command refers to setting specific Cartesian coordinates for an arm, which does not exist in the JSON structures and therefore does not conform to the ontology.'] +Open the grip completely for 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];["1; The natural language command specifies a duration for the action which is not reflected in the JSON structure. Also, 'release_grip' does not consider the 'open' and 'completely' aspects from the command."] +Fully open the grip and hold for 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['2; The action "release_grip" correctly matches the JSON, but the duration mentioned in the command "hold for 3 seconds" is not captured in the JSON structure.'] +Release the grip completely for a duration of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['1; The JSON action "release_grip" aligns with the natural language command to "Release the grip". However, the natural command includes a duration parameter, which does not exist in the JSON structure for "release_grip". The presence of invalid parameters is contrary to the provided sample ontology.'] +Keep the grip wide open for a period of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['1; The natural command instructs to release the grip and this corresponds to the "release_grip" action in the JSON code. However, the command also specifies a duration of 3 seconds, but this information is not catered to in the JSON structure. Thus, it is only partially conforming.'] +Hold the grip in a fully extended position for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command "Hold the grip in a fully extended position for 3 seconds" shows an application of gripping an object for a certain duration without modifying it, but the action mentioned in the JSON structure is correct i.e., "grip_object". However, the JSON structure does not denote the extension of the grip which is mentioned in the command. Therefore, the command is partially conforming to the JSON structure.'] +Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second.,['This action is not in the ontology and therefore must be ignored.'];['0; The provided command does not match any of the actions outlined in the JSON structures available in this ontology.'] +Transfer the item to coordinates X:20, Y:30, Z:10 with a speed of 10 centimeters per second.,["This action can't be translated as it's not in the given ontology."];['0; The given natural language command does not match with any of the JSON structures provided in the sample ontology. The command references an action ("Transfer the item") and parameters ("coordinates X:20, Y:30, Z:10" and "speed") that are not included in the existing actions and parameters.'] +Relocate the object to X:20, Y:30, Z:10, moving at a rate of 10 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 20.0', ' },', ' "y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_position": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The natural language command refers to an action ("move_to_position") that doesn\'t exist in the sample keys. Therefore, it does not conform to the given JSON structures.'] +Transport the item to position X:20, Y:30, Z:10 with a velocity of 10 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 20.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_position": "centimeters",', ' "unit_velocity": "cm/s"', ' }', '}'];['0; The command given is "move to a position" which is not found in any of the JSON structures provided. Also, the parameters passed in the command like \'X\', \'Y\' and \'Z\' are also not present in the sample JSON data. Hence, the score is 0.'] +Shift the object to coordinates X:20, Y:30, Z:10 at a speed of 10 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "X": {', ' "type": "float",', ' "value": 20.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 30.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 10.0', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_coordinates": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; No conformity. The command "move_to_coordinates" doesn\'t exist in the sample ontology.'] +Close the grip with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action in the JSON structure correctly corresponds to the natural language command. However, the unit for "force" key in JSON as \'kilograms\' does not match with the ontology (should be \'newtons\'). Plus, the value for \'duration\' is introduced in the JSON where it was not specified in the command.'] +Apply 10 kilograms of force to secure the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; Although the action matches the action "grip_object" from the JSON structure, but the unit of force used in the natural language command is "kilograms" while in the JSON structure it\'s "Newtons".'] +Exert a 10-kilogram force to close the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command requests exerting a 10-kilogram force while gripping an object. However, the JSON representation uses a force value of 10.0 with the unit of force as newtons, not kilograms.'] +Use 10 kilograms of pressure to tighten the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command requests to "tighten the grip" with 10 kilograms of pressure, however the corresponding JSON structure uses the action "grip_object", and the unit for the force parameter is given in newtons in the sample ontology, not kilograms as given in the JSON structure. The duration parameter is also included in the JSON with a value not specified in the natural language command.'] +Apply 10 kilograms of force to finalize the grip closure.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];["1; The command translates to the 'grip_object' action. However, the value of 'force' in the command is 10 kg, whereas according to the ontology, the 'force' should be specified in newtons, not kilograms. The command does not specify any 'duration' hence the value of 'duration' in JSON is accepted."] +Rotate the wrist joint clockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The JSON structure accurately represents the action 'move_joint', specifies the joint_name as 'wrist', angle as 180.0, and direction 'clockwise' which matches with the natural language command. However, the speed of the movement is not mentioned in the command but is present in the JSON. Hence, it doesn't exactly conform."] +Turn the wrist joint in a clockwise direction, making a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON structure matches the command perfectly. The "action" of moving the joint is specified, the "joint_name" matches ("wrist"), the "angle" and "direction" match (180 degrees, clockwise), and though a specific "speed" is not given in the natural language command, it is acceptable for it to be present in the JSON.'] +Rotate the wrist joint by 180 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The JSON structure matches the command perfectly ("move_joint" action for the "wrist" joint, 180.0 degrees rotation in "clockwise" direction). The speed is not specified in the command but it is acceptable because the description allows for any reasonable value.'] +Twist the wrist joint clockwise, completing a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.75; The JSON object accurately reflects the command of moving the \'wrist\' joint in a \'clockwise\' direction of \'180.0\' degrees. However, the value of the "speed" parameter is not mentioned in the command and is assumed to be \'0.5\' degrees/s in the JSON, thus deducting 0.25 points from the conformity score.'] +Perform a 180-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command is perfectly transformed into JSON. All relevant parameters such as 'action', 'joint_name', 'angle', 'direction', 'speed', 'unit', and 'unit_speed' are correctly indicated and carrying correct values as specified in the command."] +Lift the arm to its maximum height and hold for 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) +Elevate the arm to its highest point and maintain for a duration of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['2; The JSON action "set_orientation" with the value "upright" somewhat aligns with the command to elevate the arm. However, the command also mentions to maintain the position for a duration of 10 seconds, which is not addressed in the JSON structure. Thus, the JSON and the command do not completely conform.'] +Raise the arm as high as possible and keep it in that position for 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['2; The natural language command indicates an action to raise the arm, which the JSON structure represents using the "set_orientation" action. However, the natural language command also suggests a duration to keep the arm in that position, which is not reflected in the JSON.'] +Hoist the arm to its utmost height and keep it there for a period of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['1; The natural language command is instructing to lift the arm to the maximum height and maintain that position for a duration of 10 seconds. But, the JSON structure provided sets orientation upright which is not equivalent to the action mentioned in natural language command. Also, the duration parameter is missing in the JSON. Hence there is a partial match only.'] +Ascend the arm to its peak height and hold the position for 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['1; The JSON structure refers to an action of "set_orientation" with a value of "upright", which suggests a position change but doesn\'t clearly match the command to "Ascend the arm to its peak height". The command also mentions holding the position for 10 seconds, but there is no reference to duration in the JSON structure.'] +Retract the arm to standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['1; The JSON structure represents the action "set_orientation" while the natural language command talks about retracting the arm which seems to be a different action. The "standby" value does not fit with the sample ontology either.'] +Bring the arm back to its standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['2; The natural language command suggests a return to a default or standby position, but it doesn\'t specify the orientation of the arm, which is what the JSON is structured to handle. The "upright" value may coincide with a standby or rest position, but it\'s not explicit from the command. Additionally, this command should likely involve other actions apart from setting orientation, as a return to standby position encompasses the whole arm, and not just its orientation.'] +Move the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['5; Exactly conform.'] +Return the arm to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['4; The command "Return the arm to the standby position" is correctly translated to the "set_orientation" action in the given JSON structure. However, the "standby" orientation in the command does not fully match the "upright" value in the JSON. Therefore, it\'s close but not exactly conform.'] +Withdraw the arm and place it in the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['2; The action "set_orientation" is used correctly, but it requires the value "standby". However, the phrase "withdraw the arm and place it in" does not relate to any action in the JSON structures. Hence, it partially conforms to the samples provided.'] +Move to position X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,['Sorry, but the current ontology does not support "move to position" action. Please specify a command within the given ontology.'];['0; The command "move to position" doesn\'t exist in the sample keys. The natural language command doesn\'t match with any of the JSON structures provided.'] +Change your position to X:100, Y:50, Z:150 moving at a speed of 20 centimeters per second.,["This action doesn't fit the established ontology. The set of actions and parameters defined in the ontology doesn't include a command for changing position with coordinates or a movement speed expressed in centimeters per second."];['0; The given command does not match with any of the provided JSON structures. There is no action related to position change or parameters concerning X, Y, Z coordinates or velocity in the ontology.'] +Travel to coordinates X:100, Y:50, Z:150 with a velocity of 20 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x_coordinate": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y_coordinate": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z_coordinate": {', ' "type": "float",', ' "value": 150.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The natural language command refers to a movement action involving specific coordinates, and specifies a speed. However, the JSON structure refers to actions like moving a joint, extending an arm, gripping an object, releasing a grip, and setting orientation. None of these actions involve moving to specific coordinates, so the natural language command does not match the JSON information provided.'] +Go to position X:100, Y:50, Z:150 at a speed of 20 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "xyz"', ' },', ' "angle": {', ' "type": "float",', ' "value": 150.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The provided JSON command does not conform to the natural language instruction. The command suggests a movement in the XYZ plane which is not catered for in the sample ontology provided. Therefore, the conversion is not accurate.'] +Reach the coordinates X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "type": "dict",', ' "value": {', ' "X": 100.0,', ' "Y": 50.0,', ' "Z": 150.0', ' }', ' },', ' "velocity": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_coordinates": "cm",', ' "unit_velocity": "cm/s"', ' }', '}'];['0; The provided JSON structure does not match with the sample ontology keys provided. The elements like "move_to_coordinates", "coordinates", and "velocity" are not present in the provided sample ontology.'] +Open the grip halfway for 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];["0; The natural language command speaks about opening grip halfway for a certain duration, but the JSON structure refers to the action of releasing grip without any specified parameters, hence they don't match."] +Partially open the grip for a duration of 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['1; The natural language command instructions to partially open the grip for a duration of 2 seconds, however the JSON structure provides an action key "release_grip" without any parameters. While the action may be somewhat related, the parameters of the command are not defined in the JSON thus leading to a very poor match.'] +Open the grip halfway and hold for 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.5', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["3; The action of 'grip_object' matches well and the duration is also correct. However, the 'force' field does not exactly correspond to the command of opening the grip halfway."] +Temporarily open the grip halfway for a period of 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['2; The action "release_grip" somewhat corresponds to the command "open the grip halfway for a period of 2 seconds" but the JSON does not contain parameters for grip opening level or duration, which the natural language command specifies.'] +Maintain the grip at a mid-point opening for 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 2.5', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["3; The JSON structure matches the grip_object action from the sample ontology and covers the duration of 2 seconds as mentioned in the natural language command. However, the force in the natural language command is described as 'mid-point opening' which is not equivalent or clearly translatable to a specific numeric value in newtons, hence the value of force doesn't conform perfectly with the natural language command."] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command matches the JSON structure accurately. The action "extend_arm" is correctly identified, and the parameter "extension_length" is provided with a value of 30, matching the command to extend the arm by 30 centimeters. The "unit_length" also matches the centimeters unit in the command. The speed is not mentioned in the command but the value in the JSON structure is reasonable, and hence accepted.', ''] +Increase the arm length by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure correctly identifies the action as "extend_arm" and the "extension_length" as 30.0. However, the "speed" value is assumed to be 1.0 in the JSON, which was not specified in the natural language command.'] +Stretch the arm outwards by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["5; Exactly conform. The natural language command 'Stretch the arm outwards by 30 centimeters' completely matches the JSON structure for the 'extend_arm' action, with 'extension_length' correctly defined as 30.0 and the unit as centimeters. The speed is not specified in the command but it is reasonably inserted."] +Elongate the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["5; The JSON structure correctly corresponds and conforms to the natural language command. The 'extend_arm' action is used correctly with the appropriate parameters like 'extension_length' of 30.0 value, 'speed', 'unit_length' of centimeters, and 'unit_speed' of cm/s called out in the JSON structure. The command does not specify the speed, but the JSON reflects a reasonable default value."] +Expand the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command matches perfectly with the JSON structure. The action "extend_arm" and the parameter "extension_length" with a value of 30.0 corresponds correctly. The speed value is not specified in the command but it is within the allowance of any reasonable value. Therefore, the conformity score is 5.'] +Rotate the base joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command corresponds with the "move_joint" action in the JSON structure, with the "joint_name" set to "base", the "direction" set to "clockwise", and the "angle" set to 45 degrees. However, the "speed" parameter is not provided in the command so it is not accurately reflected in the JSON.'] +Turn the base joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Almost all information in the natural language command matches the JSON structure. The joint name ("base") was correctly identified. The direction of movement was also identified correctly as "clockwise". The angle of rotation was also identified correctly as 45 degrees. However, the speed of rotation was not specified in the natural language command but was preset as 0.5 degrees/s in the JSON.'] +Twist the base joint in a clockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The structure of the JSON is almost correct but the value of "joint_name" should be "elbow" as given in the sample ontology, not "base". Also, the speed of the movement is not specified in the natural language command, hence the value shouldn\'t be assumed as 0.5 in the JSON structure.'] +Rotate the base joint in a clockwise manner, making a 45 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches with the JSON structure. It calls the correct action "move_joint" and specifies the necessary parameters including joint_name, angle, and direction. The values of these parameters (base, 45, and clockwise respectively) also correspond with those in the command. The speed value is not mentioned in the command, but the provided value in JSON is still reasonable and hence accepted.'] +Shift the base joint to the right, rotating it by 45 degrees in a clockwise motion.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command matches perfectly with the JSON information. The action 'move_joint' is correctly captured and all necessary parameters such as 'joint_name', 'angle', 'direction', 'speed', 'unit' and 'unit_speed' are provided with compliant values."] +Lift the object to position X:0, Y:0, Z:50 and hold for 5 seconds.,['The action "lift and hold the object" is not present in the given ontology.'];['0; The command does not match any of the available actions in the JSON structures. The action "lift and hold the object" and the parameters "X", "Y", "Z", and "hold" do not exist in the sample keys.'] +Elevate the object to coordinates X:0, Y:0, Z:50 and maintain that position for a duration of 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command refers to elevating an object to specific coordinates and maintaining the position, however, the JSON structure represents a "set_orientation" action with the orientation value set to "upright". There is no conformity between the command and the provided JSON structure.'] +Hoist the object until it reaches the location X:0, Y:0, Z:50, and then keep it steady for a period of 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The provided JSON structure does not match the natural language command. The command mentions "hoisting an object" and moving it to a certain location, which does not correspond to the "set_orientation" action in the JSON structure. Additionally, there are no parameters for location (X:0, Y:0, Z:50) or a duration for the action in the JSON structure.'] +Raise the object up to X:0, Y:0, Z:50, and keep it suspended in that spot for 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];["0; The natural language command speaks about raising an object and suspending it, which doesn't match with the provided JSON structure that talks about setting an orientation. There are no keys in the sample ontology related to raising an object or suspending it in a certain spot."] +Carry out a vertical movement to position the object at coordinates X:0, Y:0, Z:50, and keep it in place for a duration of 5 seconds.,['I\'m sorry but the prompt given doesn\'t fit in the ontology schema as it does not contain an action like "move_joint", "extend_arm", "grip_object", "release_grip" or "set_orientation". Therefore, I can\'t generate a valid JSON conformant to the ontology based on the prompt.'];['0; The natural language command indicates a motion action, specifying coordinates and hold duration, none of which are represented in the given sample ontology. The command does not match any of the action keys in the JSON structures.'] +Close the grip with 7 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action \'grip_object\' in the JSON command is correctly matched with the natural language command. However, the unit of force "kilograms" in the natural language command doesn\'t confirm to the sample key ontology of force which is in "newtons". Also, since the duration wasn\'t specified in the natural language command, the value of 1.0 is acceptable.'] +Apply a force of 7 kilograms to tighten the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command partially conforms to the JSON structure, as the 'action' and 'duration' keys match. However, the 'force' value is not correctly represented in terms of the sample ontology, which requires the unit to be in newtons, not kilograms."] +Securely tighten the grip with a force of 7 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command is telling to tighten the grip with a force of 7 kilograms, but the JSON structure specifies force unit in newtons, not kilograms. The force value is correctly captured but in the wrong unit. The duration is not mentioned in natural language command, but it is provided in JSON, hence the score is 1.'] +Use 7 kilograms of force to close the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["3; The action and parameter keys match to the provided sample ontology and thus, the JSON structure matches to some extent with the given command. However, the unit of force is incorrect. The command specifies kilograms but the unit in JSON is in newtons. Also, the duration value in the JSON structure is arbitrary since it's not specified in the command."] +Apply a force of 7 kilograms to firmly close the grip.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['0; The command in the natural language is about the \'grip_object\' action and matches the "action" key in the JSON structure. However, the "force" value in the natural language command is given in kilograms, which does not conform to the sample ontology where the "force" is in newtons. The "duration" key\'s value is not mentioned in the natural language command, therefore, the value given in the JSON structure is not confirmed either. Due to these reasons, the conformity score is 0.'] +Move to position X:75, Y:25, Z:100 at a velocity of 15 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_position": "cm",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The provided JSON structure does not match with the sample keys of the ontology. The action "move_to_position" and parameters "X", "Y", "Z", "velocity", "unit_position" are not found in the sample ontology.'] +Go to the coordinates X:75, Y:25, Z:100 with a speed of 15 centimeters per second.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "type": "dict",', ' "value": {', ' "X": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 100.0', ' }', ' }', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_coordinate": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The natural language command requests a movement to specific coordinates, however this action does not exist in the sample keys provided. The provided JSON structure does not match any from the sample ontology.'] +Travel to position X:75, Y:25, Z:100 at a rate of 15 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_position": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The provided JSON structure proposes an action "move_to_position" which does not exist in the sample ontology. Consequently, it cannot be compared to the natural language command.'] +Change your location to X:75, Y:25, Z:100 with a velocity of 15 centimeters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "x_position": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y_position": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z_position": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit_position": "cm",', ' "unit_velocity": "cm/s"', ' }', '}'];['0; The JSON structure provided does not match with any keys provided in the sample ontology. The action "move_to_position" and parameters such as "x_position", "y_position", "z_position", "velocity" and their respective units do not exist in the sample ontology.'] +Reach the coordinates X:75, Y:25, Z:100 at a speed of 15 centimeters per second.,['Sorry, this action falls outside the ontology presented. The ontology does not provide commands for reaching specific coordinates. Please provide a command related to moving joints, extending the arm, gripping or releasing objects, or setting orientation.'];['0; The natural language command instructs to reach certain coordinates, but the ontology only supports movement of specific joints, extension of an arm, gripping objects, releasing grip and setting orientation. The command is not supported by the given ontology.'] +Rotate the wrist joint counterclockwise by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command exactly matches the JSON structure. The action "move_joint" with joint_name as "wrist", direction as "counterclockwise" and angle as 270.0 matches perfectly. The speed type and value are also correct with "degrees" and "degrees/s" unit and unit_speed respectively even though the speed was not specified in the natural language command.'] +Turn the wrist joint in the opposite direction by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command exactly matches the information given in the JSON structure. The action "move_joint" is correct, and the parameters "joint_name" set as "wrist", "angle" set as 270.0, "direction" set as "counterclockwise" match precisely. The speed is not mentioned in the natural language command, so given value 1.0 is acceptable. The "unit" of measurement is implied as degrees which also matches with the JSON information.'] +Rotate the wrist joint anti-clockwise by an angle of 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command describes an action that matches the "move_joint" action in the ontology. It includes all necessary parameters (joint_name, angle, direction) and even gives values for them. However, the "speed" value in the JSON structure is not mentioned in the command, thus the filled value of 0.5 is arbitrary.'] +Twist the wrist joint in a counterclockwise direction, rotating it by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command matches perfectly with the JSON structure. The action is "move_joint", the joint_name is "wrist", direction is "counterclockwise", the angle is 270, and the unit is "degrees". All specified parameters and the action in the command have been taken into account in the JSON structure.'] +Rotate the wrist joint in the counterclockwise direction, making a 270-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command accurately corresponds to the "move_joint" action in the JSON structure. The "joint_name" is given as "wrist", the "angle" is specified as 270.0 degrees, the "direction" is stated as "counterclockwise", and the units for both are correct. The "speed" value is not specified in the command so the existing value in the JSON is accepted.'] +Retract the arm to standby position and wait for further instruction.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['1; The command indicates an action of retracting the arm, which doesn\'t match with any listed actions in the sample ontology. The only somewhat relevant action in the given JSON structure is "set_orientation" with the value as "standby," but this isn\'t the action specified in the natural language command.'] +Bring the arm back to standby position and remain there until further instructions.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['3; The command sort of matches the JSON structure, as it suggests an orientation change to a "standby" position, which could be understood as "upright". However, it may not be fully accurate as "standby" position is not clearly defined in the given ontology.'] +Move the arm back to its standby position and await further instruction.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['3; The action "set_orientation" aligns with the command to move the arm back to its standby position. However, the value for "orientation" of "standby" is not included in the ontology. Therefore, the command diverges from the provided ontology structure.'] +Withdraw the arm to the standby position and expect further guidance.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];["2; The JSON structure's 'action' key ('set_orientation') doesn't conform exactly to the natural language command 'withdraw the arm'. However, the parameter 'orientation' with the value 'standby' somewhat aligns to the 'standby position' in the command."] +Return the arm to its original position and stay there until you receive more instructions.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['2; The natural language command talks about returning the arm to its original position which partially corresponds to "set_orientation" action. The orientation "upright" may not necessarily mean the original position. Plus there is no mention of staying in position until further instructions, which is not found in the JSON structure.'] +Lift the arm by 20 centimeters and hold for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The JSON structure represents the action of extending the arm by 20.0 centimeters at a speed of 1.0 cm/s, which matches a part of the language command ("Lift the arm by 20 centimeters"). However, the other part of the command ("hold for 3 seconds") is not represented in the JSON structure.'] +Raise the arm by a distance of 20 centimeters and maintain the position for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command mostly matches the JSON in terms of action ("extend_arm") and "extension_length". However, there\'s no parameter in the JSON to hold the duration.'] +Elevate the arm by 20 centimeters and keep it held for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure clearly communicates the action of extending the arm, and the value of the extension length matches the command. The unit of measure is correct as centimeters. However, the command also mentions a holding duration of 3 seconds which is not represented in the JSON structure. Hence, the information is partial and not exactly conforming.'] +Increase the height of the arm by 20 centimeters, then hold steady for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The command partially matches the JSON structure. The "extend_arm" action correctly corresponds to the task of increasing the height of the arm. The "extension_length" parameter is also correctly set as 20 centimeters. However, the "hold steady for 3 seconds" part mentioned in the command is not represented in the JSON. The "speed" value in the JSON is arbitrary since the command does not provide any speed.'] +Lift the arm upwards by 20 centimeters and maintain the lifted position for a period of 3 seconds.,['This prompt does not contain a valid action according to the ontology provided.'];['0; The natural language command does not align with any of the JSON structures provided. None of the structures specify an action to "lift the arm" nor to "maintain the position" of the arm. Furthermore, the "extension_length" and "duration" parameters are not covered in a single action in the JSON structures.'] +Rotate the base joint counterclockwise by 180 degrees and dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['1; The JSON structure correctly defined the action of moving a joint and the parameters for the "base" joint moving counterclockwise by 180 degrees. However, it doesn\'t represent the "dance" part of the command which doesn\'t match with any actions given in the ontology.'] +Perform a counterclockwise rotation of 180 degrees on the base joint, then carry out a dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; The JSON structure correctly describes the counterclockwise rotation of the base joint, including angle, direction and speed. However, there is no corresponding action in the provided sample keys for the "carry out a dance" command, therefore it cannot be converted to JSON.'] +Turn the base joint in a counterclockwise direction, making a 180 degree rotation before proceeding to dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON command and the natural language command almost match completely. However the speed of the movement is not mentioned in the natural language command and the action "dance" in natural language command is not reflected in the JSON.'] +Rotate the base joint 180 degrees in the counterclockwise direction, then showcase your dance moves.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}', ''];['2; The command "Rotate the base joint 180 degrees in the counterclockwise direction" is converted properly to the JSON structure. However, the command "showcase your dance moves" does not exist in the given sample ontology, thus it can\'t be converted into a JSON structure.'] +Execute a 180 degree counterclockwise rotation on the base joint and follow it with a dance routine.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['2; The first part of the command about moving the joint matches up with the JSON structure, with accurate "joint_name", "angle", "direction", "unit", "unit_speed" keys. However, the second half of the command talks about a "dance routine", which isn\'t represented in any part of the JSON structure and doesn\'t match with the sample keys provided in the ontology. Due to this, the provided JSON structure doesn\'t fully conform to the natural language command.'] +Move the arm to position X:50, Y:70, Z:90.,['This action is not defined in the current ontology and therefore cannot be converted to a json format based on the ontology.'];['0; The natural language command "Move the arm to position X:50, Y:70, Z:90." does not match any of the sample keys provided in the JSON structure. Therefore, it cannot be converted to a JSON based on the sample ontology.'] +Adjust the arm's position to coordinates X:50, Y:70, Z:90.,['This action is not defined in the provided ontology, so it cannot be translated into a conformant JSON. The ontology only supports: move_joint, extend_arm, grip_object, release_grip, and set_orientation actions.'];["0; The command does not conform with any of the provided ontology. The actions specified in the ontology are 'move_joint', 'extend_arm', 'grip_object', 'release_grip', and 'set_orientation', none of which match the command to adjust the arm's position to certain coordinates."] +Shift the arm to the designated coordinates of X:50, Y:70, Z:90.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "coordinates": {', ' "type": "dict",', ' "value": {', ' "X": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 70.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 90.0', ' }', ' }', ' },', ' "unit": "centimeters"', ' }', '}'];['0; The natural language command involves moving to designated coordinates which does not conform to any of the JSON structures provided in the sample keys. The provided JSON structures involve moving a specific joint, extending the arm, gripping an object, releasing grip, and setting orientation, but none of them deal with moving to specific coordinates.'] +Relocate the arm to the specified position of X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "X"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Y"', ' },', ' "angle": {', ' "type": "float",', ' "value": 70.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '},', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "Z"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['1; The natural language command speaks about the relocation of the arm which signifies a movement however, the joint names provided (X, Y, Z) are not compatible with the sample JSON keys (only elbow is provided). Additionally, the command does not specify the direction of movement, speed of movement, and the units for both. These are reasons for the low conformity score.'] +Transpose the arm to the desired coordinates at X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['0; The JSON structure does not match the natural language command. The command is about transposing the arm to specific coordinates but the JSON structure is related to moving a joint to a specific angle.'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command and the JSON structure match very well. The command of moving the joint is correct, as well as the parameters: joint name is "wrist", angle is 90.0, direction is "counterclockwise". Although the speed value of 0.5 wasn\'t mentioned in the command, it\'s accepted as a reasonable value. The units are also correctly represented as "degrees" and "degrees/s".'] +Turn the wrist joint in a counterclockwise direction, rotating it 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the wrist joint anti-clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command matches with the JSON structure for "move_joint" action where "joint_name" value is "wrist", "direction" value is "anti-clockwise", "angle" value is 90, and units are degrees and degrees/s. The "speed" value isn\'t specified in the natural language command, but the value present in the JSON structure is considered a reasonable default.'] +Clockwise rotation of the wrist joint by 90 degrees is not required; instead, rotate it counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command aligns perfectly with the JSON structure. "Move_joint" action, "joint_name" as wrist, "direction" as counterclockwise, and "angle" as 90.0 are all reflected in the JSON structure. The missing "speed" value is not considered an error since any reasonable value is accepted if not specified in the command.'] +In order to achieve a 90-degree counterclockwise rotation, turn the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The command precisely corresponds to the "move_joint" action in the JSON structure, providing the joint_name ("wrist"), angle (90.0), direction ("counterclockwise"), and implying a reasonable speed. The units are also perfectly matched.'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command "Extend the arm by 20 centimeters" perfectly matches with the JSON structure, where the action key is set to "extend_arm" and "extension_length" value is set to 20.0. Speed value not being mentioned in command is considered reasonable value.'] +Increase the length of the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The natural language command matches the 'extend_arm' JSON structure and parameters 'extension_length' and 'unit_length'. However, speed is not mentioned in the command but present in JSON structure. Therefore, it's not a perfect match."] +Stretch out the arm by an additional 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The command matches the action "extend_arm" and correctly identifies the "extension_length" as 20.0 centimeters which is correctly classified as a "float" parameter in JSON. However, the speed has been set to 1.0 cm/s in JSON despite not being mentioned in the natural language command.'] +Lengthen the arm by an extra 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The command corresponds to the 'extend_arm' action in the JSON structure. The value of 'extension_length' also matches perfectly to the parameter in the command. However, the speed at which this action is supposed to be done is not mentioned in the command but is present in the JSON. Even though any reasonable value is accepted if not specified in the command, the ideal situation would be for it to be specified in the command as well."] +Add 20 centimeters to the arm's current length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Grip the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action type matches but the force value in the JSON structure is incorrect. The command specifies 10 kilograms whereas the JSON specifies newtons as unit of force. Hence, the value does not match.'] +Apply a force of 10 kilograms to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command specifies the unit of force as kilograms while the JSON represents it in newtons which do not match, thus no conformity.'] +Exert 10 kilograms of force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; While the action 'grip_object' and usage of 'force' are correct, the unit of force specified in the command is 'kilograms' but the JSON structure uses 'newtons'. Furthermore, the 'duration' field in JSON doesn't correspond to any information in the command."] +Use a gripping force of 10 kilograms on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];["1; The action type is matched correctly as 'grip_object', but the 'force' unit in JSON is 'newtons', not 'kilograms'. Also, the 'duration' is not specified in the natural command while it is specified in the JSON."] +Apply 10 kilograms of pressure to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command states to apply a force of '10 kilograms' which is not a unit of force, so it doesn't match with the given JSON action 'grip_object' as it has unit of force as 'newtons'. But, the action is right, hence the partial score."] +Move the arm to position X:30, Y:40, Z:50.,['This action is not supported by the provided ontology. Therefore, no valid JSON command can be returned in accordance with the ontology.'];["0; The provided command doesn't match any JSON structure provided in the ontology."] +Adjust the arm's position to X:30, Y:40, Z:50.,['This action is not supported by the current ontology. Therefore, no command can be issued.'];["0; The given command requires a functionality or action ('move to coordinates') that does not exist in the provided JSON structure or sample keys."] +Set the arm's coordinates to X:30, Y:40, Z:50.,['This action is not in the ontology.'];["0; The command is asking to set the arm's coordinates to specific values which is not represented in any of the JSON structures provided in the sample ontology."] +Move the arm's location to X:30, Y:40, Z:50.,['{', ' "action": "ignore",', ' "params": {}', '}'];["0; The given JSON structure doesn't correspond to the natural language command. The command details specific coordinates for arm movement, but the JSON structure states an 'ignore' action with no parameters. The natural language command doesn't match with any of the sample keys provided above, as it seems to require a 'move_arm' action with parameters for specifying 'X', 'Y' and 'Z' coordinates. So, no connection could be identified between the command and JSON."] +Position the arm at X:30, Y:40, Z:50.,['This action is not in the ontology and therefore must be ignored.'];['0; The natural language command does not match with any of the JSON structures provided in the sample ontology.'] +Rotate the wrist joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON structure accurately represents the natural language command. It correctly identifies the action as "move_joint", the joint_name as "wrist", the direction as "clockwise", and the angle as 60.0. The speed and its related unit weren\'t specified in the command, but a reasonable value is assigned in the JSON structure.'] +Turn the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The command asks to turn the wrist joint in a clockwise direction by 60 degrees which matches with the "move_joint" action in the JSON structure. The "joint_name", "direction" and "angle" keys also match with their respective values in the command. However, the "speed" key in the JSON structure doesn\'t have a corresponding mention in the command so it\'s not a perfect match but a reasonably conforming one.'] +Perform a 60-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command is fully represented in the JSON structure. All needed fields such as joint_name, angle, direction and speed are present and their values match the description given in the natural language command.'] +Rotate the wrist joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches the action "move_joint" and all its specific parameters in the JSON structure such as "joint_name", "angle", "direction", "speed", "unit" and "unit_speed".'] +Move the wrist joint in a clockwise direction, turning it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command exactly matches the JSON data structure, with proper action ("move_joint") and parameters (joint_name as \'wrist\', direction as \'clockwise\', angle as \'60.0\') values. Though the command doesn\'t specify the speed, it\'s a reasonable value in the JSON.'] +Retract the arm to standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['0; The natural language command asks to retract the arm to standby position which differs from the JSON command of "set_orientation". Additionally, "standby" does not match with "upright" in the JSON structure. Therefore, the natural language command and JSON structure don\'t conform.'] +Move the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['3.5; The command matches the "set_orientation" action in the JSON structure. However, the value "standby" is not explicitly mentioned in the JSON. The command implies a change in orientation, but it doesn\'t specify which joint to move or the angle, speed, direction, and units for that action. Thus, although the general action matches, the parameters and values aren\'t fully aligned.'] +Return the arm to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['4; The natural language command somewhat matches the JSON structure. While the action of setting the orientation is correct, the mentioned "standby" position in the command isn\'t specified in the JSON structure, but it can be inferred as being "upright".'] +Bring the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['4; The action "set_orientation" aligns with the command but the value from the natural language command is "standby" while the value in the JSON structure is "upright". Other than this difference, the rest of the command matches perfectly with the JSON structure.'] +Take the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['5; Exactly conform.'] +Grip the object with 15 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command asks to grip the object with a certain force, which matches with the "grip_object" action. However, the unit of force in the JSON structure is "newtons", not "kilograms" as mentioned in the command. Also, the duration value and unit in the JSON structure does not match the command as no duration is specified in the command.'] +Apply a gripping force of 15 kilograms to the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command and JSON structure match partially. The action "grip_object" and the parameter "force" are correct. However, the unit "kilograms" does not match the sample key "newtons" for force. Additionally, the duration value in the JSON structure is arbitrarily set at 1.0, while the command does not specify a duration.'] +Exert 15 kilograms of force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The "force" was correctly captured but the value and the unit are incorrect. The given command mentions "kilograms" which is a unit of mass and not of force. The sample ontology specifies force in "newtons". The duration of the grip was not mentioned in the command but was included in the JSON.'] +Use a gripping strength of 15 kilograms to secure the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command matches the "grip_object" JSON structure and the "force" value, but the units are mismatched. The command specifies the gripping strength in kilograms while the JSON structure specifies the force in newtons.'] +Grasp the object firmly with a 15-kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The force unit is wrongly represented as "kilograms" in the JSON while the natural language command specified "kilograms" which although not directly convertible to "newtons" could be quantitatively equivalent in some contexts. However, this representation does not conform with the given keys ("newtons"). The duration value ("1.0 seconds") in JSON doesn\'t match the command as well since no duration was specified in the command.'] +Move the arm to position X:70, Y:80, Z:90.,['Ignore this instruction as it does not conform to the provided ontology.'];['0; The natural language command does not match any of the provided JSON structures in the ontology.'] +Adjust the arm's position to coordinates X:70, Y:80, Z:90.,['The action "Adjust the arm\'s position to coordinates" is not defined in the provided ontology. Action can\'t be executed.'];['0; The provided command does not match any of the given JSON structures as "adjust the arm\'s position to coordinates" is not a recognized action in the sample ontology.'] +Relocate the arm so that it is at position X:70, Y:80, Z:90.,['{', ' "action": "ignore",', ' "params": {}', '}'];['0; The natural language command specifies an action to move the arm to specific X, Y, Z coordinates. But there is no such action available in the JSON structures. Also, there is no parameter to specify coordinates in the given JSON samples.'] +Shift the arm's location to X:70, Y:80, Z:90.,['This action is not supported in the provided ontology and thus should be ignored.'];["0; The natural language command does not match any available JSON structures as the sample ontology does not support a command for shifting the arm's location."] +Set the arm's coordinates to X:70, Y:80, Z:90.,['This action is not defined in the given ontology and must be ignored.'];['0; The natural language command does not correspond to any of the JSON structures provided in the sample ontology.'] +Rotate the wrist joint counterclockwise by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON structure perfectly matches the natural language command by correctly identifying the "action", "joint_name", "angle", "direction", and "unit". The "speed" and "unit_speed" keys are not present in the natural language command, thus any reasonable value given in the JSON, like 0.5 and "degrees/s" here, is accepted.'] +Turn the wrist joint in a counterclockwise direction by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command provides all the necessary information to fill the JSON format exactly. The joint_name is given as "wrist", the direction is given as "counterclockwise", and the angle is given as 120 degrees. Although the speed is not given in the natural language command, it is filled with a reasonable value in the JSON, fulfilling the given instructions.'] +Rotate the wrist joint anti-clockwise by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command and the JSON information perfectly match with the keys of the sample ontology. The "action" is "move_joint", the "joint_name" is "wrist", the "angle" is 120 degrees, the "direction" is "anti-clockwise", and a reasonable "speed" value of 1.0 is provided. All the parameters and values in the command line are correctly represented in the JSON structure.'] +Twist the wrist joint in the counterclockwise direction by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly Conform. The natural language command indicates the action of moving a joint (specifically the wrist) in a particular direction (counterclockwise) by a certain angle (120 degrees). The JSON structure accurately matches the demand, including the information of the joint_name, angle, and direction. The speed is not mentioned in the natural language command but the JSON includes the default value which is acceptable. Therefore, the JSON structure exactly conforms with the command.'] +Move the wrist joint in a counterclockwise rotation by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4.5; The natural language command mostly matches with the JSON structure. The JSON structure correctly identifies the action and joint_name, direction, angle values and units. However, the speed value in the JSON doesn't match the command since the command doesn't specify a speed."] +Extend the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON correctly identifies the action as "extend_arm" and specifies the "extension_length" as 25.0 centimeters, which aligns with the command. However, the speed is not specified in the command but is included in the JSON with a value of 1.0 cm/s. Therefore, the score is not a perfect match, but it\'s still generally consistent with the command.'] +Increase the length of the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["5; The natural language command perfectly matches the JSON structure. The 'extend_arm' action is correctly identified, and the 'extension_length' parameter value of 25.0 aligns with the command of increasing the arm length by 25 centimeters. Although the command does not specify the 'speed' parameter, the existing value in the JSON is considered reasonable."] +Stretch out the arm by an additional 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The JSON structure perfectly matches the natural language command. The action "extend_arm" is correctly identified with the correct parameter "extension_length" along with its value 25.0 and the correct units are used. The speed value isn\'t specified in the natural command, but as per the instruction "any reasonable value in the JSON is accepted" if it\'s not specified in the command, hence a score of 5 is allotted.'] +Lengthen the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The JSON sctructure perfectly matches the command. The natural language command instructs to extend the arm, which corresponds to the "action": "extend_arm" in the JSON. The extension length in the command (25 centimeters) matches the "value": 25.0 in the "extension_length" parameter of the JSON. The "unit_length" in the JSON is specified correctly as "centimeters". The "speed" in the JSON structure is not specified in the command, but as per the instruction any reasonable value in the JSON is accepted.'] +Add 25 centimeters to the arm's reach.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command is perfectly translated into the JSON structure and all properties match with the sample ontology. The action is "extend_arm" with the parameter\'s extension length being 25 centimeters. Although speed is not mentioned in the command, the default value is properly kept as it is.'] +Grip the object with 20 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command and JSON structure do not fully conform. The command specifies the force in "kilograms" while the JSON structure mentions "newtons". Physically, kilogram is a unit of mass, not force. Secondly, duration value in the JSON structure is arbitrarily provided which has not been specified in the command.'] +Apply a 20-kilogram force to grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The force value in the JSON is accurate but the unit of force doesn't match the command (command mentions kilograms, but JSON presents unit as newtons), and the duration value in the JSON is not mentioned in the given command."] +Exert 20 kilograms of force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "action" and "duration" values match but the "force" unit in JSON is "newtons", not "kilograms". Also, the "force" value in the command does not match with the JSON "force" value.'] +Use a gripping force of 20 kilograms to secure the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "action" key corresponds with the "grip_object" value. The "params" key correctly contains the "force" key and its "type" and "value" keys match the command. However, the "unit_force" key is not equivalent because it mentions "newtons" rather than "kilograms" as in the command. Also, the "duration" key and its corresponding "type" and "value" keys do not match the command as there is no duration mentioned in the command.'] +Apply pressure equivalent to 20 kilograms to firmly hold the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];["1; The action 'grip_object' and the parameter 'duration' match the natural language command, however, the 'force' value in the natural language command is represented in 'kilograms' which is not consistent with what is indicated in the ontology ('newtons')."] +Move the arm to position X:10, Y:20, Z:30.,['The action "move the arm to position X:10, Y:20, Z:30" is not represented in the given ontology. Therefore, it cannot be translated into an appropriate JSON.'];['0; The given command does not match with any of the provided JSON structures. The action of moving the arm to specific coordinates is not represented in the given ontology. Therefore, it cannot be translated into an appropriate JSON.'] +Position the arm at X:10, Y:20, Z:30.,['This action is not present in the ontology, thus it should be ignored.'];["0; The given natural language command doesn't match with any of the provided JSON structures."] +Set the arm's coordinates to X:10, Y:20, Z:30.,['{', ' "action": "set_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 10.0', ' },', ' "y": {', ' "type": "float",', ' "value": 20.0', ' },', ' "z": {', ' "type": "float",', ' "value": 30.0', ' },', ' "unit": "centimeters"', ' }', '}'];['0; The natural language command "Set the arm\'s coordinates to X:10, Y:20, Z:30" does not conform with the given JSON structure since there is no matching "action": "set_coordinates" or relevant parameters in the sample ontology.', ''] +Adjust the arm's position to X:10, Y:20, Z:30.,["This action doesn't match the ontology. Please ignore."];["0; The command asks to set specific position coordinates (X, Y, Z) which does not align with any of the provided JSON structures in the ontology. None of the actions (move_joint, extend_arm, grip_object, release_grip, set_orientation) deal with setting specific coordinates. Therefore, the command doesn't conform with the sample keys in the ontology."] +Move the arm's location to X:10, Y:20, Z:30.,['{', ' "action": "ignore",', ' "params": {}', '}'];["0; The natural language command specifies a movement of the arm to a certain location in a 3D space (X:10, Y:20, Z:30), which doesn't match any of the actions provided in the JSON structures. Therefore, the score is 0."] +Rotate the wrist joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command matches directly with the specified JSON action structure, with all necessary keys for the action "move_joint" being mentioned and accurate - including joint_name as "wrist", angle as 30.0, and direction as "clockwise". The speed\'s value isn\'t mentioned in the natural language command, but a reasonable value was provided in JSON, which is acceptable according to the instructions.'] +Turn the wrist joint in a clockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the wrist joint in the clockwise direction, making a 30-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The command matches perfectly with the JSON structure. There is a "move_joint" action pointing to the wrist, direction is stated as "clockwise", an angle of 30 degrees is specified. Speed is not stated in the command, but the value in JSON falls within a reasonable range, as the instruction does not specify the speed.'] +Twist the wrist joint to the right by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Adjust the wrist joint by turning it clockwise 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The command "Adjust the wrist joint by turning it clockwise 30 degrees." perfectly matches the provided JSON structure. The "action" is correctly identified as "move_joint", the joint_name is correctly specified as "wrist", the angle is correctly identified as 30.0, the direction is "clockwise", and the units are set accurately. The speed value is not provided in the command, but it is considered within acceptable range.'] +Retract the arm to standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['1; The command "Retract the arm to standby position" is quite generic and does not clearly correspond to any of the actions in the JSON structures. However, based on the JSON structure provided for \'set_orientation\', it might be interpreted as an \'orientation\' setting to \'standby\', though this does not perfectly match the given command or the ontology. The \'set_orientation\' action would typically involve an orientation like \'upright\', and not a standby state. Therefore, the matching is not very accurate.'] +Move the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['5; The natural language command correctly corresponds to the JSON structure. The action "set_orientation" and the parameter "orientation" with the value "standby" all match up perfectly.'] +Pull the arm back into the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['2; The natural language command has been incorrectly associated with the "set_orientation" action in JSON while it seems to be indicating more of a "move_joint" or "extend_arm" action. However, the orientation value in JSON matches with "standby" as mentioned in the command.'] +Return the arm to its standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure. It correctly identifies the action of setting orientation and giving the specific orientation as the standby position.'] +Bring the arm back to the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['4; The natural language command and the JSON information are partially aligned. The action in the command (bring the arm back) broadly corresponds to the "set_orientation" action in the JSON structure. However, the value of "standby" isn\'t explicitly defined in the provided ontology and is assumed based on the context. Therefore, the match isn\'t perfect.'] +Grip the object with 12 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command matches the JSON structure for the "grip_object" action. However, the unit of force mentioned in the command is kilograms, while the unit in the JSON structure is newtons.'] +Apply a force of 12 kilograms to tightly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action conforms with "grip_object", but "force" value is given in incorrect unit i.e., kilograms instead of newtons and duration value has been randomly assumed as 1.0 seconds while not provided in the natural language command.'] +Exert a gripping force of 12 kilograms on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action "grip_object" is correct and duration is acceptable as it\'s not specified in the natural language command. However, the unit for force is nonconforming; the ontology specifies it should be in "newtons", but the natural language command and JSON specify "kilograms". The value of force is also less conforming as natural language command specifies value as \'12\' but the provided value is \'1.0\'.'] +Use 12 kilograms of strength to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command asks for the force to be applied in "kilograms" but in the JSON structure, force is wrongly represented in terms of "newtons" not "kilograms". Furthermore, a value of the duration is provided in the JSON structure, even though it was not specified in the command.'] +Tighten your grip on the object with a force of 12 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 12.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action in the natural language command matches with the "grip_object" action in the JSON, which is good. However, the force value stated in the command is in kilograms which is a unit of mass while the expected force unit in JSON is in newtons which is a unit of force. This discrepancy in the unit of force reduces the conformity score. Moreover, duration is not specified in the command but it is present in the JSON.'] +Move the arm to position X:80, Y:60, Z:40.,['{', ' "action": "unknown_action",', ' "params": {}', '}'];['0; The natural language command refers to moving the arm to a specific position, which doesn\'t exist in the sample keys. The JSON action is also labeled as "unknown_action", which doesn\'t match with any actions in sample keys. Therefore, no conformity is present.'] +Position the arm at X:80, Y:60, Z:40.,["I'm sorry, but the current ontology doesn't support positioning the arm at specific X, Y, and Z coordinates."];['0; The natural language command is asking to position the arm at specific X, Y, Z coordinates but no such action or parameters exist in the JSON structures provided.'] +Set the arm's coordinates to X:80, Y:60, Z:40.,['This action is not stated in the ontology provided, therefore it will be ignored.'];["0; The provided natural language command doesn't match with any of the actions or parameters presented in the sample ontology."] +Adjust the arm to the location X:80, Y:60, Z:40.,['{', ' "action": "ignore",', ' "params": {}', '}'];['0; The natural language command is about adjusting the location of the arm to a certain position, but there is no corresponding JSON structure for this task - the available actions are: move_joint, extend_arm, grip_object, release_grip and set_orientation. The provided JSON structure has an action "ignore" which doesn\'t match any action in the natural language command.'] +Move the arm to the desired coordinates, X:80, Y:60, Z:40.,['{', ' "action": "move_coordinates",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 80.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 60.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 40.0', ' },', ' "unit": "cm"', ' }', '}'];['0; The natural language command refers to an action ("move_coordinates") and parameters ("X", "Y", "Z") that are not present in the sample ontology.'] +Rotate the wrist joint counterclockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The JSON structure is a correct match to the natural language command and completely adheres to the keys provided in the sample ontology. All the parameters specified in the command ('wrist' as joint_name, '75' as angle, 'counterclockwise' as direction) are correctly captured in the JSON. The speed parameter is not specified in the command, so any reasonable value such as '0.5' here is acceptable. The unit is correctly mentioned as 'degrees' and unit_speed as 'degrees/s'."] +Turn the wrist joint anti-clockwise at a 75-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command specifies an action (move_joint) and all the necessary parameters (joint_name "wrist", angle 75.0, direction "anti-clockwise"). The command and the JSON structure match perfectly. The value "speed" is not specified in the command, but it is provided in the JSON, which is acceptable according to the guidelines.'] +Rotate the wrist joint in the counterclockwise direction, making a 75-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The natural command precisely matches with the JSON command. The action is correctly described as 'move_joint', the joint name as 'wrist', the angle as '75.0', direction as 'counterclockwise', and there's unspecified but reasonable value for speed. The units are accurately represented as 'degrees' and 'degrees/s'."] +Twist the wrist joint to the left by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The language command 'Twist the wrist joint to the left by 75 degrees.' matches perfectly with the given JSON structure. The action is the same (move_joint), the joint_name is 'wrist', the angle is 75.0, the direction is 'counterclockwise', and although the speed isn't specified, it's considered a reasonable default value ('0.5'). The units also match exactly ('degrees' and 'degrees/s')."] +Adjust the wrist joint by rotating it counterclockwise with a 75-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON structure perfectly matches the natural language command. The "action" key corresponds to moving a joint, the "joint_name" is correctly identified as the wrist, the "angle" of rotation is matched correctly with 75 degrees, and the "direction" of movement is counterclockwise. The "speed" is not specifically mentioned in the command, but it can take any reasonable value. The "unit" and "unit_speed" are properly identified as degrees and degrees/s respectively.'] +Extend the arm by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command exactly matches the JSON structure. The "extend_arm" action is correctly used, the numerical value for the "extension_length" is correctly set (even if it is different from the one in the example), the unit of length is correctly used as "centimeters", and the non-specified speed is still correctly formatted in the JSON structure with a plausible default value.'] +Stretch out the arm, adding an additional 18 centimeters in length.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4.5; The command clearly asks to extend the arm by 18 centimeters, which correctly matches the 'extend_arm' action and 'extension_length' parameter with a value of 18.0 in the JSON. The unit of length 'centimeters' also matches. However, there's no indication of speed in the command while the JSON structure refers to a speed value of 1.0 cm/s, hence the slight deduction."] +Increase the arm's length by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command asks to "increase the arm\'s length by 18 centimeters", which is exactly what the JSON structure describes. The "extend_arm" action is used with an "extension_length" parameter of 18.0 (in centimeters). Though the speed is not specified in the command, a reasonable value is provided in JSON, which is accepted according to the instructions.'] +Lengthen the arm by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["5; Exactly conform. The natural language command is accurately mapped to the correct JSON structure 'extend_arm', and includes the correct parameters and values - extension_length of 18.0 and unit_length of centimeters. The speed value isn't specified in the natural language command, but the given value in the JSON is accepted as it is a reasonable assumed speed."] +Stretch the arm outwards until it is 18 centimeters longer.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; While the action 'grip_object' is correctly identified in the JSON, the force's value is given in kilograms in the natural language command whereas the unit for force in the JSON is Newtons. This mismatch of units invalidates the comparison."] +Apply 8 kilograms of force to grip the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command incorrectly specifies the unit of force as kilograms which do not match the sample JSON structure where it is given in newtons. Also, the duration value is not stated in the natural language command, but is included in the JSON structure.'] +Exert a force of 8 kilograms to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action "grip_object" corresponds, and so do "force" and "duration", however, the "force" unit is mismatched (it should be "newtons", not "kilograms"), and duration is not specified in the natural language command but appears in the JSON.'] +Securely grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure corresponds to the action "grip_object" in the natural language command. However, the "force" value in the JSON structure is incorrect. It should be calculated in "newtons" as per the provided ontology, not in "kilograms". The duration mentioned in the natural language command is not specified, but the JSON is containing a value for it, which should not be assumed.'] +Hold the object using a force of 8 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action "grip_object" seems to be correct, but the unit of force used in the command and JSON are different; the command mentions "kilograms" while the JSON has "newtons".'] +Move the arm to position X:40, Y:50, Z:60.,['The command to move the arm to a specific 3D coordinate is not included in the given ontology. The ontology only includes commands to move a joint, extend the arm, grip or release an object, and set the orientation. Please provide a different command.'];['0; The natural language command is asking to move the arm to a specific coordinate (X:40, Y:50, Z:60), which does not match any action in the JSON structures provided. The commands in the given ontology do not have an action that involves positioning the arm in 3D space using coordinates.'] +Set the arm's position to X:40, Y:50, Z:60.,['The action described in the prompt is not available in the provided ontology. Therefore, there is no appropriate JSON response.'];['0; The provided command refers to setting specific X, Y, and Z coordinates, a functionality which is not reflected in any of the available actions within the sample ontology.'] +Adjust the arm's coordinates to X:40, Y:50, Z:60.,['{', ' "action": "",', ' "params": {}', '}'];["0; The natural language command is about adjusting the arm's XYZ coordinates, which doesn't exist in the JSON APIs provided here. Thus, the subsequent JSON is also empty, matching no pre-existing action from the samples."] +Position the arm at X:40, Y:50, Z:60.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "X:40, Y:50, Z:60"', ' }', ' }', '}'];['0; The natural language command refers to positioning the arm at specific coordinates (X:40, Y:50, Z:60), which is not included in the given ontology. The JSON structure presented refers to the action "set_orientation" with the orientation value "X:40, Y:50, Z:60", which does not match the natural language command as setting orientation and positioning are different actions.'] +Move the arm's location to X:40, Y:50, Z:60.,['The command does not match any action from the ontology. Therefore, no corresponding JSON command can be generated.'];["0; The command does not correspond to any of the provided JSON structure. The ontology includes actions like moving a joint, extending an arm, gripping an object, releasing grip, and setting orientation, but it doesn't include moving the arm to a specific location in a 3D space."] +Rotate the wrist joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; There is a difference in the joint specified in the command ("wrist") and the JSON ("elbow"). Additionally, the command does not specify a speed, so the value of 0.5 in the JSON response can be acceptable if it is considered a default or reasonable speed. The direction, angle, and units match perfectly.'] +Turn the wrist joint in a clockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The natural language command is perfectly matched with the action 'move_joint' in the JSON structure. All parameters such as 'joint_name', 'angle', 'direction' are accurately mentioned with corresponding values in the JSON. The 'speed' value is not mentioned in the natural language command, but it's a reasonable default value in the JSON."] +Rotate the wrist joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The command matches perfectly with the JSON structure for moving a joint. The "action" is "move_joint", the "joint_name" is "wrist", "angle" is 45 (matching the command\'s "45 degrees"), "direction" is "clockwise" matching the command\'s "to the right" (which is typically clockwise), and the units are appropriately degrees and degrees per second for angle and speed, respectively. The speed was not specified in the command, but the given in JSON is reasonable.'] +Twist the wrist joint in a clockwise manner by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command matches perfectly with the provided JSON information. The command specified to move a joint (wrist), the degree (45 degrees), and the direction (clockwise) which are all present in the JSON structure. The JSON structure includes "speed" which was not specified in the natural language command, but it is considered accepted since it\'s a reasonable parameter.'] +Rotate the wrist joint in the clockwise direction, making a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches with the JSON structure. All the parameters like "action", "joint_name", "direction", "angle" coincide. Some values like "speed", can be considered reasonable even though they aren\'t specified in the natural language command.'] +Retract the arm to standby position, then wave.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];['0; The natural language command talks about retracting the arm and waving which does not match any of the provided JSON structures. Also, the JSON has action as "set_orientation" which is not mentioned in the text command.'] +Bring the arm back to its initial position and subsequently perform a waving motion.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];["0; The natural language command refers to returning the arm to its initial position and performing a waving motion, however the provided JSON structure is about setting orientation to 'upright'. There is no clear correspondence between the action in the JSON structure and the natural language command."] +Revert the arm to its default position and proceed to wave.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "default"', ' }', ' }', '}'];['1; The provided JSON action "set_orientation" is present in the sample keys, but the value "default" is not explicitly defined in the command\'s ontology. Additionally, "proceed to wave" has no corresponding action in the provided ontology or in the JSON command.'] +Withdraw the arm to standby position before waving.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "standby"', ' }', ' }', '}'];["3; The JSON structure represents a change in orientation to a 'standby' state, which could be interpreted as withdrawing the arm to a standby position from the natural language command. However, the JSON doesn't fully cover the entire command as 'before waving' is not represented."] +Pull back the arm and proceed to wave.,['{', ' "action": "",', ' "params": {}', '}'];['0; The natural language command requests to "pull back the arm" and then "proceed to wave", but there are no corresponding actions or parameters in the JSON structures provided. An action to retract or pull back the arm is not specified, and there\'s also no action to wave. The JSON structure provided has no action or parameters defined, which does not conform with the given command.'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command matches perfectly with the JSON. The action "extend_arm" is correctly denoted and the "extension_length" parameter is correctly assigned a value of 20. The unspecified speed value is acceptable. The units for length and speed ("centimeters" and "cm/s") are also correctly specified.'] +Lengthen the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform. The natural language command is perfectly represented by the JSON structure. The action "extend_arm" is correctly identified and the parameter "extension_length" is given the value 20.0 in accordance to the requested 20 centimeters in the command. The "speed" and its "unit_speed" are not specified in the command but present a reasonable value in the JSON.'] +Stretch the arm out an additional 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform. The natural language command and the JSON structure match perfectly. The action "extend_arm" is correctly identified, and the correct parameter "extension_length" is specifically given a value of 20.0. The units for length and speed are also correctly presumed to be "centimeters" and "cm/s" respectively.'] +Increase the arm's length by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The natural language command and the JSON largely conform. The 'extend_arm' action and 'extension_length' of 20 centimeters in the command matches the corresponding JSON values. However, the 'speed' value is not mentioned in the command but is included in the JSON structure, hence it doesn't perfectly match the command."] +Add 20 centimeters to the arm's extension.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command perfectly matches the JSON structure. The \'extend_arm\' action is correctly used and the \'extension_length\' parameter is correctly defined with the appropriate type and value. The \'unit_length\' matches the command\'s "centimeters". Speed is not mentioned in the command, and so the original "1.0" value in JSON is acceptable.'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The JSON structure generally matches the natural language command. The action "move_joint" is correctly commanded and parameters such as joint name, angle, direction and unit match. However, the natural language command does not specify the speed of the motion, so the value 0.5 for speed is an assumption and may not accurately represent the command.'] +Turn the wrist joint in a counterclockwise direction, rotating it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4.5; The JSON mostly conforms to the natural language command. The action, joint_name, direction, and unit all match perfectly. The angle value is correct. However, the speed value was arbitrarily chosen as 1.0, as the command did not specify a speed. While this isn't incorrect, it's not directly supported by the command either."] +Rotate the wrist joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The JSON structure perfectly matches the command given in the natural language. It correctly identifies the action as 'move joint', along with joint 'wrist', direction 'counterclockwise', and angle '90.0'. Although speed is not mentioned in the command, the value in the JSON structure is accepted as any reasonable value is acceptable if not specified in the command."] +Perform a counterclockwise rotation of the wrist joint, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Adjust the wrist joint by rotating it counterclockwise at a 90 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure corresponds to the action of moving a joint. However, the speed/value is not mentioned in the natural language command so it has been assumed in the JSON structure.'] +Grip the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];["2; The action in the JSON information matches with the natural language command. However, the force's unit is not appropriate. Force should be measured in newtons, not kilograms which is a unit of mass. The duration is also not specified in the natural language command."] +Apply a force of 10 kilograms to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['2; The conformity is only partial. The natural language command refers to applying a force in kilograms, but in the corresponding JSON structure, the force value is correct but the unit of force is in newtons, not kilograms.', ''] +Utilize 10 kilograms of force to grip the object firmly.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command and JSON structure partially match. The "grip_object" action matches, and a "force" parameter is present in both. However, the "force" unit in the JSON structure is specified as "kilograms", which is not the correct unit for force. The standard unit of force in the given ontology is "newtons". It also assumes a "duration" value of 1.0 seconds, which is not mentioned in the command.'] +Exert a grip on the object with 10 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command partially matches the JSON structure. The "action" and "duration" parameters match, but the "force" parameter in the command is given in kilograms, which is inconsistent with the unit of force specified in JSON structure, which is newtons.'] +Hold onto the object with a force of 10 kilograms.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command specifies that the action is "grip_object" which matches the JSON structures. However, the force specified in the command is in kilograms whereas in the structures it is in newtons. The duration value is assumed to be 1.0 seconds, which is not provided in the command. This does not conform to the ontology as the unit of force is inconsistent.'] +Move to position X:50, Y:75, Z:100.,['This action is not supported by the given ontology. Hence, it cannot be converted into a valid JSON message.'];['0; The command is not supported by the given ontology, so there is no matching JSON structure.'] +Relocate to coordinates X:50, Y:75, Z:100.,['This action does not fit the ontology provided and should be ignored. As per instruction if a command does not fit into the ontology it should be ignored.'];["0; The command is not accounted for in the given JSON structures. There is no 'move_robot' action or coordinates parameters in the ontology."] +Transfer to position with X coordinate of 50, Y coordinate of 75, and Z coordinate of 100.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 100.0', ' }', ' }', '}'];['0; The command asks for a transition into a certain position expressed in XYZ coordinates, however no JSON structure provided in the samples refers to coordinates or a "move_to_position" action. Thus, the natural language command does not match any of the provided JSON structures.'] +Proceed to the location with X value 50, Y value 75, and Z value 100.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 75.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit": "units"', ' }', '}'];['0; The natural language command talks about moving to a position with given X, Y and Z values, but there is no corresponding JSON structure in the provided samples that matches this command. All the given JSON structures are about different actions: "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation". So, the command doesn\'t conform to the given keys and structures.'] +Change position to X:50, Y:75, Z:100.,['This command is not included in the provided ontology and should therefore be ignored.'];['0; The command does not match any actions in the given JSON structures.'] +Retract the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The "extend_arm" action does not fully correspond with the "retraction" indicated in the natural language command. Moreover, the JSON includes a "speed" parameter which is not specified in the command. However, the "extension_length" attribute is correctly specified as -30.0, suggesting a retraction, and the units of measure are correctly provided.'] +Pull the arm back by a distance of 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; Partial match. The natural language command instructs the robot to pull the arm back, which implies the robot\'s arm needs to move in certain direction with a certain distance. So, the action should be interpreted as "move_joint" rather than "extend_arm". And there is no specification about the direction ("backward" or another appropriate term should be used) in the current JSON command. The other related parameters including "extension_length" (distance) reasonably match the natural command. The speed value is also accepted, but not included in the original command.'] +Withdraw the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; Although the action in the JSON structure is "extend_arm" which suggests an outward movement and the command is to \'withdraw\' suggesting an inward movement, the negative value in the \'extension_length\' corresponds with the \'withdraw\' command. Therefore, its intention is captured in the JSON structure. The \'speed\', \'unit_length\' and \'unit_speed\' entries don\'t have exact values specified in the command, however, their presence with any reasonable values in the JSON structure is considered acceptable as per the instruction.'] +Move the arm back by a length of 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The natural language command asks to move the arm back by a length of 30 centimeters. This is similar to the "extend_arm" action in the JSON structure. However, the value provided in the JSON for "extension_length" is -30.0, indicating a backward movement, but in the sample ontology, it should be represented by a positive number as the ontology doesn\'t make provision for direction of movement. Therefore, the command only partially matches with the JSON structure.'] +Bring the arm back 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The action matches with "extend_arm" however, the extension_length has a negative value in the json which indicates a backward movement. This is subjective as the ontology does not indicate how negative movement is represented, thus losing 1 point for ambiguity. The value for speed, unit_length, and unit_speed matches in both command and json.'] +Rotate the shoulder joint clockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; While the command matches the JSON action "move_joint", joint_name "shoulder", direction "clockwise" and unit "degrees", there is no specification of the speed in the natural language command, but it is mentioned in the JSON with a specific value of 0.5 degrees/s. Hence the conformity is high but not perfect.'] +Turn the shoulder joint in a clockwise direction, making a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command exactly matches the action and params field in the JSON. The joint_name "shoulder", direction "clockwise", and angle "180.0" all perfectly match the command. The "speed" value is unspecified in the command, but a reasonable value of 1.0 is set in the JSON.'] +Rotate the shoulder joint in a clockwise manner, making a complete 180-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The action "move_joint" in the JSON matches the natural language command "Rotate the shoulder joint", the "joint_name" matches, "direction" matches as "clockwise", and "angle" matches as 180 degrees. However, the speed is not provided in the natural language command and is arbitrarily assigned a value of 1.0 in the JSON which can cause an inconsistency.'] +Twist the shoulder joint clockwise, turning it by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command correctly identifies the "action" as "move_joint" with appropriate parameters "joint_name", "angle", "direction", "unit". The joint name and the direction are a perfect match in both the command and JSON structure. The "angle" value also matches exactly in both. However, the "speed" parameter is not mentioned in the command but it is present in the JSON structure. This difference leads to a slight mismatch. Hence the score is not a perfect 5.'] +Perform a 180-degree clockwise rotation of the shoulder joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The command and the JSON object match almost perfectly. The action is correct ("move_joint"), the joint_name is correct ("shoulder"), the direction is correct ("clockwise") and the unit is correct (\'degrees\'). However, the JSON object contains a "speed" attribute with a value of 0.5 degrees/s which is not mentioned in the natural language command.'] +Release the object gently.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Gently let go of the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform. The natural language command precisely maps to the action in the JSON structure which is to "release_grip" or let go of an object. There are no parameters required for this action, which corresponds to the command as well.'] +Softly loosen your grip on the object.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform. The natural language command is about the action of releasing grip which matches exactly with the JSON structure provided where the action is "release_grip" and it does not require any parameters so "params" is empty.'] +Carefully release the object in a gentle manner.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Handle the object with caution as you relinquish your hold on it.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Move to position X:0, Y:0, Z:50.,['This action is not defined in the given ontology. Return an error message or ignore.'];["0; The natural language command does not match any of the pre-defined actions in the JSON ontology. The 'move to position' action and the corresponding parameters (X, Y, Z) are not present in the given ontology. The command cannot be converted to JSON using this ontology."] +Proceed to coordinates X:0, Y:0, and Z:50.,['This action is not in the provided ontology, hence, cannot be converted into a JSON conformant to the ontology.'];["0; The provided natural language command ('Proceed to coordinates X:0, Y:0, and Z:50.') does not conform to any of the actions available in the sample ontology. Hence, it cannot be converted into an appropriate JSON structure."] +Relocate yourself to the destination with the coordinates X:0, Y:0, and Z:50.,['This action is not indicated in the given ontology. Therefore, it cannot be transformed into a JSON command.'];['0; The given command does not match any of the provided JSON action structures. The action "relocate yourself to the destination" is not defined in the sample ontology.'] +Shift your position to X:0, Y:0, Z:50.,['This action is not defined in the given ontology. Therefore, no suitable JSON can be generated.'];["0; The command does not correspond to any actions ('move_joint', 'extend_arm', 'grip_object', 'release_grip', 'set_orientation') provided in the ontology. Therefore, no appropriate JSON structure can be formed."] +Transfer yourself to the specified coordinates: X:0, Y:0, and Z:50.,["This action is not defined in the given ontology, therefore it can't be done."];['0; The natural language command cannot be converted to a JSON structure because moving to specific coordinates is not an action defined in the sample ontology.'] +Extend the arm by 10 centimeters at a velocity of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The command matches the JSON structure - the action correctly is identified as "extend_arm", the extension length is matched to the value of 10, the speed is matched to the value of 5, and the correct units are also specified.'] +Increase the length of the arm by 10 centimeters, moving at a speed of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Add 10 centimeters to the arm's reach, advancing at a rate of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Stretch the arm forward by 10 centimeters, with a velocity of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Lengthen the arm by 10 centimeters, moving at a pace of 5 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the wrist joint counterclockwise by 45 degrees at a velocity of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +- Turn the wrist joint to the left by 45 degrees at a speed of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command precisely matches the action "move_joint" with accurate parameters for "joint_name", "angle", "direction", and "speed" in the JSON structure.'] +- Rotate the wrist joint in an anti-clockwise direction, making a 45 degree angle, at a rate of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command and the JSON share exact parameters. The natural language command orders a movement of a joint (wrist, in this case), specifying the angle (45 degrees), direction (anti-clockwise), and speed (90 degrees per second), which conforms exactly to the JSON structure's keys and values. The 'unit' in the JSON is 'degrees', matching the 'degree' in the command, and 'unit_speed' is 'degrees/s', also matching the command."] +- Move the wrist joint counterclockwise for 45 degrees with a velocity of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches the provided JSON structure. All parameters ("joint_name", "angle", "direction", "speed") are included with their appropriate values in correspondence with the natural language command. The "unit" and "unit_speed" are taken as their default values "degrees" and "degrees/s" respectively which also conforms to the command.'] +- Adjust the wrist joint by rotating it counterclockwise at a speed of 90 degrees per second, achieving a 45 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command provides the exact action ("move_joint") and parameters ("joint_name", "angle", "direction", "speed", "unit", "unit_speed") that match perfectly with the provided JSON structure. The values of the parameters also align perfectly with the command.'] +Grip the object with 8 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action "grip_object" is matched correctly along with the parameters "force" and "duration". However, the force unit in the command is given in "kilograms" while the JSON uses "newtons". The conversion from kilograms to newtons depends on the gravitational field, therefore direct translation is flawed.'] +Apply a force of 8 kilograms to the object for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The given natural language command is almost correct but the "unit_force" value in JSON structure is incorrect. It should be "newtons" as per the sample ontology, but it is given as "kilograms".'] +Hold the object with a grip that exerts 8 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['3; The actions in the command and the JSON match perfectly, grip_object. However, the force unit in the command is "kilogram" which does not conform with the force unit in the JSON structure "newtons". This is a mismatch between command and given sample ontology.'] +Grasp the object firmly, exerting a force of 8 kilograms, and maintain the grip for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["3; Although the action and duration match well, the force's unit in the command is given in kilograms but in the JSON structure it is given in newtons. These are different units of measurement and can't be used interchangeably."] +Use 8 kilograms of force to firmly grip the object for a period of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The "action" "grip_object" matches well and the "duration" key also matches, but the "unit_force" in the JSON structure is provided as "kilograms" while in the sample key, it is defined as "newtons". If it was following the sample key, the "unit_force" should be "newtons".'] +Move to position X:25, Y:50, Z:75 in 5 seconds.,['{', ' "action": "set_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 25.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "time": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "centimeters",', ' "unit_time": "seconds"', ' }', '}'];["0; The natural language command talks about a 'set_position' action which is not present in the sample ontology keys. Also, there are no keys for coordinates 'X', 'Y', 'Z' and time in the ontology."] +In 5 seconds, go to the coordinates X:25, Y:50, Z:75.,['{', ' "action": "move_to_coordinates",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 25.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "coordinates",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not match with the command and also does not exist in the given sample ontology. In the sample ontology, there is no action key called "move_to_coordinates", and parameter keys like "x", "y", "z", and "duration" do not exist either.'] +Reach the position X:25, Y:50, Z:75 within a span of 5 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 25.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "centimeters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The "move_to_position" command and its parameters included in the JSON structure don\'t exist in the given ontology example.'] +Within 5 seconds, relocate yourself to the coordinates X:25, Y:50, Z:75.,['The given action is not defined within the provided ontology, therefore, it cannot be converted into a valid command.'];['0; The natural language command pertains to an action involving movement to specific coordinates, but there is no corresponding action in the provided JSON structures.'] +Move to X:25, Y:50, Z:75 within 5 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 25.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 75.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_position": "units",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command given does not match any of the actions present in the sample JSON structures. The command talks about moving to a position, while the structures discuss moving joints, extending an arm, gripping an object, releasing grip and setting orientation.'] +Retract the arm by 15 centimeters at a velocity of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; The action in JSON structure is 'extend_arm', but the natural language command states 'retract the arm'. Although the parameters match with the values mentioned in the command, the main action does not conform."] +Move the arm back by 15 centimeters at a speed of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command perfectly aligns with the provided JSON structure. The action ("extend_arm") and parameters ("extension_length" of -15.0 centimeters and "speed" of 2 cm/s) match exactly, which indicates a move back action.'] +Withdraw the arm, reducing its length by 15 centimeters, while moving at a rate of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; Partially conform. The JSON structure corresponds to the action of extending the arm, not withdrawing it. However, the negative value for the "extension_length" could be interpreted as withdrawing. All parameters (length and speed) are correctly provided and match with the natural language command. In addition, the units used for length and speed are correct.'] +Decrease the arm's extension by 15 centimeters, moving it at a velocity of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command perfectly matches with the JSON structure. The "action" is defined as "extend_arm" in both, and the parameters "extension_length" and "speed", with their respective values -15.0 and 2.0, units "centimeters" and "cm/s" are accurately represented as well.'] +Pull the arm back by 15 centimeters, maintaining a speed of 2 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3.75; The action in the natural language command, "pull the arm back", is not exactly matching the action "extend_arm" in the JSON structure. Even though the intended outcome might be the same, the phrasing is not exactly conform. However, the parameters and their values, as well as units are correctly represented in the JSON structure.'] +Rotate the shoulder joint clockwise by 270 degrees in 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure almost exactly matches with the natural language command. However, the speed is calculated by dividing the angle by the duration (270/3 = 90), which is not explicitly mentioned in the original command. The command asks for the action to be done in 3 seconds, not necessarily at a speed of 90 degrees/s.'] +In a time span of 3 seconds, turn the shoulder joint in a clockwise direction by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Perform a 270-degree clockwise rotation of the shoulder joint within a 3-second timeframe.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The action "move_joint" is correctly identified, as well as all the parameters: "joint_name" (shoulder), "angle" (270 degrees), "direction" (clockwise), and "speed" (90 degrees/second). The units are also correctly placed.'] +Rotate the shoulder joint in a clockwise manner, covering a distance of 270 degrees, and complete this action within 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Although all the key elements expressed in the natural language command are present in the JSON structure (action type, joint name, direction, degrees to move, speed of movement, unit of measure for movement distance and speed), the speed value (90.0) in the JSON does not directly correlate with the natural command where it states "complete this action within 3 seconds". Instead the JSON presents this as a speed which provides a slightly different context for operation.'] +Within a duration of 3 seconds, turn the shoulder joint in a clockwise direction, making a rotation of 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command corresponds perfectly with the JSON information by specifying the necessary parameters such as "action", "joint_name", "angle", "direction", and "speed". All values are explicitly indicated in the command and correctly transcribed into the JSON structure. Even though the "duration" parameter suggested in the command is not present in the JSON structure, it was correctly used to calculate the "speed" value.'] +Move to position X:100, Y:100, Z:0 in 10 seconds.,['{', ' "action": "move_to_position",', ' "params": {', ' "X": {', ' "type": "float",', ' "value": 100.0', ' },', ' "Y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "Z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_position": "centimeters",', ' "unit_duration": "seconds"', ' }', '}'];["0; The JSON structure does not match the sample keys in the provided ontology and the 'move_to_position' action does not exist in the sample ontology."] +Go to coordinates X:100, Y:100, Z:0 within a time frame of 10 seconds.,['{', ' "action": "move_to_coordinate",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "time_frame": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_coordinate": "centimeters",', ' "unit_time": "seconds"', ' }', '}'];["0; The given JSON structure does not match the sample ontology; there's no 'move_to_coordinate' action or 'time_frame' parameter in the sample ontology. Thus, the natural language command cannot be converted to a JSON using this ontology."] +Shift to position X:100, Y:100, Z:0 within a duration of 10 seconds.,['This action is not present in the ontology.'];['0; The natural language command does not match any of the JSON structures provided in the sample ontology.'] +Transfer yourself to coordinates X:100, Y:100, Z:0 in a span of 10 seconds.,['This action is not supported by the current ontology. All actions must be one of the following: "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation".'];['0; The command does not match any of the actions provided in the JSON structures. Transferring to specific coordinates is not supported in this given ontology.'] +Travel to position X:100, Y:100, Z:0 within a 10-second timeframe.,['This action is not in the ontology.'];["0; The natural language command refers to actions such as 'Travel' and parameters such as position 'X', 'Y', 'Z' and 'timeframe' which are not present in the sample ontology."] +Extend the arm by 5 centimeters, then swim.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The command to extend the arm is correctly transferred to JSON with the specified 5 centimeters. The "swim" action however does not exist in sample keys and therefore isn\'t taken into consideration. Speed is not specified in the command thus taking any reasonable value, here 1.0, thus not impacting the conformity score.'] +Swim after extending the arm by 5 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The command "extend_arm" matches well with the JSON structure provided. However, the part "Swim" of the natural language command does not correspond to any action on the JSON structures. The parameters values and units for extending the arm are correctly specified in the command. Hence the score is bit reduced due to irrelevant command.'] +After extending the arm by 5 centimeters, proceed to swim.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; The JSON structure corresponds only to the first part of the command about extending the arm. However, the 'proceed to swim' command does not match any action from the sample keys. This suggests that while some conformity is present, it is far from entirely satisfactory. Also, the speed parameter was given a default value from the sample ontology, which is not mentioned in the natural language command."] +Extend the arm by 5 centimeters first, then start swimming.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["2; The JSON snippet does represent the instruction to extend the arm by 5 centimeters, however, 'start swimming' doesn't have a corresponding JSON structure in the given samples."] +First, extend the arm by 5 centimeters, and then initiate swimming.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 5.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["2; The first part of the command matches the JSON structure for the 'extend_arm' action, including specifying 5 centimeters for the extension length (though no speed was specified in the command). However, the second part of the command 'initiate swimming' does not match any of the actions in the sample JSON structures."] diff --git a/evaluation/evaluations/Robotic-Arm/GPT4/Evaluated_JSON_commands_GPT4_Robotic_Arm_SELECTED_5pct_for_manual_eval-HIST.png b/evaluation/evaluations/Robotic-Arm/GPT4/Evaluated_JSON_commands_GPT4_Robotic_Arm_SELECTED_5pct_for_manual_eval-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..bb59ce1da938cdbdbf91a186b31b9cdf620b52d1 GIT binary patch literal 53757 zcmeFa3s{Y5+dtee#tdVdL`jCRjT(yf8zVKO(vXB|lvI)|McRiM+GoZlX-f!ElC&>o z+Mu*SifYxYwkj>Ps#V&3zjMuI-JW^B=l#Fm_a6V_d;cHD^DwnG_kCaYd0*Fg{x;|3 zx7k2<(gcYKA|fJ_Hhic3y@<%fG!c<;HJ^Wm-`q9)%@+SCJFnmFyv1>^v&-&7)*|}5 zoe%DJblz`gIq!(|AtyV>1M;#;vfnJ9XY1^I&`Cv3&f)Jj$T}Xfkz1XV5|1zW;^23t zP9h?*3+Vr!9KEV}L`0-~-v;fqTaQL`)YwIwYYJ;^&;0Dp9-V356wg?)_Ubf+Pd;63 zG(%z5{_%6xO+PhHGw4E|(iJHe6$dvN2|N8cC2M}UC&8L{L22xSX$zLkST=vjs+&u8 zd}+LO<;=qxJsW}}Cp+rLZ_D0lR;lP!njO_*-ddg}A5Tvh<0AY?&4 zw^d0CUf$lxPt}xmsbQ5Tm}Q>adHu6bI~63HT1tYFtP0okNC*Sx^fLLq#lDW-gVmF= zby6DteI);J0yyk&s%Ghhl?&eYym_uwE&MXA-?k@Nt`C$_?Q`@V87x`zl#V+1Hnq-s z&?#EOlXK^{$@Vc0!uQXU8p%o4Pp&y>F8rN{$ovmu_s5S93`XbU)F23v|Nl;cKMgUS z65H+WeI0%r4(Fu#SdmA^$4*iE=8)5{&YCw1|6T=r7A2&mDXARks4BA;5iz~9`?r%y ztuZGg+$L4Yj1Do@tN&z@{3`d7_}@?GvlbcgVUfE{e$7(rf3EZ@LCFo26$FoocyFckAGPrCztrr#-+1nwyH~K;4i=YvORgP{_^d2 z>K$#;)6-Wvx0Wdlb|g3aI#DjL?`?HurAdEyL_~y}_kza(ayhdWM;*01!Cbf%%!Ae( zjQ(c#x5b$FH1J8cbnntAb?=ESiMb>1(^@YFa861d@SQBB@}kK7?*S7L2{JpdPHwZs z-lrFh9a)2QGPuf2ZjLIZPSGhE{XcADe=2;l?S2V|diK=&`(I5D-F0X~proSgeaAX> zS-bEpA{|>k?d+}ZDwGcSd4aBusj2C@M8?g$Q~JoUb)3Za=H}+kT(7L5Rm8`8@?{dUrrSih?o}J^dH!>F zd)+j~LAPGrFs{=q^GML|znv=dowmTT|K0E9i59uG>@3$5&Cxe;(FF@a)TU2S@7cWE z^zM}>11(YRvIjEX-cK8O-`;-rNJ`*r`9%h*Z|}Kz#(IyA^tx#Zzr5_;>b3{!a&mIP z%FP#MsUF!Mapbj~(e~}z;|5h+I_GGiFH}bT2@!ScxAh!@S87du6i{!I0K=Grnz3s<-KZ z0|z!;_~xsb%ePN8%W&QhQJZ9?J2cdySz5(d&_sfaV<*)V2F?~8KlkVl**WE@j&&DQ zT@KvaSFw!MS*|M`^z7L)x7u;SWBy=KX*-s`e<=oi=YjNvtZTP!EpILkJ99Ni_#Tly z{W1J6(>VSzmocV(^1SA!MJ3FXa&XBp_ss>>ai!QnVP&E~u6`wpU|JMY>4d{v+EF~KRly0d#7 z$Mw`?sk`^S5We;xXG49|R|p?HHEwOD%lS3JY(u0<@rxSy#`KmbJvHf-mfHV(?FT%t zE4@dCkUh7w6#6ZWx{&|DNT?4?%GR>_#_rjb>({SWwGYg;iI`?F@WkZq{ZeEu9D1%( z>?;cjf+VdlBb47VO|J4D9gfAgmE-rVm_IslM@LMn8Rr|bYz$u|qdg(h5)YZXdTD8C zh<#%AeKvo4hO^yJPn>2@sJYuxwrfjd74A951CcQ2(4((dFN}2aae}ij;{*pwslFVH z5{`k0`+|dsS8>$*QtuI7TJOu9qAdxTof)%~4*rnMm3Mf3PvR-}Rr2EVD|XH-I=>>I zZghnIb9lI9tWJ>s7ov;uQgeE5KYIN5Mw~ul@J5o5`TSs!Y+sphVWpMMmvfZvJW2C> zaovdZ+a$$3cF7s9l5Gstc*XLp*LHFFM!HgB$$OvfYdt4CEuTdNa%tT4_;dE`S#3Kz zJCB}n-K3*kob71`cNa$}%liie#19Q!H;SdPpwU~tKio86<_dpI9tHdyes&th=`yB; 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b/evaluation/evaluations/Robotic-Arm/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_Robotic_Arm_SELECTED_5pct_for_manual_eval.txt @@ -0,0 +1,52 @@ +;GPT;Human; +63: Go to location X:15, Y:25, Z:5 with a velocity of 5 cm/s.,No JSON;['0;3; The natural language command refers to a movement to a specific location, which does not conform to any of the sample JSON structures provided. Therefore, it cannot be converted into valid JSON based on the given keys.'] +663: Twist the shoulder joint in a clockwise manner, changing its position by 45 degrees.,No JSON;['1;0;" The natural language command refers to the action of moving a joint in a clockwise manner similar to the action in the first JSON structure. However, the joint specified in the command is the ""shoulder"" joint while the joint specified in the JSON structure is ""elbow"". Hence, the command partially conforms to the JSON structure.']" +"910: Rotate the wrist joint clockwise by 45 degrees.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""wrist""} ""angle"": { ""type"": ""float"" ""value"": 45.0} ""direction"": { ""type"": ""str"" ""value"": ""clockwise""} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";"[""4";5;" Most of the information in the natural language command matches with the provided JSON structure. 'Wrist' is mentioned as the joint to move in the command while 'elbow' is mentioned in the JSON. All other attributes, like direction and angle, match perfectly with the JSON structure. However, we can't be sure about the speed as it is not mentioned in the command. Therefore, any given value in the JSON structure can be accepted for speed, so the score is not affected by this.""]" +"284: Make sure the gripper is closed tightly.,{ ""action"": ""grip_object"" ""params"": { ""force"": { ""type"": ""float"" ""value"": 5.0} ""duration"": { ""type"": ""float"" ""value"": 2.0} ""unit_force"": ""newtons"" ""unit_duration"": ""seconds""}}";['5;4;" The natural language command is perfectly matching with the JSON structure. The action ""grip_object"" clearly corresponds to the command ""make sure the gripper is closed tightly"". Although the specific values for ""force"" and ""duration"" aren\'t stated in the natural language command, the JSON structure fills in these values with reasonable defaults.']" +97: Dance while rotating the wrist joint 90 degrees clockwise.,No JSON;"[""0";0;" The command calls for the robot to dance, which doesn't exist in the sample keys.""]" +"197: Begin dancing once you have moved to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""base""} ""angle"": { ""type"": ""float"" ""value"": 270.0} ""direction"": { ""type"": ""str"" ""value"": ""counterclockwise""} ""speed"": { ""type"": ""float"" ""value"": 0.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";"[""0";0;" No conformity. The 'move_joint' action and its parameters in the JSON structure do not match with the natural language command which asks for moving to specific coordinates and start dancing. The 'move_joint' action is related to moving a specific joint of a robot to a specified angle and direction, it does not involve moving to a coordinate, nor does it involve dancing.""]" +668: Shift the robotic arm to the X:100, Y:50, Z:150 position.,No JSON;['0;3; The natural language command instructs to move the robotic arm to specified coordinates, but none of the JSON structures include a matching action or parameters for this operation.'] +"381: Turn the wrist joint in a counterclockwise direction by 90 degrees.,{ ""action"": ""set_orientation"" ""params"": { ""orientation"": { ""type"": ""str"" ""value"": ""prone""}}}";['1;0;" The natural language command instructs to move the ""wrist"" joint in a specific direction by a specific degree, which corresponds to the ""move_joint"" action in the JSON structures. However, the provided JSON structure involves the ""set_orientation"" action, which does not match the command.']" +"951: Gently let go of the object.,{ ""action"": ""release_grip"" ""params"": {}}";['5;5; Exactly conform.'] +"562: Rotate the arm joint in an anti-clockwise direction by 180 degrees.,{ ""action"": ""extend_arm"" ""params"": { ""extension_length"": { ""type"": ""float"" ""value"": 30.0} ""speed"": { ""type"": ""float""";"[""0";0;" The natural language command calls for the action of moving a joint in a specific direction, but the provided JSON structure refers to extending an arm, which aren't matching.""]" +"561: Turn the arm joint in a counterclockwise direction by 180 degrees.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""elbow""} ""angle"": { ""type"": ""float"" ""value"": 180.0} ""direction"": { ""type"": ""str"" ""value"": ""counterclockwise""} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";"[""4.5";5;" The command almost fully matches the JSON structure. However, the speed parameter in the command isn't clearly specified. The value 1.0 isn't mentioned in the command but is presumed to be reasonable.""]" +"316: Gently release the object by opening the gripper.(Note: I'll be ignoring the ""Jump in the water"" part since it's not a valid command for the robotic arm. Also, ""swim"" is not a valid action for the robotic arm, so I'll ignore that part too.)";['5;0;" The command corresponds directly to the JSON structure describing the action of ""release_grip"". All parameters are addressed. The release_grip action does not require any parameters and the gentle aspect can be inferred under reasonable assumption of the action characteristics.']" +"732: Exert a 10-kilogram force to close the grip.,{ ""action"": ""grip_object"" ""params"": { ""force"": { ""type"": ""float"" ""value"": 10000.0} ""duration"": { ""type"": ""float"" ""value"": 0.0} ""unit_force"": ""newtons"" ""unit_duration"": ""seconds""}}";['2;2;" While the action ""grip_object"" matches the natural language command, and the ""force"" parameter is given with an appropriate unit conversion from kilograms to newtons, the JSON script does not match the natural language command in terms of the erroneous ""duration"" value of 0.0 second, which was not specified or suggested in the natural language command.']" +"117: Travel to coordinates X:100, Y:50, Z:80 at a speed of 10 meters per second.,{ ""action"": ""extend_arm"" ""params"": { ""extension_length"": { ""type"": ""float"" ""value"": 30.0} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit_length"": ""centimeters"" ""unit_speed"": ""cm/s""} ""params"": { ""duration"": { ""type"": ""float"" ""value"": 10.0} ""unit_duration"": ""seconds""}}";"[""0";0;" The provided JSON does not match the command. The command mentions the 'travel to coordinates' action, which does not exist in the JSON ontology provided. Therefore, it's impossible to translate the given command into the provided JSON structure.""]" +"600: Dive in and start swimming.,{ ""action"": ""set_orientation"" ""params"": { ""orientation"": { ""type"": ""str"" ""value"": ""upright""}}}";"[""0";0;" The natural language command 'Dive in and start swimming.' does not correlate with the JSON structure, which contains an 'action' of 'set_orientation' with 'orientation' set to 'upright'. The command does not correspond to any of the actions within the provided ontology.""]" +848: Shift the arm's location to X:70, Y:80, Z:90.,No JSON;"[""0";5;" The given command doesn't match with any of the actions in the sample keys. The command is about shifting the arm's location which doesn't conform to any of the provided JSON structures.""]" +751: Change your position to X:100, Y:50, Z:150 moving at a speed of 20 centimeters per second.,No JSON;"[""0";5;" The command is requesting to change position, which doesn't conform to any of the provided JSON structures. None of the available actions (move_joint, extend_arm, grip_object, release_grip, set_orientation) matches the requested 'change position' command.""]" +"430: Rotate the wrist joint clockwise by 90 degrees.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""wrist""} ""angle"": { ""type"": ""float"" ""value"": 90.0} ""direction"": { ""type"": ""str"" ""value"": ""clockwise""} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";['4.5;5;" The command almost entirely conforms to the JSON structure except for the ""speed"" value. In the command, the speed is not mentioned so having a ""speed"" value of 1.0 in the JSON structure is merely an assumption. Everything else matches perfectly.']" +"841: Apply a gripping force of 15 kilograms to the object.,{ ""action"": ""grip_object"" ""params"": { ""force"": { ""type"": ""float"" ""value"": 15.0} ""duration"": { ""type"": ""float"" ""value"": 0.0} ""unit_force"": ""kilograms"" ""unit_duration"": ""seconds""}}";['1;4;" The command and JSON structure do not conform. The ""force"" unit in the JSON is expected to be in ""newtons"", not ""kilograms"". Furthermore, the ""duration"" value is inputted as 0.0 in the JSON structure, which does not make sense contextually as per the provided command.']" +"235: Rotate the wrist joint counterclockwise by 180 degrees.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""base""} ""angle"": { ""type"": ""float"" ""value"": 270.0} ""direction"": { ""type"": ""str"" ""value"": ""counterclockwise""} ""speed"": { ""type"": ""float"" ""value"": 0.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";['2;2;" The action specified in the command and the JSON matches i.e. ""move_joint"". However, the joint_name mentioned in the command is ""wrist"" whereas it is ""base"" in the JSON. The direction in the command is ""counterclockwise"" which matches with the JSON and the command specifies an angle of 180 degrees which is also correctly represented in the JSON. The speed parameter is absent in the command which is not an issue as per the guidelines but the value in the JSON is given as 0.0 which may not be an appropriate representation. The units are correctly represented in the JSON as ""degrees"" and ""degrees/s"". Overall, the command and the JSON only partially conforms.']" +"27: Turn the elbow joint in a clockwise direction, rotating it by 60 degrees.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""elbow""} ""angle"": { ""type"": ""float"" ""value"": 60.0} ""direction"": { ""type"": ""str"" ""value"": ""clockwise""} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";"[""4";5;" The natural language command and JSON structure align although the speed is not specified in the command but it is present in the JSON structure. However, the scoring allows for unspecified values in the natural language command as a 'reasonable value'.""]" +989: Within a duration of 3 seconds, turn the shoulder joint in a clockwise direction, making a rotation of 270 degrees.,No JSON;['0;0; The given command refers to the action of moving a joint, particularly the shoulder joint. However, the JSON structures provided do not contain a structure relevant to moving the shoulder joint. The closest match in the JSON is an action for moving the elbow joint, but this does not conform to the command.'] +"616: Grip the object with 10 pounds of force.,{ ""action"": ""grip_object"" ""params"": { ""force"": { ""type"": ""float"" ""value"": 4.53592375595592} ""duration"": { ""type"": ""float"" ""value"": 1.0} ""unit_force"": ""pounds"" ""unit_duration"": ""seconds""}}";['2;4;" The action in the command ""Grip the object"" matches with the ""grip_object"" action in the JSON, and the force value is correctly converted from pounds to newtons. However, the unit of force in the natural language command and the JSON don\'t match. Also, there is no mention of duration in the natural language command, therefore its inclusion in the JSON is inappropriate.']" +"811: Turn the wrist joint in a counterclockwise direction, rotating it 90 degrees.,{ ""action"": ""set_orientation"" ""params"": { ""orientation"": { ""type"": ""str"" ""value"": ""prone""}}}";['1;0;" The given JSON does not match the natural language command. The command is to move a ""wrist"" joint, but the JSON structure is related to setting an orientation as ""prone"". There is no direction, angle, or joint_name specified in the JSON to match with the command.']" +"627: Turn the elbow joint in a clockwise direction by 60 degrees.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""elbow""} ""angle"": { ""type"": ""float"" ""value"": 60.0} ""direction"": { ""type"": ""str"" ""value"": ""clockwise""} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";['4.5;5;" The natural language command matches well the JSON structure. The ""move_joint"" action and the specific params like ""joint_name"", ""angle"" and ""direction"" are mentioned in the command. However, the ""speed"" is not mentioned in the command but is present in the JSON. Therefore, the full conversion of command cannot be ensured.']" +915: Retract the arm to standby position, then wave.,No JSON;['0;1;" The natural language command does not match any of the actions provided in the sample JSON structures. The action ""retract arm"" and ""wave"" are not present in this ontology.']" +"38: Travel to position X:25, Y:40, Z:10 traveling at a pace of 10 cm/s.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""base_link""} ""angle"": { ""type"": ""float"" ""value"": 0.0} ""direction"": { ""type"": ""str"" ""value"": ""forward""} ""speed"": { ""type"": ""float"" ""value"": 10.0} ""unit"": ""centimeters"" ""unit_speed"": ""cm/s""}}";['0;0;" The natural language command instructs the subject to move to a specific position. However, the given JSON does not correspond to such action. The existing JSON command named ""move_joint"" refers to changing the angle of a particular joint but not to moving the entire subject to a position in given coordinates. Furthermore, the values in the JSON do not correspond to the positions mentioned in the natural language command.']" +"651: Rotate the wrist joint counterclockwise by 30 degrees.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""wrist""} ""angle"": { ""type"": ""float"" ""value"": 30.0} ""direction"": { ""type"": ""str"" ""value"": ""counterclockwise""} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";['4.5;5;" While the JSON information matches almost perfectly with the natural language command, the ""speed"" parameter value in the JSON is 1.0 (in degrees/s) but the natural language command does not specify the speed of movement. However, the rest of the information including action, joint_name, angle, direction and unit match perfectly.']" +375: Open the gripper and close it with 7 kilograms of force.,No JSON;['0;0;" The natural language command doesn\'t specify actions or parameters that can be matched with the provided JSON structures. The action ""open the gripper"" could potentially correspond to the ""release_grip"" action, but the command specifies a force parameter that is not present in the mentioned action. The ""grip_object"" action does have a force parameter, but it is expected as newtons, not kilograms. Therefore, there is no conformity with the provided JSON structure.']" +"907: Adjust the arm's coordinates to X:40, Y:50, Z:60.,{ ""action"": ""set_orientation"" ""params"": { ""orientation"": { ""type"": ""str"" ""value"": ""upright""}}}";"[""0";0;" The natural language command instructs to adjust the arm's coordinates, meaning this is a spatial operation. However, the JSON structure indicates a 'set_orientation' action with value 'upright' which does not involve adjusting coordinates and does not match the command. Hence, the JSON information does not conform to the natural language command.""]" +"312: Stretch the arm outwards by 20 centimeters and keep it still for 10 seconds.(Note: I'll be ignoring the ""Jump in the water"" part since it's not a valid command for the robotic arm. Also, ""swim"" is not a valid action for the robotic arm, so I'll ignore that part too.)";['1;0;" The command mentions \'stretch the arm outwards by 20 centimeters\', which corresponds to the action ""extend_arm"" in the JSON ontology with an extension_length of 20.0. However, the aspect of \'keep it still for 10 seconds\' does not have a direct representation in the JSON commands. Therefore, the conformity score is 1 since only part of the command matches with the JSON command structures.']" +"459: Adjust the elbow joint by rotating it clockwise, making a 30 degree turn.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""elbow""} ""angle"": { ""type"": ""float"" ""value"": 30.0} ""direction"": { ""type"": ""str"" ""value"": ""clockwise""} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";['4;5;" JSON structure mostly conforms to the command. All required parameters are included but the ""speed"" value does not match as it is not specified in the command.']" +743: Hoist the arm to its utmost height and keep it there for a period of 10 seconds.,No JSON;['0;0; The natural language command does not correlate with any of the provided JSON structures. The command is talking about lifting the arm to its maximum height and holding it there, but there are no matching actions or parameters in the sample ontology provided.'] +"150: Please rotate the base joint in a clockwise direction by 180 degrees and maintain that position.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""base""} ""angle"": { ""type"": ""float"" ""value"": 180.0} ""direction"": { ""type"": ""str"" ""value"": ""clockwise""} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";['5;5; Exactly conform.'] +154: Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second.,No JSON;['0;5; The command references moving to a specified position in three-dimensional space at a certain velocity, but none of the provided JSON structures contain keys or actions related to this kind of movement.'] +"275: Move the arm to position X:0, Y:100, Z:20.,{ ""action"": ""extend_arm"" ""params"": { ""extension_length"": { ""type"": ""float"" ""value"": 15.0} ""speed"": {";"[""0";0;" The natural language command instructs for the arm to move to a specific position given by X, Y, and Z coordinates, whereas the JSON structure refers to extending the arm by a specific length. It is also incomplete and lacks proper formatting. So there's no proper conformity between the command and JSON.""]" +594: Transfer to the designated coordinates (X:10, Y:20, Z:30) smoothly within an 8-second timeframe, while turning the arm joint 45 degrees counterclockwise.,No JSON;['0;0; The command does not correspond to any action provided in the JSON structures. The command includes moving to coordinates and rotating a joint in a certain direction, neither of which match the provided JSON actions.'] +9: Twist the shoulder joint in a counterclockwise manner, turning it by 90 degrees.,No JSON;['0;0;" The natural language command refers to moving a joint (""shoulder"") which does not align with any of the given JSON structures. The ""move_joint"" action in the JSON examples only pertains to the ""elbow"" joint. Therefore, the command cannot be suitably converted to a JSON structure based on the provided examples.']" +"726: Transfer the item to coordinates X:20, Y:30, Z:10 with a speed of 10 centimeters per second.,{ ""action"": ""move_object"" ""params"": { ""object_name"": { ""type"": ""str"" ""value"": ""item""} ""coordinates"": { ""type"": ""list"" ""value"": [ 20.0 30.0 10.0]} ""speed"": { ""type"": ""float"" ""value"": 10.0} ""unit_length"": ""centimeters"" ""unit_speed"": ""cm/s""}}";"[""0";0;" The natural language command doesn't match any of the provided JSON structures. The command asks for moving an object which is not present in the JSON structures. The JSON structures only involve moving a joint, extending an arm, gripping an object, releasing a grip, and setting orientation.""]" +757: Open the grip halfway and hold for 2 seconds.,No JSON;"[""0";0;" The natural language command refers to a specific action 'open the grip' which doesn't have a corresponding JSON structure in the sample data provided. Therefore, the command cannot be correctly translated into JSON using the available ontology. Additionally, the command requires an indicator of how wide to open the grip, which isn't included in the given JSON structures.""]" +967: - Rotate the wrist joint in an anti-clockwise direction, making a 45 degree angle, at a rate of 90 degrees per second.,No JSON;"[""0";0;" The natural language command mentions performing an action on the 'wrist' joint, whereas the JSON structures only include actions related to the 'elbow' joint. Hence there is no conformity between the command and the provided JSON structures.""]" +"82: Go to coordinates X:35, Y:50, Z:20.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""elbow""} ""angle"": { ""type"": ""float"" ""value"": 180.0} ""direction"": { ""type"": ""str"" ""value"": ""clockwise""} ""speed"":";"[""0";0;" The natural language command is asking for a move to specific coordinates, but there is no such action or matching parameters in the JSON structures provided. The JSON structure provided is for the 'move_joint' action, which does not match with the command.""]" +"653: Rotate the wrist joint anticlockwise by 30 degrees.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""wrist""} ""angle"": { ""type"": ""float"" ""value"": -30.0} ""direction"": { ""type"": ""str"" ""value"": ""anticlockwise""} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";"[""4";5;" The natural language command matches the JSON structure, but the JSON structure's speed value is not mentioned in the command.""]" +"65: Travel at a speed of 5 cm/s to reach coordinates X:15, Y:25, Z:5.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""base_link""} ""angle"": { ""type"": ""float"" ""value"": 0.0} ""direction"": { ""type"": ""str"" ""value"": ""forward""} ""speed"": { ""type"": ""float"" ""value"": 5.0} ""unit"": ""centimeters"" ""unit_speed"": ""cm/s""}}";"[""0";0;" The natural language command speaks about reaching specific coordinates which isn't represented in the JSON structure. The JSON structure is about moving a specific joint of the robot, not about travelling to a coordinate. The parameters and the action do not match.""]" +"850: Rotate the wrist joint counterclockwise by 120 degrees.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""wrist""} ""angle"": { ""type"": ""float"" ""value"": 120.0} ""direction"": { ""type"": ""str"" ""value"": ""counterclockwise""} ""speed"": { ""type"": ""float"" ""value"": 1.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";['4.5;5;" Everything perfectly matches except for the ""speed"" value, which is provided as 1.0 in the JSON but is not specified in the natural language command.']" +547: Halt at once and move to the coordinates X:5, Y:10, Z:15.,No JSON;['0;5; The natural language command does not match any of the actions or parameters in the provided JSON structures.'] +"645: Hold onto the object with a 20 newton force.,{ ""action"": ""grip_object"" ""params"": { ""force"": { ""type"": ""float"" ""value"": 20.0} ""duration"": { ""type"": ""float"" ""value"": 0.0} ""unit_force"": ""newtons"" ""unit_duration"": ""seconds""}}";['4;4;" The natural language command is mostly in line with the provided JSON. The `grip_object` action is correctly identified and the force to use is correctly set to 20.0 newtons. The duration, which was not specified in the natural language command, is reasonably set to 0.0. However, in the JSON structure all entries inside ""params"" should be separated by a comma, which is missing in the provided JSON.']" +"222: Stretch the arm out by an additional 20 centimeters, with a velocity of 10 cm/s.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""base""} ""angle"": { ""type"": ""float"" ""value"": 270.0} ""direction"": { ""type"": ""str"" ""value"": ""counterclockwise""} ""speed"": { ""type"": ""float"" ""value"": 0.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";['1;0;" The command refers to the action of extending the arm, which matches with the ""extend_arm"" action in the given ontology. However, the provided JSON corresponds to the ""move_joint"" action, which does not match the initial command. The parameters like ""joint_name"", ""angle"", ""direction"", ""unit"" and ""unit_speed"" in the JSON are not mentioned in the original command. Thus, the JSON does not accurately represent the given natural language command.']" +"241: Adjust the position of the arm to X:100, Y:0, Z:50.,{ ""action"": ""move_joint"" ""params"": { ""joint_name"": { ""type"": ""str"" ""value"": ""base""} ""angle"": { ""type"": ""float"" ""value"": 270.0} ""direction"": { ""type"": ""str"" ""value"": ""counterclockwise""} ""speed"": { ""type"": ""float"" ""value"": 0.0} ""unit"": ""degrees"" ""unit_speed"": ""degrees/s""}}";['0;0;" The natural language command instructing to adjust the arm\'s position based on coordinates does not match with the provided JSON structure that uses a specific joint position change in the \'move_joint\' action. 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z+JYsX((N(%@2Q-dP#H9A9knyb8YGG~r0CNjA6a)Z!h1`zKHhcH2dIn?Aw5TV2 z2u_3lNUdi#!7T-=V zO;ilzK{vpcBXSGkAVJy>NIUWqdeQ&K=Kswp0UizuI#3iiJk@y~Sb`c>e0TsFR@w(# z*{$G>Ju@r;uJV%tEe!)rErYUB1n|%aP-_b`dj-mAKubW!e*k4vLG=V^Aqp^Az5rGn zppj1}*dl4GO*2XMg2_Sibn91#}=SXxb&}IcTC5)ZfQ7aNd$p00i_>zopr E08x7WCjbBd literal 0 HcmV?d00001 diff --git a/evaluation/evaluations/Robotic-Arm/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Robotic_Arm_SELECTED_5pct_for_manual_eval.txt b/evaluation/evaluations/Robotic-Arm/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Robotic_Arm_SELECTED_5pct_for_manual_eval.txt new file mode 100644 index 0000000..36fc59b --- /dev/null +++ b/evaluation/evaluations/Robotic-Arm/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_Robotic_Arm_SELECTED_5pct_for_manual_eval.txt @@ -0,0 +1,52 @@ +;;Human;; +"680: Turn the elbow joint in an anticlockwise direction, rotating it by 90 degrees.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""elbow"" }, ""angle"": { ""type"": ""float"", ""value"": 90.0 }, ""direction"": { ""type"": ""str"", ""value"": ""anticlockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['5;5;" Exactly conform. The natural language command correctly corresponds to the action ""move_joint"", with matching parameters for ""joint_name"", ""angle"", ""direction"", ""unit"", and a reasonable ""speed"".']"; +"150: Please rotate the base joint in a clockwise direction by 180 degrees and maintain that position.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""base"" }, ""angle"": { ""type"": ""float"", ""value"": 180.0 }, ""direction"": { ""type"": ""str"", ""value"": ""clockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 0.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['4;4;" The natural language command matches the JSON structure mostly. However, the command includes ""maintain that position"", which is not represented in the JSON. The \'speed\' value in the JSON is given to be 0.0, however there is no mention of speed in the natural language command, it could have any reasonable value.']"; +"852: Twist the wrist joint in the counterclockwise direction by 120 degrees.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""wrist"" }, ""angle"": { ""type"": ""float"", ""value"": 120.0 }, ""direction"": { ""type"": ""str"", ""value"": ""counterclockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['5;5; Exactly conform.']; +"572: Raise the object at 3 meters per second and relocate it to coordinates X:20, Y:30, Z:40.,{ ""action"": ""move_object"", ""params"": { ""object_name"": { ""type"": ""str"", ""value"": ""object"" }, ""velocity"": { ""type"": ""float"", ""value"": 2.0 }, ""acceleration"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_velocity"": ""meters/s"", ""unit_acceleration"": ""meters/s^2"" }}";"[""0";0;" The natural language command doesn't match with any action in the JSON structure provided. The JSON structure does not have the action 'move_object' or parameters such as 'object_name', 'velocity', 'acceleration', or their respective units. The parameters from the natural language command, which also include positioning to X,Y,Z coordinates are not reflected in the JSON structure.""]"; +"949: Release the object gently.,{ ""action"": ""release_grip""}";['5;5;" Exactly conform. The natural language command corresponds to the ""release_grip"" action with no parameters needed, matching the provided JSON structure.']"; +"978: Move to X:25, Y:50, Z:75 within 5 seconds.,{ ""action"": ""move_to"", ""params"": { ""position"": { ""type"": ""3D"", ""value"": { ""x"": 25.0, ""y"": 50.0, ""z"": 75.0 } }, ""speed"": { ""type"": ""float"", ""value"": 5.0 }, ""unit"": ""meters"", ""unit_speed"": ""meters/s"" }}";['0;0;" The given natural language command ""Move to X:25, Y:50, Z:75 within 5 seconds."" does not conform with the JSON provided. The input command seems to be instructing a move to specific coordinates but there\'s no action for this operation in the sample ontology. Furthermore, the JSON provided does not match with any of the given examples in the provided JSON structures, as it contains a ""move_to"" action and ""3D"" position type which aren\'t present in the sample keys.']"; +"709: Rotate the base joint counterclockwise by 90 degrees.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""base"" }, ""angle"": { ""type"": ""float"", ""value"": 90.0 }, ""direction"": { ""type"": ""str"", ""value"": ""counterclockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";"[""4.5";5;" The information in the natural language command matches the JSON structure. However, the natural language command did not specify the speed at which the joint should be moved, so the JSON's speed value is arbitrary.""]"; +"477: Rotate the wrist joint in a counterclockwise motion, angling it by 45 degrees.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""wrist"" }, ""angle"": { ""type"": ""float"", ""value"": 45.0 }, ""direction"": { ""type"": ""str"", ""value"": ""counterclockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";"[""5";5;" The natural language command perfectly matches with the JSON structure's information. All key parameters like action, joint_name, angle, direction and unit are in the right place with the right values. The only unspecified value from the command is the speed, which is reasonable in its JSON format.""]"; +"10: Rotate the shoulder joint in the opposite direction of the clock by 90 degrees.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""shoulder"" }, ""angle"": { ""type"": ""float"", ""value"": -90.0 }, ""direction"": { ""type"": ""str"", ""value"": ""opposite_clockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['3;4.5;" Most of the elements in the JSON structure conform to the natural language command, but the direction ""opposite clockwise"" does not exist in the sample keys. The direction should simply be ""counter_clockwise"" or ""anti_clockwise"" according to standard terminology.']"; +"721: Release the grip completely for a duration of 3 seconds.,{ ""action"": ""release_grip"", ""params"": {}}";['2;5;" The natural language command asks to release the grip completely for a duration, but the JSON structure doesn\'t have a parameter to specify the duration or any other properties. It only has the action ""release_grip"" with no parameters.']"; +"594: Swim.,{ ""action"": ""set_orientation"", ""params"": { ""orientation"": { ""type"": ""str"", ""value"": ""upright"" } }}";"[""0";0;" The natural language command 'Swim.' doesn't match with the provided JSON structure which is about 'set_orientation'.""]"; +"761: Stretch the arm outwards by 30 centimeters.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""shoulder"" }, ""angle"": { ""type"": ""float"", ""value"": 30.0 }, ""direction"": { ""type"": ""str"", ""value"": ""outwards"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""centimeters"", ""unit_speed"": ""cm/s"" }}";['1;0;" The natural language command mentions the action of stretching the arm outwards by 30 centimeters which corresponds better with the action ""extend_arm"" in the ontology. Additionally, the direction ""outwards"" is not a possible value for the ""move_joint"" action since it only accepts ""clockwise"" and ""counterclockwise"" as directions. There are also extra keys in the JSON structure such as ""joint_name"", ""angle"", and ""direction"" that are not mentioned in the natural command.']"; +"712: Rotate the base joint in the counterclockwise direction by 90 degrees.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""base"" }, ""angle"": { ""type"": ""float"", ""value"": 90.0 }, ""direction"": { ""type"": ""str"", ""value"": ""counterclockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['4;5;" The command fits well with the JSON structure overall, with correct action and parameters like joint_name, angle, and direction. The command does not specify the desired speed but the speed in the JSON is plausible. There is a discrepancy in the requested joint (""base"" in JSON but unspecified in command).']"; +"221: Stretch the arm out by an additional 20 centimeters, with a velocity of 10 cm/s.,{ ""action"": ""extend_arm"", ""params"": { ""extension_length"": { ""type"": ""float"", ""value"": 40.0 }, ""speed"": { ""type"": ""float"", ""value"": 10.0 }, ""unit_length"": ""centimeters"", ""unit_speed"": ""cm/s"" }}";['4;4;" The action and parameters match correctly, however, the value for ""extension_length"" should be 20.0 according to the natural command, not 40.0 as specified in the JSON.']"; +"107: Turn the base joint 90 degrees counterclockwise.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""base"" }, ""angle"": { ""type"": ""float"", ""value"": 90.0 }, ""direction"": { ""type"": ""str"", ""value"": ""counterclockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['5;5; Exactly conform.']; +"850: Turn the wrist joint in a counterclockwise direction by 120 degrees.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""wrist"" }, ""angle"": { ""type"": ""float"", ""value"": 120.0 }, ""direction"": { ""type"": ""str"", ""value"": ""counterclockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['5;5;" Exactly conform. The JSON structure correctly identifies the ""action"" as ""move_joint"" and fills in the parameters with the correct type and values corresponding to the command, such as ""joint_name"" as ""wrist"", ""angle"" as 120.0, ""direction"" as ""counterclockwise"". The units are also correctly represented in the JSON. The speed is assumed as it was not specified in the command but is necessary for the JSON structure.']"; +"32: Elevate the object to a 1-meter height.,{ ""action"": ""set_orientation"", ""params"": { ""orientation"": { ""type"": ""str"", ""value"": ""upright"" } }}";['0;0; The natural language command talks about elevating an object to a certain height, whereas, the JSON structure represents a command to set the orientation of something to upright. There is no correspondence between the two and hence a zero score.']; +"465: Travel to coordinates X:0, Y:0, Z:50 with a speed of 0.1 m/s.,{ ""action"": ""move_to"", ""params"": { ""coordinates"": { ""type"": ""float"", ""value"": [0.0, 0.0, 50.0] }, ""speed"": { ""type"": ""float"", ""value"": 0.1 }, ""unit"": ""meters/s"" }}";['0;0; The natural language command is asking to move to specific coordinates at a certain speed; however, the provided JSON does not match this request as it is non-existent in the sample keys.'] +"407: Lengthen the arm by 20 centimeters while moving with a velocity of 2 meters per second.,{ ""action"": ""extend_arm"", ""params"": { ""extension_length"": { ""type"": ""float"", ""value"": 20.0 }, ""speed"": { ""type"": ""float"", ""value"": 2.0 }, ""unit_length"": ""centimeters"", ""unit_speed"": ""cm/s"" }}";['4;5; Almost perfect match, however, the speed unit in the natural language command is meters per second while in the JSON structure, it is cm/s. There is a mismatch in the units of speed.']; +"608: Pivot the shoulder joint counterclockwise, achieving a 90-degree rotation.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""shoulder"" }, ""angle"": { ""type"": ""float"", ""value"": 90.0 }, ""direction"": { ""type"": ""str"", ""value"": ""counterclockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['4;5;" The JSON structure is largely correct according to the natural language command. The ""speed"" parameter in the JSON was not mentioned in the natural language command, hence the assigned value remains arbitrary.']"; +"208: Make sure the gripper is fully opened.,{ ""action"": ""set_orientation"", ""params"": { ""orientation"": { ""type"": ""str"", ""value"": ""upright"" } }}";['0;0; The JSON structure refers to setting an orientation, while the natural language command is about fully opening a grip. Therefore, these two pieces of information do not match.']; +"833: Move the wrist joint in a clockwise direction, turning it by 60 degrees.,{ ""action"": ""grip_object"", ""params"": { ""force"": { ""type"": ""float"", ""value"": 10.0 }, ""duration"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_force"": ""newtons"", ""unit_duration"": ""seconds"" }}";['0;0;" The command talks about moving the wrist joint in a clockwise direction, turning it by 60 degrees. According to the ontology, this would fall under the ""move_joint"" action. However, the provided JSON structure corresponds to the ""grip_object"" action, which does not match with the given command.']"; +"826: Set the arm's coordinates to X:30, Y:40, Z:50.,{ ""action"": ""grip_object"", ""params"": { ""force"": { ""type"": ""float"", ""value"": 10.0 }, ""duration"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_force"": ""newtons"", ""unit_duration"": ""seconds"" }}";['0;0;" The natural language command refers to a set of coordinates, which is not a part of the provided JSON structures. The corresponding JSON provided is for the ""grip_object"" action, which does not match the natural language command.']"; +"708: Ascend the object by 5 centimeters, lifting it away from the ground.,{ ""action"": ""set_orientation"", ""params"": { ""orientation"": { ""type"": ""str"", ""value"": ""upright"" } }}";"[""0";0;" The natural language command is asking for an object to be lifted which doesn't match with the JSON command of setting the orientation of an object to upright. There is no concrete match of action or parameters in the provided JSON structure.""]"; +"51: Grip the object with a force of 20 Newtons.,{ ""action"": ""grip_object"", ""params"": { ""force"": { ""type"": ""float"", ""value"": 20.0 }, ""duration"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_force"": ""newtons"", ""unit_duration"": ""seconds"" }}";['4;4;" The action in the command perfectly matches with the ""action"" key in the JSON structure. The force parameter withits respective unit is also perfectly denoted in the JSON structure. However, the command does not specify a ""duration"", but a value ""0.0"" is included in the JSON structure. Although it\'s reasonable to have a default value for duration, it\'s not explicitly mentioned in the command.']"; +"544: Move to position X:5, Y:10, Z:15 and halt immediately.,{ ""action"": ""move_object"", ""params"": { ""object_name"": { ""type"": ""str"", ""value"": ""object"" }, ""velocity"": { ""type"": ""float"", ""value"": 2.0 }, ""acceleration"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_velocity"": ""meters/s"", ""unit_acceleration"": ""meters/s^2"" }}";['0;0;" The natural language command is about moving to a specific position (X:5, Y:10, Z:15) and stopping immediately, however the provided JSON is about moving an object with specific velocity and acceleration. The JSON information doesn\'t match the command, and values such as position and halt are not specified in the JSON. Moreover, the action ""move_object"" does not exist in the sample keys of the provided sample ontology.']"; +"599: Move the robotic arm to position X:50, Y:100, Z:200.,{ ""action"": ""set_position"", ""params"": { ""position"": { ""type"": ""float"", ""value"": [50.0, 100.0, 200.0] } }}";['0;0;" The provided natural language command does not conform to the JSON information and its keys in the sample ontology. The action ""set_position"" and the parameters associated with coordinates X, Y, Z are not present in the sample ontology.']"; +"473: In 4 seconds, bring the arm back by 25 centimeters.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""elbow"" }, ""angle"": { ""type"": ""float"", ""value"": -25.0 }, ""direction"": { ""type"": ""str"", ""value"": ""clockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 4.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['0;0;" The natural language command is about moving the arm back by certain distance, not about moving a single joint (an elbow) with a specified angle in a certain direction. So, the provided JSON structure does not match with the command. Also, the input does not even correspond with the ""extend_arm"" structure because the speed in the command (""in 4 seconds"") does not translate to a speed value but a duration/time, which doesn\'t exist in the ontology.']"; +"450: Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second., Note: I'll give you the prompt again for reference: ""Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second.""";['2;0;" The JSON and the command kind of conform. The ""action"" of ""extend_arm"" and the ""extension_length"" is correct at 10.0 and its\' ""unit_length"" of ""centimeters"" is also correct. However, the speed unit in the command is meters per second, whereas the JSON ontology specifies the ""unit_speed"" for an ""extend_arm"" action in ""cm/s"".']"; +"83: Transfer yourself to the location with coordinates X:35, Y:50, Z:20.,{ ""action"": ""set_position"", ""params"": { ""position"": { ""type"": ""float"", ""value"": [35, 50, 20] } }}";['0;0;" The natural language command mentions a movement action to specific coordinates, but there is no ""set_position"" action in the sample ontology to match this. The JSON structure doesn\'t conform with the provided ontology.']"; +319: Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second., Note: You can assume that the arm's length is 0 centimeters initially.;['0;0;" The provided natural language command does not match any of the provided JSON structures and the ""action"" and ""params"" keys do not conform to the sample ontology.']"; +"139: Grip the object with 10 kilograms of force.,{ ""action"": ""grip_object"", ""params"": { ""force"": { ""type"": ""float"", ""value"": 10.0 }, ""duration"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_force"": ""newtons"", ""unit_duration"": ""seconds"" }}";"[""1";3;" The natural language command and the JSON structure do not fully match as the force in the command is in kilograms, whereas in the JSON structure the force unit is newtons. The command doesn't specify a 'duration', this value of 0.0 in JSON is understood but doesn't exactly conform to the natural command language.""]"; +"662: Twist the shoulder joint in a clockwise manner, changing its position by 45 degrees.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""shoulder"" }, ""angle"": { ""type"": ""float"", ""value"": 45.0 }, ""direction"": { ""type"": ""str"", ""value"": ""clockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 0.5 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['4;5;" The JSON structure correctly represents the natural language command, however, the joint_name value in JSON (""shoulder"") does not match with the joint specified in the natural language command (""elbow"").']"; +"47: Pull the arm back by a distance of 25 centimeters.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""shoulder"" }, ""angle"": { ""type"": ""float"", ""value"": -25.0 }, ""direction"": { ""type"": ""str"", ""value"": ""backward"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""centimeters"", ""unit_speed"": ""cm/s"" }}";['1;0;" The JSON structure does dipict a movement action, but the \'move_joint\' action in the provided structure is not a match for the \'pull the arm back\' command given. The structure\'s parameters such as ""joint_name"" as shoulder and ""direction"" as backward don\'t correlate well with the command. Additionally, the command refers to a distance, and not an angle as the structure implies.']"; +"76: Rotate the elbow joint counterclockwise by 75 degrees.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""elbow"" }, ""angle"": { ""type"": ""float"", ""value"": 75.0 }, ""direction"": { ""type"": ""str"", ""value"": ""counterclockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['5;5; Exactly conform.']; +"974: Move to position X:25, Y:50, Z:75 in 5 seconds.,{ ""action"": ""move_to_position"", ""params"": { ""position"": { ""type"": ""3D"", ""value"": { ""x"": 25.0, ""y"": 50.0, ""z"": 75.0 } }, ""speed"": { ""type"": ""float"", ""value"": 5.0 }, ""unit"": ""meters"", ""unit_speed"": ""meters/s"" }}";['0;0;" The JSON structure does not match the provided sample ontology. There exist no fields for ""move_to_position"" action and ""3D"" type in the sample ontology.']"; +"738: Perform a 180-degree clockwise rotation of the wrist joint.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""wrist"" }, ""angle"": { ""type"": ""float"", ""value"": 180.0 }, ""direction"": { ""type"": ""str"", ""value"": ""clockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['5;5; Exactly conform.']; +"501: Raise the object with a speed of 5 meters per second.,{ ""action"": ""raise_object"", ""params"": { ""speed"": { ""type"": ""float"", ""value"": 5.0 }, ""unit"": ""meters/second"" }}";"[""0";0;" The natural language command refers to a 'raise_object' action, which is not present in the sample keys.""]"; +"523: Apply a firm 10 Newton force to firmly seize the object.,{ ""action"": ""grip_object"", ""params"": { ""force"": { ""type"": ""float"", ""value"": 10.0 }, ""duration"": { ""type"": ""float"", ""value"": 3.0 }, ""unit_force"": ""newtons"", ""unit_duration"": ""seconds"" }}";"[""5";5;" The natural language command perfectly matches the JSON information with the action of gripping an object and a specified force of 10 Newtons. The duration in the JSON is accepted since it is a reasonable value that's unspecified in the command. The key names also match the sample ontology's keys.""]"; +"435: Apply a 2-kilogram force to grip the object.,{ ""action"": ""grip_object"", ""params"": { ""force"": { ""type"": ""float"", ""value"": 2.0 }, ""duration"": { ""type"": ""float"", ""value"": 0.5 }, ""unit_force"": ""newtons"", ""unit_duration"": ""seconds"" }}";"[""3";4;" The given command is 'grip_object', which matches perfectly with the JSON structure. The force value mentioned in the command is also present in the JSON. However, the unit used is different: in the command, it's 'kilogram', and in the JSON, it's 'newtons'. Furthermore, a 'duration' value was not specified in the command but is present in the JSON, though any reasonable value is acceptable.""]"; +"96: Rotate the wrist joint clockwise by 90 degrees and dance.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""wrist"" }, ""angle"": { ""type"": ""float"", ""value"": 90.0 }, ""direction"": { ""type"": ""str"", ""value"": ""clockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }, ""action"": ""dance""}";['2;4;" Only the ""move_joint"" action matches with the natural language command, the ""dance"" action is not recognized based on the sample ontology keys provided.']"; +"636: Shift the robotic arm to position X:0, Y:0, Z:0.,{ ""action"": ""set_position"", ""params"": { ""position"": { ""type"": ""float"", ""value"": 0.0 }, ""x"": { ""type"": ""float"", ""value"": 0.0 }, ""y"": { ""type"": ""float"", ""value"": 0.0 }, ""z"": { ""type"": ""float"", ""value"": 0.0 } }}";['0;0;" The JSON structure does not conform to the command as the action ""set_position"" and related parameters like ""position"", ""x"", ""y"", ""z"" are not part of the sample ontology. Also, there is no equivalent command in the provided ontology for shifting or setting position of the robotic arm to a specific coordinates.']"; +"70: Expand the arm's reach by 30 centimeters.,{ ""action"": ""extend_arm"", ""params"": { ""extension_length"": { ""type"": ""float"", ""value"": 30.0 }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit_length"": ""centimeters"", ""unit_speed"": ""cm/s"" }}";['5;5;" Exactly conform. The natural language command perfectly matches with the JSON structure. The ""extend_arm"" action is correctly chosen and the extension length is correctly given as 30.0 cm. The speed is not specified in the natural language command, but the JSON structure correctly uses a reasonable default value.']"; +"877: Return the arm to its standby position.,{ ""action"": ""set_orientation"", ""params"": { ""orientation"": { ""type"": ""str"", ""value"": ""standby"" } }}";['1;5;" The command is asking to return the arm to its standby position, which could potentially correspond with the ""set_orientation"" action in the JSON. However, the JSON does not specify ""standby"" as a valid orientation, and the JSON structure mentioned also lacks some keys. The information is not a total match but there is a small element of match.']"; +"414: Grip the object with 10 kilograms of force for 10 seconds.,{ ""action"": ""grip_object"", ""params"": { ""force"": { ""type"": ""float"", ""value"": 10.0 }, ""duration"": { ""type"": ""float"", ""value"": 10.0 }, ""unit_force"": ""newtons"", ""unit_duration"": ""seconds"" }}";['1;4;" The command asks for a force unit of ""kilograms"" but the JSON structure uses ""newtons"". Even though the values match, the units do not, which affects the correct interpretation of the command.']"; +"273: Twist the elbow joint to the right, adjusting it by 135 degrees in a clockwise direction.,{ ""action"": ""move_joint"", ""params"": { ""joint_name"": { ""type"": ""str"", ""value"": ""elbow"" }, ""angle"": { ""type"": ""float"", ""value"": 135.0 }, ""direction"": { ""type"": ""str"", ""value"": ""clockwise"" }, ""speed"": { ""type"": ""float"", ""value"": 1.0 }, ""unit"": ""degrees"", ""unit_speed"": ""degrees/s"" }}";['4.5;5; While the natural language command matches the action and most of the parameters in the JSON information, no specific speed is mentioned and a score of 1.0 is assigned in the object.']; +"229: Retract the arm by 30 centimeters at a velocity of 5 cm/s.,{ ""action"": ""retract_arm"", ""params"": { ""extension_length"": { ""type"": ""float"", ""value"": -30.0 }, ""speed"": { ""type"": ""float"", ""value"": 5.0 }, ""unit_length"": ""centimeters"", ""unit_speed"": ""cm/s"" }}";['0;2;" The natural language command mentions the action ""retract_arm"", but this action is not found within the sample keys. The command does not conform with the JSON structure(s) in the ontology.']"; +"204: Open the gripper completely.,{ ""action"": ""set_orientation"", ""params"": { ""orientation"": { ""type"": ""str"", ""value"": ""open"" } }}";['1;0;" The natural language command is about releasing grip or opening the gripper, which should correspond to the ""release_grip"" action in JSON structure according to the provided sample ontology. However, the given JSON reflects ""set_orientation"" action, not ""release_grip"". Thus, the command and JSON structure do not properly match.']"; +"744: Retract the arm to standby position.,{ ""action"": ""retract_arm"", ""params"": {}}";"[""0";0;" The command requests the action of retracting the arm to a standby position, but there's no corresponding action available in the JSON structures provided.""]"; +;;;; +;;2.52040816326531;; diff --git a/evaluation/evaluations/Sample_evaluation.txt b/evaluation/evaluations/Sample_evaluation.txt new file mode 100644 index 0000000..8740949 --- /dev/null +++ b/evaluation/evaluations/Sample_evaluation.txt @@ -0,0 +1,26 @@ +Ground R: +GPT3.5: +482: Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds.;"['{""action"": ""rotate"", ""params"": {""angular_velocity"": 0.5, ""angle"": 90, ""is_clockwise"": false}}', '{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 5, ""is_forward"": true, ""unit"": ""meters""}}']";;['2;" The first JSON structure partially matches the natural language command. The action of rotation and the ""angular_velocity"" are correct, however, the ""angle"" and the direction of the turn (being counterclockwise or not) are not mentioned in the natural language command, so this can\'t be assumed. The second JSON structure also partially matches the command in the rotation but incorrectly includes a distance parameter that is not mentioned in the command. Additionally, the unit is slightly incorrect with ""meters"" in the JSON while the command mentions ""meter"". The durations parameter is missing in the JSON.']" +418: Maintain a pace of 2 meters per second for a period of 5 seconds.;"['{""action"": ""move"", ""params"": {""linear_speed"": 2, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}']";;['4;" Mostly conform. The command does correspond to the ""move"" action, the ""linear_speed"" matches, and the ""is_forward"" boolean makes sense, but the parameter for ""distance"" should not be provided as it was not specified in the command.']" +LLaMA-7b: +"8: Turn left by 90 degrees.,The response is, ""Turn left by 90 degrees.""";"[""2" (Hallucination! or conflating with the ontology?);Human: 0;" The command 'Turn left' is similar to the 'rotate' action in the JSON structure, but it does not specify 'is_clockwise' and the angle given in the command does not match with the angle given in the JSON structure.""]" +"814: After turning right, advance forward and cover a distance of 10 meters.,The response is, ""{""action"": ""move"", ""params"": {""linear_speed"": 0.5, ""distance"": 10, ""is_forward"": true, ""unit"": ""meter""}}""";"[""5";2.5;" The linear speed, distance, direction, and unit of movement in the JSON command are in accordance with the natural language command. Even though the command does not instruct a 'rotate' action explicitly, the 'move' command is well translated and hence the score of 5.""]" +"631: Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second.,The response is, ""Move forward for 10 meters at a speed of 2 meters per second.""";['4;0;" The natural language command corresponds closely with the JSON structure for the ""move"" action. However, the given speed and distance parameters do not match the values in the JSON structure, which shows a linear speed of 0.5 (not 2 as in the command) and distance as a variable (although the specified distance of 10 meters in the command is reasonable).']" +"489: Go back 6 meters.,The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is, ""The response is";['3.5;0;" The natural language command partially matches the ""move"" JSON structure. The correct direction (backwards) isn\'t specified in the JSON structure which should be shown by ""is_forward"" as False. Also, there\'s no specification for \'distance\' in JSON which should be \'6\' as per the natural language command. However, ""unit"" as ""meter"" aligns with the natural language command.']" +626: Perform a 180-degree clockwise rotation.,The response is 180.;['5;0;" The natural language command correctly matches with the JSON structure for the ""rotate"" action. It specifies the ""angle"" parameter as 180 and ""is_clockwise"" parameter as True, both of which are included in the structure. The ""angular_velocity"" parameter isn\'t specified in the natural command, but it is reasonable to apply any value to it. Thus, it\'s an exact match with a perfect conformity score of 5.']" +853: Perform a clockwise rotation of 270 degrees.,The answer is 270.;"[""4";0;" The command corresponds mostly with the 'rotate' action in JSON structure, including the 'angle' and 'is_clockwise' parameters. However, the 'angular_velocity' parameter is not mentioned in the command.""]" +385: Rotate anticlockwise by 60 degrees and advance 3 meters.,The response is,;['4;0; The command matches with two JSON structures but the rotation direction is not specified in the JSON parameters. The moving action matches perfectly with the second JSON structure and rotation without direction matches with the third structure.'] + +UAV: +GPT3.5: +"356: Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 30.0,', ' ""altitude"": 0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""forward""', ' },', ' ""duration"": 10,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";;['4;" The command partially conforms to the JSON structure. The command\'s action ""Travel in a forward direction"" matches with the ""fly"" action in JSON. The parameter ""speed"" and its unit ""km/h"" also match. However, the command does not specify altitude, direction and duration values, and the JSON structure\'s ""altitude"", ""direction"" and ""duration"" parameters have been filled with invalid or inappropriate values like 0 for altitude and ""forward"" for direction. The direction value should be more specific, like ""north"", ""south"", etc. and altitude is not mentioned in the command but is mentioned in the JSON. Finally, the command\'s distance ""500 meters"" is not represented in the JSON.']" +"655: Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 90.0,', ' ""altitude"": 0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""forward""', ' },', ' ""duration"": 200,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";;['2;" The JSON structure partially matches the command. The action (""fly"") and speed match but the direction is inferred and not directly stated in the command. There\'s no mention of altitude in the command yet it\'s in the JSON. The duration computation in the JSON doesn\'t match the command as it calls for a specific distance not time duration.']" +"189: Keep yourself elevated without any movement for a span of 45 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 2700.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";;['3;" The action is ""hover"", which matches the input command. However, the duration is incorrect (2700 seconds instead of 45 minutes), and the altitude information is not mentioned in the command but provided in the JSON.']" +"111: Hover in place for 30 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1800.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";;['5;" Exactly conform. The natural language command directly corresponds to the ""hover"" action in the JSON structure, with a duration of 1800 seconds (which equals to 30 minutes) as specified in the command. The altitude value in the JSON structure can be regarded as a reasonable value, as the command didn\'t specify any.']" +LLaMA7b: +559: Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h.,['The response is 500/50 = 10 meters.'];['0;0; The provided JSON structure does not match with the natural language command as it does not have keys for distance and forward direction. Furthermore, the JSON response given is not following a proper format and seems unrelated to the command.'] +647: Stay in one spot for a duration of 12 minutes.,['The response is 12.'];"[""1";0;" The natural command possibly corresponds to the 'hover' action in the JSON structures, however, the duration unit in the JSON is in seconds, not minutes as specified in the command. Also, no JSON command was given for comparison.""]" + +Robotic Arm: +GPT3.5: +959: Transfer yourself to the specified coordinates: X:0, Y:0, and Z:50.,['{}'];['0;Human: 5 (not in the ontology); The natural language command does not correspond to any of the JSON structures provided in the sample ontology. There is no action related to moving to specific coordinates.'] \ No newline at end of file diff --git a/evaluation/evaluations/UAV/.~lock.Evaluated_JSON_commands_UAV_SELECTED_5pct_for_manual_eval.txt# b/evaluation/evaluations/UAV/.~lock.Evaluated_JSON_commands_UAV_SELECTED_5pct_for_manual_eval.txt# new file mode 100644 index 0000000..7cc01e6 --- /dev/null +++ b/evaluation/evaluations/UAV/.~lock.Evaluated_JSON_commands_UAV_SELECTED_5pct_for_manual_eval.txt# @@ -0,0 +1 @@ +,riotu,riotu-MSI,30.10.2023 14:30,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file diff --git a/evaluation/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV-GPT3.5-SCORES-only.txt b/evaluation/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV-GPT3.5-SCORES-only.txt new file mode 100644 index 0000000..85db783 --- /dev/null +++ b/evaluation/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV-GPT3.5-SCORES-only.txt @@ -0,0 +1,995 @@ +4.0 +3.0 +4.0 +3.0 +4.0 +3.0 +2.0 +2.0 +1.0 +2.0 +3.0 +4.0 +4.0 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zLe5!fE)YgldSL~sBEE#ZIfl)#4B=;RBW$*u?~l39jRX$6(mzul*+4LTau#cfEhxbH z7bT;C(@JGil!S&|qfr5n@-~fdz-~Wh_x_EbJ*L5yfi^55`8LP|SHI82u8$wK)4F66 zjVX~B^;a!N#!_saM0X65YjWQrq?Ms~JWlaw?7)dAa?qCBH9a!)8}w>UdbK$}x=24C z-Yx5$+$40lg&|Z_X>Qm@OsFO*DBQ|0tqchbcdd77R=f z4Xw`+Wh6iwl_WaYGbtD7kT8_Kl;8`l4JCMJnR@u$7{w!K$4;ArF?h%P_2@&8i~t01 zaz-tvl2mt2gQB#4ZNyqYg7nCvL(l^-TmlR1>Wjy5D1-fV<~UGqc)T-KRZecFpShGs z@yni031A?pn)=~yKt1p`Qg9Jma|N$IWbk(~G79V25_t&*eF83v&e_lZ@o=3kig@yd zY0J6H#H3itrU^+KzXodL%GV<7iRGi4N^1`8f^mDCvHQr$6wDC8>uG753i^)Qs!=aI zJ8LEiPYeI>zs<>Sj&l&91xg~w^dK&h9EuT(l^eq`!a%X@a*QXt;5^kr_`C$1Px# literal 0 HcmV?d00001 diff --git a/evaluation/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV.txt b/evaluation/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV.txt new file mode 100644 index 0000000..b50ce55 --- /dev/null +++ b/evaluation/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV.txt @@ -0,0 +1,996 @@ +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; Partially conform. The command to ascend matches with the "fly" action in JSON structure. The altitude param is correctly specified as 500 in both. The unit_altitude is also correctly specified as "feet". However, direction and duration parameters in the JSON are not asked in the command, and default values are used instead.'] +Increase the elevation to a height of 500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'];['3; The action referenced in the text (increasing the elevation) has conformed to the "navigate_to_point" action in the JSON, and the height parameter in the text is also expressed in the JSON. However, the altitude in the text uses the unit feet while the JSON uses meters. Also, the unit of altitude and exact coordinates (latitude and longitude) are not specified in the text command.'] +Climb to a height of 500 feet above ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure represents the natural language command almost perfectly. The action to "fly" is described correctly, the specified altitude is represented, and the unit of altitude is correctly changed to "feet". However, the direction, duration, and speed are assumed and not directly specified in the natural language command.'] +Reach an altitude of 500 feet above sea level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 500)"', ' }', ' }', '}'];["3; Although the natural language command wants the device to reach a certain altitude, which is represented in the JSON structure with the 'navigate_to_point' action and setting the altitude in the coordinates tuple, the command specified the altitude in feet, while the JSON structure uses generic or unspecified units, potentially meters. The difference in units of measurement is a mismatch."] +Ascend to a height of 500 feet in the air.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON data structure partially matches the natural language command. While it correctly identifies the action as "fly", the altitude as "500" and the appropriate unit as "feet", it does not account for the ascending motion and also unnecessarily includes speed, direction, and duration parameters which are not mentioned in the command.'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. The \'action\' in the JSON is correctly identified as \'fly\', and the \'speed\' in \'params\' also matches with the command. However, the direction specified as \'forward\' doesn\'t really conform to the traditional directional values like north, south, east, west. Also, the speed unit provided in JSON is "m/s" (meters per second) while the command mentions "mph" (miles per hour). Moreover, the command specifies flying for a distance (1 mile) but JSON presents duration which is not mentioned in the command.'] +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.027777777777777776,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command seems to be requesting an action similar to the \'fly\' action in the JSON. However, there are several mismatches with the parameters: the natural language command mentions a velocity instead of speed, which, while similar, is not an exact match. The command also does not specify the direction like the JSON sample does, and the duration is not correctly converted from distance to time considering the provided speed. The "unit_speed" in the JSON is presented as "m/s", while in the natural language command, it is indicated as "miles per hour". Finally, the command does not specify an altitude, which the JSON does include.'] +Travel in a straight line for 1 mile, maintaining a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 60,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['2; The JSON structure partially meets the requirements of the command. The "fly" action, "speed", "direction", and "unit_speed" are all correctly aligned with the natural language command. However, the "altitude" parameter does not exist in the command and is randomly assigned with a value "0", "duration" is also inaccurately set as "60", "unit_duration" isn\'t mentioned in the command. Also, the coordinates for the 1 mile straight-line travel are not specified.'] +Move forward for a distance of 1 mile, traveling at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.027777777777777776,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command specifies a "move forward" action, but the provided JSON structure represents a "fly" action. The speed is mentioned in both, but with different units (mph vs m/s), and the direction, altitude, and duration parameters in the JSON structure are not requested in the command. The distance mentioned in the command is not represented in the JSON structure.'] +Cover a distance of 1 mile by flying forward at a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 17.8816,', ' "altitude": "default",', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": "default",', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command is partially matched with the JSON structure. However, some keys such as "altitude" and "duration" in JSON are not mentioned in the command. And the "speed" value doesn\'t comply with the "unit_speed" in JSON (m/s vs mph).'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Partial conformity. The "action" in the JSON structure is correct as "hover". The "duration" is correctly converted to seconds in the given JSON and matches the command. But the altitude value in the JSON structure is incorrect as it states "altitude" is 0. The command doesn\'t specify an altitude, however setting the altitude value as \'0\' might not be considered reasonable, as \'hover\' typically implies maintaining a certain nonzero altitude. The unit specifications are correct in the provided JSON.'] +Stay still for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command translates well to the "hover" action in JSON with duration parameter correctly converted to seconds. The altitude parameter is not specified in the command but a value of 0.0 is not reasonable for a hover action as it implies being on the ground. A more reasonable value could have been provided.'] +Maintain a hovering position for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command is matched correctly to the "hover" action. The given duration of \'10 minutes\' in natural language has been correctly converted to 600 seconds in the JSON. However, the altitude is given as 0.0 in the JSON, which doesn\'t quite conform to the command of maintaining a hovering position (which implies some altitude other than zero), although no specific altitude was mentioned in the natural language command.'] +Remain suspended in one spot for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command is about hovering which is correctly reflected in the JSON structure. The duration is also correctly converted from 10 minutes to 600 seconds. However, the altitude is not mentioned in the natural language command but it is specified in the JSON structure which is not completely align with the command. Hence, the score is 4.'] +Hold a stationary hover for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The JSON structure correctly translates the natural language command's intent to hover, and duration is correctly expressed in seconds. However, the hover command does not provide a specific altitude in the natural language command, the JSON structure's assignment of a 0.0 altitude may not be reasonable as a hover often involves some elevation above ground level."] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4.5; The JSON structure correctly maps to the natural language command. However, the angular velocity should technically be in units of "degrees per second" (not just "degrees") to be an exact match to the command.'] +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command matches exactly with the JSON structure indicating the action is "land" at a certain "location". The exact values aren\'t specified in the command or the JSON, but this is acceptable as per the guideline.'] +Please ensure you touch down safely at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The command explicitly requests a landing action, which perfectly aligns with the JSON structure that codes for the "land" action. The referred parameters in the JSON structure are also fitting as the command talks about a specified landing area, and this matches with the parameters ("latitude", "longitude") under "location" in the JSON.'] +It is essential that you land at the designated land zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The JSON structure matches the "land" action from the command. However, the values for location are not specified in the command and thus assumed it could be any unknown "(latitude, longitude)" from the JSON.'] +Make sure you reach the assigned landing zone for landing.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];["1; The natural language command mentions landing but the JSON action is 'navigate_to_point' which isn't equivalent. The drone is instructed to reach a landing zone, but the actual action of landing is not present in the provided JSON."] +Ensure your landing takes place at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Descend to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Almost conform. The "direction" and "duration" fields are not specified in the command but are filled in the JSON. The "direction" fields should not exist in the JSON structure. However, the "duration" can be seen as a default value."'] +Decrease your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure describes an action of flying with a specified altitude which matches with the natural command. However, in natural language command, there is no mention of direction, speed, and duration whereas these parameters are in JSON structure which doesn't exactly conform."] +Lower yourself to an altitude of 200 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);["1; The command suggests an action similar to 'navigate_to_point' or 'fly' from the ontology, as it involves adjusting altitude. However, it doesn't fit perfectly into any action as there is no specific action to change altitude only."] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'];['4; The action and altitude parameters are matched correctly in the JSON structure. It does not exactly conform to a simple action of descending, but the \'navigate_to_point\' action with a specific altitude can be interpreted as a descent action. However, the "coordinates" in the JSON don\'t precisely match because specific latitude and longitude values are not provided.'] +Bring your altitude down to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 200)"', ' }', ' }', '}'];['3; The action performed in the natural language command is reflected in the JSON structure ("navigate_to_point"), and the correct altitude is also outlined correctly. However, the JSON structure assumes unspecified latitude and longitude values of 0,0 which are not mentioned in the command. The command is also more about changing altitude than navigation, inferring a different action.'] +Fly forward for 3 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 108,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "direction" value is not acceptable ("forward" is not a valid direction) and the "duration" value does not logically correlate to the command. The command gives a speed for the action of flying but does not specify how long the action should last, therefore assigning a "duration" is unnecessary and unfitting. Also, "fly" action in the given JSON structure does not support distance parameter hence "3 kilometers" from the command is not included in the JSON representation.'] +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['1; The JSON structure does not match the natural language command. The command talks about a navigation with speed involved but there is no key available in the JSON for speed during navigation. Furthermore, no coordinates are mentioned in the command which are required according to the provided JSON structure.'] +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 108,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['1; The natural language command matches partially with the JSON structure. Although it is about actions related to direction and speed which are present in the \'fly\' action, there are some mismatches. The direction in the command is vague("straight ahead") while in the JSON it is specified as \'north\'. Additionally, the duration needed for the travel distance at the specified speed is not correctly calculated in the JSON. Lastly, there is an altitude value in the JSON that is not mentioned in the command.'] +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 132,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The direction in the JSON is hard-coded as "north", which isn\'t specified in the natural language command. The duration is also calculated assuming a certain distance, which is not part of the provided ontology. The unit of speed defined in the JSON structure is m/s but it is given as km/h in the command. The altitude parameter is forced into existence in JSON even when the command doesn\'t specify it.'] +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.22222222,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 81,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure indicates a flying action, which matches the command to fly. However, the speed value needs to be converted to m/s from km/h, the duration is incorrect and the direction value in the JSON is arbitrary without further context.'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure correctly represents the action "hover" and unit of duration "seconds". However, the natural language command does not specify the altitude, and it is not clear why the JSON has a value of \'0.0\' for altitude. The duration value in the natural language command is "15" but it represents minutes, while in the JSON structure the same value is converted to seconds, therefore it is \'900.0\' instead of \'15.0\'.'] +Stay stationary for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The JSON structure correctly captures the 'hover' action and the duration amount (900.0s ≈ 15 minutes) from the command. However, the altitude cannot be presumed to be 0, as the command does not specify it. Therefore, this reduces the score from a perfect match."] +Maintain a hovering position for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The action "hover" matches correctly, however the duration in the natural language command is converted to minutes, while in the JSON ontology the unit_duration is in seconds, hence the value "900" (instead of "15") is correct. The altitude parameter is not specified in the natural language command, hence "0.0" is considered as a reasonable value.'] +Remain suspended in one place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['Score: 4.5; Justification: The natural language command almost entirely matches with the JSON data structure. It clearly indicates the action ("hover") and the duration, which is correctly translated from minutes to seconds in the JSON. However, the altitude is not mentioned in the command and hence the JSON\'s specific altitude value of 100.0 is slightly arbitrary. The units for both duration and altitude match. There is only a small deduction for the unspecified altitude.'] +Hold in mid-air without moving for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The natural language command matches the JSON command of hovering but the duration in the json is 900 seconds (which is 15 minutes), but in the natural language command the unit of duration is not mentioned. Also, the JSON includes an altitude parameter which does not exists in the natural language command, hence the score is not 5.'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left at a rate of 10 degrees per second for a duration of 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; The action "rotate" is correctly identified and the "angle" and "unit" parameters match. However, the "angular_velocity" parameter does not match with the NL command which specifies a rate of "10 degrees per second", and the "is_clockwise" parameter is assumed as false but it is not specified in the command.'] +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": -10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; The JSON correctly represents the command of rotation to a certain angle at a given angular velocity and also correctly identifies that the rotation should be anticlockwise. However, angular_velocity in JSON is given as -10, which is not exactly conforming to the command that states "10 degrees per second". It\'s a subtle point, but in interpreting JSONs, such subtleties might be important.'] +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; The JSON correctly includes the "rotate" action and the "angular_velocity", "angle", "is_clockwise", and "unit" parameters. However, the "angular_velocity" value should be based on the degree per second which is 1 as it is a 45-degree turn in 45 seconds.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {}', '}'];['4; The JSON structure is mostly conforming to the natural language command but it fails to specify the "location" parameter under "params". While the coordinates for landing are not specified in the natural language command, the JSON should still reflect the lack of information with a placeholder.'] +Please arrive at the pre-assigned landing area.,['{', ' "action": "land",', ' "params": {}', '}'];['4; The JSON structure partially matches with the natural language command since "land" action is present in both. However, the location parameter in the JSON structure is unspecified which is not fully in accordance with the sample ontology. Thus not \'Exactly conform\'.'] +Make your way to the specified landing zone.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['5; Exactly conform. The command \'Make your way to the specified landing zone\' correctly corresponds to the JSON structure for "action": "navigate_to_point", since the "coordinates" are inferred as the landing zone.'] +Ensure you land at the designated landing spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Please touch down at the designated landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4.5; Most of the command aligns with the JSON sample ontology. The term "touch down" is equivalent to "land" but the landing coordinates are not specified in the command.'] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; Mostly conform. Although it correctly identifies the "fly" action and "altitude" as 1000, the JSON structure states the "unit_altitude" as "feet" whereas the sample keys mention only "meters". Also, it includes the "direction" parameter with a value of "north" which was not specified in the natural language command. The speed and duration are mentioned as 0.0 which is a reasonable assumption in this context, hence acceptable.'] +Climb to a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command is translated into a JSON structure that closely matches the sample ontology. The "action" key is correctly set to "fly", and the "altitude" in "params" is correctly set to 1000. The "unit_altitude" is correctly set to "feet". However, the direction is mentioned as "north" which is not mentioned in the natural language command. Similarly, the speed is also mentioned which is not stated in the natural language command.'] +Reach an elevation of 1000 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 1000)"', ' }', ' }', '}'];['1; In the natural language command, it indicates wanting to reach a certain elevation or altitude (1000 feet). However, in the JSON structure, the action is "navigate_to_point" which specifies a certain location ("coordinates") with a latitude, longitude, and altitude value. So, although there is a commonality in the fact that both the natural language command and JSON structure mention altitude, the action and parameter are not exactly corresponding to each other. The JSON is trying to navigate to a point with a specific altitude, not simply reaching an elevation. Moreover, the unit of measurement in the command (feet) does not match the assumed unit in the JSON (likely meters). So, they are not directly equivalent hence the low score.'] +Go up to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4.5; Almost exact conformity with the minor exception being that altitude unit in the sample ontology is "meters" but in the natural language command and returned JSON it\'s "feet".'] +Achieve a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4.5; Almost perfect conformity. The action and altitude match. The unit of altitude is also correct. However, speed should not be 0 and the duration of flight is not specified.'] +Fly forward for 2 miles at a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure partially matches the command; however, the term "forward" for the direction is not typically expressed as direction and would be better represented as "north", "south", "east" or "west". Furthermore, the "altitude" and "duration" parameters are not mentioned in the natural language command and hence should not necessarily be specified in the JSON structure.'] +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command and the JSON structure do not conform very well. The action "fly" is relative, but the parameters are largely off. The direction in the JSON structure is fixed to "north", which doesn\'t match with the command of proceeding straight ahead (which doesn\'t imply a direction). The duration is stated as 0 in the JSON structure, whereas the command doesn\'t specify a duration. Also, the use of "altitude": 0 contradicts the command of maintaining a speed (it\'s not specified that it should occur at ground level). The unit_speed is correctly identified as mph. Ultimately, there\'s juxtaposition, but the key details are mismatched.'] +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches the command. The action "fly" is correctly identified, as is the speed parameter with its corresponding unit. However, the JSON represents a "duration" value that isn\'t mentioned in the command, assumes an altitude of 0.0 meters which isn\'t specified in the command, and incorrectly encodes the direction parameter as "straight" when the command does not specify the direction of flight. Additionally, the command mentions a distance of 2 miles, but the JSON does not have a key to store this information.'] +Fly ahead for 2 miles while moving at a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.08904231625835189,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command and the JSON structure have some similarities - they both involve the \'fly\' action and specify speed. However, the natural language command mentions a distance ("2 miles") and a directional unit ("ahead") neither of which are captured in the JSON structure. Moreover, the speed unit in the command is "mph" while the unit in the JSON is "m/s". The direction in JSON is "north" whereas "ahead" is mentioned in the command. The duration in JSON is not specified in the command.'] +Maintain a speed of 45 mph while flying forward for a distance of 2 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "distance": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_distance": "miles"', ' }', '}'];['2; The JSON structure does mostly align with the command given, specifiying an action of "fly" and including parameters for speed, direction, and a distance (though it is titled duration in the ontology, not distance). However, there is no mention of altitude in the given command, yet an altitude of 0 is included in the JSON structure. Further, the units used in the command ("mph" for speed and "miles" for distance) do not exist within the sample ontology where the unit for speed is given as "m/s" and no unit for distance is given- though with the ontology exclusively using metric units, it is reasonable to assume miles would not be used.'] +Hover in place for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure correctly represents the "hover" action with a duration of 20 minutes (correctly converted to 1200 seconds, as the unit_duration is specified as \'seconds\'). However, the JSON mentions an "altitude" parameter with value 0.0, which is not specified in the natural language command.'] +Remain stationary for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command corresponds with "hover" action but the units need to be considered. As the command mentions "20 minutes", it is accurately converted to seconds (1200 seconds) in the JSON. However, as the command doesn\'t specify any altitude, considering a value of 0 for altitude might not make sense for a "hover" action, as inherently it requires some altitude to be maintained. Thus, while mostly conforming, it might not be 100% accurate due to this discrepancy, hence the score is slightly reduced.'] +Stay suspended in one spot for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action \'hover\' matches perfectly and the duration provided in the command is also correctly converted to seconds in the JSON. However, there\'s no mention of altitude in the natural language command but it\'s included in the JSON structure with a value of zero, though altitude is not specified it could be assumed. The "unit_duration" is inaccurate in the JSON structure as it\'s supposed to be \'seconds\' according to the command not \'minutes\'.'] +Keep still for 20 minutes while floating in the air.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The action matches but the duration value in the JSON does not match the command (20 minutes is 1200 seconds, not 20 seconds). The altitude is not specified in the command, hence it could have any value, but it should not be zero as the command specifies that hovering should occur "in the air".'] +Hold position for 20 minutes without moving.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4.5; The command is almost exactly conform, but there is a slight mismatch in "altitude" parameter where a value of \'0\' is given in JSON, which is not mentioned in the command. The command says "without moving" which doesn\'t particularly specify the altitude.'] +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command "Land at the designated landing zone" perfectly maps to the JSON structure for the action "land", although the specific coordinates are not given in the command, it\'s implied that a designated landing zone has specific latitude and longitude which will fit the "location" parameter in the JSON structure.'] +Please make a landing at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Ensure that you land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["5; The natural language command perfectly conforms to the JSON structure, with 'land' as an action and 'location' as a parameter which is a 'tuple' type in the context of landing. The specific values aren't provided in the command but any latitude and longitude would be acceptable."] +It is necessary for you to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The command is asking for a landing action which corresponds to the "land" action in the JSON. However, the location is not specified in the command, therefore the specific "latitude" and "longitude" values in the JSON are accepted as they are reasonable.'] +The instruction is to land specifically at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["5; Exactly conform. The natural language command correctly corresponds to the 'land' action in the JSON structure, including the correct parameter of 'location' with a tuple value for coordinates."] +Descend to an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -300)"', ' }', ' }', '}'];['2; While the action "navigate_to_point" is valid according to the suggested ontology, the parameters do not fully match. The parameters are trying to capture an altitude change which is not the purpose of "navigate_to_point" action. This command would be better suited for a \'descend\' or \'change altitude\' action which is not in the sample ontology. The request to descend to an altitude of 300 meters is not equivalent to navigating to a point with a specified latitude, longitude and altitude.'] +Lower your altitude to 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "undetermined"', ' }', ' }', '}'];['1; The action "navigate_to_point" doesn\'t fully conform to the natural language command. Although moving to a different altitude may be part of navigation, managing the altitude explicitly is not reflected in this JSON structure. The parameters are expected to be coordinates, not just the altitude. The value of the coordinates is also undetermined.'] +Move down to an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 300)"', ' }', ' }', '}'];['2.5; The action specified in the natural language command is not "navigate_to_point". There is also no mention of \'coordinates\' in the command, so the value assigned to \'coordinates\' should not be accepted. The command, however, correctly mentions the altitude of 300.'] +Deescalate to a height of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 300)"', ' }', ' }', '}'];['2; The natural language command refers to an action of changing the altitude and not to the action "navigate_to_point". The parameters inside the JSON structure don\'t match the command as "coordinates" do not represent the height but rather a combination of latitude, longitude, and altitude, while the command specifically only mentions altitude.'] +Descend until you reach an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 300)"', ' }', ' }', '}'];['5; Exactly conform.'] +Fly forward for 4 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command reasonably conforms to the JSON structure. The "fly" action is correctly implemented, and the speed and direction values match those given in the command. The only reason for not giving a full score is the non-definition of the "duration" parameter in the command, hence a reasonable default is used in the JSON. Moreover, the directive of flying \'forward\' for \'4 kilometers\' isn\'t accurately reflected in the JSON command.'] +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['1; The natural language command indicates a forward navigation with specific distance and speed. However, the JSON structure shows the action as "navigate_to_point" but does not include parameters about speed and distance. Also, the given parameter in JSON, "coordinates", is not mentioned in the command. Hence, they don\'t conform well.'] +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 19.44,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 4000,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure has the proper action "fly" and the correct units for speed and duration, however, the values for speed and duration aren\'t compliant with the command. According to the command, it should fly with a speed of 19.44 m/s (approximately equivalent to 70 km/h) for approximately 720 seconds (4 km at 70km/h). Also, the direction indicated as "forward" is not present in the ontology which only allows cardinal points (north, south, east, west).'] +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "distance": {', ' "type": "float",', ' "value": 4000.0', ' }', ' }', '}'];['3; The JSON structure mostly matches the natural language command. However, there is an extra key "distance" in the JSON that is not listed in the sample ontology. Additionally, duration is not mentioned in the natural language prompt, but it is included in the JSON with a value of 0 which could be interpreted as not specified. Lastly, the "direction" in the JSON is specified as "forward" instead of "north" as per the sample ontology.'] +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 19.444444444444446,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command instructs the drone to fly in a straight line for a certain distance, whereas the JSON structure has fields that are filled with values that are not mentioned in the command, like "altitude" and "duration". Additionally, the command does not specify the direction of flight. Moreover, the velocity in command is in km/h while the "unit_speed" in JSON is in m/s and the conversion is not correct. JSON has no field to specify the distance which was mentioned in the command.'] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command and JSON are mostly matched with action "hover" and specified duration which is converted from minutes to seconds. However, in the command there is no information about altitude while in the JSON, the altitude is set to 0.0, which is not specified but it is reasonable.'] +Stay suspended in one spot for a duration of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; Mostly conform. The action and duration keys match well with the command, and the unit of duration is correctly stated in seconds (25 mins = 1500 secs). However, the altitude value should not be 0.0 as the command says to 'stay suspended', implying some distance above ground. The altitude value in the command is not specified, so any reasonable non-zero value would be acceptable."] +Remain airborne without moving for a period of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; Partially conform. The duration value in the JSON is not matching with the specified duration in the command which is '25 minutes'. However, the JSON has units in 'seconds', not 'minutes'. It looks like the conversion from minutes to seconds was not made correctly (25 minutes = 1500 seconds, not 1500.0 seconds as in the JSON). Also, the command specifies no altitude but for the hover action, some altitude input is necessary which is not given in the command."] +Levitate motionlessly for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The duration value in the JSON is not equivalent to the 25 minutes commanded, and the altitude being 0 doesn\'t match the command "levitate" implying the altitude should be higher than 0. Furthermore, the duration unit doesn\'t match: the command specifies minutes, but the JSON represents it in seconds.'] +Hold position without any movement for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The action 'hover' is correct and the duration is correctly transformed from minutes to seconds (25*60 = 1500), but the altitude value in the JSON is not present in the natural language command. So it's not a perfect match."] +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command exactly matches to the provided JSON structure with action "rotate". All specified parameters including "angular_velocity", "angle", "is_clockwise", and "unit" also perfectly align with the command.'] +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command is perfectly converted to the JSON structure. The \'action\' is correctly identified as "rotate", and all the \'params\' are as specified in the command: \'angular_velocity\' is 25; \'angle\' is 135; \'is_clockwise\' is false which correctly describes the counterclockwise rotation; and the \'unit\' is in degrees.'] +Turn left by 135 degrees with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The command specifies a rotate action with an angle of 135 degrees and an angular velocity of 25 degrees per second. The "is_clockwise" value matches as it is specified as false, which correlates with a left turn.'] +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command correctly corresponds to the action of landing with specified location as per the provided JSON structure.'] +Please ensure you land at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4.5; The given natural language command matches well with the JSON structure for the action "land". However, the natural language command does not specify the coordinates for landing, which makes it a slight mismatch.'] +Your objective is to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +You are required to land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command is asking for an action of landing at a specific location, which aligns with the "land" action in the JSON structure. There is no explicit mention of coordinates in the command but as per the guidelines, any reasonable value in the JSON is accepted.'] +Make sure you reach the designated landing area safely.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['2; The command seems to align with the "navigate_to_point" action, but there are no specifics given for the coordinates for the drone to navigate to. The JSON structure provided also does not match the format of the ontology perfectly, with minor syntax errors.'] +Ascend to an altitude of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0, ', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' }, ', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "fly" action isn\'t really meant for ascending to a specific altitude but moving in a specific direction. However, the altitude parameter and other unspecified parameters like speed, duration, and direction are handled correctly so there is some level of conformity.'] +Increase your altitude to 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 1500,', ' "unit_altitude": "feet"', ' }', '}'];['4; The given JSON structure matches with the natural language command. The command refers to an increase in altitude which corresponds to the "fly" action in the JSON structure. Furthermore, the altitude parameter and its unit were correctly extracted from the natural language command. However, "fly" action involves other parameters such as speed, direction, and duration which are not mentioned in the natural language command. As the command doesn\'t fully correspond to the \'fly\' action in the JSON structure, the score is 4.'] +Climb up to a height of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command is mostly conforming to the JSON structure. The "fly" action and "altitude" parameters with unit as "feet" match. However, the command does not provide information about "speed", "direction", and "duration", but it is acceptable as the JSON example shows any reasonable value can be considered for missing parameters.'] +Reach an elevation of 1500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 1500)"', ' }', ' }', '}'];["4; The natural language command is mostly in line with the JSON structure. The 'navigate_to_point' action is intended to reach specific coordinates, which includes altitude. However, the unit of measurement is different: in the command it is feet while in the JSON structure it is unspecified. Assuming the ontology defaults to a standard system (like meters), the disagreement in units would be a source of error."] +Scale to a height of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command does correspond to the "fly" action in the JSON structure, and the altitude parameter is correctly identified. However, the \'unit_altitude\' value is incorrect as it is "feet" in the command but only "meters" is present in the ontology. Furthermore, the speed and duration are explicitly set to 0 but the command does not specify those parameters. Lastly, direction value "north" but it\'s not specified in the command.'] +Fly forward for 5 miles at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command asks to fly forward for a certain distance (5 miles) which isn\'t represented in the JSON structure. Also, speed has the correct value, but the defined unit in the sample Ontology is "m/s" while in the input it\'s "mph". In the JSON, Direction is "forward" which technically doesn\'t belong to "north, south, east, west" and altitude and duration are set to 0 which is not specified in the natural language command.'] +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 13.411,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command talks about moving at a speed of 50mph for a distance of 5 miles, but the JSON structure has units in m/s (22.352m/s) and duration in seconds (13.411 seconds). The "direction" key is not mentioned in the command but is present in the JSON. No distance unit exists in the JSON so the "distance of 5 miles" from the command does not match in the JSON structure.'] +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 13.471,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; While the action "fly" and most of the parameters (like speed, direction, unit_speed) match the intent of the natural language command, there are two main issues. Firstly, the natural language command specifies a distance but the JSON command uses duration to complete the action. Secondly, the natural language command doesn\'t mention altitude but it is specified in JSON.'] +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 6.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command and JSON structure have some discrepancies. While the command is asking to move ahead for 5 miles at a speed of 50 mph, the JSON structure signifies moving at a speed of 50.0 m/s in the north direction for a duration of 6 seconds at an altitude of 100.0 meters, which doesn't exactly match the command. Also the unit of speed in the command is miles per hour whereas in the JSON it's m/s."] +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 2.259427848,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The command and the JSON match in terms of the action of flying and specifying the speed. However, the natural language command does not specify an altitude or direction, while the JSON does. The natural language command implies a duration by mentioning a distance and speed, but does not explicitly request a duration or supply one that matches the JSON's scope."] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command directly corresponds to the "hover" action in the JSON structure, with a duration of 1800 seconds (which equals to 30 minutes) as specified in the command. The altitude value in the JSON structure can be regarded as a reasonable value, as the command didn\'t specify any.'] +Stay in one spot for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The 'hover' action and 'duration' parameters match. The duration value in seconds (1800) also correctly corresponds to the 30 minutes mentioned in the command, and the 'unit_duration' parameter is correctly set as 'seconds'. However, there is no mention of 'altitude' value in the command, while it's present in the JSON, hence it is not a perfect match."] +Maintain a fixed position for the next half an hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command and the JSON structure match, however, the altitude is not mentioned in the natural language command, and the JSON structure assigns an arbitrary altitude of 0.0 meters. Despite this, the remainder of the JSON structure matches the natural language command.'] +Remain suspended in mid-air for the next 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Although the "hover" action can be interpreted from the command, the duration value is not accurately given in the JSON format. The command says "30 minutes" which should be 1800 seconds, but the value is 0.0 seconds in the JSON. The altitude also doesn\'t match as it isn\'t specified in the command thus it cannot be stated as 0.0 in the JSON structure.'] +Hold still for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4.5; The natural command corresponds fairly to the JSON structure. However, the required altitude parameter is not specified in the natural language command, so the value 0.0 in the JSON structure could potentially be incorrect.'] +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command and the JSON structure match exactly. The action "rotate" is correctly paired with an angular velocity of 30 degrees per second, a full 360 degree rotation, and the specified direction of rotation ("right" to "is_clockwise": true). The use of degrees as the unit is also correct.'] +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command accurately matches the provided JSON structure. The rotation action is correctly specified along with all the required parameters - angular_velocity, angle, is_clockwise and unit. The parameters also match closely with the values in the natural language command.'] +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command asks for a right rotation (clockwise), a full 360-degree turn, at a rate of 30 degrees per second. This is exactly matched in the provided JSON structure under the "rotate" action, with "is_clockwise" set to true, "angle" at 360 and "angular_velocity" at 30.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command requests an action ("land") which exists within the provided JSON structure. It gives a parameter ("at the designated landing zone") which can be interpreted as a tuple value for latitude and longitude. Thus, the JSON perfectly matches the action requested in the natural language command.'] +Please make your way to the designated landing zone and touch down.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; The given natural language command instructs the drone to land at a designated location, which is in line with the "land" action in the JSON structure. The specific coordinates aren\'t mentioned but are indicated by "(latitude, longitude)" in the "location" parameter of the JSON structure.'] +The designated landing zone is where you should aim to touch down.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The JSON structure is quite in line with the natural language command, which is about landing. However, the value of the location coordinates which should show latitude and longitude is not explicitly denoted in the command. The precise values are hence missing, even though the implied action and targeting parameters are fairly coherent.'] +You are required to land at the specific landing zone as indicated.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["4; While the command specifies that a landing action must take place, it doesn't provide specific location coordinates for the landing. The JSON information entails the action of landing but lacks the specific 'latitude' and 'longitude' values. Therefore, the command partially conforms to the JSON structure."] +Ensure that you come to a safe landing at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(designated_latitude, designated_longitude)"', ' }', ' }', '}'];['3; The natural language command is asking for a safe landing but the JSON structure does not reflect anything about safety. However, it does reflect a landing action at a location which somewhat matches with the command.'] +Descend to an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 400)"', ' }', ' }', '}'];['1; The natural language command requests a change in altitude but does not specifically ask to navigate to a certain point. Thus, the "navigate_to_point" action used in the JSON structure does not match the command. Furthermore, the exact coordinates are not specified in the natural language command, but the JSON structure has "undetermined" values for latitude and longitude, which is not accurate or helpful in achieving the command\'s purpose.'] +Decrease your altitude to 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 400)"', ' }', ' }', '}'];['1; The JSON structure indicates the "navigate_to_point" action with a coordinate including a specific altitude. However, the natural language command is asking for a decrease in altitude, not navigation to a point with a specific altitude. The correct action isn\'t represented in the sample ontology, but would likely involve a "change_altitude" action or similar.'] +Lower yourself to an altitude of 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action is almost correct but it should be "hover" instead of "fly". Also, setting the speed and duration to 0 does not make sense and the direction parameter is not necessary.'] +Go down to an altitude of 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Even though all elements of the command are not explicitly stated, the given command can be inferred to match the action and the altitude parameters in the JSON structure. However, the speed and duration parameters do not have explicit values and are set to 0.'] +Descend until you reach an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 400)"', ' }', ' }', '}'];['2; The action in the JSON is "navigate_to_point", whereas the natural language command implies a "descending" action which is not explicitly stated in the JSON. However, the altitude parameter matches in the natural language command and the JSON structure. Hence, partial conformity.'] +Fly forward for 6 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 360,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.1,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['3; Mostly conforms. The "fly" action and "speed" parameter match with the natural language command, and reasonable default values were used for "altitude" and "direction". However, the duration is incorrect. Since the drone is traveling at 60 km/h for 6 kilometers, it should take 0.1 hours, not 10 seconds. Additionally, the unit of duration should be "hours", not "seconds". Furthermore, the command mentions the drone should proceed straight ahead (which could be interpreted as a specific direction), but the JSON structure assumes the direction is north. The former is not specifically mentioned in the JSON structure.'] +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0.1,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['3; Partial match. The speed and direction parameters match with the natural language command, but the command includes a "distance" parameter that doesn\'t exist in the JSON structure. In addition, the \'duration\' value in the JSON does not match the duration implied in the command (6 kilometers at 60 km/h should take 0.1 hours not 0.1 seconds), and altitude is not mentioned in the command, so a 0 value cannot be assumed.'] +Fly straight ahead at 60 km/h for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Almost conform. The command includes the action "fly", as well as parameters for "speed" and "direction". However, "duration" is not properly accounted for. The natural language command asks for a distance of 6 kilometers, which is not quite the same as duration in time. Furthermore, it\'s also important to note that "straight" is not a typical cardinal direction.'] +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forwards"', ' },', ' "duration": null,', ' "distance": 6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_distance": "kilometers"', ' }', '}'];['2; The natural language command and the JSON structure partially match. The action "fly" and parameters such as "speed" and "direction" are captured. However, "distance" is missing from the provided sample keys. Also, the "altitude" mentioned in the JSON is not specified in the natural language command. Lastly, the "duration" should not be present in the JSON since it was not included in the natural language command.'] +Hover in place for 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 35.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['5; The command "Hover in place for 35 minutes" matches perfectly with the \'hover\' action in the JSON structure. Although the altitude is not specified explicitly in the command it is correctly included as 0 in the JSON. The JSON structure also correctly indicates that the units of duration are \'minutes\', and the default units for altitude are \'meters\'.'] +Stay suspended in mid-air for a duration of 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command aims to hover for a period of time which matches the "hover" action in the JSON structure. The duration is correctly converted to seconds in the JSON (35 minutes = 2100 seconds). However, the command doesn\'t specify the altitude which leaves the 50.0 value in the JSON unjustified. Therefore, it\'s not a perfect match but very close.', ''] +Maintain a fixed position in the air for the next 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command is requiring the system to hover which matches the "hover" action in the JSON. However, the duration provided in the command doesn\'t match the JSON object. The command specifies "35 minutes" while the JSON is using seconds (transformed to 2100 seconds), hence the scoring isn\'t a perfect 5.'] +Remain stationary in the same spot for a period of 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Mostly conform. The action "hover" correctly matches but the altitude parameter isn\'t mentioned in the command so its value of 0.0 in JSon is not fully accurate. The duration of 2100 seconds (which is equivalent to 35 minutes) matches well with the command.'] +Keep yourself suspended without moving for the next 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Although the action given in the natural language command matches the "hover" action in the JSON structure, the value for "duration" in the JSON deviates from the natural language command, which asked for 35 minutes not 2100 seconds. Conversion of units is not standard and reduces conformity with the command. The "altitude" value is 0.0 in the JSON when the command does not specify an altitude, implying that the drone should stay at its current altitude instead of descending to ground level.'] +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The command given matches the JSON structure provided for the "land" action. The specific location is not provided in the natural language command but the ontology allows for unspecified parameters.'] +Please make a landing at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command asks for a landing at a specific location. The corresponding JSON structure shows the action as "land" with the location parameter given in latitude and longitude. Though the exact coordinates are not provided in the command, any reasonable value is considered acceptable; hence, it is a correct match.'] +Ensure a safe landing at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["5; Exactly conform. The natural language command is a generic request for landing at a given location, which matches perfectly with the 'land' action in the JSON structure, where the 'location' parameter includes latitude and longitude coordinates. The specific landing coordinates are not specified in the command, but any reasonable value is accepted according to the rules."] +You are instructed to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {}', '}'];['4; The natural language command corresponds with the \'land\' action in the JSON structure. However, the \'location\' parameter is missing in the JSON structure, and this parameter is implied in the natural language command ("...at the designated landing zone").'] +It is requested that you land at the predetermined landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The command \'land at the predetermined landing zone\' perfectly matches with the JSON structure where "action" is "land". Even though the exact location coordinates are not mentioned in the command, its assumed as \'predetermined\' and hence the placeholder "(latitude, longitude)" in the JSON structure is considered acceptable.'] +Ascend to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0, ', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4.5; The natural language command is mostly in conformity with the JSON structure. The command "Ascend to an altitude of 2000 feet" matches the action "fly" and its parameters for "altitude" and "unit_altitude" correctly. However, speed and duration values given in the JSON are unnecessary for this command, and the "direction" parameter is not required for only an ascension, so they could ideally have been omitted or set to null.'] +Increase your elevation to a height of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command and JSON structure mostly conform. The command requests an increased altitude which matches with the "fly" action and "altitude" parameter in the JSON. However, the "direction" value in the JSON is "north" which is not mentioned in the command. Therefore, it\'s not a complete match.'] +Reach a height of 2000 feet above the ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command correlates to the JSON structure. The action is \'fly\', and parameters such as the altitude of 2000 and unit of altitude (feet) are explicitly mentioned in the command. However, the direction to "north" in JSON structure does not correlate with the command as there is no clear indication of the direction in the command.'] +Climb to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure closely matches the command, with action "fly" and altitude set to 2000. However, the unit of altitude in the JSON is feet, while in the sample ontology, the unit followed is "meters".'] +Ascend to a height of 2000 feet above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 7 miles at a speed of 55 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 7,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "miles"', ' }', '}'];['3; The natural language command partially conforms to the JSON structure. The \'fly\' action and \'speed\' parameter are correctly represented, but the \'direction\' value is "forward" which doesn\'t match with the sample keys provided which suggests cardinal directions like "north". The \'duration\' parameter is also misinterpreted in the JSON since it should represent the time, not the distance (i.e., it should not be in miles). Plus, the \'unit_duration\' as "miles" is incorrect and not according to the schema. \'Duration\' seems to be mistaken for \'distance\'.'] +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, undetermined)"', ' }', ' }', '}'];['1; The natural language command instructs to proceed at a certain speed for a specific distance rather than navigating to a point. However, the JSON structure uses the action "navigate_to_point" which does not match the natural language command. There is no specification of speed or distance in the JSON structure.'] +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches the natural language command. The action "fly" is correct, and the "speed" parameter is also correctly represented. However, the direction value is incorrectly set as "north", and the unit of speed is incorrectly used as "m/s" instead of "mph". The rest of the parameters like altitude and duration have no corresponding elements in the command and therefore, are set to zero, which could be acceptable. But overall, due to some significant discrepancies, the match isn\'t perfect.'] +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 7,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];["2; The natural language command requests for a specific distance to be covered (7 miles), which is not catered for in the provided JSON structure as it only provides for duration and not distance. There is also an incorrect interpretation of the duration in the JSON structure. The JSON structure interprets 'duration' as '7', and 'unit_duration' as 'hours', but the natural language command suggests '7 miles', not '7 hours'. Given these inconsistencies, the JSON structure only partially matches the natural language command."] +Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 60,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];["3; Partially conform. The JSON structure matches the action 'fly' and correctly identifies 'speed' and 'direction' parameters. However, the specified 'duration' and 'altitude' in the JSON don't match with the command which asks to ascend for '7 miles' not '60 minutes'. The 'unit_speed' should also ideally be in 'miles/hour' instead of 'mph'. Also, the command does not really specify the altitude."] +Hover in place for 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; Almost complete conformity with the JSON structure, altitude is not specified in the given command but is present in the JSON structure. The 'duration' value in JSON structure is converted to seconds according to the 'unit_duration' while it is given in minutes in the command."] +Stay in one position for a duration of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command mostly matches with the JSON structure regarding the "hover" action. The duration value is correctly converted from minutes to seconds. However, the altitude is marked as 0 in the JSON while it\'s not specified in the command.'] +Remain suspended in the air without moving for a total of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action of "hover" is correctly identified and the duration is correctly converted to seconds. The altitude however is stated as 0.0 in the JSON, but the natural language command does not specify an altitude, so it could be any reasonable value, not necessarily zero.'] +Maintain a hovering position for the next 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command mostly matches the JSON structure, the action "hover" is correctly translated. However, the altitude value represented in the JSON is 0.0, while in the command its value is not specified. Based on how the scale is set up, this is a reasonable discrepancy, hence, the score of 4. The duration is correctly translated from 40 minutes to 2400 seconds.'] +Levitate and hold your position for a period of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['2; The JSON structure correctly identifies the action "hover" as indicated in the natural language command. However, the attributes under "params" are not fully consistent with the command. The "duration" attribute correctly converts 40 minutes into 2400.0 seconds within the JSON structure, but according to the original ontology, the unit should remain as "seconds". Furthermore, the command doesn\'t specify the altitude, but the JSON structure unreasonably assumes that the altitude is 0.0, even though hover actions usually occur at non-zero altitudes. The command also does not mention about any specific altitude unit. Therefore, the JSON information does not fully match the natural language command.'] +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The command generally conforms to the JSON structure, however, the "angular_velocity" value in the JSON is far from the sample ontology ("0.5" vs. "40"). The assistant correctly interpreted the natural language command and converted to JSON with right parameters despite the difference, so it doesn\'t perfectly match.'] +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The command and JSON structure match almost exactly. The "action" value is correctly described as "rotate", and the parameters for "angle", "is_clockwise" and "unit" perfectly match the command. However, the "angular_velocity" is described in the command as a speed of "40 degrees per second", but there is no mention of "per second" in the JSON, and hence the value, while numerically correct, does not confirm to the sample ontology in terms of units.'] +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn right by 90 degrees with an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 90,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['3; The JSON structure correctly interprets the action of rotation and the angle to rotate. However, the angular velocity and the direction of the rotation (is_clockwise) mentioned in the JSON structure do not match with the natural language command. The command mentions an angular speed of 40 degrees per second, but the JSON has an angular velocity of 0.5. Also, the command mentions \'turn right\' which means clockwise rotation, but the JSON structure indicates counterclockwise rotation with "is_clockwise": false.'] +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command matches perfectly with the JSON structure provided. It contains all the required keys: "action" which is "rotate", "angular_velocity" which is 40, "angle" which is 90, and "is_clockwise", which is true.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Please touch down at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The given command instructs a landing action which correctly matches the "land" action in the JSON structure. However, the command does not provide a specific location for landing, but the JSON structure accepts any reasonable tuple value for latitude and longitude, so it is somewhat conform.'] +Ensure that you arrive at the specified landing zone.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];["4; The natural language command matches with 'navigate_to_point' action in the JSON structure. However, altitude is not mentioned in the command but is present in the JSON structure, hence the score is slightly reduced."] +Make sure to land at the designated touchdown point.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["5; Exactly conform. The command talks about the action 'land' which is perfectly mapped in the JSON structure. It also mentions a specific location to land which corresponds to the location parameter in the JSON."] +It is required that you land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4.5; The natural language command matches with the general structure of the JSON command for the "land" action. However, the exact landing location\'s parameters are not specified in the natural language command.'] +Descend to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Lower yourself to a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; The action 'fly' significantly matches the natural language command. However, the 'direction' and 'speed' mentioned in the JSON has nothing to do with the input command statement because lowering altitude doesn't necessarily mean moving in a particular direction or a specific speed. The 'direction' key-value pair and 'speed' parameter are not important here. Hence the match is not perfect."] +Decrease your altitude to 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'];['0; The JSON structure does not match the command. The command refers to changing altitude, but the JSON structure represents navigation to a point action, it should instead be an action to change altitude.'] +Go down to an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'];['2; While the natural language command indicates a change in altitude, the corresponding JSON structure is for navigation to a point. However, the correct altitude value is included in the JSON structure, but in this case it lacks the correct \'action\' and \'params\' as the action is not navigation but rather change in altitude, and the parameters would involve an "altitude" key rather than a "coordinates" key.'] +Reduce your height to 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'];['2; The JSON structure corresponds to the "navigate_to_point" action, but it does not fit perfectly with the command given. In the command, there is no indication of latitude and longitude, only altitude (height) is mentioned. So the "action" should likely be "fly" or "hover" with specified "altitude" and not "navigate_to_point".'] +Fly forward for 8 kilometers at a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 18.05,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 222.2222,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The given JSON structure somewhat conforms with the natural language command. The action "fly" matches with the command but the "duration" parameter in the JSON correlates with "8 kilometers" in the command, which is usually uncommon. Ideally "distance" should have been a considerable parameter. Also, the value of "speed" is not given in the command so 18.05 m/s (converted from 65 km/h) in the JSON is accepted. Other parameters, such as "altitude" and "direction, are not specified in the command but are present in the JSON, hence any reasonable value is acceptable.'] +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.123456,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['2; While the "fly" action is correct and the "speed" parameter matches, the given JSON does not contain any parameter to represent the distance. In addition, the "unit_speed" is "km/h" instead of "m/s", and the "direction" parameter is not specified in the original command. The "altitude" and "duration" parameters are also not mentioned in the command but are present in the JSON.'] +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 18.05,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 266.6666666666667,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; While the JSON partially matches the given command, some details are mismatched. The provided direction 'north' does not specify 'straight ahead', which could be any direction depending on the current orientation. The altitude specified in JSON is not mentioned in the command. The command specifies a distance to travle (8 kilometers) which is not directly represented in the JSON. However, the duration parameter in the JSON response has been calculated using the speed and distance, which is an acceptable interpretation. The conversion of unit from km/h to m/s in speed is correct."] +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "distance": 8,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_distance": "kilometers"', ' }', '}'];['2; The JSON structure includes many keys found in the original command, including "action": "fly", "speed": 65, and "unit_speed": "km/h". However, the command speaks about travelling a distance, which doesn\'t have a matching key in the JSON structure. Additionally, the parameters \'altitude\', \'direction\' and \'unit_altitude\' do not correspond with the natural language command.'] +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 30.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];["4; The command in natural language and the JSON structure are largely satifactory but the mention of '8 kilometers' in the natural language command has not been translated in JSON by any value. Other than that, the action 'fly' and the speed of 65 is correctly matched. Also, the original ontology mentions 'duration' as a parameter but does not provide the distance to be covered which is mentioned in the command and absent in the resulting JSON structure."] +Hover in place for 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command and JSON mostly conform. The "hover" action and "duration" attribute are correct in the JSON. However, the "altitude" value in the JSON does not match with the command, as the command doesn\'t specify how high above the ground the drone should hover. Thus, the altitude value cannot be determined from the command.'] +Stay suspended in position for a duration of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['3; The command asks to hover for 45 minutes, but the JSON mentions a duration value of 2700. The unit of duration in the command is not matching with the unit mentioned in the JSON structure. The value for duration in JSON gets equated to 45 seconds considering the unit_duration being seconds, but in the natural language command the unit of duration is minutes and thus the duration value isn\'t matching with the JSON structure. Additionally, the command doesn\'t specify an altitude, so the presence of the "altitude" field in the JSON could be overlooked.'] +Remain airborne without moving for a period of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; In the JSON structure, the action "hover" is correctly used and the duration parameter matches with the natural language command when converted to seconds (45 minutes = 2700 seconds). However, in the natural language command, there is no specified altitude. The JSON structure assumes a 0.0 altitude, which could be reasonable if the drone was already airborne. However, without context, it\'s not perfect matching.'] +Keep yourself elevated without any movement for a span of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The action is "hover", which matches the input command. However, the duration is incorrect (2700 seconds instead of 45 minutes), and the altitude information is not mentioned in the command but provided in the JSON.'] +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The JSON structure consistently matches the action part of the command ('hover') and the 'duration' parameter. However, the 'altitude' value in JSON is 0.0, while the command implies some altitude should be maintained to hover."] +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command correctly refers to a rotation action, the angle and angular_velocity parameters are correctly identified, and it is specified that the rotation is not clockwise, which matches the "is_clockwise": false in the JSON.'] +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The command "Land at the designated landing zone" is directly correlating with the JSON structure of the "land" action. Although the specific landing coordinates are not mentioned in the command, it\'s implied and any reasonable coordinates in the JSON are acceptable.'] +Please proceed to land at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command instructs to land at a specified location. This corresponds perfectly with the JSON structure, where the action is "land" and the parameters include a "location" field to specify the landing spot.+'] +Make your way to the indicated landing zone and prepare for landing.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['3.5; The command refers to the "navigate_to_point" action with specific coordinates in the JSON. The command also implies a subsequent "land" action, but there is no explicit mention or parameters for this in the JSON. Therefore, while there partially matches with \'navigate_to_point\', it does not fully conform.'] +Follow the instructions and land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +It is required that you land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The provided JSON structure correctly identifies the "land" action from the command. However, the command does not provide a specific location "(latitude, longitude)" for the landing, so the "value" of the "location" parameter is not strictly conforming with the command.'] +Ascend to an altitude of 2500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command asks for an increase in altitude, which is performed by the "fly" action in the JSON. The parameters, including the altitude and its unit ("feet"), are correctly specified. Although speed, direction, and duration are not specified in the command (thus assigned as 0.0, "", and 0 respectively in the JSON), that is acceptable as per the instructions.'] +Climb to a height of 2500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 2500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["3;partial match. The 'fly' action in the JSON partially matches with the 'climb' command since both imply ascent. However, the specified direction in JSON is 'north', which is not mentioned in the command. The altitude value and unit do correspond correctly."] +Reach an elevation of 2500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 2500)"', ' }', ' }', '}'];['2; The action in the JSON structure is "navigate_to_point" which is supposed to take coordinates as parameters including latitude, longitude, and altitude. However, the command doesn\'t provide latitude and longitude, it only speaks of reaching an elevation (altitude). This can be taken as incomplete data, hence the lower score.'] +Scale to an altitude of 2500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['3; There is a slight discrepancy. The natural language command refers to \'scale\' which should be similar to \'fly\'. The unit used for altitude in the JSON is "feet", however, the ontology doesn\'t list "feet" as an accepted value, default being "meters".'] +Increase your height to 2500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['1; The natural language command is instructing to increase the altitude, but this is not clearly represented in the JSON structure. Additionally, the command specifies the altitude in feet while the JSON uses meters as a unit.'] +Fly forward for 9 miles at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 23.922,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure does contain the "fly" action, but there is a discrepancy with the values assigned to speed and duration parameters in the JSON structure. The command specifies a speed of 50 mph which has been incorrectly converted into 22.352 m/s in the JSON, and the duration is also calculated incorrectly. Furthermore, the direction is given as "north" in the JSON while the command did not specify a direction.'] +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];["1; The natural language command is giving a direction to go straight for a certain distance at a certain speed. This could be interpreted as a 'navigate_to_point' action or a 'fly' action, however, in both cases the correct parameters such as 'speed', 'direction', 'distance' or 'coordinates' are not given in the JSON structures. The only thing that partially matches is the 'action' but the parameters are not compliant with the command."] +Cover a distance of 9 miles by flying forward at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 2.72601718065,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command is partially matched with the JSON structure. Although the "fly" action and "speed" parameter is correct, the direction mentioned in the JSON structure doesn\'t match with the command as there is no particular direction mentioned in the command. The altitude in the JSON does not match the command as the command does not specify an altitude. Also, the conversion of speed and the calculation of duration does not match with the command.'] +Maintain a speed of 50 mph while traveling straight ahead for 9 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.352,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 23.73,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action and parameters are correctly identified with "fly", "speed" and "direction" all present. However, the values do not exactly match. The speed value in JSON is 22.352 m/s but in the command it is 50 mph and these two are not equivalent. Similarly, direction in command is "straight ahead", which does not necessarily mean "north", as provided in the JSON. Duration and altitude parameters in the JSON structure do not have matching representations in the natural language command too.'] +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command gives a specific direction ("forward") and a speed (50 mph), but the JSON structure only mentions "north" as direction and for the speed, it specifies it as "10.5", not 50. Furthermore, the command mentions "covering a distance of 9 miles" but there is no distance parameter in the JSON structure. Finally, the units in the JSON (m/s, meters, seconds) don\'t match with the units in the command ("mph", "miles").'] +Hover in place for 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; The action and the duration units match, but the duration value in the JSON command is 3000 seconds (which is equivalent to 50 minutes) while the 'altitude' should not be defined and is set to 0 in the JSON structure."] +Stay still for a duration of 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['1; The action and unit duration are correct but the duration value in JSON structure is not matching with the command (it should be 50 and not 3000) and the altitude value is given as 0 in the JSON structure but it was not specified in the command.'] +Maintain a stationary position for 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The command and the JSON structure mostly match as they both indicate hovering action. However, the duration specified in the command doesn't match with the value provided in the JSON structure."] +Remain in one spot for a period of 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 50.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['5; The natural language command perfectly conforms to the JSON structure for the "hover" action. The duration parameter is directly specified as 50 minutes. Altitude isn\'t specified in the command, but the JSON structure reasonably sets its value as 0.0 meters.'] +Hold steady for 50 minutes without moving.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3.5; The 'hover' action matches but the 'duration' value in the JSON is not consistent with the natural language command (50 minutes is not equal to 3000 seconds). The 'altitude' value does not match the context of the command as there should be no change in altitude while hovering but the JSON shows 0.0."] +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The JSON structure perfectly matches the natural language command, containing all necessary parameters such as action, angular_velocity, angle, is_clockwise, and unit.'] +Turn 135 degrees to the right at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command accurately corresponds to the provided JSON information. The "rotate" action is correctly used with the parameters "angular_velocity", "angle", "is_clockwise", and "unit". The direction ("is_clockwise": true indicated right turn), angle (135), and angular velocity (50) from the command are properly represented in the JSON structure.'] +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4.5; Almost all the keys and values in the JSON structure are matching with the natural language command. The value of "angular_velocity" does not match the command\'s description of "speed of 50 degrees per second", but such discrepancy does not significantly impact the overall conformity.'] +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; The natural language command exactly conforms to the JSON structure. The action "land" is called out and the parameters for "location" are also correctly specified in the JSON structure.'] +Please touch down at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The command corresponds directly to the "land" action in the JSON sample, and the parameters ("location" with a "tuple" type and "(latitude, longitude)" value) are correctly presented.'] +Descend and touch base at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Make your approach and touch ground at the designated landing site.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Please bring the aircraft to a stop at the approved landing zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The natural language command is asking for the aircraft to stop at the approved landing zone. This would more likely correlate to the "action": "land" in the JSON structure, but the presented JSON segment does not match this, instead it incorporates the "hover" action with a duration and altitude of 0. Also, the JSON structure does not specify any sort of "landing zone", which is mentioned in the command.'] +Descend to an altitude of 600 meters and swin.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];["0; The given natural language command 'Descend to an altitude of 600 meters and swin.' does not match with the provided JSON structure related to the 'land' action. The parameters that are mentioned in the command such as 'descend' and 'altitude of 600 meters' are not represented correctly in the JSON structure. Moreover, the term 'swin' in the command does not find any equivalent match in the JSON structure, which makes the command and the structure non-compliant."] +Swim after descending to an altitude of 600 meters.,['{}'];['0; The natural language command involves the action "swim" which doesn\'t conform with any action in the given JSON structures. The parameter "altitude" exists but it is in the context of a nonexistent action in the JSON structures, thus it is not applicable.'] +Dive down to a depth of 600 meters and start swimming.,['{}'];['0; The natural language command does not match any of the JSON structures provided, therefore the command cannot be converted to a valid JSON command based on the given keys. The sample ontology does not include keys for actions that correspond to "dive" or "swim", or parameters that correspond to "depth".'] +Lower yourself to an altitude of 600 meters and begin swimming.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['0; The command refers to lowering to a specific altitude, but the action of swimming is not represented in the sample ontology. The JSON structure provided relates to the action "land", which doesn\'t match the natural language command.'] +Drop down to a height of 600 meters and begin your swim.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(-34.9285, 138.6007, 600)"', ' }', ' }', '}'];['1; The given JSON action "navigate_to_point" does not match the natural language command which involves dropping to a certain height (which would be more akin to the \'fly\' action at a certain altitude). Additionally, the \'swim\' action does not exist in the given sample JSON actions.'] +Turn left at a 45-degree angle and fly straight for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure provided corresponds to the action "fly", which is mentioned in the natural language command. However, important information such as turning at a 45-degree angle and flying a distance of 500 meters is not represented in the JSON Structure. Furthermore, the direction given in the JSON data is "north", which doesn\'t match the "turn left" instruction in the natural language command. The duration, speed, and altitude in the JSON data do not match the specifics in the natural language command either.'] +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['2.5; The command is partially conforming since there is an action "rotate" in the ontology and that part is correctly formatted, but the "fly" command with distance is not part of the ontology. Additionally, there is no "distance" parameter in the given ontology. Therefore, the command to continue flying for a distance of 500 meters is not supported by the provided JSON structures.'] +Take a left turn at a 45-degree angle and proceed straight for 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['2; The command mentions a rotation (left turn at 45-degree angle), which matches the "rotate" action in the JSON with appropriate "angle" and "is_clockwise": false values. However, the following part of the command that states "proceed straight 500 meters" is not represented in the JSON structure.'] +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON structure provided partially matches the natural language command. However, it creates a structure for a 'fly' action instead of a 'rotate' action specified in the command. Also the parameters like speed, altitude, and duration are set to 0 which are not mentioned in the command. Therefore, the conformity is quite low."] +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "duration": 45,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not conform to the command. The command implies a change in direction or rotation which is not represented in the JSON. The angle mentioned in the command cannot correspond to the duration in the JSON structure. Also, there is no parameter for distance in the provided JSON structure.'] +Ascend to an altitude of 1000 feet and maintain position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command maps correctly to the action hover. The duration value has been accurately translated from minutes to seconds, and the altitude has been appropriately converted from feet to meters.'] +Climb to a height of 1000 feet and stay in that position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['5; Exactly conform.'] +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['5; The command and the JSON structure conform exactly. The hover action is correctly identified in the JSON, with both the duration and the altitude accurately corresponding to the values given in the command. The units of duration (seconds) and altitude (feet) are also correctly specified.'] +Increase your altitude to 1000 feet and remain at that level for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The command "Increase your altitude to 1000 feet and remain at that level for 10 minutes" fits perfectly with the JSON representation. The action of "hover" is correctly identified with the appropriate parameters for duration and altitude (considering unit conversions). The values 600 seconds for duration and 304.8 meters for altitude match perfectly to 10 minutes and 1000 feet respectively, thus the natural language command and the JSON have good conformity.'] +Go up to a height of 1000 feet and keep your position steady for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['5; Exactly conform.'] +Perform a vertical climb to 200 meters at a speed of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure correctly represents the action "fly" with the appropriate parameters for speed, altitude, and their units. However, the direction value "up" is not a typical direction value (usually cardinal directions are used) and not specifically supported in the ontology. The duration value shown in JSON is not mentioned in the command and thus can\'t be considered correct.'] +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": -1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure partially matches the natural language command. The "action" is correctly set to "fly" and the "speed" and "altitude" parameters are correctly set. However, there is no direction parameter in the actual ontology named "up". Additionally, the JSON structure includes non-required "duration" parameter with value -1, which seems arbitrary and is not mentioned in the command.'] +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": null,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command and the JSON structure match with a minor difference. In the JSON, there is a key for "duration" which is set as null, but this parameter is not specified or suggested in the natural language command. Therefore, the JSON information somewhat conforms to the natural language command, but not completely, thus the score of 4.'] +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "vertical"', ' },', ' "duration": null,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The natural language command conforms perfectly to the JSON structure. The "action" of "fly" correlates, and the given parameters in the command ("speed", "altitude", "direction") match the JSON values precisely. This includes the units of speed and altitude. The "duration" parameter is listed as null, which is acceptable because it is not specified in the natural language command.'] +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "upward"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command and the JSON structure mostly conform. The direction value specified as "upward" in JSON structure is not found in the sample keys, however, it is a reasonable value for the direction of a "fly" action. All other keys and values match perfectly. The duration value is not specified in the natural language command but the value given in the JSON structure is reasonable.'] +Fly around in a circular pattern with a radius of 100 meters for 15 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["1; The JSON command is 'rotate', which only partially matches the natural language command 'Fly around in a circular pattern with a radius of 100 meters for 15 minutes.'. The JSON command is missing information about the duration (15 minutes), the fly action, and the radius of the circular pattern to be performed. Therefore, it's not a very good match."] +Circle around with a 100-meter radius for a duration of 15 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not match the natural language command. The command is about circling around with a specific radius for a given duration, but the JSON structure represents an action of flying in north direction with zero speed and altitude. The duration is converted to seconds correctly. However, other crucial elements such as the circular motion and radius are not represented in the JSON structure.'] +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command mentions a circular flight pattern which the JSON structure does not support. The actual JSON structure for "fly" action doesn\'t include any radius or pattern information. Also, the duration in the command is specified in minutes while in the JSON structure it\'s in seconds.'] +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not match the natural language command. The command refers to a "circular flight" which is not represented in the JSON structure. The parameters like "radius" is not represented, and the duration is not matching (15 minutes is not equal to 900 seconds). The direction value is also empty in the JSON structure.'] +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The provided JSON structure has some basic conformity with the natural language command as it includes parameters for action, speed, altitude, direction, duration and unit measurement types which are mentioned in the command but it does not include any parameter for the circular trajectory or radius of the flight which is a key part of the command. Also, the "direction" value in the JSON is "clockwise" which does not relate to a geographical direction specified in the ontology. The command does not specify the altitude, speed or exact direction of the flight, nor does it specify the units of measure which are represented in the JSON.'] +Hover in place and capture aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The JSON structure correctly identifies the action as "hover", but does not include any parameters from the natural language command. There also seems to be an action ("capture aerial photographs") in the command that doesn\'t exist in the sample keys and is therefore not included in the JSON structure.'] +Stay suspended and take aerial photographs of the nearby area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The natural language command mentions about taking photograph which is not reflected in the JSON structure. There is just hovering action in the JSON but no action related to taking photographs.'] +Maintain a stationary position and capture aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command corresponds well with the "hover" JSON structure as it\'s instructing the drone to maintain a stationary position, which could be interpreted as hovering. However, the actual duration and altitude is not specified in the command, and the command also includes capturing aerial photographs, which is not accounted for in the JSON. Hence, it\'s a close match but not exactly conforming.'] +Levitate and snap aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The 'hover' action is matched but the duration and altitude values are not mentioned in the Natural Language Command. The aspect of snapping aerial photographs of the surrounding area is not reflected in the JSON structure."] +Remain still and capture overhead photographs of the nearby area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The natural language command does mention to hover which is seen in the JSON. However, there are no details provided for duration or altitude as the values are both 0. Additionally, the action to "capture overhead photographs of the nearby area" is not represented in the JSON at all, which goes beyond just hovering.'] +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 20,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['3; Although the action "fly" and parameters such as "speed", "altitude", "duration", "unit_speed", "unit_altitude", and "unit_duration" correctly match, the direction is not mentioned in the natural language command but is present in the JSON structure. This discrepancy results in a partial match.'] +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 20,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['4; The justification for this score is that the "action" value of "fly" and the "params" object match the command quite well. The "speed" of 80.0, "altitude" of 50, "duration" of 20, "unit_speed" of "km/h", "unit_altitude" of "meters", "unit_duration" of "minutes" all match the command perfectly. The only issue is that there is no command given in the direction, yet "north" is provided in the JSON. Therefore, it\'s not a perfect match but it\'s very close.'] +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "maintain"', ' },', ' "duration": 20,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['2; The JSON structure partially matches the command. While the "fly" action, speed, altitude, and duration parameters are correctly included in the JSON, the direction parameter is improperly used. In the command, no specific direction was mentioned, but the JSON interprets "maintain" as a direction, which isn\'t correct. Also, the command implies a change in altitude (descending to 50 meters), which isn\'t truly represented in the JSON.'] +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 20,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['4; The JSON structure conforms with the natural language command as the action "fly" and parameters "speed", "altitude", "unit_speed", "unit_altitude", and "unit_duration" match correctly. However, the direction is not mentioned in the command but appears in the JSON structure. Hence, the conformity score is 4.'] +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.2222,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Although the natural language command\'s details are well represented in the JSON with correct "speed", "altitude", "duration", "unit_speed", "unit_altitude" and "unit_duration", there\'s no reference in the command to a specific "direction" unlike in the JSON where the "direction" is set to "north". Other than that, there is good conformity.'] +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["0; The command 'Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes.' does not match with the provided JSON structure. The command is instructing to perform complex maneuvers like rolls and loops which does not exist in the sample ontology. Additionally, the duration specified in the JSON is 300 seconds (which is indeed 5 minutes), but it's tied to a 'hover' action, not the maneuvers described in the natural language command."] +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];["0; The command talks about executing quick movements such as rolls and loops which is not specified in the JSON structures. The given JSON describes a 'hover' action with a duration matching the command, but the actions to be taken while hovering don't match the command."] +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["0; The natural language command requires performing rolls and loops which are not included in the JSON. The JSON describes an action of hovering for a certain duration and at a certain altitude. These two pieces of information aren't congruent."] +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command is about performing aerobatics which is not included in the sample keys ontology. Therefore, converting it to 'fly' action doesn't fully convey the command. The duration parameter does match as 5 minutes is converted correctly to 300 seconds."] +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure represents the "fly" action with specific parameters (e.g., speed, altitude, direction, duration). However, the natural language command does not specify any of these parameters and instead describes a complex series of unspecified "rolls and loops," which do not exist in the sample ontology. While the JSON structure partially matches the natural language command (both involve flying for a certain duration), the natural language command\'s specific details (i.e., rolls and loops) do not match with the provided JSON structure.'] +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.1111,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The items in JSON partially conform to the command given.', '', 'From the natural language command: \'Fly\' which matches the "action" key in JSON is the same. However, "direction" value is \'forward\' in the command but \'north\' in JSON, which are matched incorrectly. The \'speed\' command says \'40 km/h\' but the JSON value is \'11.1111 m/s\'. The unit of speed in JSON is \'m/s\' but it\'s \'km/h\' in the command. "duration" and "altitude" values or keys don\'t exist in the command but they do in JSON.'] +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The specified action in the natural language command is not directly matched in the JSON. "Proceed ahead" is translated to the "fly" action but the "execute an abrupt halt" part of the command is not represented. Furthermore, there is no matching keys for "distance" in the given ontology, and the direction is inaccurately set as "north" in the JSON when not specified in the command. Finally "km/h" is not a supported unit_speed in the sample ontology.'] +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 25,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON includes the action 'fly' which is somewhat equivalent to 'Move forward'. However, the directions are inaccurately given as 'forward' instead of the directional value 'north', 'south', 'east', or 'west'. Additionally, the conversion from km/h to m/s for speed is not accurate. Also, stop action is not mentioned in the JSON, which is required as per the natural language command."] +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure corresponds to an action of "fly", whereas the natural language command suggests more of a hover or surveillance action. Also, the duration in the command (30 minutes) is not converted correctly in the JSON structure (1800 seconds which is equal to 30 minutes). The altitude is correct (500 meters). But overall, the action represented in the JSON doesn\'t accurately convey the command, so the score is rather low.'] +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure matches the natural language command in terms of instruction (increasing altitude and carrying out a surveillance operation), altitude (500 meters), and time duration (30 minutes converted to 1800 seconds), but does not include the surveillance operation aspect. Also, the "direction" is blank, which is also missing in the command but could be unsuitable to leave empty in actual execution.'] +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command is very close to the JSON structure. The action "fly" is correct, and the "altitude" parameter matches perfectly with the value of 500. However, the "duration" parameter in the JSON structure has been converted to seconds (1800) while the command specifies minutes. Also, the "speed" and "direction" parameters aren\'t mentioned in the command but are present in the JSON structure, though these could be default values.'] +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure is mostly correct, following the same format and containing the same keys as the sample ontology. The "action" of "fly" and "altitude" parameter of 500 meters are both accurately translated. The use of "duration" to represent the 30-minute surveillance corresponds to the sample ontology. However, the aspect of "surveillance", which implies hovering rather than flying, is not captured in the JSON, hence the score of 4 instead of 5.'] +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command asks for a flight to an altitude of 500 meters and then a duration of surveillance (hovering) for 30 minutes (1800 seconds). The JSON correctly defines the action of flying with altitude parameter as 500 and the speed as 0 (which could be assumed for a drone in the context of performing a surveillance task), and the unit duration parameter of 1800 seconds matches the command of performing a surveillance task for 30 minutes.'] +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 540,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command and the provided JSON only partially match. The command asks for a zigzag flight pattern which doesn't exist in the JSON structure. However, the speed in the command (20 m/s) matches the speed defined in the JSON. The distance specified in the command is not accounted for in the JSON, instead duration is provided in JSON which doesn't match. The movement of flying mentioned in command correctly corresponds with the action in the JSON."] +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 90,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command does not correspond well with the provided JSON structure. The main action \'fly\' matches, and the \'speed\' parameter is also correct. However, the \'direction\' in the JSON structure is given as \'zigzag\', which is not supported as per the sample keys. Furthermore, \'duration\' and \'altitude\' parameters in the JSON do not match the natural language command. The command speaks of a specific flight pattern ("zigzag") and a certain distance (3km), none of which are reflected in the JSON structure.'] +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 54,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The direction "zigzag" is not part of the sample keys, instead a string value representing a cardinal direction is expected. The "duration" value does not match the command given - time is not mentioned in the command. The "altitude" value is also provided in the JSON structure without being specified in the command. The speed and unit speed match perfectly.'] +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command partially matches with the JSON command. The "speed" and "unit_speed" match correctly, and the "zigzag" direction can be assumed as a freedom in the natural language command. However, "cover distance" is not represented at all in JSON which should reflect duration or a coordinates parameter, and altitude should not be set to 0 if it\'s not specified.'] +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure partially matches the command. Although the "action" - "fly" and "speed" - 20 m/s are matched, the command has a parameter "distance" which is not present in JSON structure. In addition, the command specifies a "zigzag" pattern which is not conform with the direction value in JSON structure.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["5; Exactly conform. The natural language command matches the JSON structure perfectly with the action being 'rotate', and all the parameters including 'angular_velocity', 'angle', 'is_clockwise', and 'unit' matching the requested values."] +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command conforms perfectly to the provided JSON information. The "action" key value "rotate" matches, and all parameter values ("angular_velocity", "angle", "is_clockwise", and "unit") are specified correctly in the JSON.'] +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command is exactly represented by the JSON structure. The action "rotate" is specified, and all parameters ("angular_velocity", "angle", "is_clockwise", "unit") match correctly with the given values in the command.'] +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone and conduct a visual inspection of the UAV.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The JSON structure conforms to the "land" action part of the natural language command, as it does have an "action" of "land" and "location" parameters. However, there is no representation of "conduct a visual inspection of the UAV" in the JSON structure. Therefore, the match is not complete.'] +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["4.5; Almost all the keys from the ontology match. However, the natural language command mentions a subsequent action of a 'visual inspection', which does not have a corresponding action in the ontology and is not represented in the JSON structure. The 'land' action and 'location' parameter is properly represented."] +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The command requests a landing action, which aligns with the "land" action in the JSON structure. The "location" parameter is referred to as "landing zone" in the command. The command\'s second part, mentioning a thorough visual inspection, however, does not correlate with any part of the JSON structure.'] +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(designated_latitude, designated_longitude)"', ' }', ' }', '}'];['1; The JSON structure conforms only for the \'land\' action that matches with the natural language command "land the UAV at the designated landing zone". Part of the command "proceed to visually inspect it" has no equivalent action in the JSON keys.'] +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['2; The natural language command instructs to land the UAV at a particular location which is somewhat hinted in the provided JSON structure. However, the command also instructs to perform a comprehensive visual inspection which is not present in the JSON structure. Moreover, the location coordinates for landing the UAV have not been provided in the natural language command.'] +Hover in place and release a payload at a specified drop zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure represents the "hover" command correctly, however, it does not incorporate the release of a payload at a specified drop zone which is mentioned in the natural language command. There is no conformity in the JSON structure for this part of the command.'] +Maintain a hovering position and deploy a payload at a designated release zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure only includes the action "hover" without any actions about deploying a payload or navigating to a designated release zone.'] +Stay suspended in one spot and discharge a payload at a predefined drop area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The command asks for a hover action and discharging a payload. The JSON structure matches the "hover" action but does not provide any information about discharging a payload which is missing in related JSON command.'] +Remain in a stationary hover and release a payload at a specified dropzone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure represents the "hover" action which matches with the part of the command that asks to remain in stationary hover. However, the rest of the command regarding releasing a payload at a dropzone is not represented in the JSON at all.'] +Hold position in mid-air and deliver a payload at a designated drop zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The natural language command asks for the drone to "hold position in mid-air" which is partially represented by the "hover" action in the JSON. However, the command also includes "deliver a payload at a designated drop zone" which is not represented in the JSON at all, therefore the match is not exact.'] +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 3600,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not conform to the natural language command. The command mentions a "search and rescue" mission that is not reflected in the JSON structure, because the action "search and rescue" does not exist in the given ontology. Therefore, it\'s not possible to convert this part of the command to JSON. Moreover, in the JSON structure, the "speed" key has a value of 0.0, which doesn\'t align with the command\'s notion of descending, which implies movement and therefore a certain speed. The "direction" key in JSON is also left empty.'] +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);['0; The natural language command mentions a search and rescue mission which is not included in the sample ontology. Also, there is no action related to "descending".'] +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['1; The JSON structure does represent the lowering of altitude to 100 feet for a duration, but it doesn\'t capture the "search and rescue operation" part from the natural language command. This implies that the JSON structure is partially conforming to the command.'] +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 3600,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure does an attempt at converting the natural language command into the JSON format, it just does not match the command perfectly. The action mentioned in the command is to perform a search and rescue task which doesn\'t exist in the database ontology. In the JSON the action is set to "fly" and the duration is set to correspond to 1 hour, although there is no mention about the drone flying for 1 hour. The altitude does match the command which is accurately reflected in the JSON.'] +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 3600,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['2; While the JSON does contain an action for "fly" and params for "altitude" and "duration," which could be considered to match the command\'s "maintaining an altitude" and "for 1 hour," the command\'s main instruction "Conduct a search and rescue operation" cannot be represented in the given JSON structures. The given structures do not contain any actions or params for performing a search and rescue. Furthermore, the "unit_altitude" is set to "feet" in the JSON whilst in the sample ontology it\'s represented as "meters". Therefore, the conformity is limited.'] +Perform a barrel roll maneuver at a high velocity of 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["2; Although the JSON does include a 'rotate' action which could be interpreted as a barrel roll, the JSON does not include any recognition of 'velocity' as a parameter for the 'rotate' action, hence only partial match."] +Execute a barrel roll maneuver at a rapid speed of 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['3; While the natural language command can be related to the "rotate" action in the JSON structure (a barrel roll certainly involves rotating), it does not match exactly. The JSON structure provided represents a simple rotation, not necessarily a barrel roll, which involves more complex movements than just rotation. Also, there is no parameter given for speed in the JSON structure to match the "rapid speed of 100 km/h." in the command. However, the rotation angle of 360 degrees, and the clockwise direction could certainly be part of a barrel roll, so there is some conformity.'] +Carry out a barrel roll maneuver at a high rate of 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 100.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['3; The JSON structure represents a rotation or a roll with a definite angular velocity which is correct as per the natural command. However, the unit of angular velocity in JSON structure is not defined, it should be in km/hr as per the natural command. Additionally, a barrel roll is a specific type of aerial maneuver that involves more than just rotation. It\'s not clear if this would be covered by the "rotate" action in this context.'] +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['3; The JSON structure describes the action "rotate", which agrees with the command "Conduct a barrel roll maneuver". Although the angular_velocity and angle match within reason considering a barrel roll, the unit does not match because the command specifies the speed in "km/h" and not degrees per unit time. This, combined with the usage of "considerable velocity reaching 100km/h" in command which is not handled in JSON, leads to a partial match between the command and the JSON structure.'] +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h.,['{}'];["0; The natural language command refers to executing a barrel roll maneuver with a specified velocity, which doesn't match with any of the available JSON structures."] +Fly forward for 500 meters and then execute a sharp turn to the right.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 45.45,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["2.5; Partial conformity. The 'fly' action in the JSON structure does not match perfectly with the natural language command. The command asks for a specific distance (500 meters) to be flown, not a duration, and 'forward' isn't a direction value according to the JSON template provided (only 'north' is given as an example). The 'rotate' action, however, is reasonably mapped correctly to the command's phrase 'execute a sharp turn to the right', even though the sharpness of the turn is not captured by the JSON structure."] +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 5.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command describes two actions - moving forward a certain distance and making a right turn. However, the JSON structure only describes one action (flying in the north direction), and does not correlate with the natural language command. The values for speed, altitude and duration do not match with the command and the required action of turning is not mentioned in the JSON.'] +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 47.61904761904761,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["4; The JSON structure mostly matches the natural language command. The 'fly' action is accurately translated including the direction 'forward' and the duration is computed assuming the speed as 10.5 m/s to cover a distance of 500 meters. However, the 'rotate' action is implicitly mentioned as 'sudden turn to the right' in the command, which has been accurately translated to JSON but the natural language command does not provide information about angular velocity of rotation. Therefore, any provided value like 0.5 might not be an accurate representation of the natural language command."] +Move ahead for 500 meters and perform a quick right turn.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 45,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command does not conform well to the provided JSON structure. The command mentions moving ahead for a specific distance and doing a quick right turn which is more related to "direction" and "angle" but these specific parameters are not present in the JSON structure. The command to "fly" is similar to "move ahead" but the parameters do not match well as there is no distance parameter in the JSON structure.'] +Travel straight for a distance of 500 meters before making a sharp right turn.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 45.24,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command includes instructions for the system to travel a specified distance and then turn, but this is not reflected in the JSON information provided. There is no mention of the distance to be traveled, or a right turn, in the JSON structure. The action in the JSON is "fly", while in the natural language command the drone is supposed to "travel straight" and then "turn", which should have it\'s own action type.'] +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The command is looking for a hover action at a specific altitude (1000 meters) for a particular duration (300 seconds/5 minutes). Both of these parameters are properly identified and included in the JSON structure provided. The units have also been appropriately identified, with the altitude in meters and the duration in seconds.'] +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The command specifies performing the "hover" action with the parameters duration and altitude which are exactly matched in the provided JSON structure. The conversion of 5 minutes to 300 seconds and use of the altitude of 1000 meters are also correct. The gathering data part of the command doesn\'t have a corresponding key in the JSON but it isn\'t converted to JSON, which respects the instructions.'] +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Partial match. The natural language command is partially converted correctly into JSON structures. The "fly" action is only associated with movement in cardinal directions in the sample keys, not upward movement as required in the command. The hover action and its parameters are correctly captured though. The \'collecting data\' part of the command is not captured.'] +Fly in a figure-eight pattern with a total distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "distance": 2000,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_distance": "meters"', ' }', '}'];["0; The natural language command specifies a action to 'fly' in a 'figure-eight' pattern with a 'total distance of 2 kilometers which is not covered in the given JSON structure. Also, the concept of a 'figure-eight' pattern and 'total distance' as parameter is not present in the provided ontology."] +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 114,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command is about a complex flight maneuver, specifically flying in a figure-eight pattern which is not specified in the given JSON structures. There is also no \'distance\' parameter in the JSON to match with \'\'covering a total distance of 2 kilometers" in the command. The JSON structure provided seems to take the direction as a simple string while the command specifies an action (\'figure-eight\') which would need more complex instructions or parameters.'] +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['0; The provided JSON structure only includes the action "navigate_to_point" with "coordinates" as parameters. However, the natural language command specifies a figure-eight flight path spanning a certain distance, which isn\'t covered in the provided JSON structure. No conformity can be found.'] +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['0; The natural language command provided is about navigating with a specific trajectory (figure-eight) and distance (2 kilometers). However, the related JSON structure provided is about navigating to a certain point specified by latitude, longitude and altitude, which does not match the command. There are no parameters or action keys that would account for a "figure-eight" trajectory or a specific "distance" to cover in the sample ontology.'] +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The command given does not match the JSON structure. The natural language command indicates a specific pattern of flight (number eight), while this kind of specific flight pattern is not acknowledged in the ontology. Additionally, the total distance of the flight is not part of the action "fly" in the provided JSON structures. Also, the JSON string provided doesn\'t correlate with the command since neither the speed, duration, direction or altitude are specified in the command.'] +Hover in place and initiate a search for a lost object on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['0; The JSON structure does not match the natural language command. It describes the action of the drone hovering for a certain duration at a certain altitude. However, it does not include initiating a search for a lost object on the ground as mentioned in the natural language command.'] +Stay stationary and begin a search for a missing item on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The JSON structure represents a "hover" action with both duration and altitude values of 0, which does not exactly match the command to "stay stationary". Furthermore, the command\'s mention of beginning a search for a missing item on the ground is not accounted for in the JSON structure at all, making the match partial at best.'] +Keep still and start looking for a lost object on the surface.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure corresponds to the "hover" action. However, the values for duration and altitude are set to 0, which implies the drone isn\'t moving at all and is exactly at ground level, contradicting the command of being still to look for a lost object on surface. A lost object search infers that the drone would hover at some height above the surface.'] +Maintain a hovering position and commence a search for a misplaced item on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4.5; The JSON matches the action "hover" in the command and includes duration and altitude parameters. However, the natural language command doesn\'t specify the duration or altitude, so the arbitrary values in the JSON are accepted. However, the command to "commence a search for a misplaced item on the ground" is not represented in the JSON.'] +Suspend movement and initiate a search for a lost object on the floor.,['{}'];['0; The given natural language command does not match any provided JSON structures, as none of them carry out the action of suspending movement and initiating a search for a lost object.'] +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["1; The provided JSON structures are not entirely conforming with the natural language command. It contains 'fly' action instead of a descent action, and the 'touch-and-go' maneuver isn't represented in the JSON. The direction values 'down' and 'up' are not part of the listed sample ontology's keys. However, the final 'land' action is correctly represented."] +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 0)"', ' }', ' }', '}'];['1; The natural language command indicates a series of actions including "touch-and-go" maneuver and landing, which are not explicitly contained in the provided JSON Structure. The structure given refers only to the "navigate_to_point" action with coordinates to reach the ground level which partially matches with the natural language command. The values are reasonably set. But overall, there are missing actions and parameters in the JSON structure.'] +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(ground level)"', ' }', ' }', '}'];['1; The JSON structure does not match the command correctly. The command talks about a "touch-and-go" maneuver which is not present in the available ontology keys, hence it cannot be correctly converted to JSON. Also, the "ground level" in the command does not correspond to "(latitude, longitude, altitude)" in the JSON. Only the action of navigating to a point matches in a broad sense but the details are off.'] +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The natural language command gives a highly specific sequence of actions involving descending to surface level, executing a temporary landing (touch-and-go), and then a full landing at a specific spot. However, the provided JSON structure only represents the "land" action with a general location. None of the intricate details regarding a touch-and-go maneuver or descending to the surface level are represented in the JSON, hence the low score.'] +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["0; The natural language command is instructing to perform a certain maneuver not mentioned in sample keys and then land at a designated spot, but the JSON structure does not match with any of the actions stated and the parameters mentioned in it are incorrect. It is specified to lower the altitude to ground level which is not represented in the JSON. The 'touch-and-go' maneuver does not exist within the JSON structure or within the ontology's list of actions."] +- Fly to waypoint A at a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command asks to fly to a specific waypoint at a certain distance, however, the provided JSON indicates a flight at a certain speed, altitude, and direction with a specified duration. The JSON does not provide any information about a waypoint or distance, which is central to the natural language command.'] +Proceed to waypoint A, located at a distance of 1 kilometer, by flying.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command refers to flying to a waypoint, however the JSON structure indicates flying with specific parameters (speed, altitude, direction, duration) which are not specified in the command. Also, the distance to the waypoint mentioned in the command is not reflected in the JSON. Hence, there is minimal conformity.'] +Utilize flight to reach waypoint A, which is situated 1 kilometer away.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['2; The natural language command is somewhat aligned with the "navigate_to_point" action in the JSON structure. However, there are no specifics provided in the command to match the detailed coordinates required in the JSON, making it only partially conforming.'] +Cover a distance of 1 kilometer by flying towards waypoint A.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command mentions flying towards a specific waypoint (`waypoint A`), however the JSON structure does not represent this information at all. The `direction` in JSON is given as `north`, but there is no relation to `waypoint A`. The distance `1 kilometer` to be covered is also nowhere reflected in the JSON structure. Also, the speed, altitude, and duration values in JSON are given as `0.0` which doesn't make sense for the given command."] +Fly towards waypoint A, which is precisely 1 kilometer away.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];["1; The natural language command refers to navigation to a certain waypoint, however, the provided JSON structure does not contain any information about the waypoint or the distance to it. It also lacks details about the 'altitude' parameter in the JSON which is not mentioned in the command."] +- Descend to an altitude of 200 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command \'Descend to an altitude of 200 meters above ground level.\' reasonably translates to a "fly" action with a specified altitude of 200 meters in the corresponding JSON structure. However, the \'speed\' and \'duration\' parameters don\'t strictly conform since there isn\'t a definitive speed or duration given in the original command. But they\'ve been reasonably filled with zero values indicating that the intention might be to reach the specified altitude without any additional fly activities. Therefore, the structure is indeed somewhat conforming despite the ambiguities.'] +Reduce your altitude to 200 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["5; The JSON command has the 'fly' action with 'altitude' as one of the parameters, and the unit of the altitude is also appropriately set to 'meters', both of which conform to the natural language command to reduce altitude to 200 meters. The parameters 'speed', 'direction', and 'duration' are not specified in the natural language command, but they are set to reasonable values in the JSON."] +Go down until you reach an altitude of 200 meters above the ground.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -200)"', ' }', ' }', '}'];['2; The command requests a decrease in altitude, but not a specific navigation to a point. The JSON structure suggests an action of navigation to specific coordinates instead. However, the altitude in the JSON coordinates matches the desired altitude in the command.'] +Lower your altitude to 200 meters above the ground level.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure correctly identifies the action as "hover" and the altitude as 200 meters. However, the "duration" parameter given in the JSON is incorrect; it is not specified in the natural language command and should not default to 0. It would be more appropriate to leave this parameter out of the JSON completely, or to accept a broader range of reasonable values.'] +Descend until you are flying at an altitude of 200 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; While the action to "fly" and the altitude of 200 meters is correct, the parameters \'speed\', \'direction\', and \'duration\' are included with inappropriate values. The command doesn\'t specify any direction, speed or duration, so these parameters should not be included.'] +- Perform a vertical climb at a rate of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": null,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": null,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure corresponds to the natural language command quite well. The 'action' is correctly identified as 'fly' and the 'speed' is correctly set as 5.0. The 'direction' is set to 'up' which matches the command 'vertical climb'. However, the 'direction' ('up') doesn't perfectly align with 'north' in the given sample ontology which usually refers to cardinal directions. Also, the parameters 'altitude' and 'duration' are null in JSON but not mentioned in the command."] +Ascend vertically, maintaining a speed of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action type "fly" and speed parameter, including unit agree with the natural language command. However, the altitude, direction, duration parameters and their assigned values don\'t match the command and the JSON structure doesn\'t cater for the \'up\' direction as stated in the natural language command. Hence a full match could not be established.'] +Execute a vertical ascent, moving at a pace of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "upward"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure is somewhat conforming to the natural language command. The "action" type "fly" and "unit_speed" of "m/s" match correctly with the given command for a vertical ascent at a speed of 5m/s. However, the "direction" value of "upward" does not conform to the sample ontology where only "north" is given, and altitude set to 0 seems incorrect for an ascending command. Moreover, duration of 10 seconds is not asked in the command.'] +Scale upwards in a straight line, advancing at a rate of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure captures the action "fly" and the speed of 5 m/s specified in the natural language command. However, the direction "up" is not a valid string value in the sample ontology for flying direction; usually, it should be a cardinal direction like "north". The altitude should also be a specific value, not 0. Also, it\'s not specified in the command that the duration should be 0. Unspecified parameters should better not be included in the JSON with arbitrary values.'] +Carry out a vertical climb, sustaining a speed of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON contains most of the information conveyed in the command: it correctly indicates the "fly" action and gives the correct speed, with "up" being a reasonable interpretation of "vertical climb." However, the natural language command does not specify a duration, so the "duration": 10 in the JSON does not match the command. Additionally, the command implies continued climbing but the JSON suggests an altitude of 0 which is not matching. Thus the score 4 is given for partial conformity.'] +- Fly in a zigzag pattern for 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure does not match with the natural language command. There is no "zigzag" value for direction in the provided sample ontology. So, the action "fly" in this specific mode (zigzag) does not conform to the sample keys provided. Also, the provided duration in the JSON is 600 seconds (10 minutes) which is correct, but the speed and altitude values do not seem to be derived from the command.'] +Perform a zigzag flight pattern for a duration of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command is not exactly conform to the JSON information. While they share the element of "action": "fly" and "duration", the instruction for a "zigzag" flight pattern is not accounted for in the JSON structure.'] +Fly in a serpentine motion for a period of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure has the right action "fly" and parameter "duration" that matches the command of "Fly for a period of 10 minutes." However, the JSON does not specify the "serpentine motion" from the command. The speed, altitude and direction in the JSON are also not specified in the command.'] +Execute a back-and-forth flying motion for a duration of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "back-and-forth"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON structure partially matches the natural language command. The command asks for a 'back-and-forth' flying motion which might not be adequately represented by the direction parameter since it is not a cardinal direction. Also, the duration provided in the JSON is 600 seconds which perfectly represents 10 minutes as request in the natural language command. However, the speed and altitude are not specified in command but are included in the JSON."] +Soar in a crisscross pattern for a total of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "crisscross"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The direction "crisscross" is not a standard direction such as "north" as described in the ontology. The duration has been correctly converted to seconds but the direction doesn\'t match the ontology.'] +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches the provided JSON structure where the action is “rotate” and all parameters including "angle", "angular_velocity", "is_clockwise" and "unit" are provided and match the command.'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; Mostly conform. The action "rotate" and the parameters "angle", "is_clockwise", and "unit" match perfectly between the natural language command and the JSON. However, the "angular_velocity" parameter in the JSON is not specified in the natural language command. The value provided in the JSON (45.0) is a reasonable angular velocity, but for perfect conformity, this value should have been specified in the natural language command.'] +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["4.5; The JSON nearly precisely matches the NL command, with the 'unit' and 'is_clockwise' keys correctly matching the command's specifics. However, the 'angular_velocity' key value in the JSON does not explicitly match the 'speed' attribute in the command."] +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command correctly maps to the JSON command for rotation, specifying the angle, angular velocity, and direction (clockwise), which match the sample keys provided.'] +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +- Fly forward at a speed of 30 km/h for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "distance": 500,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_distance": "meters"', ' }', '}'];['2; The natural language command asks the device to fly forward at a certain speed for a certain distance. However, the generated JSON structure is not exactly conform to the sample keys provided. Specifically, "distance" as a parameter does not exist in the sample ontology of "fly" action. Other parameters such as speed and direction are correctly represented.'] +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 8.33,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 60,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The conversion to JSON is mostly correct. However, the "duration" field was added without being specified in the natural language command and the altitude was set to zero, which is also not specified in the natural language command, but the rest of the keys match correctly with the given command.'] +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command partially conforms to the JSON structure. The command\'s action "Travel in a forward direction" matches with the "fly" action in JSON. The parameter "speed" and its unit "km/h" also match. However, the command does not specify altitude, direction and duration values, and the JSON structure\'s "altitude", "direction" and "duration" parameters have been filled with invalid or inappropriate values like 0 for altitude and "forward" for direction. The direction value should be more specific, like "north", "south", etc. and altitude is not mentioned in the command but is mentioned in the JSON. Finally, the command\'s distance "500 meters" is not represented in the JSON.'] +Glide forward at a rate of 30 km/h, covering a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command is asking to glide forward at a certain speed for a particular distance but the JSON structure shows that it is flying with no duration and at 0 altitude. Additionally, the distance is not a parameter in the JSON. The \'direction\' value is correctly "forward" and \'unit_speed\' is correctly "km/h", but the rest does not match hence the low score.'] +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "distance": 500.0,', ' "unit_distance": "meters"', ' }', '}'];['1; The command does not define the \'altitude\' and \'duration\' therefore these should not have been included in the JSON structure. Also, while it mentions distance, there is no \'distance\' mentioned in the ontology, so the inclusion of \'distance\' and \'unit_distance\' do not conform to the sample ontology. With the latter a direct conversion of the natural language command to JSON as per the ontology would be impossible and that marks the JSON as not following the ontology. There have also been mix ups of the units of speed and direction parameters as the natural language commands didn\'t provide such information. "Fly straight" does not define a cardinal direction and \'km/h\' unit does not match the sample ontology with \'m/s\'. Therefore these should not have been included in JSON structure.'] +- Hover at a specific location for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure correctly corresponds to the "hover" action, including the correct duration (converted from minutes to seconds), but lacks the specificity of the "specific location" mentioned in the natural language command. While the altitude, implied by hovering, is mentioned, the actual location (coordinates) are missing.'] +Remain stationary at a designated spot for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The action type matches correctly as "hover". The "duration" parameter of 900 seconds is correctly converted from 15 minutes. The altitude, however, is indicated as 0.0 in JSON structure while the natural language command doesn\'t specify the altitude. This discrepancy lowers the score. If the altitude was left unspecified (or any reasonable value) in the JSON structure, it could have been a perfect match.'] +Stay in one place for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The action "hover" is correctly identified, and the duration is correctly converted to seconds in the JSON, so the instruction is partly conform. However, the JSON structure contains an unnecessary altitude parameter not mentioned in the command and therefore inaccurately infers that the device should hover at 0.0 meters.'] +Maintain a fixed position for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command matches with the JSON structure, specifically with the "hover" action. In the command, it is mentioned to maintain a fixed position for 15 minutes, which corresponds to the hovering action in the ontology. However, the duration value in the JSON is in seconds (900 seconds equals 15 minutes), while in the command, the duration is mentioned in minutes. The altitude value in this JSON is 0.0 and it is not mentioned in the command, so this value is acceptable. The \'unit_duration\' and \'unit_altitude\' parameters both match with the ontology. Therefore, there\'s fairly high alignment, aside from the difference in duration units.'] +Hold steady at a specific point for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3.5; The JSON command partially conforms to the natural language command. The action "hover" and unit of duration "seconds" match perfectly. However, the duration value in the JSON command was specified in seconds (900 seconds), while the command was given in minutes (15 minutes). Furthermore, an altitude was not specified in the natural language command but a \'0\' value for it appears in the JSON structure. If the \'0\' value for altitude is a default, it might be acceptable, but this is not clear.', ''] +- Ascend to an altitude of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "",', ' "unit_altitude": "meters",', ' "unit_duration": ""', ' }', '}'];['3; The JSON structure corresponds to the action of flying and specifies an altitude of 500 meters, which matches the command. However, speed and duration are not mentioned in the command but are filled in the JSON structure.'] +Increase your height until you reach an altitude of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command is mostly well represented in the JSON structure. There is an "action" of "fly" with an "altitude" of 500, which matches with the command. However, the "direction" value of "up" is not an accurate representation, as it\'s not one of the cardinal directions (north, south, east, west) that the sample keys seem to imply.'] +Climb up until you are at an altitude of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; While the JSON structure partially captures the command (namely the 'altitude' of 500 meters), the 'action' key in the JSON ('fly') does not perfectly match the intent of 'climbing up' described by the command. Additionally, the 'direction' value in the JSON, 'up', doesn't completely adhere to the format of the sample ontology. Lastly, the zeroed-out 'speed' and 'duration' in the JSON don't quite capture the likely implicit expectation in the command that the climbing action should occur at some typical, non-zero speed and over some amount of time."] +Move upwards until you reach a height of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "upwards"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Mostly conform. The "speed" and "duration" values in the JSON are set to 0 which does not make sense as the drone cannot move upwards without a speed, and it cannot reach an altitude of 500 meters instantaneously, hence a duration of 0 is incorrect. The action and altitude parameters match correctly, but there is no direction key in the sample ontology provided, and although the value makes sense in the context, it doesn\'t conform to the provided ontology.'] +Reach an altitude that is 500 meters above ground level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 500)"', ' }', ' }', '}'];["4; The Json structure corresponds with the command, although it is not explicitly mentioned that the drone should navigate. The correct altitude is specified ('500'), but the latitude and longitude values are left as 'undetermined', which is accepted as no specific coordinates were mentioned in the command. The action key 'navigate_to_point' is also appropriate for reaching a specific altitude."] +- Perform a horizontal slide to the left for 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "duration": 200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure does not correspond correctly with the natural language command. The action in the JSON is "fly", but the command mentions a "slide" action, which does not exist in the sample ontology. Also, the unit for "duration" is "seconds" in the JSON whereas it is "meters" in the command. The direction value is matched correctly as "left". Due to these inconsistencies, the conformity score is low.'] +Slide 200 meters horizontally to the left.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, -200.0, 0.0)"', ' }', ' }', '}'];['1; The action "navigate_to_point" matches the command\'s implication of movement. But using "coordinates" to represent a horizontal left movement mentioned in the command is not proper, as the concept of "left" very much depends on the current object\'s orientation which is not stated in JSON structure.'] +Move to the left in a horizontal slide for a distance of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "duration": 18.95,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command says to "move to the left in a horizontal slide for a distance of 200 meters." This can be interpreted as a form of flying action. However, the distance is not a parameter in the corresponding JSON structure. Only speed, direction, and duration are given, but not distance. So it\'s not entirely clear how this distance translates to the duration and speed in the provided JSON. Therefore, it\'s not a perfect match.'] +Execute a horizontal leftward slide spanning 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, -200, 0)"', ' }', ' }', '}'];['2; The JSON structure corresponds to the "navigate_to_point" action which has different semantics from the requested "horizontal leftward slide". Nevertheless, the use of coordinates in the JSON structure is a valid attempt to represent the 200 meters movement to the left specified in the command.'] +Take a 200 meter horizontal slide towards the left.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, -200, 0)"', ' }', ' }', '}'];['2; The provided command indicates a movement to the left (horizontal slide), but it doesn\'t necessarily translate to the "navigate_to_point" action as there is no coordinate provided in the command to match with the "coordinates" parameter in JSON structure. Moreover, the JSON structure suggests a 3-tuple for coordinates (including altitude), which is not matched in the command.'] +- Circle around a fixed point at a radius of 100 meters for 5 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not match the natural language command. The command suggests a "circle" or "orbit" action, which does not exist in the sample keys. Furthermore, the JSON structure indicates a "fly" action without moving (speed: 0), which does not reflect the circling movement implied in the command. Also, the direction as "clockwise" is not correct as per the provided sample ontology.'] +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not match the natural language command. The command talks about moving in a circular path, which is not referenced in the JSON structure. Additionally, the notion of maintaining a distance from a certain point and the time duration in the command do not match the provided speed, duration, and direction in the JSON structure.'] +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.0,', ' "angle": 0,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['0; The JSON structure refers to a rotation action but does not include any information regarding the rotation center or the duration of the rotation, which are clearly specified in the natural language command. The radius is also not covered in the provided JSON structure.'] +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command refers to a circular trajectory which is not covered in the JSON structure. However, the "duration" value of the command "fly" is mentioned in the JSON.'] +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes.,['{', ' "action": "orbit",', ' "params": {', ' "radius": 100,', ' "duration": 300,', ' "unit_radius": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["0; The provided JSON structure doesn't match with the sample keys as there is no 'orbit' action and associated parameters in the sample ontology."] +- Fly backward at a speed of 40 km/h for 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 1,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['3; The command partially matches the JSON structure. The action "fly" is correctly identified and most of the parameters including "speed", "altitude", "direction", and "duration" are correctly captured. However, the "duration" and "unit_duration" do not conform with the command as the duration ideally needs to represent the time spent flying not the distance. Similarly, "unit_speed" should be "m/s" not "km/h" according to the sample keys.'] +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100, ', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Partial match. The natural language command fits with the action "fly" and gives instructions on speed ("velocity of 40 kilometers per hour"). However, there are mismatches such as the direction is not reversed as described in the command, and there is a distance of "1 kilometer" mentioned in the command which does not have a corresponding key in the JSON structure. The duration value in the JSON does not match with the command.'] +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command asks for a "travel" in the opposite direction at a specific speed for a specific distance, but the provided JSON structure represents an action of "fly" with given speed in southern direction. The command is partially converted correctly, although, there are inappropriate elements such as the altitude and duration which are set to 0, and unit of speed is \'km/h\' whereas the sample gives it as \'m/s\'. The distance mentioned in the command is not represented in the JSON structure.'] +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.11111111111111,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 54,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4.5; The action and most parameters (speed, direction, duration) match quite well. The altitude isn't mentioned in the original command but it's not conflicting either. The only minor discrepancy is duration, which seems to be calculated from the specified distance and speed, but it's not explicitly stated in the original command."] +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.111,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 3.6,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command specifies to fly in reverse, which implies a direction but it\'s incorrectly translated as "south" in the JSON structure. In addition, the speed in the natural language command is given in km/h while it\'s converted into m/s in the JSON, although the conversion is correct, the \'unit_speed\' should be "km/h" to match with the natural language command. Lastly, the command mentions traveling for a distance not a duration which might be the reason why "distance" is missing in the JSON structure.'] +- Descend rapidly at a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": -10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command matches the general structure of the "fly" action, but has a couple key differences. In the JSON, the altitude parameter is set to \'0\' and the speed value is negative, which can understandably represent descending but isn\'t directly mentioned in the command. Also, the "down" direction isn\'t a part of the available options in this ontology sample.'] +Quickly descend at a speed of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON information mostly matches with the natural language command. It accurately reflects the "fly" action with the correct speed and direction ("down") but it lacks clarity on duration which is assumed to be 0 and the altitude is misinterpreted as it should be lower rather than 0, as comparable to a "land" action.'] +Drop down rapidly, maintaining a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": -10,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure somewhat matches the command. The direction can indeed be interpreted as "down" from the phrase "drop down rapidly". The speed is correctly interpreted as 10.0 m/s from the phrase "maintaining a rate of 10 meters per second". However, the altitude parameter in the JSON is included as -10 which doesn\'t appear or implied in the command and the duration is set to 1 second which is also not mentioned in the command.'] +Perform a swift descent, descending at a speed of 10 meters per second.,['{', ' "action": "descend",', ' "params": {', ' "speed": 10.0,', ' "unit_speed": "meters",', ' "unit_altitude": "seconds"', ' }', '}'];['0; The JSON structure does not match the natural language command, as "descend" is not an action type found within the example ontology.'] +Go down at a rapid pace, descending at a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": -10,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; While the natural language command does under the action of flying at a certain speed downwards (speed and altitude values match), the JSON representation uses the term "down" as a direction. In the given ontology, there is no such concept as moving up or down as a direction, only geographical directional indications such as north, south etc., hence the justification for the deducted point.'] +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The JSON structure aligns well with the command as it contains the correct "action" (rotate) and includes parameters like "angular_velocity", "angle", "is_clockwise", and "unit". However, even though the "angle" of 360 degrees (indicating a barrel roll) is reasonable, it isn\'t explicitly mentioned in the command. This discrepancy accounts for the deduction of 1 point.'] +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The natural language command mostly conforms to the JSON information provided. The action "rotate" is correctly identified, and the "angular_velocity" and "is_clockwise" parameters correctly match. However, the command specifies a "rightward barrel roll" which could typically involve more than rotation, such as a change in altitude or positional movement, which is not reflected in the JSON. Also, the "angle" is not specified in the command but is reasonably set to 360 in the JSON structure, denoting a full rotation.'] +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The command mostly conforms to the JSON structure. However, the natural language command does not specify the angle of rotation, so the value 360 in the JSON is an assumption.'] +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 0,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The action and parameters of rotation and is_clockwise match well, although the \'angle\' parameter in JSON is not specified in the natural language command. The term "barrel roll fashion" from the command does not have a corresponding parameter in the JSON.'] +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +- Fly in a figure-eight pattern for 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command is not completely reflected in the JSON structure. The 'figure-eight' pattern is not compatible with the direction's 'north' value. Also, the duration value in seconds does not match the command's '10 minutes'."] +Perform a figure-eight flight maneuver for a duration of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command refers to a specific maneuver "figure-eight" that doesn\'t exist in the sample keys. The JSON structure does not match the command: there is a \'direction\' key with a \'figure-eight\' value, which doesn\'t conform with the sample keys, and the \'duration\' key has the wrong value (600 instead of 10).'] +Fly in a pattern resembling the shape of an eight for a total of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "eight"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command asks the drone to fly in a specific pattern (shape of an eight) for a certain duration (10 minutes). The JSON structures represent the "fly" action, but they don\'t account for a pattern of flight or how to navigate in the shape of an eight. The values are also mismatched ("direction": "eight" is not suitable here, as direction usually represents compass headings like north, south, etc. not a specific pattern). The duration is converted correctly though.'] +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure only presents the "fly" action with parameters such as speed, altitude, direction, and duration, which conform with the natural language command. However, the "figure-eight configuration" in the command does not exist in the JSON structure, and the duration is incorrectly converted (it should be 600 seconds for 10 minutes, not 10 seconds). Therefore, the overall match is poor.'] +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure doesn\'t match the natural language command. The command asks for a figure-eight movement which doesn\'t match with any given actions in the JSON ontology. Additionally, the "figure-eight" value given to "direction" doesn\'t conform with the ontology which mentions "north" as a type of value for "direction".'] +- Ascend to an altitude of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly matches with the command. The action "fly" and the altitude parameter are correctly interpreted from the command. The units also match correctly. However, the "direction" is not specified in the command, and the "speed" is set to 0 in the JSON, while the command talks about "ascending", implying some speed. The "duration" is also set to 0 in the JSON, which is not directly stated in the command.'] +Achieve an elevation of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command matches with the JSON structure in terms of the action "fly" and the altitude parameter. However, the direction parameter does not quite match as it is not specified in the natural language command.'] +Reach a height of 800 meters above sea level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 800)"', ' }', ' }', '}'];['4; The natural language command and the JSON information conform to the same action of achieving a certain altitude. However, the value given in the JSON for "coordinates" implies the drone is navigating to the point at 0 latitude and 0 longitude which is not explicitly stated in the command. There is no information provided about the horizontal coordinates (latitude, longitude) in the natural language command.'] +Climb to an altitude of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The natural language command is almost perfectly translated into the JSON structure. The command asks the drone to fly to a certain altitude, and the JSON structure also dictates a 'fly' action to a certain altitude. The speed and duration parameters are not mentioned, so they can accept any value. However, in real-world scenario setting speed to 0.0 for a 'fly' action could make the drone motionless leading to misinterpretation. Furthermore, they are incorrectly set to zero in the JSON structure while other reasonable values could be assumed. Also it is assumed that the direction is not necessary which could be omitted. Apart from these minor inconsistencies, it's a good match with the command given."] +Move up to a height of 800 meters above sea level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 800)"', ' }', ' }', '}'];['3; The command is asking to move to a certain altitude not to navigate to a particular point of coordinates. The JSON structure is for navigation to a point rather than adjusting altitude. However, the height (800 meters) is still captured correctly within the coordinates in the JSON structure, even if it is being used in a way that is not exactly specified by the natural language command.'] +- Hover in place while capturing photos for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; The action of hovering is correctly referred in the JSON, and the duration parameter is also well transformed (20 minutes would indeed convert to 1200 seconds). However, the command in natural language also refers to capturing photos, which isn't shown at all in the JSON structure. The altitude parameter, although present in the JSON, isn't mentioned in the natural language command either."] +Maintain a stationary hover for a duration of 20 minutes, taking photos.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure properly matches the "hover" action with the correct duration converted to seconds, but it does not account for the command to take photos.'] +Hold position and take photographs for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The command involves taking photographs while hovering which isn't represented in the JSON output. The duration is correctly converted to seconds, but there is no matching 'action' in the JSON for taking photographs."] +Stay in one spot and capture photos continuously for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The JSON structure partially matches with the command. The 'hover' action is consistent with the command 'stay in one spot', and 'duration' correctly converted '20 minutes' to seconds. However, the value of 'altitude' is given as 0.0 which is not mentioned in the command and there is no JSON structure for the action 'capture photos continuously'."] +Remain suspended in the air and photograph for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure represents an action to "hover" with a duration of 1200.0 seconds (which does not match with the 20 minutes specified in the natural language command as 20 minutes would be equivalent to 1200 seconds) but it doesn\'t include the instruction to photograph which is mentioned in the natural language command. The altitude value, though acceptable as a reasonable value, is not specified in the natural language command.', ''] +- Fly forward at a speed of 50 km/h for 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "forward" ', ' },', ' "duration": 0,', ' "distance": 2.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "unit_distance": "kilometers"', ' }', '}'];['1; The given natural language command contains the action "fly" and most of the parameters match with the JSON structure, such as "speed" and the unit of speed "km/h". However, the JSON structure does not include "distance" as a parameter which is included in the command. Also, the direction value is given as "forward" which does not match with the direction value in the JSON structure which should be one of the cardinal directions.'] +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.889,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 5400,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command is asking for a drone to 'move ahead' at a certain speed for a certain distance. This can technically be perceived as flying, but the 'fly' action in the JSON seems to be more about maintaining an altitude and direction for a duration of time, with an explicit altitude parameter included, instead of covering a specific distance at a certain speed. The direction is also explicitly mentioned as 'north' in JSON, while the command says 'move ahead' which is not necessarily the same as 'north'. Moreover, there's no parameter for the distance in the JSON structures, and the actual speed value in the JSON also does not match with the given command. Hence, it's a partial match."] +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "distance": 2000,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "unit_distance": "meters"', ' }', '}'];['4; The JSON structure contains the "fly" action and "speed" parameter matching the natural language command, however, the direction is not specified in the natural language command and it\'s assumed as "north" in the JSON. Furthermore, there\'s no "distance" parameter in the ontology but it\'s included in the JSON structure.'] +Propel forward for 2 kilometers at a rate of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 72.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Nearly conform. The "direction" parameter doesn\'t match the provided ontology as the value for "direction" was expected to be a cardinal direction ("north", "south", "east", "west") not "forward". However, other elements of the command ("action", "speed", "duration", "unit_speed", "unit_duration") are well-translated in the JSON. This lack of full conformity prompts the score of 4 instead of 5.'] +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 500,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; The natural language command and the JSON information almost match. However, the direction value should be north, south, west, or east, not forward. Secondly, the unit of speed in the command is km/h but in JSON, it's m/s which is a mismatch. The conversion from km/h to m/s is correct in JSON. And there's also duration value in JSON which doesn't exist in the command."] +- Descend to a low altitude of 50 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON struct is nearly correct with the action "fly" and altitude parameter being 50. However, the \'speed\' and \'direction\' parameters should be omitted or unspecified as they are not mentioned in the command and the direction "north" doesn\'t match the command. Also, as the drone is descending, the speed wouldn\'t be 0.0, it would be some negative value which isn\'t specified in the command. Lastly, the \'duration\' parameter isn\'t applicable based on the given command, so should be omitted or unspecified.'] +Lower your altitude to 50 meters above the ground.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 50)"', ' }', ' }', '}'];["3; Partial Conformity. The natural command's intent here is to decrease the altitude, the JSON is handling it as a navigation to a certain point, instead it should resemble the 'hover' action with desired altitude."] +Move down to an altitude of 50 meters above the ground.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -50)"', ' }', ' }', '}'];['2; The natural language command is about adjusting the altitude, which would indeed involve a \'"navigate_to_point"\' action. However, the JSON structure incorrectly implies changing the latitude and longitude as well, which isn\'t stated in the command. Furthermore, altitude is represented negatively in the JSON structure, but the command doesn\'t specify moving below ground level.'] +Decrease your altitude until you are only 50 meters above the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command mostly aligns with the JSON structure. The action of decreasing altitude matches with the "hover" action. Accordingly, the parameter of 50 meters altitude matches as well in the JSON structure. However, in the command no specific duration is mentioned for the action, while the JSON structure contains a duration value of 0.0 seconds which is not specified or implied in the command.'] +Descend to a height of 50 meters above the ground level.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['0; The natural language command is requesting a change in altitude, not a landing action. The JSON structure represents a landing action, not an altitude change. Therefore, they do not conform.'] +- Perform a sudden stop and hover for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; The natural language command perfectly matches the JSON structure. The drone is instructed to hover for a certain duration, and while the exact altitude isn't provided, any reasonable altitude provided in the JSON is acceptable."] +Execute an abrupt halt and remain stationary for a duration of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure mostly follows the command. However, the command does not specify the altitude so the value 0.0 for altitude may not be accurate. Also, the command uses a different term "abrupt halt" instead of "hover" but conceptually they might refer to the same thing.'] +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command is perfectly converted to a JSON structure following the given ontology. The action "hover" is chosen with a duration parameter of 120 seconds (2 minutes). Even though the command doesn\'t specify an altitude, setting it to 0 in the JSON is a reasonable assumption since the drone is supposed to stop its movement completely.'] +Achieve an instant stop and remain suspended in the air for a period of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3.5; The action in the natural language command is correctly translated to "hover" in the JSON structure, and the duration is correctly translated to 120.0 seconds. However, in the natural language command, altitude is not mentioned but in the JSON, it assigns a value 0.0 to altitude which is not mentioned in the command.'] +Implement a sudden pause and hover motionless for a timeframe of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command is well matched with the "hover" action in the JSON structure; however, the altitude value is not specified in the command, so we can\'t assume it to be 0.0 as in the JSON.'] +- Land at the designated landing zone, then record a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["2; The JSON structure represents the action 'land' correctly. However, the action 'record a video' in the natural language command is not found in the given JSON commands."] +After landing at the specified landing area, proceed to film a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}', ''];['2; The natural language command asks to land at specified area which matches with the "land" action in the JSON structure. However, the command also asks to "film a video" afterwards, but there is no corresponding action in the provided JSON structures.'] +Upon arrival at the designated landing zone, commence recording a video.,['{', ' "action": "start_video_recording",', ' "params": {}', '}'];['0; The provided JSON structure does not match with the natural language command. "start_video_recording" action does not exist in the sample keys.'] +Touch down at the designated landing zone and proceed to capture a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The natural language command talks about executing two actions, landing and capturing video, but the provided JSON only corresponds to the landing action and there is no provided JSON for the video capturing action in the sample keys.'] +Once you have safely landed at the assigned landing area, begin filming a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['0; The JSON structure only partially conforms to the command. It describes the action of landing but does not include any information about filming a video which is included in the natural language command.'] +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly matches the natural language command. However, the "speed" and "duration" parameters in the JSON command don\'t match the natural language command as they are not specified in the command and hence can\'t be considered as zero by default. But the "altitude" parameter in the JSON matches the natural language command, the difference in altitude unit can be acceptable if the system can auto-convert between different units. The "action" field also correctly represents the command ("fly").'] +Climb to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4.5; Most of the information were correctly translated from the command to the JSON structure. The only small discrepancy is the unit of altitude. The natural language command specified "feet", which is not the same as the "meters" used in the sample ontology.'] +Reach an elevation of 500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'];["2; The action in the JSON structure is 'navigate_to_point' and the coordinates specify a latitude, longitude, and altitude. However, the natural language command only specifies an elevation (presumably meant to equate to altitude). Latitude and longitude are not given and thus the JSON structure is not properly filled out. Additionally, the elevation is in feet in the natural language command, but there is no specific unit in the JSON structure, so it's unclear whether the elevation has to be converted to the unit used in the JSON structure. This is why, while there is partial conformity (the action of navigation and notion of altitude), the score is low because of the missing values and potential discrepancy in units."] +Achieve a position at an altitude of 500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'];['3; The JSON structure represents a "navigate_to_point" action which conforms with the prompt. However, the parameter value of altitude in the command is given in feet, whereas the ontology sample uses meters as the unit for altitude. This discrepancy makes it less precisely conformed.'] +Ascend to a height of 500 feet above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure partially conforms to the natural language command, but it comprises a significant error. The \'direction\' key is unnecessary in this case, as the command didn\'t specify a direction, and especially not "north". The drone, as per the command, is simply supposed to ascend, not travel in any particular direction. The speed and duration, being set to 0, also lack context—these values should be reasonably set, even though the command didn\'t specify them, rather than defaulting to 0. The unit of altitude is correct in the JSON structure.'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. There are correct elements such as "action" set as "fly" and "speed" as 40. But "unit_speed" as "mph" doesn\'t conform with the ontology example. Moreover, direction is expected to be a cardinal direction like north, south etc. not forward. The usage of altitude and duration is also problematic since it\'s set to \'0\' while not relevant for the command.'] +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude, default_altitude)"', ' }', ' }', '}'];['1; The JSON structure provided does not match the command. Although the "action" key in the JSON structure is somewhat aligned with the activity conveyed in the natural language command, the command details about how to proceed (distance and speed), which doesn\'t match with the JSON structure. The JSON structure only indicates a movement to a certain point but not the distance or the speed of that movement.'] +Move forward for a mile, traveling at a speed of 40 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 17.8806,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 112,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. The command instructs to move forward but doesn\'t specify it\'s about a \'fly\' action. The speed, direction and duration parameters are indeed presented in the JSON, but not completely accurately. The direction in the JSON is set to "north", but the command doesn\'t specify this. The duration is significantly different from the command\'s specified one mile distance. The conversion from miles per hour to m/s is correctly performed.'] +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 17.8816,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.0568182,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; Partially conform. The natural language command and the JSON structure are both referring to flying, however, the command details flying in a straight line at a certain speed, but does not address altitude, direction, or duration. In addition, the command's 'mile' and 'miles per hour' units of measure do not match the JSON's 'meters' and 'meters per second' units."] +Travel forward for a distance of 1 mile, with a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0.0277778,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['1; The natural language command calls for the drone to travel a certain distance at a specified speed, which does correspond to the JSON structure for the "fly" action. However, there are several discrepancies. The natural language command specifies the speed in mph, but the JSON has m/s defined as the unit of speed. Additionally, the command does not provide information on the altitude of flight, which is required parameter in the JSON structure. Lastly, the command is asking to cover a certain distance while the JSON structure requires a duration to determine how long to fly.'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'];['4; Partially conform. The command is translated into a valid JSON structure, but the action should have been "fly" instead of "navigate_to_point", and the altitude should have been represented as its own key-value pair, not in the "coordinates" key.'] +Reduce your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'];['2; The JSON structure does not match the natural language command. Although both talk about altitude, the command instructs to decrease the altitude to 200 meters but the JSON represents a navigation action to a specific coordinate where the altitude is 200. The correct action here would probably be something more similar to the "fly" action provided in the examples, but with the altitude parameter set to 200.'] +Lower down to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 200,', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Move downwards until you reach an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, -200)"', ' }', ' }', '}'];['2; The command is directing an action to move downward to a certain altitude, which is similar to the JSON structure where the "action" is "navigate_to_point", but the specified altitude is not matching with the JSON\'s "coordinates" "value". The latitude and longitude specified in the JSON do not match the natural language command which has not mentioned about them.'] +Descend until you are flying at 200 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly fits the command by signalling a "fly" action with the correct altitude. However, the direction "north" doesn\'t conform to the command and the speed value is not required.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command and JSON structure mostly match. However, in the JSON, the altitude is set to 0 which was not specified in the command. A reasonable value for hover could be any altitude above ground level, not specifically zero.'] +Stay suspended in the air for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The hover action and duration are correct in the JSON, but an altitude of 0 doesn't make sense for hovering. An unspecified altitude would likely default to a reasonable value, but 0 meters would not be possible for a hover action. Hence, the JSON is mostly conform but with an inaccurate value."] +Maintain a hovering position for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Though the action "hover" and parameter "duration" match perfectly, the value for "altitude" is unspecified in the natural language command, so the JSON\'s value of 0 for altitude is not perfectly conforming. Therefore, a \'4\' is given for near conformance but not exact.'] +Remained fixed in mid-air for a time span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Although the natural language command matches the action "hover" in the JSON structure, the value of the "altitude" parameter is not specified in the command. Thus, the JSON assumes a value of 0.0, which might not reflect the real circumstances of the command. Therefore, the conformity is not perfect.'] +Suspend yourself without moving for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command and JSON structure closely match, as they both indicate a hovering action and specify a duration. However, the value of the duration in the JSON structure does not exactly match the duration specified in the command (10 minutes vs. 600 seconds) and the command does not specify an altitude whereas the JSON has a value.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["4.5; While the natural language command totally corresponds with the JSON structure and action, the angular_velocity value from the command (45) does not match the sample ontology's value (0.5)."] +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn clockwise by 180 degrees, at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command matches the provided JSON structure exactly, including the action (rotate) and parameters (angular_velocity, angle, is_clockwise, and unit). The values provided in the command correspond to those in the JSON as well.'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The JSON structure correctly represents the command to perform a clockwise rotation of 180 degrees with an angular speed of 45 degrees per second. All the parameters (angular_velocity, angle, is_clockwise, unit) match exactly with the command.'] +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure. The action "rotate" is correctly identified and all rotation parameters ("angular_velocity", "angle", "is_clockwise", and "unit") are presented correctly according to the command.'] +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 72,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure represents a "fly" action with a speed of 50 km/h, an altitude of 100 meters and a direction described as a string with the value "zigzag". However, duration and direction at this sample ontology are not described in such a way to represent a zigzag pattern for any specific path length or the action of flying for 2 kilometers. The given JSON does not conform to the sample ontology\'s schema for representing such complex action and thus the score is 1.'] +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 72,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not properly match the command. The command requests a "zigzag maneuver" which does not exist as an action or a parameter in the provided JSON structures. Also, the direction value "zigzag" does not conform with the values of the sample keys.'] +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "distance": 2.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_distance": "kilometers"', ' }', '}'];['1; The natural language command mentions parameters like "direction" with value "serpentine" and "distance" which are not present in the provided JSON structure. However, it correctly identifies the action as "fly" and the speed parameter. It also introduces "unit_distance" parameter that is not mentioned in the sample JSON structures. However, the speed is correctly mentioned as 50.0 and unit_speed is correctly expressed as "km/h".'] +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "distance": 2000,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_distance": "meters"', ' }', '}'];["1; The natural language command talks about maintaining a speed, flying in a zigzag fashion and covering a total distance which is not directly mapped in the JSON structure. The JSON structure discusses 'speed', 'altitude', 'direction', 'duration' etc. but does not have a key for 'distance'. Also 'altitude' is set to zero in JSON which is not mentioned in the natural language command."] +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 5142.857142857143,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command demands a zigzag formation which doesn't match with the JSON information provided which only deals with navigation directly in cardinal directions, not in formations. Also, the asked speed conversion is from km/h to m/h while the JSON represents speed in m/s. Therefore, there's a slight similarity but overall non-conformity."] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; Mostly conform. The "fly" action and "altitude" parameter are clearly represented in both the command and the JSON structure. However, the "direction" and "speed" parameters in the JSON don\'t match the command, and the "duration" parameter was specified as zero, which is also not described in the command.'] +Increase your altitude to 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['5; The natural language command perfectly matches the JSON structure. The action (flying/increasing altitude) and parameter (altitude of 1000 feet) are clearly referred to within the JSON.'] +Climb to a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure matches the natural language command, with the 'fly' action used to represent the command to climb, and the altitude is correctly set to 1000. However, the direction parameter is not specified in the natural language command and therefore its presence in the JSON structure detracts from full conformity."] +Reach an elevation of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["4; The natural language command corresponds with the 'fly' action in the JSON structure provided. The altitude is correctly stated as 1000. However, the unit of altitude in the provided example is 'meters', the natural language command uses 'feet', which while valid, is not present in the sample provided, hence, a point is deducted."] +Move upward and maintain a height of 1000 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['5; The command is asking for the drone to move upward and maintain an altitude, this translates well to the "hover" action in the JSON structure. The altitude is specified as 1000 feet in both the command and the JSON. The duration isn\'t specified in the command but this is deemed acceptable according to the instruction. The units for both duration and altitude also match up correctly.'] +Fly forward for 5 miles at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The JSON structure corresponds to the 'fly' action as indicated in the natural language command. However, the direction 'forward' does not match the expected 'north' according to the sample ontology. The 'speed' and 'unit_speed' are correctly captured but the 'duration' and 'altitude' parameters are not mentioned in the command and thus their values of 0 are not justified. Moreover, the command specifies distance rather than duration for the flight, yet no such parameter exists in the key ontology."] +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100, ', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 29.5736,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partial match. The natural language command refers to a straight movement, which corresponds with the "fly" action in the JSON structures. The speed is also correctly converted from mph to m/s in the JSON. However, the direction "straight ahead" is not specifically a "north" direction as noted in the JSON. Therefore, the JSON does not exactly conform to the command.'] +Travel in a straight line for 5 miles, moving at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 5,', ' "unit_speed": "miles/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];["3; The JSON represents the command of flying in a straight line at the speed of 30mph for the duration of 5 hours. However, 'straight' isn't a correct value for the 'direction' key. The key 'duration' is also incorrect as it refers to distance (5 miles) in the command and not time."] +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partial conformity. The action "fly" and parameter "speed" match with the natural language command, and unit of speed is also conforming. However, the direction "straight ahead" does not exist in the sample keys but is mentioned in the JSON structure. Also, "covering a distance of 5 miles" would traditionally map to a duration, which isn\'t calculated but is present in the JSON structure as 0.'] +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "distance": 5.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "unit_speed": "mph",', ' "unit_distance": "miles"', ' }', '}'];['1; The JSON structure has keys that are not present in the sample like "distance" and "unit_distance". Additionally, the unit of speed in the JSON is in "mph" but in the sample ontology it\'s in "m/s".'] +Hover and take aerial photographs for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The command to "Hover" is implemented correctly in the JSON object including the correct duration (converted to seconds) and random acceptable values for altitude. However, the command to take aerial photographs doesn\'t exist in the JSON which causes the partial conformity.'] +Capture aerial photographs by flying and hovering for a duration of 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The command discusses performing the actions 'fly' and 'hover' for a duration, which is mentioned in the JSON. However, the key task,'Capture aerial photographs' does not exist in the ontology. Although there is a match for the 'fly' action and 'duration', but the value of speed and altitude as 0 makes no sense in case of a flying drone which is supposed to also capture aerial photographs. Hence, other important details like capturing photographs, expected altitude for the fly/hover action etc. are not correctly captured in JSON."] +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON correctly represents the action of hovering and the duration parameter, but it does not reflect the additional command of capturing images as discussed in the natural language command. The altitude value was not specified in the natural language command but it was given a reasonable value in the JSON.'] +Take aerial photos by hovering in the air for a total of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure is properly set to perform the "hover" action. The duration parameter in the JSON is also correctly specified in equivalence to 20 minutes (1200 seconds). But, the natural language command is asking to take aerial photos which doesn\'t exist in the provided ontology and also, the value for altitude is not mentioned but in JSON it is given as 0. This may contradict with the command as hovering is generally in the air, not at ground level. So, it\'s not a perfect match.'] +Fly and maintain a hover position for 20 minutes to capture aerial photographs.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; While the commands "fly" and "hover" are found in both the natural language command and JSON structures, there are important elements that are not matched: “fly” action lacks specified details such as speed, altitude, direction, and duration in JSON. For "hover", the altitude is not specified in the JSON structure while it is implied in the natural language command when it says "maintain a hover position". Also, the duration is mistranslated from 20 minutes to 1200 seconds. The justification aspect of capturing photographs is also missing in the provided JSON structures.'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The command "Turn left by 270 degrees at a rate of 60 degrees per second." perfectly matches with the JSON structure. The action key is "rotate". The parameters "angular_velocity", "angle", "is_clockwise" and "unit" correspond to the command of turning left at a given rate. The direction of rotation is counter-clockwise (left is always counter-clockwise), which implied "is_clockwise" equals to false.'] +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Descend to an altitude of 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action is correct in the JSON structure which is "fly", and the altitude is also correct which is 100 meters. However, a direction and speed are not necessary for descending, and there is no mention of direction, speed and duration in the natural language command. The JSON structure also lacks a descending action.'] +Lower down to an altitude of 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The JSON structure matches exactly with the natural language command. It specifies the action as "fly", and correctly defines \'altitude\' as 100 under \'params\', and unit of altitude as \'meters\'. The other parameters (speed, direction, duration) are also present (with speed and duration as 0 and direction as an empty string), which are reasonable defaults as they are not mentioned in the command.'] +Reduce your altitude to 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 100)"', ' }', ' }', '}'];['1; The natural language command is calling for a change in altitude, but the action in the JSON structure is "navigate_to_point" which ideally would involve both horizontal and vertical movements. The keys given in the data structure also do not match with the action required. There’s no key for changing the altitude in the “navigate_to_point” action.'] +Move downward until you reach an altitude of 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. The natural language command specifies to move downwards (a direction) to an altitude of 100 meters (an altitude), which is included in the JSON object. However, the "direction" parameter in the JSON structure has a value of "north", not "down". Also, the "speed" and "duration" parameters specified in the JSON structure do not exist in the natural language command.'] +Descend until you are at a height of 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command asks for descent which is a kind of "fly" action with 0 speed. The JSON indicates flying with no speed and descending to an altitude of 100 meters which matches with the command. The direction is not specified both in the command and JSON. The values for other params like speed, direction, and duration are logically correct in respect to the command.'] +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0, // Default altitude', ' "direction": {', ' "type": "str",', ' "value": "clockwise" // Assumed direction since not specified', ' },', ' "duration": 0, // Default duration', ' "unit_speed": "km/h",', ' "unit_altitude": "meters", // Assumed unit since not specified', ' "unit_duration": "seconds" // Assumed unit since not specified', ' }', '}'];['1; The JSON structure matches the action "fly" but the parameters are not fully covered. There is no provision for flight path (circular path, in this case) or radius in the JSON structure. Furthermore, direction value "clockwise" doesn\'t match the command\'s implied direction of a circular path.'] +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circle"', ' },', ' "radius": 500.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_radius": "meters"', ' }', '}'];['1; The JSON information partially matches the command. The command talks about flying at a certain speed in a circular path, which corresponds to the "fly" action in the JSON structure. However, the JSON structure shown does not contain a key for the "radius" of the circular path. Furthermore, the direction value in the command is "circle", while in the JSON structure it is "north". The key "unit_radius" also doesn\'t exist in the sample keys.'] +Circle at a speed of 20 km/h with a 500-meter radius.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not match the natural language command. The command talks about an action of "circle" and mentions a radius, none of which exists in the JSON structure. The values of "speed", "direction" and "unit_speed" in JSON don\'t match with the given command. The command specifies a specific speed and a radius but the JSON structure deals with direction, altitude and duration which are not mentioned in the command.'] +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 1000,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "distance": 2 * 3.14159 * 500', ' }', '}'];['1; The JSON structure includes information that does align with the natural language command (such as action: "fly" and unit_speed: "km/h"), but several elements do not match or are not present in the command, such as "altitude", "direction" value "clockwise", "duration", "unit_duration" and "distance". Additionally, the concept of "following a circular path with a 500-meter radius" is not represented in the given sample ontology and cannot be converted properly.'] +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["0; The JSON structure lacks information to fully represent the natural language command. The command consists of a circular flight, which is not present as an action in the example ontology, hence, this command can't be converted correctly to the JSON."] +Ascend to an altitude of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command and JSON structure mostly match. The action of ascending corresponds to "fly" action in the JSON, the altitude is correctly reflected as 1500. However, in the JSON structure, the direction is specified as "north" and speed and duration are given values (0.0 and 0 respectively) which are not mentioned in the given natural language command. The unit of altitude is correctly represented as "feet".'] +Increase your elevation to a height of 1500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 1500)"', ' }', ' }', '}'];["2; The action in the JSON is 'navigate_to_point', suggesting a movement to a specific location. The natural language command asked for a change in elevation which corresponds more with the 'fly' action in the sample ontology. Moreover, the given JSON structure does not specify 'feet' as a unit for altitude. The unit in the ontology is 'meters'."] +Climb to a 1500-foot altitude.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure matches the command "Climb to a 1500-foot altitude." almost perfectly, as the action is "fly" and the altitude is correctly set to 1500 feet. However, the speed and duration are specified as 0 and not specified in the command, rendering them as possible discrepancies.'] +Reach a height of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['5; The natural language command perfectly matches with the JSON structure. The "fly" action is properly translated and the altitude parameter is correctly placed with its value of 1500. The "unit_altitude" was correctly inferred as "feet" even though it was not specified in the natural language command, since 1500 feet is a common flying altitude.'] +Ascend to a level that is 1500 feet above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["5; Exactly conform. The command 'Ascend to a level that is 1500 feet above the ground' matches precisely with the provided JSON structure. It specifies the 'fly' action, defines the 'altitude' as 1500, and correctly states the 'unit_altitude' as 'feet'. Even though 'speed', 'direction', and 'duration' are not mentioned in the command, the JSON structure has logical default values for them (0.0 for speed and duration, and empty string for direction)."] +Fly forward and survey the area for 3 miles at a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": ,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3,', ' "unit_speed": "mph",', ' "unit_altitude": ,', ' "unit_duration": "miles"', ' }', '}'];['2; The natural language command indicates an action of flying with a duration given in miles and a speed in mph, which somewhat correlates with the "fly" action in the JSON structure. However, the JSON structure has the duration unit as "seconds" and speed unit as "m/s", which do not match with the given command, and the "survey the area" part of the command is not acknowledged in the JSON structure. Additionally, while the direction is given as "forward" in the JSON, the natural language command doesn\'t specify if it should be north, east, south, or west, making the conformity partial.'] +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Partial conformity. The JSON structure describes a "fly" action, which could be used for an "inspection" as specified in the natural language command. However, the speed, altitude, and direction values are present in the JSON, but the value for distance and the verbal instruction to conduct a visual inspection of the surrounding area are not reflected in the JSON structure.'] +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": null,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; The JSON structure matches the 'fly' action in the ontology, including the 'speed' and 'unit_speed' parameters. While the direction and altitude are also included in the JSON, they do not match the command, and the duration in the JSON does not have any suitable value as it's mentioned null which isn't reasonable for a 'fly' action. 'Advance and observe the vicinity for a span of 3 miles' doesn't align with any parameter or value in the JSON. 'Observing the vicinity' and 'span of 3 miles' are not represented."] +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command does mention the action "fly", but there are elements that do not conform, such as the lack of duration, altitude, radius (not present in the ontology), and incorrect direction of \'north\' in the JSON structure. The unit of speed should also be "m/s", but is listed as "mph" in the JSON structure.'] +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure partially conforms to the natural language command. The command "Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph" contains instructions for direction and speed that match with the action "fly" in the JSON. However, the direction value should be "ahead" not "forward" and there is no exploration or distance parameter specified in JSON as required by the command. The units are also incompatible as the "unit_speed" is indicated as "mph" rather than "m/s" as in the sample ontology. The altitude and duration values are given as zero which doesn\'t match with the command.'] +Hover and drop a package at the designated location.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure does represent the "hover" action as described in the command but it fails to represent the "drop a package" action which is also part of the command.'] +Carry a package and release it at the specified spot by slightly floating above it.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['1; The command indicates a complex action that involves multiple steps, including carrying a package, moving to a particular location, and releasing the package. The provided JSON structure only covers the "navigate_to_point" action and does not address the rest of these actions. Hence, the command and the JSON structure don\'t match entirely, resulting in the low conformity score.'] +Gently float and deposit a package at the predetermined destination.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The command talks about "floating" and "depositing a package", however, the provided JSON structure only represents the action of landing without any package handling functionality mentioned, and no such action as floating.'] +Utilize aerial suspension to transport and release a package precisely where directed.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['1; The natural language command refers to a complex action of "transporting and releasing a package" which does not directly correspond to the "navigate_to_point" action in the provided JSON structure. Furthermore, the JSON structure does not indicate any provision for \'releasing a package\'.'] +Levitate above a designated area and carefully place a package down.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The JSON structure corresponds to the 'hover' action, which could be interpreted as the 'levitate' part of the command. However, the command also mentions 'carefully place a package down' which does not have any corresponding JSON structure. Additionally, the 'duration' and 'altitude' values in the JSON are set to 0, which does not seem to be reasonable values for this command."] +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command \'Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second.\' perfectly matches with the provided JSON structure. The "action" key corresponds to "rotate", the "angle" and "angular_velocity" key values correctly map to 45 and 15 respectively in the command. The "is_clockwise" key is also correctly interpreted as true from the "clockwise" direction in the command, and the unit is correctly identified as "degrees".'] +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The JSON structure correctly represents the action of rotation with an angle of 45 degrees in a clockwise direction. However, the "angular_velocity" is misrepresented in the natural language command as a "speed", and its value in the JSON structure is not specified in the natural language command.'] +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['3; The JSON structure matches the natural language command with the "rotate" action and the parameters "angle" and "unit", but the "is_clockwise" parameter does not align as the command states to rotate to the right which means "is_clockwise" should be true, not false. The "angular_velocity" value is acceptable.'] +Descend to an altitude of 50 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default, default, 50)"', ' }', ' }', '}'];['1; The JSON structure indicates a "navigate_to_point" action, while the command clearly specifies a descent action to an altitude which does not truly match as per structure. However, the altitude specification of 50 is somewhat represented as part of the "coordinates" value in \'navigate_to_point\'. Therefore, the matching is weak and inappropriate.'] +Reduce your altitude to 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action "fly" was correctly identified in the JSON. The altitude was correctly set to 50 meters. The speed was reasonably assumed to be zero since the command only specifies the need to change altitude. However, the command doesn\'t actually specify a direction, duration or need to fly, and as such, it can be argued that it may fit better with the hover action as it reflects a stationary action in the airspace at a specified altitude.'] +Go down to a height of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The action 'fly' in the JSON structure does match the command of going down, but direction value 'down' is not appropriate for this ontology. Altitude is correctly matched. However, in the command 'Go down to a height of 50 meters.', there is no specification of the speed and duration, while the JSON structure incorrectly assigns values to them. As mentioned, if a parameter's value is not specified in the natural language command, any value in the JSON is accepted, and there should not be arbitrary values assigned."] +Lower yourself to an altitude of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure partially conforms to the natural language command. The action "fly" and parameter "altitude" with value 50 and "unit_altitude" with value "meters" correctly match the command. However, flying isn\'t necessarily equivalent to lowering altitude. Also, the direction "down" is not mentioned in the command, and the values for "speed" and "duration" in the JSON structure seem arbitrarily set.'] +Descend until you reach a height of 50 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -50)"', ' }', ' }', '}'];['2; The JSON structure\'s action is "navigate_to_point" which doesn\'t exactly capture the essence of "descend". Also, it is assumed that the altitude is specified as a negative value to indicate descent, but that\'s not clear or validated by the example Ontology. But the altitude parameter is correctly matched in the JSON.'] +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON structure contains action as 'fly' which matches with the natural language command, and 'speed' parameter is also correct. However, rest of the values are not accurate. Specifically, 'figure-eight' is placed under 'direction' which is not correct, and the natural language command asks for distance of 1 kilometer which does not exist in the provided JSON structure. Hence, overall conformity is very low."] +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 80,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command does match the "fly" action partially in the JSON, however the value for direction "figure-eight" does not exist in the provided ontology. Also, the command states "perform a figure-eight flight for a distance of 1 kilometer" which is not supported by the JSON structure. Thus, there is no complete conformity between the NL command and the JSON structure.'] +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": 80,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The command given entails a complex maneuver (figure-eight shaped flight path), which isn't observable in any of the JSON structures provided. The closest match is the 'fly' action, which does not account for a specific flight pattern, only direction, speed, altitude and duration. Although speed is correctly assigned, the other parameters like altitude and duration assume arbitrary values. The direction parameter is being used to indicate the figure-eight path, which also isn't correct because direction here implies straightforward flying path. Hence, a low score of 1 is given."] +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "figure_eight"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure has the right action "fly" and some correct parameters like "speed" and its unit. However, it contains incorrect parameters. The "direction" key takes a string value in compass direction terms (like "north"), not flight maneuvers like "figure-eight". Additionally, the "duration" key has a value of 0 which doesn\'t match with the natural language command requesting a travel of 1 kilometer. Also, the "altitude" is set to 0 which is not specified in the natural language command. Thus the provided JSON only partially matches the natural language command.'] +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['1; The JSON structure refers to the "fly" action comprising of "speed", "altitude", "duration", "unit_speed", "unit_altitude", "unit_duration" parameters. However, the natural language command instructs to pilot the aircraft in a figure-eight pattern which is not represented in the JSON structure. Also, the "distance" given in the command is not represented in the JSON structure.'] +Ascend to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["4; Mostly conform. The action and structure of the command generally matches with the JSON structure. However, in the JSON structure, the unit_altitude is specified as 'meters' whereas in the natural language command, the unit used is 'feet'."] +Reach a height of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 2000,', ' "unit_altitude": "feet"', ' }', '}'];['4; Most of JSON keys fit with the natural language command (action parameter, altitude, and unit of altitude), however "fly" action in the JSON structure also has other parameters like speed, direction, duration, unit_speed, and unit_duration which are not specified in the natural language command.'] +Climb to an elevation of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly aligns with the command given, it correctly identifies the action as "fly" and sets the correct altitude in feet. However, it inaccurately sets other parameters such as speed and duration which were not specified in the command.'] +Increase your altitude to 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.', 'The natural language command specifies an action of increasing altitude which can be mapped to the "fly" action in the JSON structure. The altitude parameter is correctly provided as 2000 in the JSON representation and the unit of altitude is correctly mentioned as "feet". Other parameters like speed and duration are set to 0 and the direction is left empty, which is acceptable as these parameters are not specified in the natural language command.'] +Ascend to a level that is 2000 feet above ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' } ', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command aligns with the fly action JSON schema. However, the unit of altitude "feet" is not specified in the sample ontology, where the unit of altitude is given as "meters". This discrepancy leads to a lower conformity score.'] +Fly forward and inspect power lines for 4 miles at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.176,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 210.4,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure closely matches the natural language command. The action is 'fly' and parameters such as speed and direction are specified. However, there might be a disparity in the conversion from miles per hour to meters per second for the speed and the command explicitly stating to inspect power lines is not represented in the JSON structure."] +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command mentions forward movement and a speed of 25 mph, which aligns with the "fly" action in JSON structure. However, the direction is not specified in the command as north. Also, duration and altitude information are not provided in the command, but they are mentioned in the JSON. Meanwhile, the unit of speed in the command (mph) does not match with the unit in JSON (m/s). Lastly, the command talks about examining power lines, which has no equivalent in the JSON structure.'] +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 4,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['3; The natural language command and the JSON structure partially match - the action "fly" and parameters like "speed", "altitude", "direction", "duration" match, but the values don\'t fully align - power line inspection isn\'t represented and the duration units should be "miles" not "hours".'] +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, undetermined)"', ' }', ' }', '}'];['1; The JSON structure\'s action "navigate_to_point" as well as the parameters do not match with the natural language command "Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.". The command refers to a specific action of visually assessing power lines which does not correspond to any given action in the JSON structures. Although the command involves navigating, the necessary details such as coordinates are not specified in the command.'] +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.176,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 2148.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural command instructs the drone to "Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.", However, the JSON data implies the drone to fly in the "north" direction, with no mention of \'surveying power lines\' or flying \'for 4 miles\'. Even though the "speed" (converted from mph to m/s) and "altitude" have been correctly converted, the "duration" seems to be arbitrarily long and the "direction" does not match the natural language command.'] +Land at the designated landing zone, then take a nap.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The natural language command asks to "land at the designated landing zone", which complies with the "land" action in the JSON structure. However, "then take a nap" has no equivalent action in the provided JSON structure, hence the low conformity score.'] +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['2; The drone is instructed to "descend" and "rest", which is similar to the "land" action in the JSON. However, the "rest and sleep" part in the command is not represented in the JSON structure. Thus, the command is partially conform to the JSON.'] +After successfully reaching the designated landing zone, feel free to relax and take a nap.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);['0; The natural language command does not match any given action from the sample ontology. The command does not provide any specific instructions that could generally be converted to one of the given JSON structures.'] +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The natural language command does instruct for landing which matches the "land" action in the JSON structure. In terms of details however, the JSON requires a tuple coordinate which is not entirely provided in the natural language command. The sleeping part of the natural language command doesn\'t have a matching JSON structure.'] +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['3; The natural language command does instruct to "land", which corresponds to the JSON action of "land". However, the additional text ("before finding a peaceful spot...") in the command does not align well with the JSON structure. Also, the command does not specify a landing location as the JSON example does.'] +Fly forward for 1 kilometer at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 22.22222222222222,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure somewhat matches the natural language command, however, the direction received from the natural language command is missing. However, the calculated duration is correct assuming the command "proceed straight" means moving in a certain direction for a certain length of time at the specified speed. The speed and unit provided also match. But the interpretation that it should keep an altitude of 0 is not in the natural language command.'] +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0, ', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command specifies an action of "flying" at a certain speed which is correctly represented in the given JSON. However, the command specifies a distance to be covered, but the JSON structure reflects a duration of flying which is not specified in the command. Also, the altitude in the JSON is set to zero, which is not stated in command. Therefore, the match is not exact.'] +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly conforms to the natural language command with the right action "fly" and other parameters like "speed", "altitude", "duration", and their units. However, the direction value in the JSON structure is "forward", which isn\'t mentioned in the JSON structure\'s example ontology (expected value is "north" based on the sample.)'] +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 15.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['1; The "action": "fly" and "params" are correct, as are the "unit_duration" and "unit_speed". However, the direction value: "straight" doesn\'t properly match with the expectations of the ontology\'s keys; instead, a cardinal direction (e.g., "north") should be specified. The JSON also lacks information correlating the commanded distance (1 kilometer) into a duration value based on the defined speed. Furthermore, "unit_duration" is incorrect, as the provided JSON specifies minutes while the commanded natural language did not specify a unit of time. Lastly, there is an erroneous altitude value of 0 in the JSON which was not specified in the command.'] +Ascend to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Most of the parameters match with the natural language command. But in the natural language command, the speed of ascend is not mentioned, while in JSON it is mentioned as 0.0. Also, the duration of flight is indicated as 0 in JSON which is also not mentioned in the command.'] +Reach a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly conforms to the natural language command. The "altitude" is correctly set to 500 meters, but the direction and speed are not applicable to the command and should have been left out or set to null. The "unit_altitude" is correctly set to "meters". However, since the command does not specify a duration for the action, a "duration" parameter with any reasonable value is acceptable.'] +Climb up to an elevation of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly conforms to the command. The action captured is correct as "fly" and the "altitude" of 500 meters is accurately captured. However, the "speed" and "duration" values of 0 are questionable as the command does not specify them - they could be any reasonable value, not necessarily 0. Also, the inclusion of "direction" does not conform to the command as there\'s no direction mentioned.'] +Move upwards until you are at an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "upwards"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The JSON structure matches with the natural language command perfectly. It correctly identifies the action as "fly" and correctly includes the "altitude" parameter set to 500 and the "direction" set to "upwards". It also correctly assumes reasonable values for unspecified parameters such as "speed", "duration" etc.'] +Achieve a vertical position of 500 meters.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);['1; The command is requesting to adjust altitude, which may relate to the "fly" action in the JSON structure. However, there is no specific action for adjusting vertical position in the sample keys. The parameter for altitude, while present, does not exactly match the specific nature of the command asking to achieve a certain altitude position. Simply put, "altitude" in the JSON structures is mostly a part of other actions (like \'fly\' or \'hover\') not specifically for setting a certain altitude. Also, the specific altitude of 500 meters is not mentioned in any JSON structure.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; The JSON structure corresponds perfectly with the natural language command. The 'hover' action is correctly represented and the 'duration' parameter is correctly converted to seconds from minutes (600 seconds = 10 minutes). The unspecified 'altitude' parameter's value of 0 is reasonable within the context of the command, as the drone could already be hovering at a certain altitude when receiving the command to hover in place for 10 minutes."] +Stay stationary for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['3; The JSON structure partially conforms to the natural language command. The "hover" action and "duration" parameter match correctly, as does the conversion of 10 minutes to 600 seconds. However, the command does not specify that the drone should be at altitude 0, so the value of the "altitude" key does not fully conform. Additionally, the "unit_duration" key should be "seconds", not "minutes", to match the converted duration.'] +Remain suspended in the air for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure correctly identifies the "hover" action and represents the duration correctly as 600 seconds (10 minutes). However, the altitude is not specified in the natural language command, and the default value in the JSON of 0.0 meters might not be a reasonable value for a "hover" action.'] +Keep yourself hovering in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The command is mostly conforming with the JSON structure. The 'hover' action and 'duration' parameters match. However, the altitude is specified as 0.0 in the JSON, while the command does not specify an altitude."] +Maintain a fixed position in the air for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command mostly conforms to the JSON structure data. The "action" key matches with the value "hover". However, the altitude value is given as 0.0 which doesn\'t make logical sense in the context of hovering. The duration is correctly converted from minutes to seconds (600). The unit keys match correctly as well.'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The JSON structure accurately captures the action of rotation, angular velocity, angle, direction (clockwise), and unit specified in the natural language command.'] +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["5; Perfectly conforms. The natural language command perfectly matches with the given JSON information. The action 'rotate' is correctly identified, and the parameters such as 'angular_velocity', 'angle', 'is_clockwise', and 'unit' are also accurately recognized and converted into the respective keys in the JSON structure."] +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 500 meters at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; While the action \'fly\' exists in JSON ontology, and the parameter \'speed\' is correctly used with its corresponding unit \'km/h\', the command\'s request to fly \'forward for 500 meters\' does not match with anything in the JSON structure. The direction is set to "north" while it\'s not specified in the command and direction is not converted into distance in this context. The altitude and duration both default to 0, which does not accurately represent the command\'s request.'] +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command and the JSON structure share the same action ("fly"), but the parameters do not match well. In the command, it specifies flying a certain distance while maintaining a particular speed, but the JSON narrates about the speed and direction, with a duration of action also mentioned. The units of measurement used are also different. The command uses meters and km/h, while the JSON uses m/s and meters.'] +Move straight ahead at 50 km/h for a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 500,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure partially matches the command. The action key "fly" matches the command "move straight ahead" and there are elements for speed in the JSON as well. However, the direction in the JSON is fixed as "north" which doesn\'t conform to "straight ahead" in the command. In addition, the command refers to a distance of 500 meters, however, the JSON structure refers to a duration in seconds, not distance.'] +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure matches the natural language command to a large extent as it has the correct "action" which is "fly", and "direction" which is "forward". However, the "speed" in the natural language command is mentioned in "km/h" while in the JSON structure it is in "m/s". Moreover, the "duration" parameter is also present, which is not specified in the natural language command.'] +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Although the natural language command and the JSON structure do portray the same action of flying, the parameters do not match perfectly. In the natural language command, the drone is asked to travel for a distance of 500 meters but in the JSON the "duration" is denoted as 10 seconds. Also, an altitude of 0 is implicitly assumed in the JSON when it\'s not mentioned in the natural language command.'] +Descend to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The natural language command asks to descend to an altitude of 200 meters which exactly matches with the JSON structure where "action" is "fly" and "altitude" is 200. Other parameters such as speed and direction are not mentioned in the natural language command, so a value of 0 or empty string is acceptable.'] +Lower your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'];['3; While the command instructs to lower altitude, the JSON structure interprets it as navigation to a point with specified coordinates. However, the altitude value within the JSON structure does match with the command so partial conformity is established.'] +Decrease your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'];['2; The JSON structure provided does not match the natural language command satisfactorily. In the command, it is indicated to decrease the altitude to 200 meters, however, the JSON structure is for the "navigate_to_point" action and includes the altitude as part of a "coordinates" tuple rather than a standalone parameter. The appropriate action would presumably be "fly" with a decreased "altitude" value of 200. Furthermore, this action does not involve a change in geographical coordinates as suggested by the "navigate_to_point" action.'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'];['3; The JSON structure has the correct action and parameters, but the "navigate_to_point" action is not a perfect match for the action described in the natural language command (descend). The JSON structure might still achieve the correct result (reaching an altitude of 200 meters), but it may do so by navigating to the specified altitude rather than specifically descending as the command instructs.'] +Bring your altitude down to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'];['3; The action in the JSON structure is \'navigate_to_point\' while in the natural language command no specific action is mentioned, it can also be interpreted as \'fly\' with a specific altitude. However, the specified altitude in the command is correctly captured in the JSON, but this might not be the "navigate" action according to the keys of the sample ontology.'] +Hover in place for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The command "Hover in place for 2 minutes" matches perfectly with the provided JSON structure. The \'action\' key corresponds to "hover", and the \'params\' key includes \'duration\' which is correctly converted from 2 minutes to 120 seconds in the \'value\' key. The \'altitude\' is not specified in the command, but a value of 0.0 in the JSON structure is acceptable. Both \'unit_duration\' and \'unit_altitude\' conform to the expected units of "seconds" and "meters" respectively.', ''] +Stay still for a duration of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The command "Stay still for a duration of 2 minutes" closely matches the "hover" action in the JSON. The "duration" is correctly converted from 2 minutes to 120.0 seconds. There is no mention of altitude in the natural language command, so a value of 0.0 is acceptable. The units of "duration" and "altitude" have been correctly identified as "seconds" and "meters".'] +Remain stationary for a period of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Hold your position for a span of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command asks for the drone to "hold your position" which translates to the "hover" action in the provided JSON. The JSON correctly details a "duration" in seconds equivalent to "2 minutes". However, in the command, there is no specification for "altitude", despite this, the JSON includes a value for altitude "0.0" which could be a reasonable default altitude assuming the drone is already in the air. Consequently, due to this minor discrepancy, a full score is not given.'] +Do not move for a total of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The command "Do not move for a total of 2 minutes" corresponds exactly to the "hover" action in the JSON structure, as the drone is not moving. The duration given matches the 2 minutes, or 120 seconds, specified in the command. The altitude of hovering is not mentioned explicitly in the command, so the value of 0.0 in the JSON is considered reasonable.'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn to the left by 45 degrees at a rate of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command perfectly coincides with the JSON structure in terms of action, params and its keys such as angular_velocity, angle, is_clockwise and unit. The command requests a rotation to the left, which is accurately represented by "is_clockwise": false in the JSON.'] +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Spin counterclockwise by 45 degrees, moving 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command matches the JSON information perfectly since all necessary information (the rotation action, the angle, the direction (counterclockwise), and the rotational speed) is present and correctly translated into the JSON structure.'] +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 3 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The direction in the JSON structure is given as "forward" which does not match with the standard keys("north", "south", "east", "west"). Additionally, the command specifies a distance (3 kilometers) but this is not represented in the JSON at all. The speed and unit of speed are correct. The "altitude", "duration", "unit_altitude", and "unit_duration" are additions in the JSON structure that were not specified in the command but they are reasonable assumptions that only slightly strays from the natural language command.'] +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1000,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command described an action of moving ahead which matches with 'fly' action in JSON. However, there are a couple of inconsistencies: first, the direction is assumed to be 'north' which wasn't specified in the natural language command, and secondly, the duration value is completely arbitrary and does not match with the details in the command which asked for going a specified distance (3 kilometers) instead."] +Travel straight ahead for 3 kilometers at a rate of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 30,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure is partially correct. The action "fly" is correctly identified. However, the direction ("straight ahead") is not correctly converted. The duration does not align with natural language command since it\'s not mentioned in the command and the unit of speed provided in the JSON structure does not match with that in the command. The altitude parameter is mentioned in the JSON but it is not provided in the natural language command.'] +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 162,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command instructs to fly in a forward direction, which matches the "action": "fly" part of the JSON structure. The "params" also match the command, where the "speed" is 70, the "direction" is forward, the "unit_speed" is km/h, and the "duration" and "unit_duration" show the time the operation is supposed to last, calculated from the given speed and distance.'] +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The given JSON structure doesn't match with the natural language command well. In command, distance is mentioned while in JSON, duration is used instead of distance. There is no requirement of altitude and direction in command, but they are present in JSON. The unit of speed in command is km/h but in JSON it is m/s."] +Ascend to an altitude of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Reach a height of 800 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 800.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The JSON structure corresponds well to the command as it sets the altitude to the requested 800 meters and the action of hovering is correct. However, the duration value of 0.0 seconds is not quite in line with the command's implication, considering that reaching an altitude of 800 meters cannot be instantaneous."] +Climb to an elevation of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The natural language command asks for a change in elevation, which corresponds with the "altitude" parameter in the JSON structure. The specified altitude of 800 meters matches perfectly. The other parameters (such as speed, direction, duration, etc.) aren\'t mentioned in the command, but are given reasonable defaults in the JSON, which is acceptable as per the provided guidelines.'] +Increase your altitude to 800 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 800)"', ' }', ' }', '}'];['2; The command given is asking to increase the altitude, however the JSON action is "navigate_to_point" which is not the correct function to increase altitude. But, the parameter given for altitude (800 meters) is correctly placed within the JSON structure\'s coordinates value.'] +Go up to a height of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure correctly captures the "fly" action and the parameter for height (altitude). However, the direction \'up\' does not conform to the ontology where direction expected is a compass direction such as \'north\'. The speed and duration being set to zero might not be a realistic scenario as the drone cannot reach a certain altitude without any speed.'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure aligns with the natural language command for the action of hovering and the duration of 15 minutes(900 seconds as in JSON), however, in the original command, there is no information about the altitude while the JSON structure includes altitude value of 0.0.'] +Stay still for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The command wants the drone to hover for 15 minutes (or 900 seconds) but it does not specify an altitude, thus 'altitude' should not be included in the JSON. The JSON provided incorrectly assumes an altitude of 0.0 meters."] +Maintain a hovering position for the next 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command mostly matches with the JSON structure. The "hover" action is correctly identified. The duration as specified in the command is converted from minutes to seconds in the JSON structure. However, the altitude is assumed to be 50.0 meters in JSON structure which is not mentioned in the natural language command, so it\'s not a perfect match.'] +Remain in place without moving for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Partial Conform.', 'The action "hover" matches with the command "remain in place without moving". However, in the JSON, the altitude is given as 0.0 meters which does not exactly correspond to the command "remain in place without moving" as it\'s not specified at what altitude to hover. Moreover, the duration is correctly converted to \'seconds\' from \'minutes\', but it doesn\'t match with the ontology completely as the type of \'duration\' is given as \'float\' in the ontology whereas it is just a value in the JSON.'] +Suspend motion for a time period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command matches the JSON structure for the "hover" action, except for the unit of duration. The command specifies "minutes" while the JSON structure uses "seconds". However, the conversion to seconds is correct. The altitude in JSON is a blind guess and it is contradicted with the command that is requesting to stop moving.'] +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The JSON structure matches the command in terms of the action (rotate) and the parameters (angular_velocity, angle, is_clockwise, and unit). However, according to the ontology sample, the value of "angular_velocity" is 0.5, not 40.0 as represented in the given JSON. Although it was stated that any reasonable value is accepted if not specified in the natural language command, the angular_velocity was specifically mentioned in the command as 40 degrees per second. Therefore, the given JSON does not exactly conform to the command.'] +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches the given JSON structure. The "action" is "rotate", and the "params" all match, with "angular_velocity" set to 40.0, "angle" to 270, "is_clockwise" to true, and "unit" to "degrees".'] +Fly forward for 2.5 kilometers at a speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command specifies an action (fly), direction (forward), speed (55 km/h), and duration (needed to calculate the distance of 2.5 kilometers), which match perfectly with the corresponding keys in the JSON structure. The altitude is not specified in the natural language command, but a reasonable value of 0 is provided in the JSON structure.'] +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure seems to match the command but not completely. "Speed" is represented correctly. However, there is no information regarding the distance to be covered in the JSON and "duration" is not needed as per command. Therefore, some elements are conforming, but some are not.'] +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 2.5,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['4; Mostly conform. The JSON structure corresponds to the flying action, the speed parameter is correctly set to "55.0", and the direction value corresponds correctly to the forward direction. However, the duration seems to represent a distance in the natural language command, while in the JSON it does not specify its unit as being a distance. Additionally, the altitude is set to "0" in the JSON, but is not specified in the natural language command.', ''] +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure matches the command mainly, but the direction value in JSON structure is "forward" whereas in the command it\'s "straight ahead". The ontology doesn\'t specify if "forward" and "straight ahead" are equivalent. Also, the command specifies a distance (2.5 kilometers) but this isn\'t reflected in the JSON structure.'] +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0.13636363636363635,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['5; The JSON structure accurately captures the action of flying in the given direction (forward) at a specified speed (55 km/h) as per the natural language command. Though the NL command does not specify altitude and duration, the JSON assigns reasonable default values (0 meters and approx 0.136 hours to cover 2.5 km at the given speed) in the correct units. The JSON matches the command context and the keys in the sample ontology, hence the score is 5.'] +Descend to an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 300)"', ' }', ' }', '}'];['1; The JSON structure is not fully matching the command. The command "Descend to an altitude of 300 meters." suggests an action related to changing altitude, where in the JSON structure, the action is defined as "navigate_to_point". Moreover, the coordinate values are stated as "undetermined" which is not meaningful for an action requiring specific coordinates.'] +Lower yourself to a height of 300 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. The natural language command indicates an action of lowering to a specific altitude which should ideally be a part of action "navigate_to_point" with no change in coordinates besides altitude. The "fly" action in the provided JSON does not adequately capture this, lacking the specificity of reducing altitude. Further, the speed in the JSON is 0, which means the command cannot be completed while the natural command implies a movement (lowering the altitude).'] +Reduce your altitude to 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 300)"', ' }', ' }', '}'];['1; The natural language command instructs to reduce the altitude, however, the JSON structure reflects the action to navigate to a point with a specified altitude. The "action" and "params" do not match with the natural language command.'] +Move down to a height of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 300)"', ' }', ' }', '}'];['3; The natural language command is about changing the altitude (height), while the JSON command is about navigating to a specific point. The "action" does not match perfectly, however, the parameter "altitude" does match with the command. The score is not lower because the natural language command could be interpreted as moving to a specific point, where the specific point is at a certain height.'] +Descend until you reach an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 300)"', ' }', ' }', '}'];["1; The natural language command is talking about changing the altitude, however, the corresponding JSON is indicating navigation to a point where the value of the altitude is 300 which doesn't fully comply with the command. Also, the latitude and longitude are not mentioned in the command which makes the JSON structure misleading."] +Hover in place for 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; While the action 'hover' and the parameter 'duration' matches, the value for 'duration' has been converted from minutes to seconds correctly; the 'altitude' parameter doesn't match completely because the JSON structure suggests that the object should hover in place at 0.0 meters while the natural command doesn't specify an altitude."] +Stay still for a duration of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command "Stay still for a duration of 8 minutes" partially conforms to the provided JSON structure. The "action": "hover" is correctly interpreted, and the duration in seconds is calculated correctly from the given 8 minutes (480 seconds), however, the altitude value in the JSON object is 0 which wasn\'t specified in the natural language command. So, it\'s not a perfect match.'] +Maintain a stationary position for a period of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The JSON structure partially matches the command. The action "hover" and the duration of 480 seconds (which is 8 minutes) are correct. However, the command does not specify an altitude, and in the JSON structure, the altitude is set to 0.0, which is not a reasonable default for the action "hover".'] +Suspend movement and remain in one spot for 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Partially conform. The command clearly specifies an action ("hover") and a duration, both of which align with the keys in the JSON. However, in the JSON for the "hover" action, altitude cannot be defaulted to a value of 0 as a hover action usually takes place at a certain altitude which is not explicitly mentioned in the command.'] +Keep hovering without moving for a total of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command mostly conforms to the structure given. It correctly identifies the action as "hover" and also recognizes the "duration" as 480 seconds (8 minutes). However, the command doesn\'t specify altitude and the JSON structure filled it in as 0 meters, which may not be the implied command from the user as hover action generally implies some sort of height above the ground.'] +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left at a rate of 25 degrees per second for 120 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": -25.0,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; The JSON structure mostly aligns with the command. It accurately represents rotation, counter-clockwise direction, and degree measure. However, the command specifies a speed of 25 degrees per second, whereas the JSON structure indicates an angular velocity of -25. These are not equivalent, as the angular velocity should not be a negative number.'] +Fly forward for 4 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": null,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": null,', ' "unit_speed": "km/h",', ' "unit_altitude": null,', ' "unit_duration": null', ' }', '}'];['3; The provided JSON structure along with the natural language command contains most of the keys. However, the command indicates the drone to fly forward for 4 kilometers, but the JSON structure does not include any parameter to specify this distance.'] +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The given natural language command doesn\'t match exactly with the JSON structure. The natural language command indicates a direction of "ahead", which is equivalent to "forward"; however, the JSON structure uses the term "north" instead. Additionally, the natural language command specifies a distance of "4 kilometers", which is not accounted for in the JSON structure. The JSON structure uses "duration" instead of distance and the calculated duration of 180 seconds does not conform with moving with a speed of 80 km/h for a distance of 4 kilometers. Therefore, the natural language command and the JSON structure do not fully conform.'] +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 1800,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure correlates to the "fly" action but not all parameters are conforming. Distance traveled (4 km) isn\'t included as a key in the JSON, and some parameters such as altitude and duration are not specified in the command but have arbitrary values in the JSON.'] +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.2,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure represents the "fly" action and includes a direction, speed and duration parameters that align with the given command. However, the specific direction value "forward" does not match with "north" in the sample JSON, and the speed value 22.2 is not exactly equivalent to the command\'s 80 km/h. The duration value 10 and altitude 100 are arbitrary and not mentioned in the command. It also lacks information on distance which was mentioned in the command.'] +Travel at 80 km/h in a straight path for 4 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 17.77777777777778,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The example "Travel at 80 km/h in a straight path for 4 kilometers" matches the structure and keys of the given JSON template for "fly" action, but the duration is calculated and the direction is assumed as "north". The speed unit in the natural language command is not matching the speed unit in the JSON structure.'] +Ascend to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command partially conforms to the JSON structure. While the "altitude" is correctly identified, the command does not specify a "speed", "direction" or "duration" as suggested by the JSON structure. The parameters "speed" and "duration" have been assigned a value of 0 and "direction" has been assigned an empty string which is a reasonably valid value not specified by the natural language command.'] +Increase your altitude to 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Although the natural language command matches the JSON structure, certain parameters were added arbitrarily in the JSON that were not specified in the command, such as speed, duration and direction. However, the "altitude" is correctly matched and it conforms with the keys of the sample ontology.'] +Reach a height of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3.5; The 'action' and 'altitude' parameters match with the natural language command. However, the other parameters such as 'speed', 'direction', 'duration', 'unit_speed', 'unit_duration' specified in the JSON doesn't conform with the natural language command."] +Climb up to an elevation of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure matches the natural language command fairly well, however, the command "Climb up to an elevation of 1000 meters" doesn\'t specify the speed or duration for the climb, making it less exact. But since these parameters are not specifically required from the command, the allocation of any reasonable value is acceptable.'] +Scale up to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command closely aligns with the JSON structure, with "altitude" being 1000 and "unit_altitude" "meters", which matches \'scale up to an altitude of 1000 meters.\' However, the NL command did not provide values for "speed", "direction", and "duration". The JSON structure provides these values, but without direction from the NL command, it’s not completely aligned. Hence, it\'s not a perfect match.'] +Hover in place for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; Partial match. The command asks for a hover action, which is correctly identified in the JSON. However, the "duration" value is mistaken. The natural language command specifies 20 minutes but the JSON converted this to 1200 seconds. While this is the correct value, the "unit_duration" in the JSON should be updated to match the natural language command (should be "minutes" rather than "seconds"). The altitude in the natural language command is not specified so the JSON value for altitude is reasonably set as 0.0.'] +Remain suspended in one spot for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; Though the action mentioned in the command matches with the JSON structure, however the duration provided in seconds does not match with the minute's value provided in the command. There is also no mention of the altitude in the command while there is an altitude in the JSON structure, though it is a permissible variation as the parameter's value was not specified in the natural command."] +Stay airborne without moving for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; The action and unit_duration are correct, but the duration value and unit_altitude do not match the command. The duration should be 20 and in minutes, not 1200 in seconds, and it's not stated that the altitude should be 0 in meters."] +Keep stationary in mid-air for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The action and the duration in the JSON conform to the natural language command, but the command did not specify altitude, and the JSON assigned it a value of 0 which doesn't make sense for the 'hover' action."] +Suspend motion and hover in the same position for a duration of 20 minutes.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);['2; The natural language command refers to a hover action. However, the duration specified in the command is not compatible with the duration described in the sample JSON structure (20 minutes vs seconds). The units of measurement should match, causing the score to be lower than full conformity.'] +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["5; The natural language command perfectly matches with the given JSON structure as all parameters specified in the command ('rotate', 'angular_velocity': 50.0, 'angle': 360, 'is_clockwise': true) are correctly represented in the JSON."] +Fly forward for 2.7 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The natural language command "Fly forward for 2.7 kilometers at a speed of 60 km/h" is accurately represented in JSON form. The action type "fly" is correctly mapped, and parameters like "speed" and "direction" are specified correctly, even if units are in "km/h". The distance to be covered is not directly represented. However, it can be inferred through speed and time, which may or may not be present. As distance is not a direct parameter in JSON it\'s still a perfect match.'] +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 162,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; The command indicates that the drone should fly forward, which fits with the 'fly' action in the JSON. But the direction in the JSON should be 'straight' not 'forward'. The speed matches but distance is not a parameter in the fly action, so the conversion of distance to duration (distance/speed) can be seen as a creative interpretation but it's not strictly conforming to the ontology. Altitude is not mentioned in the command, but zero is a valid assumption. Finally, the unit of the speed in the command is 'km/h', not 'm/s' as in the JSON."] +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 27,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['3; The JSON structure is mostly correct, action "fly" and some key parameters like "speed" and "unit_speed" match with the natural language command. However, the direction is mentioned as "north" while the command doesn\'t state any direction and also the units for speed are given as \'m/s\' in JSON while in command it is \'km/h\'.'] +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 27,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command suggests going forward for a specified distance at a certain speed, which corresponds to the 'fly' action in the sample ontology. However, there are major inconsistencies between the command and the JSON structure. While the command specifies a distance, the JSON structure does not mention this and instead uses a duration. Also, the units of the speed in the command (km/h) and the JSON (m/s) do not match, and the direction is not specified in the command but is stated in the JSON structure."] +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.27,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['3; The JSON structure mostly conforms to the natural language command with the "action" correctly identified as "fly" and the "speed" correctly set at 60.0 with "unit_speed" as "km/h". However, the command does not specify the "altitude", "direction", and "duration" which in the JSON are given as 0, "north", and 0.27 respectively. Moreover, the command refers to a distance to be covered while the JSON structure does not provide any distance parameter.', ''] +Descend to an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude, 400)"', ' }', ' }', '}'];['3; The natural language command instructs to descend to an altitude of 400 meters. While the provided JSON does indicate a change in altitude, it misinterprets the action as navigation instead of descending. Furthermore, there\'s no "descend" action in the JSON structure it\'s not directly matching but it\'s clear that it features changing of altitude.'] +Reduce your altitude to 400 meters.,['{', ' "action": "fly", ', ' "params": {', ' "speed": 10.5, ', ' "altitude": 400, ', ' "direction": {', ' "type": "str", ', ' "value": "north"', ' }, ', ' "duration": 10, ', ' "unit_speed": "m/s", ', ' "unit_altitude": "meters", ', ' "unit_duration": "seconds"', ' }', '}'];['3; The "action" key matches as "fly" could imply reducing altitude, however, the "direction", "speed", and "duration" specified in the JSON command do not pertain to the natural language command. The natural language command only specifies an "altitude" change, but not "direction", "speed" or "duration".'] +Move down until you are at an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 400)"', ' }', ' }', '}'];['3; The action in the JSON structure correctly corresponds to "navigate_to_point" as indicated by the command. However, the command doesn\'t specify latitude and longitude values but these are present in the JSON structure. Furthermore, the command asks to move to an altitude of 400, but the altitude mentioned in the JSON structure is not specified. The match is partial, so the score is 3.'] +Descend until you reach a height of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, -400)"', ' }', ' }', '}'];['2; The JSON structure does not correspond accurately to the given command. The action provided in the JSON is "navigate_to_point" whereas the command suggests an action more similar to lowering altitude or descending. The coordinates used in the JSON structure, though including the accurate altitude, do not specify the other necessary parameters such as latitude and longitude.'] +Lower your altitude to 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 400)"', ' }', ' }', '}'];['1; The natural language command suggests a change in altitude, however, the JSON structure corresponds to the "navigate_to_point" action which contains coordinate values not an altitude change per se. The JSON structure doesn\'t match well with the provided natural language command.'] +Hover in place for 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure reasonably depicts the command "Hover in place for 12 minutes", using the action "hover" and specifying a duration of 720. However, the unit of duration is incorrectly specified as "minutes" in the JSON structure, whereas the duration was converted to seconds correctly. The altitude is also specified in the JSON structure while it is not mentioned in the natural language command, but this is an acceptable addition since hovering implies a certain height above the ground.'] +Stay in one spot for a duration of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command is correctly identified to the action "hover". However, the altitude parameter is set to 0.0 meters in the JSON whereas no altitude info provided in the command. Fixing this discrepancy could achieve full conformity.'] +Remain stationary for a period of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The JSON provided is partially consistent with the natural language command. However, the given altitude value in the JSON structure is 0, which does not make sense with the command to remain stationary or hover, since it suggests a some altitude.'] +Keep still for 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure mostly conforms to the natural language command. The action "hover" matches with the command "Keep still". The duration parameter in the JSON also matches with "12 minutes" in the command. However, the value of duration in the JSON is 720.0 seconds (equivalent to 12 minutes) while the value in the command is in minutes. Additionally, the natural language command makes no mention of altitude, but the JSON includes a default 0.0. Finally, the command doesn\'t specify unit of duration or altitude, but the JSON has them as "seconds" and "meters", which is reasonable.'] +Do not move for a total of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command matches with the \'hover\' action type in JSON. The duration is correctly converted to 720 seconds from 12 minutes. However, the value of \'0.0\' for altitude does not align with the command "Do not move" as it doesn\'t specify any information about altitude.'] +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command matches exactly with the provided JSON structure. The action is "rotate" and all necessary parameters ("angular_velocity", "angle", "is_clockwise", and "unit") are correctly provided and match the command.'] +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure in terms of action, parameters, and their respective values.'] +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4.5; The action and the values match perfectly, but the unit for "angular_velocity" in the JSON structure is not specified, making it incompletely conform. according to the sample ontology.'] +Fly forward for 5 kilometers at a speed of 90 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 90,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure largely matches the natural language command. The "action" is correctly identified as "fly", and the "speed" and "direction" parameters are correctly filled. However, the duration value doesn\'t seem to match with the natural language command which doesn\'t specify any duration for flight. Also, the altitude value and its unit do not entirely correspond with the command as no specific altitude was mentioned in it.'] +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 90.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches the command. The action ("fly") and speed match but the direction is inferred and not directly stated in the command. There\'s no mention of altitude in the command yet it\'s in the JSON. The duration computation in the JSON doesn\'t match the command as it calls for a specific distance not time duration.'] +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 90.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure mostly follows the sample ontology keys, however, there are some mismatches. The natural language command specifies "travel in a straight line", the equivalent of this in the given JSON information seems to be missing. The JSON version shows "direction": {"type": "str", "value": "straight"}, however, in the sample ontology, the value for direction is "north". Furthermore, the "distance" mentioned in the command is not directly represented in the JSON. Despite these mismatches, the command and JSON does execute the same general idea of \'fly\' action with given speed.'] +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 90.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 33.3,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['2; While the JSON structure partly matches the commands, some keys provided in the command have incorrect values in the JSON. For instance, the duration should be 3.33 hours (not 33 minutes) if we calculate it from speed and distance, and the unit of speed should be "km/h" not "m/s". Also, the altitude is not mentioned in the command but is stated as 0 in JSON.'] +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; Although the 'fly' action conforms, the values and units in the JSON such as speed, duration and direction, do not match with the natural language command."] +Ascend to an altitude of 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON object describes flying action not ascending, although the parameters partially matches in terms of altitude and unit_altitude. The direction and speed are also being instantiated, which aren't mentioned in the command."] +Increase your elevation to 1200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 1200)"', ' }', ' }', '}'];['0; The natural language command refers to changing an altitude but the JSON structure represents navigation to a coordinate point. The action does not match up.'] +Climb to a height of 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4.5; The command matches the "fly" action in the JSON. The parameters also align well, specifically the "altitude" parameter. However, the JSON includes "speed", "direction" and "duration" parameters which were not specified in the command, thus slightly reducing the match score.'] +Reach an altitude of 1200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1200)"', ' }', ' }', '}'];['5; Exactly conform. The command exactly matches the JSON structure: the action is "navigate_to_point" and the coordinates have been correctly identified as a "tuple", with the altitude correctly set to 1200.'] +Move upwards to a position of 1200 meters above ground level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 1200)"', ' }', ' }', '}'];['4; While the value of "action" correctly matches with "navigate_to_point", and the altitude is correctly placed in the "coordinates" parameters, the type should be "float" and not "tuple" since only the altitude value is provided.'] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure correctly maps to the action "hover" in the command. The duration value is correctly converted from 25 minutes to 1500 seconds. However, the altitude value and its unit in the JSON structure are not mentioned in the natural language command, hence not exactly conforming.'] +Stay still for a duration of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Maintain a hovering position for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The command and the JSON structure don\'t completely match. The "hover" action is appropriately identified but there are discrepancies in the parameters. The command implies a specified duration ("25 minutes") which hasn\'t been represented accurately in the JSON structure ("1500 seconds" should be "1500 minutes" or "90000 seconds"). Also, the command does not specify an altitude hence the "altitude" parameter in the JSON should preferably be absent or a default value can be present, but it should not be 0 as in the provided JSON.'] +Remain in place without moving for a period of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; Exactly conform. The command calls for the drone to hover, which is precisely what the action in the JSON structure is caused to do. The duration (1500 seconds which is 25 minutes) is defined, as well as the altitude (0, meaning no movement). The unit of duration and altitude are also specified as seconds and meters respectively, accurately reflecting the command's sentiment."] +Hold your position in mid-air for a total of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure is largely conforming to the natural language command. The action to "hover" is accurately portrayed in the JSON and the duration is correctly translated into seconds. However, the altitude value is given as 0.0, which contradicts the concept of holding a position in mid-air. The altitude value should have been a reasonable non-zero number.'] +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55.0,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55.0,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55.0,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 3.2 kilometers at a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 300,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; All the keys utilized are in the ontology, i.e., action is "fly", speed, direction, unit_speed all exist. However, the ontology has an altitude key and it\'s not moved to the JSON structure. The duration is incorrect, the duration to fly 3.2 kilometers at a speed of 65 km/h is not 300 seconds. We have an error in calculating duration. The conversion of direction to "forward" is not according to the ontology (which expects directions like "north", "south", "east", "west"). Thus, a point is subtracted for each error.'] +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action "fly" is used correctly in JSON format. The speed is correctly specified as 65. However, the unit of speed in the command is indicated as "kilometers per hour" while in the JSON it is specified as "km/h". Altitude and duration values are not specified in the command but these are present in the JSON and have been assigned default values. The "direction" key is not specified in the command but is included in the JSON with the value "north". This might not correspond to the intention of the command to "move ahead". The command also includes a distance of 3.2 kilometers, which does not have a corresponding key in the JSON. It also should be noted that while the command refers to moving a "distance" -- which would be more aligned with the action "navigate_to_point" -- the JSON uses the action "fly".'] +Proceed straight for 3.2 kilometers at a pace of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The overall action matches as the "fly" action is correctly identified. However, the direction value is "straight" instead of cardinal directions like north, east, south, or west. Also, "duration" doesn\'t match the natural language command as it should be around 177 seconds (considering the distance and speed), not 0. The "altitude" is given as 0, but there is no mention of it in the natural language command.'] +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure almost perfectly matches the natural language command. The action, speed, and direction are all correct. However, the natural language command does not specify altitude and duration, and while the JSON includes reasonable values, the absence of these in the command lowers the conformity score slightly. Also, the unit of speed in JSON is in "km/h" but the ontology expects it in "m/s".'] +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; Mostly conform. The direction value is represented as 'forward' instead of a cardinal direction (like 'north', 'south', etc.) as per the given sample keys. The duration value is given as 0, which does not match the natural language command that implies a certain duration to travel 3.2 kilometers at a speed of 65 km/h. However, the rest of the parameters are matching correctly."] +Descend to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON structure represents an action of 'fly', however the natural language command states to descend. While the altitude value in the JSON command matches the required altitude in the natural language command, the overall action does not match and hence the low score."] +Lower your altitude to 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The "action" is correctly identified as "fly" and the "altitude" is correctly set to 500 with the correct "unit_altitude" of "meters." However, given the natural language command, the drone wouldn\'t necessarily need to move in any particular direction or at any particular speed as the JSON states. The drone just needs to adjust its altitude. This should ideally be a separate "action" such as "adjust_altitude" rather than "fly". The "duration", "speed", and "direction" parameters are also not needed nor are they mentioned in the command, hence they\'re irrelevant in this case.'] +Decrease your altitude to 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 500)"', ' }', ' }', '}'];['3; Partially conform. The action of decreasing altitude in the natural command corresponds to a change in altitude value which is present in the JSON structure. However, the action type "navigate_to_point" is not completely accurate as the command does not specify a point to navigate to. Instead, it just changes the altitude in the current location.'] +Descend until you reach an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 500)"', ' }', ' }', '}'];["2; The 'action' in the JSON structure is 'navigate_to_point', which doesn't match with the action 'descend' in the natural language command. However, the parameter 'altitude' is correctly extracted as 500. The 'coordinates' in the JSON are partially correct as the altitude is specified but the latitude and longitude are missing as they were not specified in the natural language command."] +Bring yourself down to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command specifies an action of flying to a certain altitude, which is correctly represented in the JSON structure. All necessary parameters are included, such as altitude, speed with a value of 0.0 which refers to maintaining a position, and the units used.'] +Hover in place for 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The JSON structure corresponds to the "hover" action, which is accurately represented in the natural language command. The duration of hovering is correctly translated from 18 minutes to 1080 seconds in the JSON, and even though the altitude in the command is not specified, the JSON value of 0.0 meters is reasonable.'] +Maintain a stationary hover for a duration of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Mostly conform. The natural language command aligns with the "hover" action of the JSON structure. The JSON correctly provides a "duration" param with a value converted from minutes to seconds (18*60=1080s). However, although it\'s reasonable to deduce that the drone stays put at the current altitude when maintaining a hover, the value for the "altitude" parameter is given as \'0\' in JSON which doesn\'t match with an implicit current altitude in the command.'] +Stay in one position for a period of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 18.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['3; The action "hover" matches but the "unit_duration" should be "seconds" not "minutes" according to the sample ontology. Also, the altitude is specified as 0.0 in the JSON while not specified in the natural language command; this would not result in a valid hover action.'] +Remain suspended in the air for a total of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The command "Remain suspended in the air for a total of 18 minutes" approximately matches with the given JSON structure for the action "hover", however, the duration given in the JSON structure is 1080 seconds which is equivalent to 18 minutes. Furthermore, the command does not specify the altitude, whereas the JSON structure includes an altitude of 0.0 meters, which is not a reasonable altitude for hovering. The altitude should be a non-zero value for hovering.'] +Do not move and stay at the same spot for the next 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action of "hover" and "unit_duration" are correctly represented in the JSON. The duration value has been converted from minutes to seconds, which is correct. However, the altitude provided in the JSON doesn\'t match what\'s implied in the natural language command. The command does not specify an altitude, so a default value might be inferred - but zero is not a reasonable default for a hovering object.'] +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": -45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 6 kilometers at a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['5; All the parameters in the natural language command match perfectly with the values presented in the JSON information; action as "fly", direction as "forward", speed as 100, unit of speed as "km/h", duration calculated for going 6 kilometers at 100km/h speed as 36 minutes, unit of duration as "minutes" and unit of altitude as "meters". The altitude is set to 0 which is a reasonable assumption if not specified in the command.'] +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];["1; The natural language command asks for a linear move ahead for a distance while the JSON structure describes a flight action with given parameters such as speed, altitude, direction, duration, etc. However, the unit of speed in the JSON is in km/h which matches with the command. The distance should be converted to duration. The direction is not provided in the natural language command, but it is present in the JSON. The altitude is not given in the command, so it's incorrect to set it to 0 in the JSON."] +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 27.8,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['2; The JSON structure somewhat matches the natural language command. The "fly" action and "speed" parameter are correctly interpreted—note the conversion from km/h to m/s. However, the "direction" parameter value is inconsistent—the command specifies flying "straight," but this doesn\'t indicate a cardinal direction like "north" in JSON. The "altitude" and "duration" values in JSON are not mentioned in the command. The unit_duration should be "seconds", not "hours".'] +Move forward for 6 kilometers while flying at a velocity of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['4; The JSON structure has most of the parameters correct such as the action and the speed. However, the direction is not specified in the natural language command but is given in the JSON. Also, the altitude in the JSON is set to 0 which might not make sense for the "fly" action. Lastly, the duration is not specified in the natural language command but is given in the JSON.'] +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "distance": 6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "unit_distance": "kilometers"', ' }', '}'];['2; The natural language command specifies the action "fly" and includes parameters for speed, direction, and distance. However, the JSON structure doesn\'t perfectly match the sample ontology. The parameters "altitude" and "duration" are specified as 0 which is not mentioned in the command. The command mentions "unit_speed" as "km/h\' whereas in the sample ontology it\'s mentioned as "m/s" and The parameter "distance" is not present in the sample ontology.'] +Ascend to an altitude of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Climb to a height of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure correctly denotes the action of flying to a certain altitude. However, the direction value "north" should not be included as it is not specified in the command'] +Reach an elevation of 1400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1400)"', ' }', ' }', '}'];['4; The natural language command is generally matched by the JSON structure, specifically the action "navigate_to_point" with an altitude parameter of 1400 in the "coordinates" value. However, the latitude and longitude coordinates aren\'t given in the command but they appear in the JSON structure, that\'s why the score cannot be 5.'] +Scale to a height of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The command partially matches with the JSON structure. The action "fly" and the parameter "altitude" with a value of 1400 are used correctly according to the ontology. The parameters "speed", "direction", and "duration" are not required for the given command but they are present in the JSON structure. Also, the provided speed and duration values are 0, which might not be a reasonable value in this context.'] +Go up to an altitude of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0, ', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The "hover" action matches, and "duration" is correctly converted from 30 minutes to 1800 seconds. However, although any reasonable value for "altitude" is accepted, a value of 0.0 meters suggests the drone is on the ground, which generally does not correspond to a "hover" action. Therefore, the "altitude" parameter does not fully conform.'] +Stay suspended in one spot for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Mostly conform. The overall action ("hover") and the duration value and unit are correct, which implies stop/hover for 30 mins as specified in the natural language command. However, the command doesn\'t specify the altitude and it\'s assumed as 0 in JSON, while it could have been any reasonable value. Therefore, missing this specific parameter detail causes it not to be exactly conforming.'] +Maintain a stationary position for the next half-hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The command aligns with the 'hover' action in the sample keys. The duration is correctly specified in seconds. However, the altitude is not specified in the command, but a value of '0.0' is provided in the JSON, which is acceptable but not explicitly mentioned in the command."] +Remain hovering without moving for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command is correctly translated into the "hover" action, with a duration value corresponding to 30 minutes (translated to seconds). However, the altitude value is set to 0 in the JSON, while the natural language command does not specify an altitude. As such, the value isn\'t incorrect, but it doesn\'t fully convey the exact command.'] +Suspend yourself in the air for the next 30 minutes without any movement.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The natural language command matches very closely with the JSON code. It correctly identifies the action to be taken, which is to hover, and specifies the duration for which this action is to be performed. The altitude of the drone is not specified in the command, but any reasonable value in the JSON code is accepted, so the value of 0.0 for altitude is acceptable.'] +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command clearly instructs to perform a clockwise rotation, which matches with the "action" key\'s value in the JSON. The specific parameters for the rotation such as the "angular_velocity" of rotating and that the angle of rotation is "540" degrees are mentioned explicitly in the command and are represented correctly in the JSON. The "unit" attribute is also correctly set to "degrees" in the JSON conforming to the command.'] +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 3.7 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3.7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['4; The natural language command and the JSON structure almost match. But in the JSON, the unit of duration is represented as "hours", whereas the unit of duration in the natural language command should be considered as "kilometers". So, there is a bit of discrepancy between natural language command and the derived JSON structure which causes the conformity score to decrease to 4 out of 5.'] +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 31.714285714285715,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command and the JSON structure somewhat match, however, there are discrepancies. The command refers to a specific distance (3.7 kilometers) to be covered, which is not represented in the JSON structure. The speed unit in the command is km/h, while in the JSON it\'s mentioned as m/s. The command doesn\'t specify any direction but in the JSON north is mentioned, which is not correct. Moreover, there is no such key such as "duration" or any unit "unit_duration" present in the sample keys representing how long to fly which is inaccurately represented in the JSON.'] +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3.7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['3; The command mostly conforms to the JSON structure. The action "fly" and parameters "speed", "altitude", "direction", and "duration" are correctly represented according to the ontology. However, there are discrepancies in the units provided. The natural language command specifies speed in "km/h", while the JSON structure lists it as "m/s". Also, the duration is given in kilometers, which doesn\'t conform with any unit measure from the ontology which expects a time unit. Furthermore, the direction "forward" is not equivalent to "north", but it is theoretically plausible and the JSON does not specify a specific set of directions, so it is accepted.'] +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches the natural language command. It has correct "action" value as "fly" and "speed" in correct units as "70.0" km/h. However, it lacks the distance parameter to denote the "span of 3.7 kilometers" mentioned in the command. The "altitude" and "duration" parameters in JSON are set to "0" which doesn\'t align with the command. Also, the "direction" is set to "north" which is not specified in the command.'] +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": null,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command is partially matched with the JSON structure. ', 'The "action" is correctly described as "fly", and the speed parameter posting a speed of 70 km/h which is also correct. However, the "direction" in the JSON structure is "forward", which isn\'t ideal compared to the suggested "north", "south", "east", or "west" from the sample ontology. Additionally, while the natural language command states to move forward for a certain distance, the JSON does not specify a distance parameter, instead it uses duration in seconds which was not provided in the command. Therefore, the match is only partial.'] +Descend to an altitude of 600 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command asks for a change in altitude, which is present in the JSON structure and correctly set at 600. However, the command does not specify any direction or speed, and while zero is a reasonable value for speed in the context of descending, it would be more appropriate for the direction to be omitted altogether or to be set as a null value.'] +Reduce your altitude to 600 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command corresponds to the "fly" action in the JSON structures, and the parameter of "altitude" in the command matches with the "altitude" key in the JSON structure. However, it\'s not clear if the drone is supposed to reduce its altitude by hovering or flying downwards - this information is not specified in the command, leading to ambiguity. Therefore, the JSON is not fully conform to the command.'] +Move down to an altitude of 600 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 600)"', ' }', ' }', '}'];['4; Most of the command corresponds with the JSON structure. The action "navigate_to_point" and the parameter "coordinates" with altitude matches, however, the command specifies only the altitude to navigate to but not the latitude and longitude, so the values of latitude and longitude in the JSON are not specified in the command.'] +Decrease your altitude until you reach 600 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 600)"', ' }', ' }', '}'];['2; The action in the natural language command is related to changing the altitude, however it doesn\'t perfectly align with the provided JSON structure. There\'s no specific action for changing altitude, and "navigate_to_point" usually refers to moving to a specific location, not just changing altitude. The command does not refer to a specific location, but rather to a change in altitude, so using the "navigate_to_point" action is a stretch. Furthermore, the "coordinates" in the JSON structure includes latitude and longitude which are not mentioned in the natural language command.'] +Descend until you are at 600 meters altitude.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, -600)"', ' }', ' }', '}'];['0; The natural language command refers to descending until a certain altitude is reached, however the JSON information implies navigation to a point without any reference to changing the altitude or descending. Furthermore, the coordinates in the JSON structure are labeled as undetermined and do not match with the "600 meters altitude" in the natural language command.'] +Hover in place for 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 22.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['4; Mostly conform. The command "Hover in place for 22 minutes." converts well into the given JSON structure with "action" set to "hover" and "duration" set to 22.0. However, the default value of "altitude" is unspecified in the command. The JSON structure assigns it a value of 0.0 meters which might not be always reasonable in a real-world drone operation. The "duration" unit is given correctly as "minutes" in the JSON structure.'] +Stay still for a duration of 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; Partially conform. The command is to hover which match with the 'action' in JSON. The duration is properly converted to seconds from minutes. However, altitude value is zero which does not actually meet 'stay still', as staying still doesn't necessarily mean at zero altitude."] +Hold your position for a period of 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The command to "Hold your position for a period of 22 minutes" matches perfectly with the "hover" action in the JSON structure. The duration parameter is provided in the command and correctly converted to seconds, matching the specification in the JSON structure. The lack of altitude in the command is acceptable as any reasonable value is allowed when a parameter\'s value is not specified in the natural language command.'] +Remain stationary for 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command generally aligns with the JSON function for a "hover" action. However, the provided duration in the command ("22 minutes") does not accurately match the JSON structure\'s unit (which is written in seconds as "1320.0"), although the conversion is correct. Also, the altitude in the command is not specified, but a value of 0 has been given in the JSON, which may not be the intended altitude.'] +Do not move for the next 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command "Do not move for the next 22 minutes" matches fairly well with the hover action as there is no movement, but it does not specify the altitude at which to hover, which is a necessary parameter. In the JSON, the duration is correctly translated into seconds and specificity with unit_duration is conforming with the sample keys but the altitude value and unit_altitude are not explicitly stated in the command but guessed in the JSON.'] +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left by 210 degrees with a rotational velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; While the JSON structure presents an action of flying which conforms to part of the natural language command, however, it does not match entirely. Furthermore, "take a nap" is not an action catered to in the sample ontology provided.'] +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];["2; The JSON structure partially matches the natural language command. The command says to 'proceed ahead', which corresponds to the 'fly' action in the JSON structure. Speed is also correctly defined as 110. However, the unit of speed is given as 'km/h' in the JSON while the ontology only provides for 'm/s'. Similarly, the unit of duration is given as 'hours' in the JSON but the ontology only specifies 'seconds'. Moreover, the command speaks of a 'distance', but the JSON structure uses 'duration', which isn't exactly equivalent- typically, 'duration' refers to time, not distance. Finally, the altitude parameter doesn't match the command language- there's no mention of altitude in the command. Therefore, the JSON doesn't entirely match the natural language command's intent."] +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.5556,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.23076923076923078,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; The JSON structure captures the action 'fly' correctly. However, the direction of 'north' is not specified in the natural language command but is inferred in JSON structure which is not quite correct. Duration is interpreted wrongly as well; in the command, it refers to distance not time. The conversion of speed from km/h to m/s is correct. The command to 'relax' does not correlate with any actions in the JSON."] +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The command specifies an action to "fly" with a certain "speed" and "direction", which are accurately reflected in the JSON structure. However, the JSON structure lacks detail about the "distance" and "period of rest", and there is inconsistency in units of speed ("m/s" in JSON vs "km/h" in the command).'] +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; There is a partial match between the natural language command and the JSON structure. However, there are issues with the JSON. The direction is mentioned as "north" but the command instructs to go "straight ahead" which is relative, not the absolute "north". Also, the duration value given is in terms of distance ("7 kilometers") rather than "seconds". The correct unit should be in distance as per the command and not in seconds. The units of speed are correctly matched but altitude is not mentioned in the command so a default altitude isn\'t acceptable.'] +Ascend to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; While the action and the required altitude parameter conform to the natural language command, the JSON structure includes parameters that were not included in the command (such as speed, duration, direction), and due to this excess information, the JSON structure is not a complete match to the command.'] +Increase your elevation to 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 500)"', ' }', ' }', '}'];['2; The natural language command is about changing the altitude/elevation (possibly part of the "fly" action considering the sample keys) rather than navigating to a point. The JSON structure, however, corresponds to the "navigate_to_point" action where the altitude value is given but actual coordinates are missing. The matching is loosely related but doesn\'t fully conform.'] +Climb up to a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The command asks to climb to a height of 500 meters which appropriately matches the provided JSON schema which states an action of flying to a certain altitude however, the direction value in the JSON specification is arbitrary and not requested in the command and should be omitted. Also, the climbing or flying action doesn't necessarily need to have a duration, so a value of 0 for the duration key isn't suitable."] +Reach an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure matches the command with an action of "fly" and an altitude of 500 meters. Although there are other parameters included in the JSON that were not specified in the command, such as speed, direction, and duration, they have been set to default values of 0 or empty string, which is acceptable as their values weren\'t specified in the command. However, flying at a speed of 0.0 might not be considered a reasonable value, hence the score is 4 instead of 5.'] +Move upward to a height of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 500)"', ' }', ' }', '}'];['4; The provided JSON structure conforms to the "navigate_to_point" action, additionally, altitude is correctly mentioned. However, moving "upward" does not necessarily indicate navigation to a specific set of coordinates.'] +Fly forward for 10 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; While the action "fly" matches and most of the parameters ("speed", "direction", "unit_speed") are correctly assigned, there are some inconsistencies. The given command specifies flying "forward" for "10 kilometers", but in the JSON representation, the value for "altitude" is given as "0". Additionally, the duration is given as "600", but it isn\'t specifically mentioned in the command and thus the conformity is not perfect.'] +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The command and JSON object mostly match, the action is correct but the "direction" value does not match since in the command, it does not specify that the drone is supposed to go north ("straight ahead" does not necessarily mean "north"). Also, the "duration" in the JSON does not conform with the command and neither does the "unit_duration" (seconds) as the command does not specify the duration of the flight. The "unit_speed" and "speed" match correctly. The "altitude" and its unit are also correctly defaulted to 0 since the command does not specify.'] +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['1; The given JSON partially maps to the natural language command. The command involves moving forward at a certain speed but does not align perfectly with the JSON structure as the units for duration and speed do not match. Additionally, the command does not specify an altitude, so assuming an altitude of 0 is not entirely correct. Lastly, the direction is given as a string value "forward" which does not exist in the sample ontology provided, where the only sample direction is "north".'] +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0.125,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['4.5; Partial conform. The natural language command partially conforms to the JSON structure. The action "fly" and parameter "speed" are correctly identified with the correct values. However, the "direction" in the JSON structure is "straight" when the command simply mentions "straight ahead" without specifying a cardinal direction like north, south, east, or west. The "duration" in the JSON is converted from the distance (10km) and speed (80km/h) which might not be directly derived from the command.'] +Move forward at a rate of 80 km/h for a total of 10 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The action and most parameters match. However, there are some discrepancies. The direction is not specified in the natural language command but is provided in the JSON and the altitude is provided as 0 in JSON which is not mentioned in the command. Duration is calculated with a value not mentioned in the command. The command suggests a distance to fly while JSON suggests a duration to fly. If distance to fly was followed as suggested by command, there won\'t be a need for "unit_duration" key-value pair.'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3.5; The action is correct and the command specifies the duration correctly. However, the JSON information includes an altitude of 0.0 meters, which is not mentioned in the natural language command. Thus marking down 1.5 points.'] +Stay suspended in one spot for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The given natural language command conforms partially to the JSON structure. The "hover" action and "duration" parameters are correct, given the command specifies "hover for 15 minutes" and "duration" is converted from minutes to seconds correctly as 900. However, altitude isn\'t specified in the natural language command hence "altitude": 0.0 does not align with command.'] +Maintain a hovering position without movement for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3.5; The natural language command partially matched with the JSON command. The duration value in the JSON is correct (as it is converted from minutes to seconds) and the altitude value that isn't provided in the natural language command is feigned in the JSON as 0.0. However, the command specifies the drone to hover without movement which assumes it's already in the air. Hence, the altitude shouldn't be at ground level or 0.0. The correctness of this parameter can't be assured with the provided natural language command. Therefore, a score of 3.5 is given."] +Keep floating in a fixed location for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action of "hover" matches exactly and the duration value is correct as well when converted to seconds (15 minutes = 900 seconds). However, the altitude is not specified in the natural language command, and thus cannot be accurately confirmed with the 0.0 value given in the JSON structure, even though any reasonable value is accepted. Therefore, it is not a perfect match.'] +Remain in mid-air without any displacement for a total of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; Although the action and duration values match between the command and the JSON structure, the altitude wasn't specified in the command, whilst the JSON structure indicates a value of 0."] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; The natural language command exactly matches the action "land" and its associated parameters within the provided JSON. Even though specific landing coordinates are not provided in the command, it is assumed that they are predetermined as "(latitude, longitude)", in line with the description.'] +Please touch down at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["4; The natural language command requests an action that matches the JSON's key for 'land', but it is not specific enough. The command doesn't mention the specific latitude and longitude values for the landing ('specified landing area', is not a tuple of coordinates), hence it's not entirely accurate."] +Make your descent and land on the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +It is required for you to land at the designated area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; The command is asking for the action "land" which is perfectly matching with the JSON command. The "location" parameter is not specified in the natural language command, but yet it is implied to be latitude and longitude by the system.'] +Ensure that you land precisely at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The command matches both the "action" ("land") and the "params" ("location") keys in the JSON. The exact values aren\'t specified in the command, but any reasonable "latitude" and "longitude" values are accepted as per the instructions.'] +Descend to an altitude of 100 meters.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["1; The natural language command requests a decrease in altitude to 100 meters, this could not be properly matched with the given JSON structure. Its matched the 'land' action where as it would most likely requires a 'fly' action with negative speed or a specific 'descend' action. Although the altitude parameter is present in the JSON, the action is not matching."] +Reduce your altitude to 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command is mostly converted to JSON accurately. The "action" is correctly identified as "fly" and the "altitude" key is correctly set to "100". The "unit_altitude" is also correctly set to "meters". However, the "speed" and "duration" keys, both set to 0, were not mentioned in the natural language command and are inaccurately assumed. The "direction" value as "north" is also inaccurately assumed for lack of information.'] +Decrease your altitude to 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure matches the natural language command almost exactly. The action is to fly and the altitude is 100 in the JSON and natural language command, which matches. However, the speed and direction parameters in the JSON structure are not specified in the natural language command, therefore they don't match perfectly."] +Descend until you reach an altitude of 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 100)"', ' }', ' }', '}'];["1; The JSON representation provided does not align with the verbal command in a correct way. The action is actually 'fly' or 'hover' with altering the altitude rather than 'navigate_to_point'. Moreover, the given coordinates in JSON are inconsistent, it should not have latitude and longitude while not mentioned in the command."] +Bring yourself down to an altitude of 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 100)"', ' }', ' }', '}'];['1; The JSON structure includes the correct "navigate_to_point" action, indicating that the drone should change its altitude. However, it doesn\'t correctly represent the demanded altitude of 100 meters; it includes it as a part of the coordinates in value, while the altitude is not included in this case. It attempts to define a point in 3D space, while the natural language command only specifies an altitude change. It should rather fit to a different JSON structure.'] +Fly backward for 5 kilometers at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. The action "fly" and parameter "speed" are correctly matched with the JSON structure and the value of 40 km/h additionally matches. However, the direction "backward" is not a standard for "fly" action. The unit of speed also does not match as in the sample ontology it\'s given as "m/s" and here it is converted to "km/h". Further the "duration" parameter in the JSON has a value of 0, whereas it\'s value should correspond to the duration of flight for 5 kilometers at a speed of 40 km/h which is not explicitly stated in the natural language command.'] +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "fly" action is correct, but the specified direction as \'south\' does not match with the reverse course in the command. Also, the duration is not specified in the command hence the value of \'0\' in JSON is incorrect. No distance parameter is seen in JSON structure, so \'5 kilometers\' from the command isn\'t represented. The speed and altitude in the JSON are correctly aligned with the command.'] +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 7.2,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['4; The natural language command closely matches with the JSON structure for the "fly" action but there is no parameter for \'distance\' in JSON structures. All other parameters and its values like \'speed\', \'direction\', \'unit_speed\' matched in the converted JSON. The \'duration\' parameters is calculated according to the given \'speed\' and \'distance\' in NL command, which is not in NL command but & considered a reasonable values as per instructions. Also, \'altitude\' is set to 0 in the absence of it in the NL command. Thus due to dissimilarity in \'distance\' parameter, the NL command and JSON are not exactly similar, hence the score 4.'] +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 7.2,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['2.5; The "fly" action and "speed" parameter within the JSON structure correctly match with the natural language command. However, the command specifies the drone to fly a distance of 5 kilometers, while the JSON does not have a corresponding parameter for this. The "direction" value "backward" does not match with the example ontology which only specifies a string type value for direction "north", not "backward". The duration in JSON is also an assumed value, not mentioned in the natural language command. The "altitude" is also 0 in JSON which does not match the natural language command and seems to assume that the drone flies at ground level. Hence, the partial match and many assumptions result in the lower score.'] +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "reverse"', ' },', ' "duration": 90.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['2; Partial match. The command is asking to "Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h". The "reverse" direction was interpreted correctly and the speed is considering the given value "40 km/h". However, the command specifies speed and distance, but the provided JSON structure doesn\'t provide a field for distance, instead it\'s including a duration field that\'s not mentioned in the instruction. The "altitude" and "unit_altitude" are assumed, but not actually specified in the command.'] +Circle around a specific location for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["0; The JSON command related to 'hover' and not 'circle around'. The natural language command specifies an action of 'circling around' which is not supported by the provided JSON structures as there is no similar action in the sample keys."] +Perform a circular motion around a particular spot for a duration of 20 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['1; The natural language command does not fully match with the provided JSON structure. The JSON structure represents a rotation action with an angular velocity of 0.5 and a total rotation of 90 degrees in clockwise direction. On the other hand, the command is asking for a circular motion around a particular spot which is not represented in the JSON structure. The "duration" parameter in the command is also not specified in the JSON structure.'] +Move in a circular pattern around a designated area for a period of 20 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['1; The natural language command and the JSON structure partially match. The command indicates a rotation or circular motion around a designated area, however, the duration parameter (20 minutes) is not reflected in the JSON structure. It would need a duration key to fully match the command. Also the JSON lacks information about the "designated area".'] +Encircle a specific location for 20 minutes, continuously moving in a circular motion.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The natural language command is about moving in a circle for 20 minutes, which seems to involve a complex flight pattern that isn't directly or clearly represented in the provided JSON structures. The 'hover' action was used in the JSON but the 'hover' action doesn't provide functionality to move in a circle."] +Follow a circular path around a particular place for a duration of 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure represents the `fly` action with a `duration` which is compliant with the command. However, the command specifies a circular path, which is not reflected in the JSON. Moreover, the speed and altitude values are also not provided correctly in the JSON structure.'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command exactly matches the JSON structure action "rotate" with params "angular_velocity: 60.0", "angle: 270", "is_clockwise: false", and "unit: degrees".'] +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Ascend to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Partially conform. The natural language command translates well into the provided JSON structure, however, a "fly" action typically implies forward movement, not just ascending. Therefore, the speed and direction parameters do not make sense in the context of the original command and duration should not be zero. But command does adhere to the structure and keys of the provided JSON.'] +Reach a height of 1000 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1000)"', ' }', ' }', '}'];['4; The action in the JSON structure ("navigate_to_point") matches the natural language command ("Reach a height of 1000 meters.") but the parameter "coordinates" is not explicitly mentioned in the command but can be inferred. The value for "coordinates" in the JSON structure is "(0, 0, 1000)" which matches the altitude given in the command. However, because the command does not specify the latitude and longitude, the values in the JSON structure can be accepted as reasonable.'] +Climb up to an elevation of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The JSON command specifies an action to fly to an altitude of 1000 meters, which perfectly matches with the natural language command to climb to an elevation of 1000 meters. The other parameters do not contradict the command and are reasonable default values.'] +Increase the altitude to 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 1000', ' }', '}'];["2; The JSON structure includes the 'fly' action and specifies the 'altitude' as 1000, which conform with the command. However, it's missing other mandatory parameters like 'speed', 'direction', 'duration', 'unit_speed', 'unit_altitude' and 'unit_duration' to make it a valid 'fly' action as per the sample ontology."] +Achieve a vertical position of 1000 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1000)"', ' }', ' }', '}'];['3; The command asks to achieve a vertical position, which corresponds with the action "navigate_to_point", but the provided coordinates in the JSON structure include two zero values presumably for latitude and longitude even though they are not specified in the given command.'] +Fly forward for 15 kilometers at a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 900,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Though the action and most parameters match, the "duration" value does not conform with the natural language command - it is set in seconds while we expect it to be in distance (as "fly for 15 km"). The "altitude" parameter is also added to the JSON despite not being mentioned in the command.'] +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 27.77777777777778,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Although the JSON correctly identifies the action as "fly" and provides a reasonable conversion from km/h to m/s for the speed, it makes some incorrect assumptions. The "forward" direction is not mapped correctly to a cardinal direction value such as "north," and the duration and altitude are inaccurately set as 0. There is also no "distance" parameter in the required ontology.'] +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 54.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "direction" in the JSON structure is mentioned as "north", but the natural language command only specifies "straight ahead", not necessarily "north". The "altitude" in the JSON is defaulted to 0, but the natural language command does not mention an altitude. The "unit_speed" in the JSON is "m/s", not "km/h" as is specified in the command. The command measures distance ("15 kilometers"), not duration, so the "duration": 54.0 and "unit_duration": "seconds" in the JSON does not correlate. The command and the JSON structure do not match well.'] +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 27.78,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0.54,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural command and the JSON structure correspond well. The action "fly", "speed" which is converted correctly from km/h to m/s, "direction", and the included units all match up., but the "altitude" does not match because it is not specified in the natural language command. However, the general velocity units are not well stated in the command.'] +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partial conformity. The action \'fly\' is correctly identified, and the \'speed\' parameter is correctly inferred from the command. However, the command specifies a distance to travel, not a duration. Hence, \'duration\': 0 is inappropriate. The value for \'altitude\' is assumed to be 0, which is not specified in the command but could be a reasonable default. The direction is assumed to be "north" which also isn\'t mentioned in the command.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The duration of the hover action is correctly converted from 10 minutes to 600 seconds, the natural command does not specify an altitude but it lands on a zero value, which is reasonable. But the altitude value should not be necessarily provided as it's not mentioned in the natural language command."] +Stay suspended in midair for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command matches the "hover" action, but the "altitude" value doesn\'t match the command as no specific altitude is mentioned in the command. Other parameters like "duration" and "units" match perfectly.'] +Maintain a hovering position for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Remain airborne without moving for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; Exactly conform. The natural language command asks for the drone to hover for a specific duration which matches with the 'action': 'hover' in the JSON. The time of 10 minutes is correctly converted to 600 seconds in the JSON under 'duration' value. Although altitude is not mentioned in the command, it is predictable, so it's ok for it to be included. The duration and altitude units defined in the JSON structure match the command as well."] +Suspend yourself in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Although the action "hover" matches, the duration is correctly converted to seconds but the altitude was not specified in the command so assuming it as 0.0 might not be correct.'] +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The natural language command mostly conforms with the JSON structure. All keys are present and correctly arranged. However, the "angular_velocity" value in the JSON is 0.5 but in the command, it is 30, so it is not entirely correspondent.'] +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate to the right by 90 degrees at a rate of 30 degrees every second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 90,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['3; The given JSON does not match the natural language command because the command specifies a rotation to the right (clockwise), while the JSON specifies a rotation that is not clockwise. However, it matches the angular velocity and angle correctly. The JSON parameter "is_clockwise" should have been set to true, as the command states "Rotate to the right".'] +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The JSON exactly matches with the natural language command. The action mentioned in the command is "rotate" which is clearly defined in the JSON. All the required parameters for this action such as "angular_velocity", "angle", and "clockwise_direction" are also given in the natural language command and are correctly represented in the JSON. Hence, the given JSON perfectly reflects the command.'] +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; Almost conform. The command \'Land at the designated landing zone\' is clearly referring to the action "land." However, the location to land is mentioned as \'designated landing zone\' which isn\'t exactly a tuple of latitude and longitude.'] +Please land at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command instructs for a landing action which is perfectly represented in the JSON structure. Even though the specific coordinates are not given in the natural language command, they are appropriately expressed as a tuple of latitude and longitude in the JSON, which is sufficient.'] +Ensure you land at the indicated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["4; Nearly conform. The natural language command aligns with the 'land' action in the JSON structures and mentions a location ('the indicated landing zone') which matches well with the 'location' parameter in the JSON. However, specific latitude and longitude values are not specified in the natural language command."] +It is important to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Make sure to land precisely at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; The natural language command is to land at a specific location which matches with the "land" action and "location" parameters in the JSON structure. Although the exact coordinates are not specified in the command, any valid coordinates will be acceptable hence it matches the sample ontology.'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'];['3; Although the action type in the JSON response is not fully compliant with the natural language command- this natural language command is more related to "fly" action with negative speed or "hover" action, but the used values for the parameters in the JSON are well aligned with the command (the intended altitude).'] +Decrease your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'];['2; While the natural language command instructs to decrease altitude, the JSON structure shows an action of navigating to a point which is not entirely accurate. However, the parameter of altitude in the navigation coordinates does match the asked decrease in altitude in the command, hence not a complete mismatch.'] +Lower yourself to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The JSON structure matches the natural language command. Despite missing speed value and direction, the "action" is correct, and the critical parameter of "altitude" is correctly stated as 200 which matches the command of lowering the altitude to 200 meters. Unit for altitude is also correctly mentioned as meters. Web speeds aren\'t specified, they are assumed to be set to reasonable defaults.'] +Go down to a height of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 200)"', ' }', ' }', '}'];['4; The natural language command and the JSON structure are mostly conform. The action of navigating to a specific point matches with the action in the JSON structure. However, the natural language command specifies only the altitude, whereas the JSON structure implies a full set of coordinates including latitude and longitude, which are not specified in the command. The value of these absent parameters is assumed to be zero in the JSON structure which is an acceptable presumption.'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'];['3; The command mentions descending to a certain altitude, which could be interpreted as navigation but not explicitly stated in the JSON structure. The "coordinates" key is used correctly, indicating an altitude of 200 meters, however latitude and longitude values are not mentioned in the natural language command. Thus, it only partially conforms.'] +Fly backward for 3 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 36,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command partially matches with the JSON. The command "Fly backward for 3 kilometers at a speed of 50 km/h" indicates the action "fly", the speed and the direction. However, the duration in the JSON structure does not match with the command because it was not mentioned in the command. Plus, the direction value in JSON is "backward" but that is not a valid direction like "north," "south," "east," "west." Also, the altitude is 0 in JSON which was not mentioned in command. The units of speed and altitude in JSON do not match with those in the command.'] +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.88888888888889,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 1000,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command indicates that the direction should be reversed and the drone should fly for a certain duration, but the JSON structure represents different parameters. Although the "action": "fly" matches, the parameters in the command and JSON structure are different. The command mentions "reverse your direction" and "fly for a distance" which are not reflected in the JSON structure. Also, the duration in the JSON structure is 1000 seconds, which doesn\'t match with the command "fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour."'] +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure correctly captures the "fly" action and the "speed" and "unit_speed" parameters from the natural language command. However, the "direction" value is assumed as "south" which is not clearly specified in the natural language command (it simply says "opposite direction" without clarifying what it\'s opposite to). Also, the "altitude" and "duration" parameters are not indicated in the natural language command, so while their presence in the JSON doesn\'t contradict the command, it doesn\'t match it either.'] +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command specifies to fly in the opposite direction (South) at a certain speed (50 km/h) for a total distance (3 kilometers), all of which are reflected accurately in the provided JSON structure. The duration is accurately calculated based on the given speed and distance (3600*3/50 = 216 seconds), altitude is reasonably set to zero, and units are correctly given.'] +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": null,', ' "direction": {', ' "type": "str",', ' "value": "reverse"', ' },', ' "duration": null,', ' "unit_speed": "kilometers/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON structure has the correct action 'fly' and correct unit_speed 'kilometers/hour.' However, direction mentioned in the JSON is reverse which is not a valid direction as per the given ontology. Also, 'distance' is not a valid parameter as per the ontology. The parameters in the command do not match those in the given ontology."] +Circle around a specific location for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The command: "Circle around a specific location", is not really captured well by the JSON structure provided. The action "hover" and duration described was correct but there\'s no specification of a specific location or the action to circle around it in the JSON structure provided.'] +Perform a 30-minute loop around a designated area.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Partly conform. The JSON structure does represent some action of flying for a specified duration (30 minutes converted to 1800 seconds) with certain speed and altitude and in the north direction. However, the "loop around a designated area" part from the command is not represented in the JSON at all. Also, the \'direction\' in JSON is fixed to \'north\', which may not represent \'loop around a designated area\'.'] +Go in a circular route around a specific spot for half an hour.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];["1; The natural language command mentions going 'around a specific spot', and indicates a duration of 'half an hour', which implies the drone should be moving in some manner. While the JSON command correctly contains an action of 'rotate', it does not mention any duration or completion of a circular route. Therefore, it does not fully match the natural language command."] +Complete a 30-minute circuit around a particular location.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['0; The JSON structure does not match the command. The command identifies a "circuit" or circular path of movement, which is not accounted for in the sample ontology, most likely falling somewhere between "navigate_to_point" and "rotate", but is described by neither. Furthermore, the command specifies a time duration, which is not a parameter in the JSON for "navigate_to_point".'] +Traverse in a circular path around a specific point for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure is related to the "hover" action, which implies remaining stationary at a certain altitude for a specified duration. However, the natural language command refers to traversing in a circular path around a specific point, which would involve movement and not just hovering. Therefore, the matching between the natural language command and the JSON structure is partially correct.'] +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The JSON structure accurately represents the natural language command in terms of action and parameters (the angle, angular_velocity, direction of rotation and their units).'] +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90.0,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90.0,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Ascend to an altitude of 700 meters and swin.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude, 700)"', ' }', ' }', '}'];['4; The command asks for an ascent to 700 meters which correctly maps to the "navigate_to_point" action and correctly specifies the altitude parameter. But "swim" action does not exist in the sample keys and hence cannot be converted to the JSON structure.'] +Gain an elevation of 700 meters and swim.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 700)"', ' }', ' }', '}'];['1; The JSON structure illustrates a navigation action with a specified altitude while the natural language command mentions gaining an elevation which could be loosely associated with \'navigate_to_point\'. However, the command also includes "swim", which is not represented in the JSON structure. Hence, there is very little conformity.'] +Reach a height of 700 meters and engage in swimming.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 700,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command mentions the drone to reach a height of 700 meters which is correctly mapped in the JSON. However, it also mentions about the drone to "engage in swimming" which is not reflected in the JSON structure. Therefore, the correspondence is only partially correct.'] +Ascend to a 700-meter altitude and partake in swimming.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 700,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON matches partially with the command. The command specifies ascending to an altitude which corresponds to the "fly" action with an altitude parameter of 700 in the JSON. However, the "partake in swimming" part of the command does not correspond to any keys in the sample ontology. Also, in the JSON, the direction, duration, and speed values do not match with the command.'] +Increase your altitude to 700 meters and then swim.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 700,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON partially matches the command. The command refers to increasing altitude, which matches with the 'fly' action in the JSON, specifically changing the altitude value to 700. Nevertheless, it loses points because 'swim' action doesn't exist in the JSON structures or the sample ontology provided."] +Fly forward for 8 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The natural language command and JSON information are matched correctly. The "action" is "fly", the "speed" is 70.0, the "direction" is "forward" and the "unit_speed" is "km/h", which conforms to the JSON structure. Although the "duration" and "altitude" values in JSON don\'t have specified values in the natural language command, they are reasonably accepted as any value.'] +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 86.4,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Although most of the information matches, the direction is just "straight ahead" and does not necessarily imply "north". Furthermore, while the distance has been converted to a duration based on the given speed, this is not explicitly mentioned in the natural language command.'] +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 411.4285714285714,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command and the JSON document partially conform. The command instructs to fly forward at a speed of 70 km/h, which is correctly represented in the JSON. However, the natural language command does not specify an altitude or duration, but these fields are filled in the JSON. Also, the command refers to a distance of 8 kilometers, but this is not reflected in the JSON structure.'] +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 41,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure includes \'fly\' as an action and almost all parameters like \'speed\', \'altitude\', \'direction\', \'unit_speed\', \'unit_altitude\' are matching. However, the \'direction\' value doesn\'t match exactly with the sample ontology (it should be "north" not "forward") and the \'duration\' value seems to be calculated but it was not specified in the command. The \'unit_speed\' should be "km/h", not "m/s" as specified in the command. That justifies a score of 3.'] +Fly straight for a total of 8 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 400,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; While the action "fly" has been identified correctly and most of the parameters have been matched, the "direction" value as "straight" does not conform to the ontology as the expected type is "str" which is expected to be a direction such as "north". The parameter "direction" not considered in the natural language command. Also the "altitude" value in JSON is given as 0, but it is not mentioned in the command.'] +Hover in place for 20 minutes and watch TV.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "m"', ' }', '}'];['2; The duration value is correctly converted from minutes to seconds in the JSON, and the action "hover" is correctly identified. However, the altitude value in the JSON is 0.0 meters while the command "Hover in place" suggests that the drone should maintain its current altitude as opposed to descending to ground level. Additionally, the portion of the command "and watch TV" doesn\'t have any corresponding data in the JSON.'] +Stay stationary for a duration of 20 minutes while watching television.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure represents the "hover" action for 1200 seconds which matches with the command about staying stationary for the duration of 20 minutes. However, there is no mention of any television watching in the JSON structure, which is why the conformity is low.'] +Maintain a hovering position and engage in television viewing for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The JSON correctly captures the 'hover' action and a duration of 20 minutes. However, the duration value is incorrect (1200 seconds, which equals 20 minutes, should have been 1200 not 20). Also note that the natural language command mentions engaging in television viewing, which is not captured in the JSON."] +Hold a steady hover for 20 minutes while enjoying television watching.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure correctly defines the "hover" action with a duration of 20 minutes (represented as 1200 seconds). However, the altitude value is arbitrarily given as 50 meters, which isn\'t mentioned in the natural language command. Also, the command is about "watching television" which isn\'t captured in the JSON structure. Therefore, full conformity is not reached.'] +Remain in one place without moving for 20 minutes and entertain yourself by watching TV.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The JSON structure is about an action of "hovering" for a duration with certain altitude, it doesn\'t match with the natural language command about staying in one place, watching TV and there is no such action in the given ontology.'] +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The JSON accurately captures the natural language command by corresponding to the \'rotate\' action. The provided parameters match "angular_velocity", "angle", and "is_clockwise" keys and conform to the sample ontology. However, the angular_velocity value is relatively high compared to the one in the ontology example.'] +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command matches the JSON structure perfectly. The action "rotate" is correctly identified, and all parameters ("angular_velocity", "angle", "is_clockwise", "unit") are present with appropriate values. The command specifies a right turn, which is represented as "is_clockwise": false, due to the fact that turning to the right means rotating in a clockwise direction. The command also specifies degrees as the unit, which matches the "unit": "degrees" in the JSON structure. The "angular_velocity" and "angle" parameters also match the values given in the natural language command.'] +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command matches perfectly with the provided JSON structure. All of the actions and parameters mentioned are matched perfectly - the rotation action, the angular_velocity of 50.0, the angle of 270 degrees and the rotation direction being clockwise. The JSON structure explicitly captures all these details, hence they are perfectly conforming.'] +Land at the designated landing zone, then sing loudly.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The JSON structure correctly represents the "land" action from the command. However, the natural language command includes an action ("sing loudly") that does not exist in the sample keys, so it cannot be represented in JSO format.'] +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["1; The 'land' action in the command corresponds to the 'land' action in the JSON structure. However, parameters for the latter are not adequately specified in the command. Additionally, the command includes singing, which does not conform to any action in the JSON structures."] +After successfully landing at the designated landing zone, proceed to sing loudly.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The command includes the action to land which matches with the JSON. However, the command to sing loudly is not represented in the JSON structure.'] +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['2; Not exactly conform due to the unit of altitude is meters in the JSON, but feet in the natural language command. The direction and duration values that are not mentioned in the command are also incorrectly included in the JSON.'] +Increase your altitude to 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['3.5; The JSON structure and the natural language command partially match. The action of flying and the "altitude" parameter are correctly identified in the JSON. However, the units for "altitude" in the JSON are in "feet" while the sample ontology specifies them in "meters". Moreover, redundant keys such as "speed", "direction", "duration", and "unit_speed", "unit_duration" which aren\'t specified in the command are included in the JSON with arbitrary values, affecting the conformity.'] +Climb to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['2; Partially conform. The natural language command matches the JSON structure but there are incorrect parameters in the JSON. In the command, there\'s no mention of duration and direction, and also the speed is not mentioned, so it should be null or not mentioned in the JSON; however, it states "speed: 0.0" and "duration: 0" which is not exact. Also, the direction is mentioned as "north" in the JSON, but there is no mention of it in the natural language command.'] +Reach an elevation of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["3; The action 'fly' and the parameter 'altitude' match the natural language command. However, the direction and duration parameters in the JSON structure are not specified in the command. Also, the units used in the command and the JSON structure do not match (feet in the command vs meters in the JSON)."] +Rise to a position 500 feet above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action in the command matches with the JSON, and the "altitude" in the command is found in the JSON. However, the "speed" and "duration" are not specified in the command and thus can\'t be confirmed. The "unit_altitude" is also incorrectly stated as "feet" in the JSON while the ontology specifies it as "meters". The direction is also incorrect in the JSON structure, it\'s mentioned "north" but there are no such instructions in the command.'] +Fly forward for 1 mile at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0.0296,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2.5; Partly conform. While the action "fly" correctly matches, and speed, direction, and units are also accurately represented, the JSON incorrectly shows altitude as 0 and duration as 0.0296. Since altitude and duration aren\'t mentioned in the text, there should not be values for them in the JSON. Additionally, the unit of speed in JSON is "m/s" which doesn\'t match with "mph" mentioned in the text.'] +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 63.63636363636363,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command mostly conforms with the JSON structure. The direction is not mentioned in the command, therefore it cannot exactly match with the JSON structure where the direction value is "north". Percentage of conformity with the JSON structures is above 80%.'] +Travel straight ahead for 1 mile at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['4; The natural language command and the JSON structure mostly match. The \'action\' and the \'speed\' parameters match. However, the direction in the JSON is "north", while the command specifies "straight ahead" which doesn\'t necessarily mean "north". The \'altitude\' and \'duration\' parameters in the JSON do not match the command. The unit of speed is correctly specified as "mph" in both the command and JSON. The unit of duration and unit of altitude in the JSON doesn\'t match with the command as there\'s no such units specified in the command. Hence, due to these inconsistencies, the score is 4 not 5.'] +Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure correctly identifies the action of flying and specifies the speed and direction. However, the command to move a specific 'distance' of 1 mile doesn't match with the provided sample keys in the ontology (the schema expects duration, not distance). The inclusion of 'altitude' and 'duration' keys in the JSON structure is acceptable but these aren't specified in the natural language command."] +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.4112,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Although the natural language command specifies an action of flying, it also specifies a distance that the drone must cover. However, the JSON structure does not match as it does not contain a key for \'distance\'. Also, the provided units in natural language command ("mile" and "mph") and in the JSON structure ("m/s", "meters") do not match.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; Exactly conform. The natural language command specifies an action 'hover' and the duration for which it should be happening. These map perfectly onto the JSON keys 'action' and 'params -> duration'. Even though the altitude key wasn't specified in the natural language command, it's assumed to be 0 as the command is to hover in place. The value for duration in the JSON structure is also correctly converted from minutes to seconds."] +Stay suspended in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The duration unit format is not clearly stated in the natural language command, although almost matched, the command mentions 10 minutes, however, the JSON refers to seconds (600 seconds = 10 minutes). Altitude is not provided in the natural language command but is provided in JSON and is acceptable according to the instructions provided.'] +Maintain a hovering position without moving for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The action specified in the command "hover" aligns with the JSON message, and the duration translated to 600 seconds is also correct. However, the altitude is specified as 0.0 in the JSON structure. In the command, there is no mention of an altitude level, it is impossible to hover at 0 meters. Therefore, the altitude value given in the JSON does not match a reasonable interpretation of the command.'] +Stay suspended in mid-air without any motion for a time span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; Partially conform. The natural language command asks for a duration of 10 minutes while the JSON structure translates it to 600 seconds which is correct. However, the command doesn't specify any altitude while the JSON specifies 0.0 meters which is not in conformity with the idea of staying suspended mid-air. The command could be interpreted as requiring a certain altitude for hovering."] +Hold a hover position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["5; The JSON structure perfectly matches the natural language command. The 'action' key is 'rotate' which is what was commanded. The 'params' values are all consistent with the parameters specified in the command: 'angular_velocity' is correctly represented as 45, 'angle' is accurate at 180, 'is_clockwise' is in line with the command 'rotate clockwise' and 'unit', which represents the unit of measurement, is given in 'degrees' which is correct."] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command has exactly the same parameters (angular_velocity, angle, is_clockwise and unit) and action as specified in the JSON structure.'] +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; The JSON structure is almost correct. The action "rotate" and parameters "angular_velocity", "angle", and "unit" match with the natural language command. However, it\'s mentioned to rotate \'right\', which means "is_clockwise" should be \'true\', but it is set to \'false\' in the JSON structure.'] +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'];['2; The "action" in the JSON structure is "navigate_to_point", but the natural language command implies a "descend" or "change_altitude" action, which is not represented in the sample ontology. However, the "altitude" parameter does align with the command\'s specification of "200 meters".'] +Decrease your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'];['2; Although the JSON command has correctly set the altitude to 200, the action type "navigate_to_point" doesn\'t correspond with the intended action in the natural language command which is about the change of altitude not navigation.'] +Lower your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'];["1; The natural language command suggests a change in altitude but does not specify moving to a specific point so the 'naviagate_to_point' action is not appropriate. The coordinates cannot be assumed either, therefore the JSON does not match with the command."] +Move down to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -200)"', ' }', ' }', '}'];['2; The parameter value for altitude, 200 meters, matches with the natural language command. However, the action does not align with the natural language command and the coordinates given in the JSON structure is not appropriate for changing altitude.'] +Descend until reaching an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'];['3.5; The natural language command partially conforms to the JSON structure. The action "navigate_to_point" and the altitude parameter within the coordinates key are correctly represented. However, the coordinates for latitude and longitude are incorrectly labeled as "undetermined" rather than a value or left blank. This may create confusion or errors in the JSON interpretation. Also, the command doesn\'t explicitly mention navigation to a certain point.'] +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 36.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['1; Based on the sample ontology, there is no "zigzag" value or pattern type in the direction key. Also, the units of duration in the JSON are specified as minutes, while there\'s no unit specified in the natural language command. Furthermore, the altitude is not mentioned in the natural language command, yet it\'s included in the JSON structure. This indicates a slight coherence but with substantial deviation.'] +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": default_value,', ' "direction": default_value,', ' "duration": 3.0,', ' "unit_speed": "km/h",', ' "unit_altitude": default_value,', ' "unit_duration": "hours"', ' }', '}'];['1; The parameters "altitude" and "direction" should not be set to default as the command does not specify any for these values. The used unit of "duration" in the provided JSON structure is incorrect, it should be "kilometers" instead of "hours". Also, the \'zigzag maneuver\' in the command is not represented in the JSON at all.'] +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command indicates the action "fly" with a speed parameter which matches the JSON structure. However, the \'serpentine\' direction and the distance parameter mentioned in the command are not represented in the JSON structure which makes the corresponding relation insufficient. Also, the altitude value is provided as \'0.0\' and duration as \'0\' in the JSON which is not implied from the natural language command.'] +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command does not entirely match the JSON information. The JSON structure provided only covers the "fly" action at a given speed, but does not account for the "zigzag" trajectory mentioned in the command. Additionally, the command mentions a distance of 3 kilometers, which is not represented in the JSON structure. Therefore, the JSON structure only partially conforms to the command.'] +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 3,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['0; The natural language command tries to instruct the drone to fly in a zigzag fashion, which is not included in the ontology. Furthermore, "zigzag" is not a valid value for "direction", and the duration and unit for duration does not conform to the JSON structure provided, this should be more related to the distance traveled not the duration of the flight.'] +Perform a barrel roll to the left.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['2; The action \'rotate\' is correct and the \'angular_velocity\' with a reasonable value is acceptable. However, the specific command \'barrel roll\' does not exist in this sample ontology, the command "to the left" is contradicted by the JSON parameter "is_clockwise" being true and the angle should be 360 degrees for a complete roll but it\'s not specified in the natural language command.'] +Execute a left barrel roll.,['{}'];['0; The command "Execute a left barrel roll" does not conform with any of the JSON structures provided in the sample ontology. There are no actions corresponding to executing a barrel roll.'] +Rotate in a barrel roll towards the left.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; The JSON structure follows the action "rotate" correctly, and the clockwise parameter is correctly set to false for a leftward rotation. However, the command specifies a "barrel roll" which could imply a 3-dimensional maneuver and isn\'t specifically defined in the JSON action "rotate".'] +Perform a barrel roll in a counterclockwise direction.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];["4; The JSON structurally matches the natural language command with the 'rotate' action, but the implied full rotation of a 'barrel roll' is inferred rather than directly stated in the command. The direction of rotation is correctly translated as counter-clockwise."] +Initiate a leftward barrel roll.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; Partial conformity. The JSON object involves an action of rotating, similar to a "barrel roll" described in the command. However, a barrel roll is both a rotation and a maneuver in 3D space, which is not fully represented by the "rotate" action alone. Adjustments could be made to the JSON object to more accurately instantiate a barrel roll.'] +Ascend to an altitude of 1000 feet and maintain it for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['5; Exactly conform.'] +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure almost perfectly matches the natural language command. However, the duration in the command is expressed in minutes while in the JSON it's expressed in seconds. This can be easily corrected by converting the minutes to seconds (20 minutes -> 1200 seconds). The values of speed and direction in the JSON structure are also reasonable since the drone is only flying vertically and hovering at a certain altitude, not moving horizontally."] +Increase your elevation to 1000 feet and sustain it for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4.5; The natural language command matches with the JSON structure, as the desired action is to fly and maintain an altitude for a certain duration which corresponds with the keys in the JSON structure. However, the JSON structure has the duration in seconds, while the command specified in minutes, hence the difference in value. Also, the command does not specify the direction, but as any reasonable value is accepted in the JSON, the "north" value in the direction key can be considered acceptable. The disparity in the time unit results in the reduction of 0.5 points from the conformity score.'] +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command is mostly matched with the JSON structure. The command instructs to rise to an altitude which is presented in the JSON. The duration is also present. However, the JSON structure has an additional "speed" field which is not specified in the command, the unit of duration in the JSON structure is in seconds while in the command it is in minutes.'] +Elevate to 1000 feet and retain that height for the next 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command is perfectly translated into the JSON structure. It specifies an action ("hover") and provides parameters for duration and altitude which match those in the JSON. Additionally, the conversion of units (feet to meters, minutes to seconds) is correctly done.'] +Fly backward for 500 meters at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 0.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command matches the template, but the value for direction is not quite accurate. Typically, we would expect values like "north", "south", "east", and "west" rather than "backward". Additionally, no such direction as \'backward\' exists in the sample ontology provided for the \'fly\' action.'] +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "reverse"', ' },', ' "duration": 12.5,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The "direction" parameter in the JSON structure does not have a value such as "reverse" in the provided ontology, so it does not conform perfectly. The "speed" and "unit speed" parameters are not well translated either, as 40 km/h is not equivalent to 40 m/s.'] +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 0.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['2; The JSON structure shows the action "fly" with correct parameters for "speed" and "unit_speed" which matches the natural language command. However, the command also entailed moving "backwards" for a "distance" of 500 meters\', this aspect is not captured in the JSON. The JSON structure includes parameters like \'altitude\', \'direction\', \'duration\', \'unit_altitude\' and \'unit_duration\' which do not conform with the command given. The direction value "south" may not necessarily mean moving backwards.'] +Reverse your flight and go for 500 meters at a velocity of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.1111111111,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 45,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command has been mostly correctly translated to JSON. The "fly" action is correct and most parameters are correct and conform with the sample ontology. However, the direction being defined as \'south\' due to a reverse order may not be entirely accurate as the initial direction isn\'t mentioned in the command. Also, duration should logically follow from the speed and desired distance to traveled("go for 500 meters at a velocity of 40 km/h"), but a specific value is not provided in the natural language command. Therefore, the duration value is a reasonable estimation but may not be exactly as per the command.'] +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100, ', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; There is a fair amount of conformity, but two issues stand out. Firstly, the direction is not strictly said to be "south" in the command, the term used is "opposite direction". Secondly, duration is set to 0 but it is not specified in the command, this value could have been calculated based on the given speed and distance.'] +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": -15,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['3; The action type \'rotate\' in the JSON structure matches with the command. However, "angular_velocity" in JSON is set to \'-15\', even though it is not specified in the command, it could be misunderstood as a different speed. The "is_clockwise" and "angular_velocity", both correctly indicate that the direction of rotation is counterclockwise, (though having a negative velocity can create confusion). Also, the command says rotation is "at a rate of 15 degrees per second" but there is no \'duration\' parameter in JSON to apply this rate.'] +Descend to an altitude of 100 feet and hold for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['3; The values provided in the command match with the ones in the JSON structure for "hover" action. The duration is correctly converted from minutes to seconds. However, the ontology provided only supports the "meters" unit for altitude, but the command specifies "feet.'] +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, -100)"', ' }', ' }', '}', '', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['2; Partially conform. The natural language command is partially matched to the JSON structures. While it correctly identifies the "hover" action for maintaining the position, it inaccurately uses the "navigate_to_point" action to represent moving downward to an altitude of 100 feet. Moreover, the "unit_altitude" is defined as "feet" in the hover action\'s JSON structure, which is not found in the sample ontology. Finally, the coordinates\' altitude in the "navigate_to_point" action is marked as -100, which is not directly specified in the natural language command.'] +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; There is no specification in the command that the unit of altitude is "feet" and the unit of duration is "minutes" in the JSON structure. However, correct conversion from feet to meters and minutes to seconds has been done. Along with the correct action "hover", this justifies a score of 4.'] +Descend until you reach an altitude of 100 feet and remain there for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "feet"', ' }', '}'];['4; The JSON structure accurately represents the action of hovering at a specific altitude for a defined duration, matching the natural language command. However, the given ontology uses meters for the "unit_altitude" and seconds for the "unit_duration", while the JSON structure uses feet and minutes. Even though these are reasonable units, they don\'t entirely align with the ontology.'] +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure does represent a \'fly\' action but the parameters in the JSON do not match with the command well. The command speaks of flying in a circular pattern with a specific radius, none of which is represented in the JSON. Further, the direction in the JSON is specified as "north" which is not mentioned in the command. The altitude and duration parameters in the JSON are also not specified in the command. Only the speed parameter in the command and the JSON match.'] +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "circle"', ' },', ' "radius": 1000,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_radius": "meters"', ' }', '}'];['0; The JSON structure does not match the natural language command. The command asks for a circular flight pattern with a specified radius, but the JSON structure provided does not include a key for a circular pattern or a radius.'] +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure slightly conforms to the natural language command. The "action" value "fly" conforms and "speed" parameter with a value of 20.0 and "unit_speed" as "km/h" also match. However, the direction value "clockwise" doesn\'t exactly describe the circular motion mentioned in the command. However, the command mentions a circular motion with a specific radius, this information is not represented in the JSON structure.'] +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The given JSON structure correctly represents the speed information but fails to depict the circular flight pattern and the radius of 1 kilometer as there are no keys available in the ontology to represent these pieces of information. The values provided for altitude, direction, and duration in the JSON are not correct based on the natural language command given.'] +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command refers to flying at a particular speed in a circular path, which does not match any action in the provided JSON structures. Furthermore, the JSON structure suggests flying in the "north" direction, which is inconsistent with the command of flying in a circular path.'] +Ascend to an altitude of 300 meters and maintain it for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Climb to a height of 300 meters and stay there for a duration of 30 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 30,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['5; Exactly conform. The natural language command\'s intent is correctly captured by the JSON structure which also have the correct keys as per the sample ontology. The drone\'s action is to climb (which is similar to "fly" action with the speed of 0 m/s), at an altitude of 300 meters and hold the position for a duration of 30 minutes. All corresponding parameters are correctly represented in the JSON structure.'] +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command perfectly captures the information detailed in the JSON structure. The "hover" action is properly executed with the drone maintaining an altitude of 300 meters for a duration of 30 minutes (1800 seconds in the JSON structure). All key-value pairs match the command.'] +Scale up to an altitude of 300 meters and sustain it for 30 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1800,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. ', '', 'The JSON structure correctly captures the natural language command of maintaining an altitude of 300 meters for a duration of 1800 seconds (30 minutes). The "fly" action is correctly used with "altitude", "duration", "unit_altitude" and "unit_duration" parameters all accurately represented. Though the "speed" and "direction" parameters weren\'t specified in the command, their use in the JSON is accepted since their value is reasonably set to 0.0 and empty string respectively, which could mean hovering in place.'] +Hover in place for 15 minutes and then proceed forward for 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The JSON structure does not match the natural language command. The natural language command says to hover for 15 minutes, but in the JSON structure, the value for duration is given as 900.0 seconds, which converts to 15 minutes, but the unit is not changed in the JSON structure to "minutes". The natural language command also mentions moving forward for 2 kilometers after the hover action, but this command is not reflected at all in the JSON structure.'] +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; Although the natural language command asks for the device to hover (which matches the "hover" action in the JSON), the provided duration is incorrect (900 seconds is 15 minutes, not 15 seconds). The "move ahead for a distance of 2 kilometers" command does not match any of the described actions in the JSON structures.'] +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The JSON structure does cover the 'hover' action as specified in the natural language command, but it does not refer to the proceeding ahead for 2 kilometers. The given JSON structure also misses out the accurate unit conversions, as the duration specified is converted to seconds but not the correct value (15 minutes is 900 seconds), and it doesn't specify the speed or direction for the drone to proceed. The altitude is also incorrectly set to 0."] +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; Even though the 'hover' action exists in the sample keys, the duration is not consistent with the natural language command. The natural language command asks for a period of 15 minutes, while the JSON present a value in seconds (900 seconds), which corresponds to the right time period but in the wrong time unit. Moreover, a second action 'move forward' from the natural language command has no correspondence in the JSON."] +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure does correctly represent the "hover" action from the command, including a correct duration of 900 seconds (15 minutes). However, it does not accurately reflect the the "advance forward" part of the command, thus it doesn\'t fully match the natural language command. Additionally, the altitude value in JSON doesn\'t match with the command as no altitude has been specified in the natural language command.'] +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['3; Except for the discrepancy in the direction of rotation (command specifies \'right\' which implies a clockwise direction but JSON states \'false\' for "is_clockwise"), the JSON structure accurately represents the natural language command.'] +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['3; The natural language command corresponds to the JSON structure significantly, with the "action", "angle", "is_clockwise", and "unit" keys matching exactly. However, the "angular_velocity" value in the JSON structure is 20, whereas the command\'s rotational speed is specified as 20 degrees per second. Hence, the angular velocity rate does not match perfectly.'] +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": -1, ', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "duration": 1,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "miles"', ' }', '}'];['1; The natural language command and the provided JSON structure somewhat match, but there are multiple mismatches. The command specifies a "serpentine" direction which doesn\'t align with the more conventional directions like "north". The duration unit in the JSON structure is mentioned as "miles," instead of proper time unit. Additionally, the altitude value is given as -1, which is not logical in the context of the flying command.'] +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches the natural language command. The "fly" action and the "speed" parameters match, but the "serpentine" flight maneuver and distance of 1 mile are not represented in the JSON structure. There are missing keys for these types of parameters.'] +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": "default",', ' "direction": {', ' "type": "str",', ' "value": "serpent"', ' },', ' "duration": "default",', ' "unit_speed": "mph",', ' "unit_altitude": "default",', ' "unit_duration": "default"', ' }', '}'];['1; In the JSON structure, "serpent" is listed as the direction which does not match the ontology where direction is a string either referring to cardinal directions or relative directions like left or right. The term "serpent" is used in the command to describe the shape of the trajectory, not the direction. Also, there is no mention of "shape of the trajectory" in sample ontology. The altitude and duration are marked as "default" which is not specified in the command, so it\'s accepted, but the lack of this information doesn\'t fully conform to the command. In addition, the command specifies a distance ("1 mile") but this information is not included, nor supported in the JSON. As such the JSON doesn\'t fully represent the full request of the command.'] +Fly in a zigzag pattern for a mile at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.176,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 28.339,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conforming. The natural language command intentions are partially represented in the JSON structure. "Fly" and "speed" are correctly transposed. However, the "zigzag" direction does not conform to the sample keys or ontology, and the duration has been calculated and added as a field - not originally present in the command. The \'altitude\' information is not provided in the natural language command but it is placed in the JSON, which is acceptable. The usage of \'zigzag\' is incorrect as it\'s not clear how it represents coordinates or a particular direction according to the sample keys.'] +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure can be matched to the "fly" action, however, the motion pattern to "resemble a snake\'s motion" is not provided in the JSON. The included speed unit "mph" is also not part of the sample keys. This implies that the JSON structure only partially matches the command.'] +Descend to an altitude of 100 meters and hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The natural language command matches the 'hover' JSON structure quite well - setting the altitude to 100 meters and the duration to 600 seconds (which is 10 minutes). The only inconsistency is the description of the action - the command says the drone should 'descend' to that altitude, while the JSON structure specifies that it should already be hovering at that altitude. Still, in this case we might assume that the drone will automatically adjust its altitude if needed."] +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command specifies an action of hovering with a duration of 10 minutes (converted to 600 seconds in the JSON) and an altitude of 100 meters, which exactly matches the provided JSON structure.'] +Lower your altitude to 100 meters and remain stationary for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command instructs to lower the altitude to 100 meters and hover. This matches with the given JSON structure where the "action" is "hover" and the parameters include a "duration" of 600 seconds (equivalent to 10 minutes) and "altitude" of 100. Therefore, the JSON perfectly represents the command.'] +Descend until reaching an altitude of 100 meters and then hover for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 16.67,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10.8,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194)"', ' }', ' }', '}'];['4; While the overall commands are mostly correct, there are several mismatches. The natural language command to "Fly forward for 3 kilometers" does not perfectly match with the JSON action "fly" because the JSON provides an "altitude" of 100 that wasn\'t mentioned, and the "direction" value is set to "forward" which isn\'t a recognized direction in the given ontology. The duration is also calculated incorrectly, it should be closer to 180 seconds with the given speed and distance. Finally, the "land" action should not have a specific set of coordinates hard-coded as the value, as this does not reflect the "designated landing zone" provided in the natural language command.'] +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; Mostly conform. The natural language command correctly translates to the action of flying and landing in the JSON structure. However, the direction and duration does not exactly match; the command calls for a distance to be traveled while the JSON structure indicates direction and duration, not distance. Additionally, the provided JSON indicates north as the direction, which is not specified in the command.'] +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": "default",', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "default",', ' "unit_duration": "seconds"', ' }', '}', '', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["4.5; Most of the information in the natural language command matches with the JSON structures. However, there is no mention in the command about the altitude during the 'fly' action which makes it slightly unmatching with the JSON structure, same with the 'direction' value in 'fly' action it is mentioned as 'forward' in the command but in JSON structure it is mentioned as 'north'. Also, the 'land' action doesn't mention the specific coordinates in the command to match the JSON structure."] +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['3; The JSON structures describe the actions "fly" and "land" correctly but fail to match completely with the natural language command. In the "fly" action, the direction value as "north" does not conform with the command request to fly "forward", which could be any direction based on the drone\'s current orientation. In addition, the altitude parameter wasn\'t specified in the natural language command. The duration provided in the "fly" action is incorrect, it is calculated using the speed and distance, which is not mentioned in the natural language command. The landing coordinates are left unspecified, inferred as"(latitude, longitude)" while the command only mentions "designated landing zone".'] +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}', '', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['2; The natural language command partially conforms to the JSON structures. The "fly" action matches, and the speed and unit of speed parameters also match with the values provided in the natural language command. However, the direction is not specified in the natural language command and "north" is arbitrarily specified in the JSON. The duration in the JSON does not match the natural language command, which specifies a distance (3 km) instead of a time. The altitude parameter is not specified in the command, but a default value of 100 meters is given in the JSON. The "land" action also matches, but the location coordinates are not provided in the natural language command nor in the JSON.'] +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4.5; The JSON structure mostly matches the natural language command, corresponding to the "rotate" action with parameters of "angular_velocity", "angle", "is_clockwise", and "unit". However, the given angular_velocity value of 25 is not reasonable as in the sample ontology, the angular_velocity is 0.5, which suggests that a reasonable value should be close to this. The value of 25 makes the drone rotate extremely fast which may not be safe or even achievable.'] +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a loop-de-loop and then watch TV.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['0; The command "Perform a loop-de-loop and then watch TV." does not exist as an action in the sample keys. The action "watch TV" is not in the JSON structure. Even though the "rotate" action is present, the description of doing a "loop-de-loop" is not accurately represented by the angular rotation specified in the JSON. Therefore, this does not conform.'] +Execute a loop-de-loop and subsequently engage in watching TV.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['1; The natural language command includes an action ("execute a loop-de-loop") that matches to a rotation action in the JSON structure, but it would be a full rotation (angle: 360) instead of the specified 90 degree rotation. Furthermore, the second part of the command ("engage in watching TV") does not correspond to any action in the provided JSON structures.'] +Carry out a loop-de-loop and proceed to view television.,['{}'];['0; Neither the action of carrying out a loop-de-loop nor the action of viewing television are present in the sample ontology.'] +Conduct a loop-de-loop before indulging in some TV time.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['1; The natural language command and the JSON structure partially conform. The action "rotate" with parameters angular_velocity (0.5), angle (360), is_clockwise (true) and unit (degrees) can be interpreted as a loop-de-loop. However, the part of the command about "indulging in some TV time" has no corresponding action or parameter in the given JSON structure.'] +Maneuver a loop-de-loop and then enjoy some TV programming.,['{', ' "action": "undefined"', '}'];['0; The natural language command involves performing a "loop-de-loop" which does not match the available actions in the sample ontology. Also, "TV programming" is not an action that could be performed by the drone. The JSON argument is just an undefined action, which is not even close to the command described.'] +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure mostly adheres to the command, the 'fly' action is appropriate. However, the direction value is north which is not specified in the command. Also the duration value should be left unspecified as it is not mentioned in the command."] +Increase your height to 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Climb up to an elevation of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 500,', ' "unit_altitude": "feet"', ' }', '}'];['4; The JSON structure matches the action in the command and the altitude parameter conforms with the value specified in the natural language command. However, the JSON does not specify the direction, speed or duration for the "fly" action, which was not required in the command but is part of the sample keys for the "fly" action.'] +Reach an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "altitude": 500,', ' "unit_altitude": "feet"', ' }', '}'];["4; The JSON structure mostly conforms to the natural language command, with the correct 'action' and 'altitude' parameter. However, the unit is 'feet' instead of 'meters' as defined in the sample keys of the ontology."] +Go up to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["4; Not completely conform. The altitude unit in the JSON is 'meters', whilst in the command it is 'feet'. They should match."] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 1,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];["3.5; The command partially conforms to the JSON structure. However, although the command's instruction to 'fly', the 'speed', the 'direction' and 'unit_speed' match, the 'duration' does not match. In the command, the 1 refers to the distance (1 mile), but in the JSON it's used in the 'duration' field. In addition, 'altitude' is assumed to be 0 in JSON, but this information is not provided in the command."] +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1,', ' "unit_speed": "miles per hour",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['4; The natural language command is mostly covered by the JSON structure. Here, the "direction" key-value pair is not specifically mentioned in the command and is set to a default or arbitrary value in the JSON ("north"). Also, there is no way to determine distance in the JSON information, so the translation implies time ("duration") based on the "speed", which might not precisely convey the original command. It does cover the speed and the units correctly, so the conversion is reasonably good but not flawless.'] +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1.467,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['4; The command asks for moving straight ahead a certain distance at a certain speed. The JSON structure represents a "fly" action with a specific speed, direction, and duration. The direction "north" in the JSON does not exactly match the "straight ahead" direction in the command, hence the score is 4 not 5. Additionally, the unit_duration in the command is not specified but it\'s reasonable to assume that the duration meant in the command is the time it takes to cover a mile at the speed of 40 mph, i.e., 1.467 hours, as represented in the JSON.', ''] +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 1,', ' "unit_speed": "miles per hour",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];["2; Although the action 'fly' matches along with the parameters 'speed' and 'direction' (assumed to be 'forward'), the units used in the command 'mph' and 'miles' aren't represented in JSON structure. Additionally, 'duration' in natural language command was represented as distance (1 mile) rather than time. Therefore, this represents a partial match only."] +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0.02,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command requested the drone to fly straight ahead at a speed lower than what was requested in the JSON structure ("40 mph" vs "10.5 m/s"). The command also mentioned to \'cover a distance of 1 mile\' which isn\'t a key the JSON. The direction is assumed to be north in both cases, but it\'s not explicitly mentioned in the given command. The altitude of the drone is incorrectly set to "0" and the duration is a very low time ("0.02 seconds") which is not likely to be enough time to \'cover a distance of 1 mile.\''] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Remain stationary for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The natural language command is perfectly matched to the JSON structure. The "hover" action is specifically addressed, and the "duration" parameter matches the 10 minute command (given in seconds as 600 in the JSON). The altitude wasn\'t specified in the command, but any reasonable altitude value is acceptable per the rules, and "0" is an acceptable and reasonable value.'] +Stay in one spot for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Although the action is correctly interpreted as "hover", the duration conversion from minutes to seconds (600 seconds instead of 10 minutes) is correctly applied, the altitude value does not match the command which does not specify any altitude. In this case, any reasonable value could be accepted except for 0.0 as it means landing not hovering.'] +Float in the same position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4.5; The JSON structure mostly matches the natural language command. The action is "hover" and the duration is correctly translated to 600 seconds (10 minutes). However, the command doesn\'t specify an altitude for the hover action and \'0\' is not a reasonable default value for the altitude of a hovering action.'] +Suspend yourself in midair for a span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command perfectly matches the JSON structure, as it cites the "rotate" action with correct parameters, like "angular_velocity", "angle" and "is_clockwise", according to the provided ontology. The values provided also match the intent of the natural language command.'] +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The command accurately corresponds to the "rotate" action in the sample ontology, using all the given keys. The values in the JSON match those in the natural language command.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["5; The natural language command asks for a 'landing' action which completely matches with the JSON structure where action is 'land'. The parameter location value is not specified in the command hence the default JSON value is acceptable."] +Please land at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; Although the command "Please land at the specified landing zone" refers to an action (\'land\') that is present in the JSON structure, specific coordinates (latitude and longitude) for the landing zone were not provided in the natural language command.'] +You are required to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Make sure to land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; The command matches the JSON structure and keys provided. Even though the exact coordinates are not mentioned in the command, it is understandable from it that a location is to be specified, matching the "location" tuple in the JSON for the action "land".'] +It is important to secure a landing at the designated zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The command "secure a landing at the designated zone" is concordant with the JSON action of "land". However, the specific location for landing is not provided in the natural language command while the JSON structure contains a parameter for location coordinates.'] +Fly sideways for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "sideways"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure represents the "fly" action, which corresponds with the natural language command. However, the value "sideways" for the direction is not reasonable. In the context of a drone flight, the directions would typically be north, south, east, west or any combination of these. Additionally, "500 meters" from the natural language command is not reflected in the JSON structure.'] +Move horizontally for a distance of 500 meters while airborne.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 45.0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command indicates movement or flight, but it does not specify any direction, speed, or duration to cover a distance of 500 meters. The altitude of flight in the JSON structure is arbitrary and is not mentioned in the command. But the action "fly" matches to the command.'] +Perform a lateral flight movement covering a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "east"', ' },', ' "duration": 47.62,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The provided JSON structure does respond to the action "fly" as mentioned in the natural language command. However, the direction mentioned in the command is not specified and the desired distance of the flight movement isn\'t considered in the parameters. Moreover, the duration calculated seems to be unrelated to the command. Therefore, the matching isn\'t satisfactory.'] +Traverse 500 meters in a sideways direction while in flight.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "sideways"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Partial conformity. The direction parameter value in the JSON structure is "sideways", which matches the natural language command. However, the command specifies a distance (500 meters) not a duration, and there is no parameter in the available actions to handle distance measurements, making a perfect match impossible. The speed and altitude parameters are both 0, which is also inconsistent with the command.'] +Travel parallel to the ground for a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["0; The natural language command implies a certain distance that should be traveled, which is not present in the JSON structure. Moreover, the parameters provided in the JSON such as altitude, speed, and duration are incorrectly assigned 0 values, which doesn't conform with the command."] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not match the command. The action is specified as "fly" but the command is for ascending which is not represented in the available action keys in the ontology. In addition, the unit for altitude is defined in the JSON as "feet" instead of "meters" as provided in the sample ontology.'] +Increase your elevation to 1000 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 1000)"', ' }', ' }', '}'];['2; Although the command to increase elevation matches with the action of navigating to a point in the JSON structure, the value is not specified in the correct units (the example uses meters, the command uses feet), and the specific coordinates for latitude and longitude are not available.'] +Climb to a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; Mostly conform. The natural language command and JSON structure match for the most part - the action to "fly" and the "altitude" of 1000 are present in both. However, the "speed" and "direction" parameters included in the JSON are not mentioned in the NL command. Therefore, these shouldn\'t ideally be included in the JSON structure.'] +Reach an altitude of 1000 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['5; The command "Reach an altitude of 1000 feet" matches perfectly with the JSON structure. The action "hover" is used to reach a certain altitude and the altitude parameter is correctly set to 1000.0 feet which is exactly what the command stated. The duration isn\'t specified in the command so any value is acceptable in the JSON.'] +Move upwards to a level of 1000 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude, 304.8)"', ' }', ' }', '}'];["4; The natural language command is not exactly same but still matches with the JSON commands because the action 'navigate_to_point' is being called, and a specific altitude level is being targeted ('1000 feet') which is reflected in the JSON structure as 304.8 (converted from feet to meters). The conformity score is not 5 because the natural language command doesn't mention a navigation point in terms of latitude or longitude."] +Fly in a circular pattern with a radius of 500 meters for 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "radius": 500,', ' "unit_radius": "meters",', ' "pattern": "circular",', ' "pattern_duration": 1200,', ' "unit_pattern_duration": "seconds"', ' }', '}'];['1; The action is "fly" which is correct but the parameters given in the JSON don\'t match with the natural language command. According to the given ontology, parameters like "pattern", "radius", "unit_radius", "pattern_duration" or "unit_pattern_duration" are not available. Parameters "speed", "altitude", "direction" and "duration" present in JSON are not mentioned in the command.'] +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circles"', ' },', ' "duration": 20*60,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command asks for a circular flight but the provided JSON structure sets the "direction" value as "circles", which does not fit exactly the command. Also, the JSON structure does not include the radius which is mentioned in the natural language command.'] +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["0; The natural language command instructs the drone to fly in a circular motion for 20 minutes maintaining a specific distance from the center but this action doesn't exist in the sample keys. Therefore, the JSON information doesn't match with the command."] +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command is asking the drone to maintain a circular flight path, this is not just simple navigation, it is more complex. The JSON provided does not match this as it only sets a regular flight in a northern direction for a duration of 1200 seconds (which does match the 20 minutes from the command). However, it does not provide information on maintaining a 500-meter radius circular path. There is very little conformity between the requested action in the command and the JSON action and parameters.'] +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["0; The natural language command mentions a 20-minute flight in a circular trajectory, but the corresponding JSON structure suggests a general 'fly' action with a duration of 1200 seconds (which is 20 minutes correctly) but does not specify anything about the circular trajectory making it a non-conformant. Also in the JSON structure, values for speed, altitude, and direction are either not given or zero which contradicts the natural language command."] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 200)"', ' }', ' }', '}'];['4; Almost conform, the action used in the JSON structure is "navigate_to_point", while the command implies a change of altitude which can be more related to the "fly" action with only altitude parameter. However, the coordinates (latitude,longitude,altitude) are correctly understood and represented in the JSON.'] +Go down to a height of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The command "Go down to a height of 200 meters" corresponds partially to the given JSON structure. The action "fly" is correctly identified and the altitude of 200 meters is correctly mapped. However, the direction "down" does not exist in the provided sample keys - usually, a drone would have cardinal directions (North, East, South, West). Hence, we cannot use "down" in the \'direction\' key. Also a drone cannot possibly be flying with a speed of 0 m/s, so a value of zero for \'speed\' and \'duration\' is physically improbable and not a reasonable value.'] +Lower yourself to an elevation of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 200)"', ' }', ' }', '}'];['4; Almost a full match, the "action" is not exact but the meaning and purpose is understood and correctly translated. It would have been a perfect score if the action "lower yourself" had a direct equivalent in the JSON structures, but the "navigate_to_point" action can be interpreted as such since it involves changing altitude.'] +Decrease your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 200)"', ' }', ' }', '}'];["1; The natural language command instructs changing of altitude but it does not specify the action to be 'navigate_to_point'. Also, the JSON structure represents navigation to a specific point with given coordinates (latitude, longitude and altitude) but the command does not clearly include such navigation request."] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": ""', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3.5; The JSON command is appropriate as the action and the altitude parameters match with the natural language command. However, the speed and duration parameters set to 0, and an empty direction value, make the JSON command partially conforming to the natural language command. The drone cannot descend without a speed and a duration, and while the direction parameter not mandatory for a descend action, it should not be present on a non-relevant command.'] diff --git a/evaluation/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV_SELECTED_5pct_for_manual_eval-HIST.png b/evaluation/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV_SELECTED_5pct_for_manual_eval-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..4367bd2f2ca60cd536dced28a4fb81b0e2a0c12c GIT binary patch literal 65612 zcmeFaX;@U(wl&O2F2_U@jesI55L-kAg4obwB8m-yih@X&fLfvg79fqZ#~d4aqaY#$ zC@83)M3KIWu>eIH6;P2jg;0nzmPp^!H)g4+BIn-c{qcS8kNbS#xjC8}YS-RtuQk`4 zV~jagz&0a;uP4u*EG8!Q^`?#bJH*7MWQmE1*MIR({D1Bk-#>sqG+fv3b~SO@@9O@O z^FFbyKe-+`?Bsgb-u7F!eadN0O|Mq~Z>k$`C6%~g+e?i&FnW3`kc6u@{ z^5v0@<}PAl$_wb9e|TKga}yKeXK&K~ey0bkvw?Bpd~1~6xXbMPC7WmH|JU*-m*!ts z5RV_*f6RDvaOcHC0l%b=+L~{TKc%WV+b&>+>ggQjs%JBP{^E-l_BjXj*NcnmA8G$; z2bVveU%q$_*Z1TfiUVcdx+SVA502_SAM$bhqrtsfYL}_0DLvPxAF18U%b$Px7yP;Q 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100644 index 0000000..b0087eb --- /dev/null +++ b/evaluation/evaluations/UAV/GPT3.5/Evaluated_JSON_commands_UAV_SELECTED_5pct_for_manual_eval.txt @@ -0,0 +1,52 @@ +NL command;Human;GPT4;GPT4 justification +"429: Ascend to an altitude of 500 feet.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 0.0,', ' ""altitude"": 500,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": """"', ' },', ' ""duration"": 0,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""feet"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3;['4;" The JSON structure mostly matches the natural language command. However, the ""speed"" and ""duration"" parameters in the JSON command don\'t match the natural language command as they are not specified in the command and hence can\'t be considered as zero by default. But the ""altitude"" parameter in the JSON matches the natural language command, the difference in altitude unit can be acceptable if the system can auto-convert between different units. The ""action"" field also correctly represents the command (""fly"").']" +"102: Increase your altitude to 1500 feet.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""altitude"": 1500,', ' ""unit_altitude"": ""feet""', ' }', '}']";4;['4;" The given JSON structure matches with the natural language command. The command refers to an increase in altitude which corresponds to the ""fly"" action in the JSON structure. Furthermore, the altitude parameter and its unit were correctly extracted from the natural language command. However, ""fly"" action involves other parameters such as speed, direction, and duration which are not mentioned in the natural language command. As the command doesn\'t fully correspond to the \'fly\' action in the JSON structure, the score is 4.']" +"240: Go up to a height of 1000 feet and keep your position steady for 10 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 600.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 1000.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""feet""', ' }', '}']";5;['5; Exactly conform.'] +"243: Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 10.0,', ' ""altitude"": 200,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""up""', ' },', ' ""duration"": null,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";5;['4;" The natural language command and the JSON structure match with a minor difference. In the JSON, there is a key for ""duration"" which is set as null, but this parameter is not specified or suggested in the natural language command. Therefore, the JSON information somewhat conforms to the natural language command, but not completely, thus the score of 4.']" +"966: Suspend yourself in midair for a span of 10 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 10.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""minutes"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4.5;['5; Exactly conform.'] +"294: Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 0.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": """"', ' },', ' ""duration"": 3600,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""feet"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3.5;['0;" The JSON structure does not conform to the natural language command. The command mentions a ""search and rescue"" mission that is not reflected in the JSON structure, because the action ""search and rescue"" does not exist in the given ontology. Therefore, it\'s not possible to convert this part of the command to JSON. Moreover, in the JSON structure, the ""speed"" key has a value of 0.0, which doesn\'t align with the command\'s notion of descending, which implies movement and therefore a certain speed. The ""direction"" key in JSON is also left empty.']" +"598: Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 55.0,', ' ""altitude"": 0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""forward""', ' },', ' ""duration"": 0.13636363636363635,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""hours""', ' }', '}']";3;['5; The JSON structure accurately captures the action of flying in the given direction (forward) at a specified speed (55 km/h) as per the natural language command. Though the NL command does not specify altitude and duration, the JSON assigns reasonable default values (0 meters and approx 0.136 hours to cover 2.5 km at the given speed) in the correct units. The JSON matches the command context and the keys in the sample ontology, hence the score is 5.'] +"665: Stay still for a duration of 25 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1500.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 50.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['5; Exactly conform.'] +"983: Increase your elevation to 1000 feet.,['{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(undetermined, undetermined, 1000)""', ' }', ' }', '}']";3;['2; Although the command to increase elevation matches with the action of navigating to a point in the JSON structure, the value is not specified in the correct units (the example uses meters, the command uses feet), and the specific coordinates for latitude and longitude are not available.'] +"814: Fly backward for 3 kilometers at a speed of 50 km/h.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 50.0,', ' ""altitude"": 0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""backward""', ' },', ' ""duration"": 36,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3.5;['2;" The natural language command partially matches with the JSON. The command ""Fly backward for 3 kilometers at a speed of 50 km/h"" indicates the action ""fly"", the speed and the direction. However, the duration in the JSON structure does not match with the command because it was not mentioned in the command. Plus, the direction value in JSON is ""backward"" but that is not a valid direction like ""north,"" ""south,"" ""east,"" ""west."" Also, the altitude is 0 in JSON which was not mentioned in command. The units of speed and altitude in JSON do not match with those in the command.']" +"2: Increase the elevation to a height of 500 feet.,['{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(latitude, longitude, 500)""', ' }', ' }', '}']";5;['3;" The action referenced in the text (increasing the elevation) has conformed to the ""navigate_to_point"" action in the JSON, and the height parameter in the text is also expressed in the JSON. However, the altitude in the text uses the unit feet while the JSON uses meters. Also, the unit of altitude and exact coordinates (latitude and longitude) are not specified in the text command.']" +"74: It is necessary for you to touch down at the designated landing zone.,['{', ' ""action"": ""land"",', ' ""params"": {', ' ""location"": {', ' ""type"": ""tuple"",', ' ""value"": ""(latitude, longitude)""', ' }', ' }', '}']";4;['4;" The command is asking for a landing action which corresponds to the ""land"" action in the JSON. However, the location is not specified in the command, therefore the specific ""latitude"" and ""longitude"" values in the JSON are accepted as they are reasonable.']" +"370: Slide 200 meters horizontally to the left.,['{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(0.0, -200.0, 0.0)""', ' }', ' }', '}']";0;['1;" The action ""navigate_to_point"" matches the command\'s implication of movement. But using ""coordinates"" to represent a horizontal left movement mentioned in the command is not proper, as the concept of ""left"" very much depends on the current object\'s orientation which is not stated in JSON structure.']" +"356: Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 30.0,', ' ""altitude"": 0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""forward""', ' },', ' ""duration"": 10,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";4;['4;" The command partially conforms to the JSON structure. The command\'s action ""Travel in a forward direction"" matches with the ""fly"" action in JSON. The parameter ""speed"" and its unit ""km/h"" also match. However, the command does not specify altitude, direction and duration values, and the JSON structure\'s ""altitude"", ""direction"" and ""duration"" parameters have been filled with invalid or inappropriate values like 0 for altitude and ""forward"" for direction. The direction value should be more specific, like ""north"", ""south"", etc. and altitude is not mentioned in the command but is mentioned in the JSON. Finally, the command\'s distance ""500 meters"" is not represented in the JSON.']" +"314: Fly in a figure-eight pattern with a total distance of 2 kilometers.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 10.5,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""figure-eight""', ' },', ' ""distance"": 2000,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_distance"": ""meters""', ' }', '}']";3;"[""0";" The natural language command specifies a action to 'fly' in a 'figure-eight' pattern with a 'total distance of 2 kilometers which is not covered in the given JSON structure. Also, the concept of a 'figure-eight' pattern and 'total distance' as parameter is not present in the provided ontology.""]" +"916: Scale up to an altitude of 300 meters and sustain it for 30 minutes.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 0.0,', ' ""altitude"": 300,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": """"', ' },', ' ""duration"": 1800,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";5;['5;" Exactly conform. ', '', 'The JSON structure correctly captures the natural language command of maintaining an altitude of 300 meters for a duration of 1800 seconds (30 minutes). The ""fly"" action is correctly used with ""altitude"", ""duration"", ""unit_altitude"" and ""unit_duration"" parameters all accurately represented. Though the ""speed"" and ""direction"" parameters weren\'t specified in the command, their use in the JSON is accepted since their value is reasonably set to 0.0 and empty string respectively, which could mean hovering in place.']" +"810: Decrease your altitude to 200 meters.,['{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(latitude, longitude, 200)""', ' }', ' }', '}']";4;['2; While the natural language command instructs to decrease altitude, the JSON structure shows an action of navigating to a point which is not entirely accurate. However, the parameter of altitude in the navigation coordinates does match the asked decrease in altitude in the command, hence not a complete mismatch.'] +"605: Stay still for a duration of 8 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 480.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['4;" The command ""Stay still for a duration of 8 minutes"" partially conforms to the provided JSON structure. The ""action"": ""hover"" is correctly interpreted, and the duration in seconds is calculated correctly from the given 8 minutes (480 seconds), however, the altitude value in the JSON object is 0 which wasn\'t specified in the natural language command. So, it\'s not a perfect match.']" +"655: Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 90.0,', ' ""altitude"": 0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""forward""', ' },', ' ""duration"": 200,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";4;['2;" The JSON structure partially matches the command. The action (""fly"") and speed match but the direction is inferred and not directly stated in the command. There\'s no mention of altitude in the command yet it\'s in the JSON. The duration computation in the JSON doesn\'t match the command as it calls for a specific distance not time duration.']" +"994: Lower yourself to an elevation of 200 meters.,['{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(0, 0, 200)""', ' }', ' }', '}']";2;['4;" Almost a full match, the ""action"" is not exact but the meaning and purpose is understood and correctly translated. It would have been a perfect score if the action ""lower yourself"" had a direct equivalent in the JSON structures, but the ""navigate_to_point"" action can be interpreted as such since it involves changing altitude.']" +"189: Keep yourself elevated without any movement for a span of 45 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 2700.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['3;" The action is ""hover"", which matches the input command. However, the duration is incorrect (2700 seconds instead of 45 minutes), and the altitude information is not mentioned in the command but provided in the JSON.']" +"111: Hover in place for 30 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1800.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['5;" Exactly conform. The natural language command directly corresponds to the ""hover"" action in the JSON structure, with a duration of 1800 seconds (which equals to 30 minutes) as specified in the command. The altitude value in the JSON structure can be regarded as a reasonable value, as the command didn\'t specify any.']" +"545: Stay stationary for a duration of 10 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 600.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""minutes"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['3;" The JSON structure partially conforms to the natural language command. The ""hover"" action and ""duration"" parameter match correctly, as does the conversion of 10 minutes to 600 seconds. However, the command does not specify that the drone should be at altitude 0, so the value of the ""altitude"" key does not fully conform. Additionally, the ""unit_duration"" key should be ""seconds"", not ""minutes"", to match the converted duration.']" +"366: Climb up until you are at an altitude of 500 meters above ground level.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 0.0,', ' ""altitude"": 500,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""up""', ' },', ' ""duration"": 0,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3;"[""2";" While the JSON structure partially captures the command (namely the 'altitude' of 500 meters), the 'action' key in the JSON ('fly') does not perfectly match the intent of 'climbing up' described by the command. Additionally, the 'direction' value in the JSON, 'up', doesn't completely adhere to the format of the sample ontology. Lastly, the zeroed-out 'speed' and 'duration' in the JSON don't quite capture the likely implicit expectation in the command that the climbing action should occur at some typical, non-zero speed and over some amount of time.""]" +"459: Ascend to an altitude of 1000 feet.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 0.0,', ' ""altitude"": 1000,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""north""', ' },', ' ""duration"": 0,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""feet"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3;['4;" Mostly conform. The ""fly"" action and ""altitude"" parameter are clearly represented in both the command and the JSON structure. However, the ""direction"" and ""speed"" parameters in the JSON don\'t match the command, and the ""duration"" parameter was specified as zero, which is also not described in the command.']" +"684: Hover in place for 18 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1080.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['5;" The JSON structure corresponds to the ""hover"" action, which is accurately represented in the natural language command. The duration of hovering is correctly translated from 18 minutes to 1080 seconds in the JSON, and even though the altitude in the command is not specified, the JSON value of 0.0 meters is reasonable.']" +"376: Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes.,['{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 0.0,', ' ""angle"": 0,', ' ""is_clockwise"": true,', ' ""unit"": ""degrees""', ' }', '}']";1;['0; The JSON structure refers to a rotation action but does not include any information regarding the rotation center or the duration of the rotation, which are clearly specified in the natural language command. The radius is also not covered in the provided JSON structure.'] +"910: Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 20.0,', ' ""altitude"": 0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""clockwise""', ' },', ' ""duration"": 0,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3;['2; The given JSON structure correctly represents the speed information but fails to depict the circular flight pattern and the radius of 1 kilometer as there are no keys available in the ontology to represent these pieces of information. The values provided for altitude, direction, and duration in the JSON are not correct based on the natural language command given.'] +"454: Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 50.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""zigzag""', ' },', ' ""duration"": 72,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3;['1;" The JSON structure represents a ""fly"" action with a speed of 50 km/h, an altitude of 100 meters and a direction described as a string with the value ""zigzag"". However, duration and direction at this sample ontology are not described in such a way to represent a zigzag pattern for any specific path length or the action of flying for 2 kilometers. The given JSON does not conform to the sample ontology\'s schema for representing such complex action and thus the score is 1.']" +"168: Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second.,['{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 40,', ' ""angle"": 90,', ' ""is_clockwise"": true,', ' ""unit"": ""degrees""', ' }', '}']";5;['5; Exactly conform.'] +"460: Increase your altitude to 1000 feet.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 0.0,', ' ""altitude"": 1000,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": """"', ' },', ' ""duration"": 0,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""feet"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3;['5; The natural language command perfectly matches the JSON structure. The action (flying/increasing altitude) and parameter (altitude of 1000 feet) are clearly referred to within the JSON.'] +"72: Please make a landing at the specified landing zone.,['{', ' ""action"": ""land"",', ' ""params"": {', ' ""location"": {', ' ""type"": ""tuple"",', ' ""value"": ""(latitude, longitude)""', ' }', ' }', '}']";4;['5; Exactly conform.'] +"589: Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second.,['{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 40,', ' ""angle"": 270,', ' ""is_clockwise"": true,', ' ""unit"": ""degrees""', ' }', '}']";5;['5; Exactly conform.'] +"155: Ascend to a height of 2000 feet above sea level.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 0.0,', ' ""altitude"": 2000,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": """"', ' },', ' ""duration"": 0,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""feet"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3;['5; Exactly conform.'] +"212: Stay still for a duration of 50 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 3000.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""minutes"",', ' ""unit_altitude"": ""meters""', ' }', '}']";3;['1; The action and unit duration are correct but the duration value in JSON structure is not matching with the command (it should be 50 and not 3000) and the altitude value is given as 0 in the JSON structure but it was not specified in the command.'] +"812: Go down to a height of 200 meters.,['{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(0, 0, 200)""', ' }', ' }', '}']";3;['4; The natural language command and the JSON structure are mostly conform. The action of navigating to a specific point matches with the action in the JSON structure. However, the natural language command specifies only the altitude, whereas the JSON structure implies a full set of coordinates including latitude and longitude, which are not specified in the command. The value of these absent parameters is assumed to be zero in the JSON structure which is an acceptable presumption.'] +"36: Hover in place for 15 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 900.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['4;" The JSON structure correctly represents the action ""hover"" and unit of duration ""seconds"". However, the natural language command does not specify the altitude, and it is not clear why the JSON has a value of \'0.0\' for altitude. The duration value in the natural language command is ""15"" but it represents minutes, while in the JSON structure the same value is converted to seconds, therefore it is \'900.0\' instead of \'15.0\'.']" +"965: Float in the same position for 10 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 600.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['4.5;" The JSON structure mostly matches the natural language command. The action is ""hover"" and the duration is correctly translated to 600 seconds (10 minutes). However, the command doesn\'t specify an altitude for the hover action and \'0\' is not a reasonable default value for the altitude of a hovering action.']" +"472: Take aerial photos by hovering in the air for a total of 20 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1200.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['4;" The JSON structure is properly set to perform the ""hover"" action. The duration parameter in the JSON is also correctly specified in equivalence to 20 minutes (1200 seconds). But, the natural language command is asking to take aerial photos which doesn\'t exist in the provided ontology and also, the value for altitude is not mentioned but in JSON it is given as 0. This may contradict with the command as hovering is generally in the air, not at ground level. So, it\'s not a perfect match.']" +"106: Fly forward for 5 miles at a speed of 50 mph.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 50.0,', ' ""altitude"": 0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""forward""', ' },', ' ""duration"": 0,', ' ""unit_speed"": ""mph"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3;['2;" The natural language command asks to fly forward for a certain distance (5 miles) which isn\'t represented in the JSON structure. Also, speed has the correct value, but the defined unit in the sample Ontology is ""m/s"" while in the input it\'s ""mph"". In the JSON, Direction is ""forward"" which technically doesn\'t belong to ""north, south, east, west"" and altitude and duration are set to 0 which is not specified in the natural language command.']" +"435: Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(default_latitude, default_longitude, default_altitude)""', ' }', ' }', '}']";0;['1;" The JSON structure provided does not match the command. Although the ""action"" key in the JSON structure is somewhat aligned with the activity conveyed in the natural language command, the command details about how to proceed (distance and speed), which doesn\'t match with the JSON structure. The JSON structure only indicates a movement to a certain point but not the distance or the speed of that movement.']" +"725: Stay still for a duration of 22 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1320.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;"[""4";" Partially conform. The command is to hover which match with the 'action' in JSON. The duration is properly converted to seconds from minutes. However, altitude value is zero which does not actually meet 'stay still', as staying still doesn't necessarily mean at zero altitude.""]" +"85: Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 19.444444444444446,', ' ""altitude"": 0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""north""', ' },', ' ""duration"": 0,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";1;['2;" The natural language command instructs the drone to fly in a straight line for a certain distance, whereas the JSON structure has fields that are filled with values that are not mentioned in the command, like ""altitude"" and ""duration"". Additionally, the command does not specify the direction of flight. Moreover, the velocity in command is in km/h while the ""unit_speed"" in JSON is in m/s and the conversion is not correct. JSON has no field to specify the distance which was mentioned in the command.']" +"374: - Circle around a fixed point at a radius of 100 meters for 5 minutes.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 0.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""clockwise""', ' },', ' ""duration"": 300,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";1;['0;" The JSON structure does not match the natural language command. The command suggests a ""circle"" or ""orbit"" action, which does not exist in the sample keys. Furthermore, the JSON structure indicates a ""fly"" action without moving (speed: 0), which does not reflect the circling movement implied in the command. Also, the direction as ""clockwise"" is not correct as per the provided sample ontology.']" +"685: Maintain a stationary hover for a duration of 18 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1080.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['4;" Mostly conform. The natural language command aligns with the ""hover"" action of the JSON structure. The JSON correctly provides a ""duration"" param with a value converted from minutes to seconds (18*60=1080s). However, although it\'s reasonable to deduce that the drone stays put at the current altitude when maintaining a hover, the value for the ""altitude"" parameter is given as \'0\' in JSON which doesn\'t match with an implicit current altitude in the command.']" +"485: Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters.,['{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 20.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""circle""', ' },', ' ""radius"": 500.0,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_radius"": ""meters""', ' }', '}']";3;['1;" The JSON information partially matches the command. The command talks about flying at a certain speed in a circular path, which corresponds to the ""fly"" action in the JSON structure. However, the JSON structure shown does not contain a key for the ""radius"" of the circular path. Furthermore, the direction value in the command is ""circle"", while in the JSON structure it is ""north"". The key ""unit_radius"" also doesn\'t exist in the sample keys.']" +"827: Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second.,['{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 90.0,', ' ""angle"": 360,', ' ""is_clockwise"": false,', ' ""unit"": ""degrees""', ' }', '}']";5;['5; Exactly conform.'] +"724: Hover in place for 22 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 22.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""minutes"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['4;" Mostly conform. The command ""Hover in place for 22 minutes."" converts well into the given JSON structure with ""action"" set to ""hover"" and ""duration"" set to 22.0. However, the default value of ""altitude"" is unspecified in the command. The JSON structure assigns it a value of 0.0 meters which might not be always reasonable in a real-world drone operation. The ""duration"" unit is given correctly as ""minutes"" in the JSON structure.']" +"61: Hover in place for 20 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1200.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;['4;" The JSON structure correctly represents the ""hover"" action with a duration of 20 minutes (correctly converted to 1200 seconds, as the unit_duration is specified as \'seconds\'). However, the JSON mentions an ""altitude"" parameter with value 0.0, which is not specified in the natural language command.']" +;;; +;3.45918367346939;; diff --git a/evaluation/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV-GPT4-SCORES-only.txt b/evaluation/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV-GPT4-SCORES-only.txt new file mode 100644 index 0000000..671f18a --- /dev/null +++ b/evaluation/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV-GPT4-SCORES-only.txt @@ -0,0 +1,992 @@ +4.0 +4.0 +3.0 +4.0 +4.0 +3.0 +3.0 +4.0 +0.0 +2.0 +5.0 +4.0 +4.0 +5.0 +4.0 +5.0 +5.0 +5.0 +5.0 +5.0 +5.0 +5.0 +4.0 +5.0 +4.0 +3.0 +0.0 +2.5 +2.0 +2.0 +5.0 +0.0 +4.0 +0.0 +2.0 +4.0 +0.0 +5.0 +5.0 +4.0 +5.0 +5.0 +5.0 +5.0 +5.0 +4.0 +4.0 +5.0 +5.0 +5.0 +4.0 +5.0 +4.0 +4.0 +2.0 +4.0 +4.0 +1.0 +2.0 +1.0 +5.0 +5.0 +4.0 +4.0 +4.0 +5.0 +5.0 +5.0 +5.0 +5.0 +4.0 +5.0 +5.0 +5.0 +5.0 +3.0 +3.0 +4.0 +4.0 +2.5 +5.0 +2.0 +3.0 +4.0 +3.0 +4.0 +5.0 +4.0 +4.0 +4.0 +5.0 +5.0 +5.0 +5.0 +4.0 +4.0 +4.0 +5.0 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zrQn}2HaIH_%_uTe2x((Em{5ivKT0)vC{|^c9cCC4(&Y^30Mg@m#?#pgOPt(SvNh&< zc@-1iL^*^O%0_0ftVNuF?M;Jp2F0!}7Dj7Z0J!!?INS&X!Gv5AYxZ?0g_J9YpR)yZ zemcA9xV)W%2qbD7fuJK=q@$C$6z%&)bmrberAQxgTs0fL>@twHLNFYK_g-`t_*MO& zAVbAlu#9HkvC=gZJ3PD(LD1BKgb|1H>TpHtxDqoX${u})(nNpZ?}sZVgE{*2C&d3t zU+qdE73NIt${Ci<6-)Q$|9oH{EbZsN5rpYIfB&QJ{_jV{hx5P3^n8uX`QMUw`Y8U* elK4&A{hiO>9vtW6R>Xh*{(J7OS(88d^8WzB5u)7y literal 0 HcmV?d00001 diff --git a/evaluation/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV.txt b/evaluation/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV.txt new file mode 100644 index 0000000..98cf0de --- /dev/null +++ b/evaluation/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV.txt @@ -0,0 +1,1000 @@ +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["4; Partially conform. The natural language command is correctly translated into the JSON structure for the 'fly' action. The altitude has been correctly interpreted as 500, the direction noted as 'up' and a metric of feet applied. However, in the ontology sample, there is no direction as 'up' for the 'fly' action, it should be the cardinal points like North, East, South, West etc. The speed and duration parameters given in the JSON are not mentioned in the natural language command, and vice versa - there is no unit of altitude in the ontology, it is only considered as a float."] +Increase the elevation to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command calls for a change in altitude, which corresponds to the "fly" action in the JSON structure. However, the direction value in the JSON structure is "north" while the natural language command implies upward direction ("increase the elevation"). Additionally, the unit of altitude in the natural language command is feet, whereas in the JSON structure it is meters. The conversion from feet to meters is accurate.'] +Climb to a height of 500 feet above ground.,['This prompt does not map directly to any action in the provided ontology, leading to an empty response. But as a similar mapping could be considered as hovering at a height, in this case, assuming 1 foot = 0.3048 meters, 500 feet would convert to 152.4 meters. ', '', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 152.4', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; The command corresponds partially to the 'hover' action in the JSON structure. However, it does not provide a duration for the action, leading to a zero value in the transformed JSON. Also, the unit of altitude was provided as feet in the command, while it is represented as meters in the JSON. It seems the conversion has been applied in the example. On the other hand, the 'hover' action might not fully correspond to the 'climb' command."] +Reach an altitude of 500 feet above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure correctly captures the "fly" action and reaches the right altitude. However, the direction parameter is marked as "up" which isn\'t clearly stated in the natural language command, and the altitude specified in the command is with unit "feet" while in JSON sample ontology, the unit of "altitude" is in "meters".'] +Ascend to a height of 500 feet in the air.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command is mostly matched with the JSON structure given. The "action" is correctly identified as "fly" and altitude is correct as well. The direction \'up\' is not among the canonical keys but can be inferred. However, the \'speed\' and \'duration\' parameters are not specified in the natural language command and are just assumed in the JSON structure. The unit of \'altitude\' is correctly identified as \'feet\'.'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action matches the natural language command and most of the parameters are covered. However, the direction value "forward" does not exactly match to any direction given in the JSON structure (where the direction is "north"). Plus, the unit of speed is in "m/s" in the JSON while it is "mph" in the command. The duration of the flight is not mentioned in the command but it is present in the JSON.'] +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 90,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action "fly" and the direction "straight" match, but the "speed" in the JSON is expressed in mph instead of m/s as per the sample. The "altitude" and "duration" values do not match because they are not mentioned in the command. The "unit_duration" in the JSON is also seconds instead of minutes as per the command.'] +Travel in a straight line for 1 mile, maintaining a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 90,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON matches the natural language instruction in \'action\' and \'speed\', but it does not clearly specify "travel in a straight line for 1 mile". Also, the units for speed in the JSON is specified as \'mph\' which matches the command. However, the direction set as \'north\' in the JSON which is not indicated in the command. Similarly, altitude, duration were also included in JSON but not specified in the command. As a result, it\'s not an exact match.'] +Move forward for a distance of 1 mile, traveling at a speed of 40 mph.,['This action is not part of the available ontology. Thus, it will be ignored, and no valid JSON will be returned.'];['0; The provided natural language command does not match with any of the JSON structure(s) provided. None of the available actions (navigate_to_point, fly, hover, rotate, land) supports moving forward for a specific distance, especially not in the specified units (mile, mph).'] +Cover a distance of 1 mile by flying forward at a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Some keys match from the natural language command to the JSON structure. However, the distance ("1 mile") and the direction ("forward") in the natural language command are not represented in the JSON structure. Furthermore, the duration in the JSON structure does not follow from the natural language command.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches the JSON structure. The "hover" action is correctly identified, and the duration parameter is accurately converted from minutes to seconds.'] +Stay still for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The value of "value" key for "altitude" is not specified in the natural language command but exists in the JSON. The other keys match perfectly.'] +Maintain a hovering position for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command correctly maps to the "hover" action in the JSON structure. However, the duration is asked to be 10 minutes in natural language command and in JSON it\'s converted to seconds which is 600. Although this conversion is accurate, it\'s a slight deviation from the exact command. Also, no specific altitude is mentioned in the command, but it\'s provided in JSON.'] +Remain suspended in one spot for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The command is fully conforming with the JSON structure. The "hover" action is correctly identified, as well as the duration is converted from minutes to seconds (10 minutes = 600 seconds). The altitude value is not specified in the natural language command, but the provided value in JSON (50.0) is reasonable and hence acceptable.'] +Hold a stationary hover for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The command is correctly translated into the 'hover' action with the appropriate parameters. However, the unit for duration in the JSON structure is in seconds while the command specifies the duration in minutes. This discrepancy results in a mismatch between the command and the JSON structure with a value of 600.0 seconds instead of 10 minutes."] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Please ensure you touch down safely at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +It is essential that you land at the designated land zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['4; Because the landing command is correctly recognized and translated into JSON, but the "location" parameter in JSON is assigned a place-holder coordinates value which is not explicitly specified in the given command. The precise coordinates for the landing zone should have been given in the original command for perfect conformity.'] +Make sure you reach the assigned landing zone for landing.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The command is asking to land at an assigned landing zone, which 100% matches the action "land" in JSON format. Although the specific landing location is not provided in the natural language command, it is understood from the context.'] +Ensure your landing takes place at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'];['4; The JSON structure is almost entirely correct. The \'action\' key matches the correct action ("land") as per the natural language command. The \'location\' key is also properly implemented. However, the \'value\' field for \'location\' is set to "(undefined, undefined)" while in the natural language command it\'s mentioned as "specified landing area". It would be scored a 5 if the \'value\' would have been assigned to something more concrete.'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude_default, longitude_default, 200)"', ' }', ' }', '}'];['3; The JSON structure reflects a navigation action to a specific altitude which partially matches the natural language command of descending to a certain altitude. However, the "navigate_to_point" action isn\'t exactly the same as descending, and the addition of default latitude and longitude values in the JSON is not specified in the command.'] +Decrease your altitude to 200 meters.,['The provided instruction "Decrease your altitude to 200 meters" does not correspond to any specific "action" in the ontology. Therefore, it cannot be translated into a JSON conformant to the ontology.'];['0; The provided command does not correspond to any action in the JSON structures.'] +Lower yourself to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2.5; Partial Match. The action and some parameters in the JSON are matching with the natural language command but the direction key "value" in JSON structure is set to "down", which doesn\'t match with the command because instead of moving in a certain direction, the command indicates to \'lower\' the altitude specified as in hovering action.'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure mostly conforms to the natural language command, but the command doesn\'t specify details like "speed", "duration", and "direction". Also, the direction value is not accurate as the drone should decrease altitude, not go "down" which is not a valid direction in this context.'] +Bring your altitude down to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command only sets the "altitude" parameter to a new value of 200 meters. However, the produced JSON incorrectly includes parameters for "speed", "direction", "duration", "unit_speed", "unit_duration", and their respective values which were not specified or implied in the natural language command. Therefore, the matching is partial and not properly aligned with the command.'] +Fly forward for 3 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 120,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, undetermined)"', ' }', ' }', '}'];['0; The natural language command talks about proceeding in a certain direction for a specific distance at a particular speed. However, there is no corresponding JSON structure in the provided sample ontology that matches these instructions. The closest action, "navigate_to_point," deals with moving to specific coordinates, not a distance away in a certain direction. Hence, the conformity score is 0.'] +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h.,["This action is not defined in the ontology, so it cannot be executed. However, you can approximate this with the 'fly' action from the ontology. It's just required to convert the provided values to match the units specified in the ontology (m/s for speed and seconds for duration).", '', 'If we convert 80 km/h to m/s, we get approximately 22.22 m/s. Similarly, to calculate the duration for travelling 3 kilometers at 80 km/h, we get approximately 135 seconds.', '', 'The generated JSON would look like this:', '', '```', '{', ' "action": "fly",', ' "params": {', ' "speed": 22.22,', ' "altitude": 100, // Default value, as no specific altitude was provided in the prompt.', ' "direction": {', ' "type": "str",', ' "value": "north" // Default value, as no specific direction was provided in the prompt.', ' },', ' "duration": 135,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', '```'];['4; The JSON information for the \'fly\' action provides a close match to the provided command and the generated JSON structure is correctly formed according to the ontology. However, the direction value is not specified in the natural language command and has been defaulted to "north" which may not necessarily be correct. The altitude has also defaulted to a value not provided in the initial command which again may not be correct.'] +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['The action "Move ahead for a distance" is not present in the ontology. Therefore, no JSON can be produced.'];['0; The command does not correspond to any of the provided JSON structures. The action "move ahead for a distance" is not found in the sample ontology.'] +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 135,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches the natural language command. The "action" to "fly" is correct, but the value of "direction" in the params does not match with the command ("straight" is not a direction). Also, distance was not mentioned in the original ontology and duration value seems to be calculated somehow from the command which is not mentioned either. Thus, it\'s not exactly conform.'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command to "Hover in place for 15 minutes" corresponds to the action "hover" with a duration. However, the duration in the JSON is 900 seconds, not 15 minutes as stated in the command. Nevertheless, the duration value in the JSON is a reasonable interpretation of 15 minutes when converted to seconds. The altitude value is not specified in the command, but it is reasonable to have any value, so 50.0 meters can be accepted. But the conformity is not exact, hence a score of 4 instead of 5.'] +Stay stationary for a duration of 15 minutes.,['The action "Stay stationary for a duration of 15 minutes" is not supported as per the ontology. Therefore, there is no JSON object generated for this action.'];['0; The provided natural language command does not match with any of the actions specified in the JSON structures. The command to stay stationary could be seen as an instruction to "hover", but the unit of duration in the command is in minutes, while the unit specified in the ontology is in seconds, causing a mismatch.'] +Maintain a hovering position for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Remain suspended in one place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The natural language command has been perfectly mapped to the JSON structure. The "hover" action with a duration of 15 minutes (or 900 seconds) matches correctly. Altitude is not specified in the command, and a reasonable default value has been used in the JSON.'] +Hold in mid-air without moving for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command translates to the "hover" action but the duration has a different value, the command mentions 15 minutes which is equivalent to 900 seconds, this exact value is shown in the JSON structure. However, the altitude is not specified in the command but exists in the JSON, can still be accepted as a reasonable value.'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left at a rate of 10 degrees per second for a duration of 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The command matches the JSON structure perfectly, with specified action ("rotate") and corresponding parameters ("angular_velocity", "angle", "is_clockwise", "unit"). The parameter values also match with the command.'] +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command perfectly lines up with the JSON structure. The action "rotate", parameters such as "angular_velocity", "angle", "is_clockwise", and the "unit" all match. Additionally the parameter values (10, 45, false, degrees) also match the action in natural language command.'] +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['4; The command and JSON structure matches in terms of the action ("land") and the parameters (as "location" is a reasonable assumption for the landing zone). However, a specific value for location has not been provided in the command.'] +Please arrive at the pre-assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The command "Please arrive at the pre-assigned landing area" implies landing but doesn\'t provide specific coordinates for the location. However, the JSON structure correctly presents the action as "land", with the parameters for location not specified, which is acceptable in this case.'] +Make your way to the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'];['5; Exactly conform. The command "Make your way to the specified landing zone" corresponds to the "land" action with the location being specified, even if in this case the exact coordinates are not provided in the natural language command. This is consistent with the logic that if a parameter\'s value is not specified, any reasonable value is accepted.'] +Ensure you land at the designated landing spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(-1, -1)"', ' }', ' }', '}'];["5; Exactly conform. The command 'Ensure you land at the designated landing spot' matches well with the JSON structure, as the 'action' key 'land' is the main topic of the command. Even though coordinates aren't provided, the JSON structure holds reasonable default coordinate values."] +Please touch down at the designated landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command is giving an instruction to land, which directly matches with the \'land\' action in the provided JSON data. Also, the location is mentioned as "designated landing area" not a specific location but this makes sense with given \'location\' parameters in attached JSON, even though the specific latitude and longitude were not provided.'] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command somewhat conforms to the JSON structure. The action "fly" matches and the parameter "altitude" with a value of 1000 also matches. However, the natural language command does not specify parameters such as speed, direction, and duration which are present in the JSON structure. Also, the "unit_altitude" in the JSON structure is "feet" while the sample keys ontology uses "meters".'] +Climb to a height of 1000 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The JSON structure matches the command perfectly. The action is "hover" and the parameters are correctly set: "altitude" is converted from feet to meters and "duration" is a reasonable default value since it is not specified in the command. The units for "altitude" and "duration" are also correct.'] +Reach an elevation of 1000 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1000)"', ' }', ' }', '}'];['4; The command is about reaching a certain altitude which matches with "navigate_to_point" action and \'coordinates\' parameter in JSON. However, the units used in the command and JSON are different (feet vs meters).'] +Go up to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; While the JSON structure conforms with the action of going up (fly action) and the altitude conversion from feet to meters is correct, the direction value is incorrect. In this context, "up" isn\'t a valid direction like north, south, east, or west. Also, the speed and duration values are not necessary here since they\'re not specified in the natural language command.'] +Achieve a height of 1000 feet.,['{"action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }}'];["2; The command requests to achieve a height of 1000 feet, which could be somewhat aligned with the 'fly' action in JSON. However, the altitude provided in the JSON structure is 304.8 meters which is not equivalent to 1000 feet. The direction value 'up' is also not a match for the standard values (north, south, east, west). Therefore, the match is not precise."] +Fly forward for 2 miles at a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Partially conform. The JSON structure conforms to the "fly" action type in the sample ontology, including "speed", "duration", "unit_speed" etc. The "direction" supplied in the command, however, is not specified in the sample ontology, where the "direction" is \'north\', not \'forward\'. Also, the altitude (100) and duration (10) did not match the command. The speed unit is also provided as "m/s" but the command uses "mph".'] +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure captures most of the information given in the natural language command such as the action - fly and speed of 45 mph. The command also talks about a specific direction - "straight ahead" or using a compass direction as "north", but doesn\'t specify altitude, duration of flight.'] +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph.,["I'm sorry, but the provided instruction does not fit into the predefined ontology, as the ontology includes specific fields such as direction, duration, and altitude, which are not provided in the instruction. Therefore, it's impossible to construct a valid JSON response with the current information.", ''];["1; The command involves an 'action' of flying which is present in the JSON structures. However, the parameters provided in the command such as 'distance' and 'speed' in 'miles' and 'mph' respectively are not conforming with the equivalent parameters in JSON which are 'speed' in 'm/s', 'altitude' in 'meters' and 'duration' in 'seconds'. Also, the 'direction' parameter is missing in the command which is essential as per the JSON structure. Hence, the command does not match with the JSON structure as a whole."] +Fly ahead for 2 miles while moving at a speed of 45 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 2,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "miles"', ' }', '}'];['2; The JSON structure appropriately represents the action of flying and includes a speed parameter set to 45.0 with the "mph" unit, which matches the command. However, the direction is defaulted to "north" even though the command didn\'t specify a direction. Also, the "duration" parameter doesn\'t match with the command - the term used in the command is "2 miles", yet in the JSON structure it is incorrectly applied as duration (measured in time) rather than distance. The unit of duration as "miles" doesn\'t make sense as well. The altitude parameter is also included, which wasn\'t specified in the command.'] +Maintain a speed of 45 mph while flying forward for a distance of 2 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "miles"', ' }', '}'];['1; While the natural language command does involve flying, there\'s a mismatch with the parameters provided in the JSON structure. The JSON specifies an altitude, a duration in seconds, and a direction as "forward" - none of these details were included in the command. The command requests a specific speed which matches the JSON, but specifies it in miles per hour (mph) instead of meters per second (m/s). Additionally, the command asks for a specific distance to be covered, but the JSON records the duration measured in miles instead of seconds.'] +Hover in place for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The JSON structure perfectly matches the natural language command. The \'action\' key corresponds to "hover", the \'duration\' key\'s value has been correctly converted to seconds to match the "20 minutes" from the command, and there\'s a reasonable value for the \'altitude\' key. The value of "10.0" for altitude doesn\'t contradict anything from the initial command as the specific hovering altitude isn\'t mentioned.'] +Remain stationary for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Stay suspended in one spot for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command mostly conforms with the JSON structure, with the "action" correctly being "hover", and the "duration" being correctly converted from minutes to seconds as 1200.0. However, the altitude value in the JSON does not match with the command, as no specific altitude is mentioned in the command.'] +Keep still for 20 minutes while floating in the air.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Mostly conform. The action and unit keys in the JSON structure align properly with the natural language command. However, the altitude value is not specified in the command.'] +Hold position for 20 minutes without moving.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action in the JSON matches the command, and the duration is accurately converted from minutes to seconds in the JSON. However, the altitude parameter is inaccurate as the command does not specify that the drone should hover at 0.0 meters.'] +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['4; The JSON structure matches the command "land" and it follows the sample ontology however, the designated landing zone is not represented in the JSON. It defaults to "(0, 0)" instead of a specified landing zone.'] +Please make a landing at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];["5; Exactly conform. The given command is matching with the JSON structure related to 'land'. Even though the exact coordinates are not specified, since they aren't mentioned in the natural language command, any logical value in the JSON is accepted."] +Ensure that you land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command instructs the system to "land at the assigned landing zone", which perfectly matches with the JSON command of the same where the action is "land" at a specified "location" (latitude, longitude).'] +It is necessary for you to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(Undetermined, Undetermined)"', ' }', ' }', '}'];["5; Exactly conform. The natural language command is properly matched with the 'land' action in the JSON structure. Although the specific coordinates are not mentioned in the command, the structure still fits as the location is considered with the type as tuple and the value being an undetermined pair of latitude and longitude."] +The instruction is to land specifically at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command matches the action "land" and the parameter "location" in the JSON structure. The specific value of the location is not provided in the command, but any reasonable tuple of latitude and longitude is accepted.'] +Descend to an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 300)"', ' }', ' }', '}'];["3; Although the command indicates a change in altitude, it doesn't necessarily suggest navigation to a specific point. The value for the coordinates, while correct for altitude, does not specify a latitude or longitude. This indicates a partial match, hence the score."] +Lower your altitude to 300 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; The natural language command instructs the drone to lower its altitude which aligns with the 'fly' action where 'altitude' is one of the parameters. However, the matched JSON structure includes the 'direction' key with value 'down' which is not explicitly mentioned in the command and the 'speed' & 'duration' parameters in the JSON do not align with the command. Therefore, the match is not exactly conforming and the score is 3."] +Move down to an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 300)"', ' }', ' }', '}'];['4; The command matches the "navigate_to_point" action. Although the exact coordinates for latitude and longitude were not specified, the altitude coordinate matches correctly. The unspecified latitude and longitude are reasonably filled as "undefined". The rating is 4 instead of 5 because the command does not indicate a complete set of coordinates.'] +Deescalate to a height of 300 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure contains the right action "hover" and correctly specifies the altitude as 300 meters. However, the duration in the JSON (15 seconds) wasn\'t mentioned in the natural language command, which is why the score is not 5.'] +Descend until you reach an altitude of 300 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2.5; The command is somewhat matched as it describes a flying action and indicates a particular altitude to reach. However, "direction" in the JSON is set to "down", which is not a valid option according to the sample ontology. The "speed" and "duration" parameters are also included in the JSON but are not specified in the command.'] +Fly forward for 4 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.429', ' },', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['5; Exactly conform. The JSON structure is corresponding accurately with the natural language command. The action is "fly". Parameters such as "speed" is 70.0, the "direction" is forward, and "duration", derived from the distance and speed, is correctly calculated to be around 3.429 hours. The units of these values (unit_speed, unit_duration and unit_altitude) are also provided and match the command.'] +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 240,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action "fly" and some of the params match up (like "speed", "altitude", and the units for those), but the command specifically asks for the drone to move straight ahead, not necessarily to the north. Furthermore, the duration doesn\'t correspond with this specific command - it\'s a reasonable value, but not derived from the natural language command.'] +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 19.44,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 720,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command instructs to travel in a forward direction for a certain distance at a particular speed. This instruction is converted into the "fly" action in the JSON structure with similar parameters. But the command doesn\'t specify altitude, direction, duration, and their units, which are added in the JSON. Also it doesn\'t specify unit of speed, which in JSON is converted to m/s while in command it stated as km/h. So given all these factors, the command is matching but not exactly conforming.'] +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/hr",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; There are some correct matches such as the "action": "fly", and "speed": 70.0, with the correct unit_speed as "km/hr". However, the direction should have been "north" to match perfectly with the JSON structure. The duration is also specified in the command but not mentioned in the natural language command. Also, distance is not a parameter defined in the JSON structure.'] +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 19.4,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "duration": 738,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; The 'fly' action and 'unit_speed' keys conform correctly, but the 'direction' provided in the JSON doesn't match the command's implied straight path. The 'duration' value also doesn't explicitly conform to the command's distance specification."] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command "Hover in place for 25 minutes" partially matches with the provided JSON structure. The action "hover" and "duration" parameter match exactly. However, the duration value in the JSON is 1500.0 seconds (which is 25 minutes), and this should be explicitly clarified in the command or JSON, as the unit of time may cause confusion.'] +Stay suspended in one spot for a duration of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command reflects a "hover" action, including the duration of the action. The JSON structure also refers to a "hover" action with a (converted) duration parameter which matches the command - the command specifies minutes while the JSON represents seconds, but the conversion is accurate (25 minutes = 1500 seconds). The altitude parameter is not specified in the command but acknowledges any reasonable value in the JSON, which is provided.'] +Remain airborne without moving for a period of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The action and the concept of hovering, including the duration and unit of duration, are well represented in the JSON. However, the natural language command doesn't specify an altitude, while the JSON does. The values themselves are not exactly matching as well. The natural language command asks for 25 minutes and JSON converts it to seconds but has the wrong value of 1500 seconds instead of the correct 1500 seconds. So while they adhere to the same concept, they don't match entirely hence the deduction of a point."] +Levitate motionlessly for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command aligns with the JSON structure, specifically under the "hover" action. The "duration" parameter in the command is 25 minutes, which is expressed in the JSON as 1500 seconds (25 minutes * 60 seconds/minute). However, the command does not specify the altitude, and the JSON structure filled in with a reasonable, but unrelated value of 50 meters. So, although the JSON action and duration conforms to the command, the altitude does not match exactly, leading to a point deduction.'] +Hold position without any movement for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command matches the "hover" action and the duration parameter in the JSON. In the JSON, the duration is correctly translated into seconds (1500 seconds = 25 minutes). However, since no specific altitude is given in the natural language command, the JSON structure includes a default value, which may not be accurate for the specific command given.'] +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left by 135 degrees with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command requests a rotation anti-clockwise (represented as "is_clockwise": false in the JSON) by 135 degrees ("angle": 135 in the JSON) at an angular velocity of 25 degrees per second ("angular_velocity": 25.0 in the JSON). The JSON correctly represents the command, and all arguments and the action itself can be found in the sample ontology.'] +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 135,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; The "angular_velocity" in the JSON structure does not match the command which specifies a speed of 25 degrees per second. The rest of the JSON parameters conform to the natural language command.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['4; The natural command and the JSON mostly conform. The action \'land\' matches perfectly. However, in the natural command, there is no specific information provided about the landing coordinates, while the JSON specification uses a assuming placeholder "(0, 0)".'] +Please ensure you land at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['4; The command \'Please ensure you land at the specified landing area.\' asks the drone to land but doesn\'t provide the specific coordinate values. However, the JSON structure does match the "land" action with a parameter for location in the form of a tuple for latitude and longitude. The missing specific values in the command reduces the conformity slightly.'] +Your objective is to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command asks for a landing action at a specific location, which exactly fits with the "land" action in the JSON structure that requires a location.'] +You are required to land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command "You are required to land at the assigned landing zone." corresponds perfectly to the JSON structure, where the action is "land" at a designated "location".'] +Make sure you reach the designated landing area safely.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['4; The JSON structure describes the action "land" and takes in a "location" parameter which matches the natural language command suggesting landing at a designated area. However, the exact location is not specified in the command which makes the JSON less accurate.'] +Ascend to an altitude of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; Almost conform. The "direction" key is not part of the possible actions listed in the sample ontology, and the value "up" is not a standard direction like "north", "south", "east", or "west". Therefore, while the command\'s intent is understandable, it doesn\'t perfectly fit within the given JSON structure.'] +Increase your altitude to 1500 feet.,['The current ontology does not have an action related to increasing altitude.'];["0; The command doesn't match any action in provided JSON structures. Although it refers to a change in altitude (which is a parameter in some actions), there is no JSON structure corresponding to an action of increasing or changing altitude."] +Climb up to a height of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 457.2,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The provided JSON structure partially matches with the natural language command. The action to "fly" and the altitude in meters correspond. However, the "fly" action in the ontology does not include a "direction" parameter as mentioned in the JSON. The direction "up" is also not a viable value under the given ontology. There\'s also no need for a "speed" and "duration" value as it\'s not mentioned in the command, so these values are unnecessary.'] +Reach an elevation of 1500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 1500)"', ' }', ' }', '}'];['1; The action of the JSON structure corresponds to the "navigate_to_point" command but the parameters don\'t match perfectly as it assumes the latitude, longitude values to be 0, while they were not specified in the command. Additionally, the unit of measure for altitude in the command is \'feet\', but the JSON structure does not specify any unit, making it ambiguous.'] +Scale to a height of 1500 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['4; The action "hover" and the altitude parameter correctly match the natural language command. However, the duration parameter in the JSON is arbitrary and was not specified in the command. The units also match correctly.'] +Fly forward for 5 miles at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {"type": "float", "value": 6.0},', ' "unit_speed": "mph",', ' "unit_duration": "minutes"', ' }', '}'];['3; Partial conformity. The JSON structure specified the \'fly\' action correctly, included the speed, and the direction as \'forward\'. However, the duration given does not match the command of "5 miles" and the unit_duration is given as "minutes" which is not mentioned in the natural language command. The distance of 5 miles does not have a corresponding key in the JSON structure.'] +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; Although the action command 'fly' matches, not all parameters align with the natural language command. The direction, altitude, and duration are not specified in the command but are present in the JSON, while the distance is mentioned in the command but is nowhere in the JSON. As well, the unit of speed is correctly transformed from 'mph' in the command to 'm/s' in the JSON. The command and the JSON don't fully match."] +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 360,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Although the natural language command seems to indicate direction, speed, and a sort of duration (by mentioning a total distance), the ontology does not give a representation for setting a distance parameter for the fly action. Additionally, the sample ontology uses metric system, not miles. So the JSON structure has the right action and parameters but the values are off.'] +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 6,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['3; The JSON structure aligns with the \'fly\' command from the ontology, so the "action": "fly" and "params": "speed" match. However, the natural language command specifies a distance, not a direction or altitude, and it doesn\'t specify a duration, which is present in the JSON structure. The units of speed ("mph") and the value of speed (50.0) are both correct.'] +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph.,['The action "navigate_distance" is not in the ontology, so we cannot return a conformant JSON.'];['0; The command refers to an action ("navigate_distance") and parameters ("distance", "speed", "unit_distance", "unit_speed") that do not exist in the sample keys provided.'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command specifies an action for the drone to "hover" and provided a length of time. The JSON action is "hover" and the translated length of time (30 minutes to 1800 seconds) matches the "duration" value. The "altitude" is left unspecified in the command, and thus any reasonable value in the JSON is accepted.'] +Stay in one spot for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; The command to hover matches the action perfectly, but there's a mismatch in the altitude. The command does not specify altitude, implying that the drone should stay at the current altitude, while the JSON assigns a specific value of 0. The duration is correct, correctly converting minutes to seconds for the JSON."] +Maintain a fixed position for the next half an hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Remain suspended in mid-air for the next 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Almost conform. The natural language command perfectly matches with the "hover" action in the JSON structure, but there\'s a mismatch with the duration value, the command specifies 30 minutes which converts to 1800 seconds, that\'s correctly reflected in the JSON. However, the altitude value in JSON is arbitrary as the natural command does not specify an altitude and thus, is not necessary.'] +Hold still for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command partially matches the JSON. The action is correct i.e., "hover" but there are differences in "duration" and "altitude" values and units. In the JSON, "duration" is expressed in seconds and equals to 1800 (which corresponds to 30 minutes), while in the command duration is specified in minutes. Altitude is not specified in the command but is present in the JSON with a value of 0.'] +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["5; Exactly conform. The natural language command specifies a rotation action, which matches perfectly with the provided JSON structure. All parameters ('angular_velocity', 'angle', 'is_clockwise', and 'unit') in the command are represented correctly in the JSON."] +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The action and the direction of rotation are perfectly matched. However, the "angle" parameter in the JSON structure matches with the command, but the "angular_velocity" does not match, as the command specifies a speed of 30 degrees per second, while the JSON structure states a speed of 0.5.'] +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command accurately corresponds to the given JSON structure. All the parameters such as action, angular_velocity, angle, is_clockwise and unit are correctly provided. The values for these keys perfectly match with the command as well.'] +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["4; The JSON structure matches the command quite closely with correct action and parameters. However, the 'angular_velocity' value in the JSON doesn't match with the command, as it's written 0.5 in the JSON while the command specified 30 degrees per second."] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];['5; Exactly conform. The command to "land at the designated landing zone" matches perfectly with the "land" action in the JSON structure, and the unspecified location is reasonably filled with a default in the JSON structure, which is valid according to the guidelines.'] +Please make your way to the designated landing zone and touch down.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +The designated landing zone is where you should aim to touch down.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'];['4; The natural language command mentions a landing action, and the JSON structure correctly represents a "land" action. However, the specific location data (latitude and longitude) are not provided in the command, thus they are marked as "undetermined" in the JSON. Points deducted for the missing parameter details in the command.'] +You are required to land at the specific landing zone as indicated.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['4; The action "land" and the sub-key "location" perfectly match, although the "value" in the JSON structure doesn\'t provide a specific coordinates, it is still a reasonable value, as no specific coordinates were given in the natural language command.'] +Ensure that you come to a safe landing at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'];['3; While the action "land" conforms to the JSON structure and the parameter "location" is mentioned in the command, the coordinates for the location are not provided in the natural language command and are labelled as "undefined" in the JSON structure, providing a partial match. So only a partial score is awarded.'] +Descend to an altitude of 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure represents a "fly" action with a correct altitude. However, the direction "down" doesn\'t officially exist in the sample keys. Also, there\'s no explicit mention in the natural language command to fly or about the speed and duration parameters which are included in the JSON.'] +Decrease your altitude to 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Although the "fly" action has been used accurately, the direction parameter "down" does not match with the sample ontology value which is "north". The rest of the values match with the JSON structure correctly, hence a score of 3 is justified.'] +Lower yourself to an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 400)"', ' }', ' }', '}'];['0; Although the action is to go to a certain altitude, the "navigate_to_point" action in the provided JSON structure represents navigating towards a certain point defined by latitude, longitude, and altitude, which was not specified in the command. The structure does not match the action in the natural command.'] +Go down to an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 400)"', ' }', ' }', '}'];['3; Partly conform. The \'action\' in the JSON structure is "navigate_to_point", which implies traveling to a specific location on the map and the coordinates provided only specify the altitude. However, the command "Go down to an altitude of 400 meters" refers to a change in altitude, not a specific location.'] +Descend until you reach an altitude of 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure partially matches with the natural language command. The action "fly" and the parameter "altitude" with value 400 meters, as well as units are correct. The direction of "down" is reasonable based on the command to "descend". However, the specific speed and duration values given in the JSON are not mentioned in the command and could therefore be considered as extraneous information.'] +Fly forward for 6 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['3; Partially conform. The natural language command matches the action of \'fly\' and some parameters like \'speed\', \'direction\' and \'duration\'. However, the value of \'direction\' in the JSON structure is not exactly "forward" but "north". The \'duration\' parameter in the command is in kilometers while in the JSON structure it is in minutes, which can cause confusion. The altitude is not specified in the command but it is included in the JSON. Furthermore, the unit of speed in the JSON is "m/s" but the command uses "km/h".'] +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h.,['The action "proceed straight ahead for a distance" is not recognized in the ontology. Please provide actions in the ontology only.'];['0; The provided command does not conform to any of the available actions in the sample JSON structures.'] +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward.,['{', ' "action": "fly",', ' "params": {', ' "speed": 16.67,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 1080,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action \'fly\' and most parameters \'speed\', \'altitude\', \'direction\', \'duration\', \'unit_speed\', \'unit_altitude\', \'unit_duration\' match with the given JSON structure to the natural language command, but the value for direction as "forward" is not the expected cardinal direction (e.g., "north") in the JSON and the "duration" parameter is correctly calculated from the provided speed and distance but hasn\'t been explicitly specified in the natural language command.'] +Fly straight ahead at 60 km/h for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 16.67,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 1080,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3.5; The action "fly" and params "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration" are correctly represented in the JSON structure. However, the "direction" value of "straight" doesn\'t precisely match the natural language command\'s specification of "straight ahead". Additionally, it\'s unclear how the "duration" value of 1080 seconds was derived from the command\'s specific distance of 6 kilometers.'] +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command instructs the device to fly at a specific speed and distance, which corresponds to the "fly" action in the JSON format. However, the value of direction in the JSON structure is not matching with the natural language command and the duration is incorrectly calculated. The distance is mentioned in the command, but instead duration is provided in the JSON which is incorrect because speed and duration will lead to a distance not the other way around. For these reasons, the command only partially matches with the JSON structure.'] +Hover in place for 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; The command asks to 'hover in place for 35 minutes', and the JSON represents that the action is 'hover' and the duration of action is given in seconds (2100 seconds = 35 minutes). Even though the command does not specify the altitude, the JSON supplies a reasonable altitude, which is acceptable - making the natural language command and the JSON structure in conformity with each other."] +Stay suspended in mid-air for a duration of 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command mostly conforms to the JSON structure. The action "hover" and parameter "duration" is correct but the value for duration is converted from minutes to seconds (2100 seconds is equal to 35 minutes). Also, the altitude value isn\'t mentioned in the command but 50.0 is a reasonable value.'] +Maintain a fixed position in the air for the next 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Mostly conform. The JSON structure represents an action of "hover" which matches with the natural language command of maintaining a fixed position in air. The duration in the JSON structure is correctly converted to seconds from minutes as mentioned in the command. The command does not mention a specific altitude, so the value in the JSON is acceptable. However the "altitude" value in JSON does not match with example ontology.'] +Remain stationary in the same spot for a period of 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3.5; The command and JSON structures are partially matched. The action "hover" matches correctly but the duration value in the JSON structure is in seconds, not in minutes as specified in the command. Also, the altitude value is not specified in the command, but it is presented in the JSON structure.'] +Keep yourself suspended without moving for the next 35 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2100.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Duration is correctly matched in the JSON and is in the correct unit of "seconds". While there\'s no specific altitude mentioned in the command, the altitude value provided in the JSON is acceptable. However, the command does not specify the altitude, hence the point is deducted.'] +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The JSON structure perfectly matches the natural language command - rotation action, exact angle, angular_velocity, counterclockwise rotation and degrees as measurement unit.'] +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command matches perfectly with the JSON structure. It contains the action "rotate", along with parameters "angular_velocity", "angle", "is_clockwise", and "unit" which all match the values in the JSON. The value of "is_clockwise" is false which indicates a counterclockwise rotation as mentioned in the command.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command "Land at the designated landing zone" perfectly matches the action "land" with parameter "location" in the JSON.'] +Please make a landing at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['4; The action in the command matches with the "land" action in the JSON structure. However, the location (latitude, longitude) is not specified in the command, so the JSON structure\'s default value is taken. Although the natural language command and JSON information align functionally, more precise specifications in the original command could lead to a perfect match.'] +Ensure a safe landing at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['5; The JSON structure matches the natural language command to land at a specified destination. Even though the actual coordinates are not provided in the command, any reasonable coordinates in the JSON (here it\'s "(0, 0)") are accepted.'] +You are instructed to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'];['5; Exactly conform. The command is instructing to land, which corresponds to the "land" action in the JSON. The exact location values are not specified in the command, however, as the JSON location type is tuple and the values can be any reasonable latitude and longitude coordinates, the JSON and command still conform.'] +It is requested that you land at the predetermined landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Ascend to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "upwards"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["3; The JSON structure does follow the command of ascending to a specified altitude and represents the 'fly' action, however there are non-matching parameters that are still included in the JSON structure such as 'speed', 'direction' and 'duration' which were not specified in the natural command."] +Increase your elevation to a height of 2000 feet.,['This action is not present in the provided ontology.'];['0; The command contains an "increase elevation" action which is not represented in the provided JSON structures. Also, \'feet\' is not a unit provided in the ontology.'] +Reach a height of 2000 feet above the ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["4; The natural language command partially conforms to the JSON structure. The action of flying and parameter of altitude match well with the command. However, the direction key in JSON structure isn't fully suitable, the value 'up' isn't quite apt for flight direction, usually it should represent cardinal directions. Furthermore, the speed and duration parameters are not mentioned in the command but are found in the JSON."] +Climb to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['2; Although the command generally refers to the "fly" action, there are a number of discrepancies. The main disparity is in the "direction" parameters where natural language command states "climb" i.e., vertical motion, and JSON structure has a "value" of "up" which is not exactly same. Most importantly there is no "speed" or "duration" mentioned in the natural language command which are present in the JSON structure. Also, the "unit_altitude" is feet in the command but the ontologies consider meter which is not the same.'] +Ascend to a height of 2000 feet above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['2; While the JSON does indicate the action of flying and altitude of 2000, the rest of the parameters do not match up well to the natural language command. The direction "up" is not applicable in the given ontology. The unit of altitude is also mismatched as the ontology uses meters. The speed and duration are also not given in the natural language command, but are present in the JSON.'] +Fly forward for 7 miles at a speed of 55 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Although the action "fly" matches, the parameters do not entirely match. The direction value is \'forward\' whereas in the natural language command it is \'north\'. The duration and altitude values do not correspond to the command as well. The unit of speed in the JSON is \'m/s\' but in the command, it is \'mph.\' There is no mention of the \'7 miles\' from the command in the JSON structure.'] +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7.6,', ' "unit_speed": "m/h",', ' "unit_duration": "minutes",', ' "unit_altitude": "meters",', ' "altitude": 100', ' }', '}'];['1; The natural language command asks for a drone to fly in a "forward" direction at a specified speed and distance, yet the JSON structure dictates the drone to fly towards "north" direction which contradicts the command. Furthermore, the "unit_speed" is in "m/h" while the command specifies "miles per hour". The distance is given in "miles" in the command but noted as "minutes" in "unit_duration" in the JSON structure. Due to these discrepancies, it\'s only a partial match.'] +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph.,['This action is not present in the defined ontology. Therefore, no valid JSON can be provided.'];['0; The natural language command does not match with any of the JSON structures mentioned in the sample ontology. The ontology includes the action "navigate_to_point", "fly", "hover", "rotate", and "land", but does not include a structure for traveling a specific distance at a certain speed.'] +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7.625,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['3; Partial conformity. The natural language command about flying direction is not fully covered in JSON structure as "forward" is not specified as "north". Also, there is no ability to specify distance as a parameter in the JSON structure according to the ontology. Instead, it uses duration which can be calculated given speed and distance, but is not directly mentioned in the natural language command. Correct speed and unit are given, but altitude is not mentioned in command but is present in the JSON. Likely a different ontology structure that permits specification of distance and direction as per command would be more appropriate.'] +Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "miles",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command instructs the device to move ahead for 7 miles at a speed of 55mph, while the JSON structure executes a 'fly' action, but the direction is set as 'north' instead of 'ahead'. There is no information in the JSON structure about distance, only duration. The units of speed match ('mph') but the unit of altitude in JSON is in 'meters' instead of 'miles' as mentioned in the command. Also, the speed, duration and altitude values in JSON are different from what is mentioned in the command."] +Hover in place for 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command is largely compliant with the JSON structure. The "hover" action and "duration" parameter perfectly match. The value of "duration" is also correct considering that the unit duration is in seconds (40 minutes is 2400 seconds). However, an altitude value was not specified in the command and thus the JSON value for altitude is assumed to be correct, although this might not necessarily be the case.'] +Stay in one position for a duration of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The natural language command and the JSON structure generally match, however, the natural language command didn't specify an altitude which is part of the JSON structure, hence a minor conformity issue."] +Remain suspended in the air without moving for a total of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; While the command matches the "hover" action in the JSON, the natural language command asks for a duration of 40 minutes, while the JSON representation has a duration of 2400.0 seconds. However, both durations are equal (40 minutes == 2400 seconds), but they are represented in different units of measurement. Because the ontology allows for the unit of duration to be specified, a perfect match would require consistent units of measurement.'] +Maintain a hovering position for the next 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command asks for a hover action which properly aligns with the JSON structure. However, the duration in the JSON is given in seconds (2400.0), while the command specifies the duration in minutes (40). This mismatch in time units results in the score of 4 instead of 5.'] +Levitate and hold your position for a period of 40 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Mostly conform. The provided JSON structure provides the correct "action" according to the natural language command but the altitude value mentioned in JSON structure is 0.0 whereas the command mentioned \'levitate\' which implies a certain altitude level should be there.', ''] +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["4; Mostly conform. The action and most parameters match but the specified angular velocity, 40, does not match the JSON's angular velocity, 0.5."] +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The natural language command and JSON structure match perfectly in terms of action, angle and direction that is, rotating 90 degrees in clockwise direction. But the angular_velocity in the command (40 degrees per second) is different from that in JSON (0.5).'] +Turn right by 90 degrees with an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches with the given JSON structure in terms of the action "rotate" and its parameters including "angular_velocity", "angle", "is_clockwise", and "unit".'] +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4.5; The natural language command almost matches the JSON structure. The "angular_velocity" parameter in the JSON structure doesn\'t indicate the unit, while the command states it\'s in "degrees per second". This could lead to confusion about the command\'s meaning.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command \'Land at the designated landing zone.\' aligns perfectly with the provided JSON schema for the action "land" and specifies parameters (location) correctly.'] +Please touch down at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'];['5; Exactly conform.'] +Ensure that you arrive at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'];['5; The natural language command is asking to land at a specified location and the JSON structure represents the "land" action along with a location parameter. Even though the specific location values aren\'t stated, it correlates perfectly with the command.'] +Make sure to land at the designated touchdown point.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0.0, 0.0)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command is accurately translated in the JSON structure. The action is "land" and contains necessary parameters in the "params" key. The actual values in the parameters are not specified in the command, making the given values within JSON acceptable.'] +It is required that you land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'];["4; The JSON structure matches with the command, following with the action 'land' and parameter 'location'. But, the exact location coordinates are not provided in the command which makes the value undetermined. This is acceptable as per the conditions, but not the perfect match, hence the score is 4.", ''] +Descend to an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 500)"', ' }', ' }', '}'];['4; The action "navigate_to_point" correctly interpreted in the JSON. However, as per the ontology provided, the type of "coordinates" is a tuple with latitude, longitude, and altitude. The value in the provided JSON is "(0, 0, 500)" which is as per the ontology but not fully matching with the natural language command as the command doesn\'t mention anything on latitude and longitude. The altitude value of 500 is correctly captured. Hence, it\'s nearly conform but with slight absence of details.'] +Lower yourself to a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON structure partially matches the natural language command. The altitude parameter in the JSON structure correctly matches the command; however, the 'fly' action does not adequately capture the 'lower yourself' action in the command. Also, there is no 'down' direction. Other parameters like speed, duration, and direction, are irrelevant or incorrect based on the natural language command. As result, the JSON structure does not fully conform with the natural language command."] +Decrease your altitude to 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command is about changing the altitude which can be within the \'fly\' action in the ontology. However, decreasing altitude is not specified as "direction": "down" within the given ontology+the speed and duration parameters in the provided JSON are not specified in the command. There is mismatch in those.'] +Go down to an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 500)"', ' }', ' }', '}'];['4; The action described by the command \'go down to an altitude of 500 meters\' matches with the \'navigate_to_point\' action in the JSON structure. The parameters also match with the "altitude" being set to 500. However, the "coordinates" in the command are not specified and are assumed as (0.0, 0.0) in the JSON, which lacks context about the drone’s current or desired location, relying on an assumption. Therefore, the match is not perfect.'] +Reduce your height to 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "fly" action is being used in the JSON, however, the natural language command specifies a reduction in altitude and the JSON structure corresponds to a movement and not just a change in altitude. The "direction" is specified as down in the JSON, which is not mentioned in the command. While the altitude correctly matches in both the command and the JSON, the speed, duration, and direction parameters in the JSON are not mentioned in the command.'] +Fly forward for 8 kilometers at a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 7.4,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['3; The action "fly" and parameter "speed" match with the natural language command and the provided JSON structure correctly. However, the direction value "forward" does not align with the expected format of a cardinal direction like "north". The unit of speed in the command "km/h" is also not present in JSON format; it is in "m/s". The "duration" parameter isn\'t specified in the command but implied for 7.4 hours calculated by dividing the given distance by the speed, which is reasonable. Yet, as it\'s not explicitly stated in the command, a minor discrepancy arises. Similarly, "altitude" is also not mentioned in the command but given as 100 meters in JSON, leading to a slight mismatch.'] +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches with the natural language command but several key elements are missing or mismatched. The command specifies a distance and speed, whilst the JSON includes an altitude, duration and direction that aren’t mentioned in the command. Moreover, the speed unit in the command is in kilometers/hour whereas in JSON it is meters/second.'] +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "duration": 7.4,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "altitude": 100,', ' "unit_speed": "km/h",', ' "unit_duration": "minutes",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure is mostly appropriate with a few essential discrepancies. The natural language command explicitly refers to flying in a straight direction, which suggests a simple forward movement. However, the JSON structure indicates "straight" as the value for "direction", which doesn\'t align with the direction value in the given sample ontology (it should be "north", "south", "east", or "west"). Furthermore, the command does not provide an altitude, hence the JSON structure should not have a definite value for it. Lastly, the duration in JSON is computed assuming a distance of 8 km, but the ontology does not provide for distance as a parameter.'] +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers.,["I'm sorry, but the provided ontology doesn't support actions with specified distance. Action and parameters should match the ones specified in the ontology, such as navigate_to_point, fly, hover, rotate, and land. Please modify your request."];["0; The natural language command requests actions and parameters such as maintaining a specific speed and traveling a straight line for a specific distance. These are not supported in the provided JSON structures; the parameters don't match with any of the keys in the ontology."] +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 8,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'];["3; The natural language command partially matches the JSON structure. However, the direction in JSON is not accurately represented as 'straight' is not a direction. Also, the duration is specified in 'kilometers' in JSON which contradicts the ontology that uses time as duration."] +Hover in place for 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command and JSON structure align well in terms of action and parameters such as duration. However, the issue lies in the conversion of minutes to seconds in the JSON value of duration (the command says 45 minutes, the JSON interprets this as 2700 seconds) and there is an assumption about the altitude in JSON, which is not specified in the command.'] +Stay suspended in position for a duration of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command corresponds to the "hover" action and the "duration" parameter is correct (45 minutes is correctly translated to 2700 seconds), but value for "altitude" is given as 0.0 in the JSON which isn\'t specified in the command.'] +Remain airborne without moving for a period of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Keep yourself elevated without any movement for a span of 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4.5; The action of 'hover' from the natural language command and JSON match perfectly. The 'duration' and the 'unit_duration' are extracted properly as '45 minutes' translates to '2700 seconds'. However, though the 'altitude' parameter is included in the JSON structure there is no mention of altitude in the natural language command."] +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2700.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The command is fully covered by the JSON structure. The action in the drone command is "hover", which matches perfectly with the "action" key in the JSON. In the "params" object, the structure specifies a "duration" key which corresponds to the "45 minutes" time frame given in the command. Although the value is given in seconds, the equivalence of 45 minutes in seconds is correctly provided as 2700.0. The "altitude" parameter isn\'t specified in the command, so any reasonable value is accepted, and 0.0 is indeed a reasonable default. The "unit_duration" and "unit_altitude" keys also conform as they are set to "seconds" and "meters" respectively, which match the implied units in the natural language command.'] +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'];["4; While the action 'Land' is mentioned accurately in the command and the JSON structure, the specific location has not been mentioned by the user command, hence the coordinates value in the JSON is 'undefined'. However, it otherwise matches well with the expected ontology."] +Please proceed to land at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0.0, 0.0)"', ' }', ' }', '}'];['5; The natural language command instructs to land at a specified location and the JSON structure contains the action "land" with a spatial tuple for the location, which can be assumed to be the "specified landing zone". Thus, they conform exactly.'] +Make your way to the indicated landing zone and prepare for landing.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; The command is about landing the drone and the JSON structure is specifying the action as land with parameters specifying location which matches the natural language command.'] +Follow the instructions and land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(unknown_latitude, unknown_longitude)"', ' }', ' }', '}'];['4; The JSON structure corresponds to the action \'land\' mentioned in the command. However, the specific location is not given in the command, so the value of the parameters are given as "unknown_latitude, unknown_longitude" in the JSON. Despite this, the structure of the JSON matches with the sample keys.'] +It is required that you land at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The command speaks of a landing action, which corresponds with the JSON structure. However, no parameter values are provided in the command. The JSON structure shows it should have some values for latitude and longitude in order to conform completely.'] +Ascend to an altitude of 2500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The given JSON structure mostly conforms to the natural language command. The command "ascend to an altitude of 2500 feet" is about flying to a specified altitude which is correctly represented in the JSON with "action" as "fly" and "altitude" as "2500". However, the "direction" parameter is somewhat inaccurate because "up" is not a directional value like "north" or "south", instead it merely implies increasing altitude. The speed, duration, unit_speed and unit_duration properties are not specified in the natural language command and hence their given value in JSON is acceptable.'] +Climb to a height of 2500 feet.,['The action "climb" is not included in the ontology. The closest available action, "fly", will be used as a default action. ', '', '{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 762, ', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; While the JSON information attempts to represent the natural language command, the command specification itself does not conform exactly to the ontology provided in the sample keys. The action "climb" is not available, and while the JSON uses "fly" as a replacement action, this is not a perfect fit. Also, the direction "up" is not a direction traditionally used in navigation and no "up" direction exists in the sample keys. Additionally, there was an attempt to convert feet to meters for altitude, but ontology does not specify conversion of measurement units.'] +Reach an elevation of 2500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude, 2500)"', ' }', ' }', '}'];['1; The natural language command refers to a specific altitude, which in the sample ontology can be represented in two actions: "navigate_to_point" and "hover". However, the provided JSON structure is for the "navigate_to_point" action. The value of coordinates has been appropriately modified to include the new altitude (2500). But, the units of the altitude (feet) are not provided in the JSON structure, which in accordance with the ontology should be \'meters\'. Thus, there\'s a mismatch in units too. This command corresponds more to a "fly" or "hover" action with an altitude adjustment than navigation as there are no coordinate points mentioned. Therefore, the conformity is very low.'] +Scale to an altitude of 2500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 2500)"', ' }', ' }', '}'];['2; The JSON structure indicates an action to navigate to a point with specific coordinates, which is not entirely matching with the command to scale to an altitude. The value of 2500 is correct but "feet" should be converted into the unit of measure indicated in the JSON, e.g. "meters". Also, it would be more appropriate to use the "fly" action for adjusting altitude.'] +Increase your height to 2500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 762,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The JSON structure partially matches the command. The action 'fly' is correct, however, the unit of 'altitude' is mismatched. In the command the altitude is referred to in feet, however, the JSON contains meters. Furthermore, the 'direction' value 'up' is not present in the command."] +Fly forward for 9 miles at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly matches the natural language command. The `"action": "fly"` and `"speed": 50` is correct, and though the direction is set to "forward" instead of an exact cardinal point, it could be interpreted as correct. However, the "duration": 10 does not match up with the command of flying for 9 miles, and the unit of speed should align with the rest of the parameters, meaning \'miles/hour\' would be more appropriate than \'mph\'.'] +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph.,['This action is not covered in the provided ontology. Hence, it cannot be translated into a JSON conformant to the ontology.'];['0; The command given does not conform to any action provided in the JSON structures. None of the available actions (navigate_to_point, fly, hover, rotate, land) correspond to the idea of "Proceed straight for a distance". Additionally, the command specifies units (miles, mph) that are not present in the JSON structures.'] +Cover a distance of 9 miles by flying forward at a speed of 50 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10.8,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['1; The JSON structure contains "fly" as an action which matches the command given. However, the units in the parameters are not supported by the ontology sample given. The JSON format also doesn\'t match the sample ontology. In addition, the direction is set to "north", but the command indicates to just fly forward which is not necessarily north. The distance to cover is also not encoded in the JSON structure.'] +Maintain a speed of 50 mph while traveling straight ahead for 9 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "miles"', ' }', '}'];["0; The natural language command is all about flying but neither the direction 'straight ahead' nor the 'miles' as a unit exist in the sample keys. The value of speed in the command, 50, doesn't match with the JSON structure where it is 10.5. The key for altitude is also existing without being mentioned in the command."] +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON has the right action (fly) but almost all of its parameters are off. The speed in the JSON is 10.5 whereas the command mentions 50. 'Forward' direction does not align with 'north' in the JSON. The unit of speed in the JSON is 'm/s' but in the command, it's 'mph'. It doesn't mention anything about 'duration' in the command but it does in JSON. Also, the command talks about a distance of 9 miles which is not reflected in the JSON."] +Hover in place for 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The duration in the JSON structure is provided in seconds (3000.0) while the natural language command specifies the unit in minutes (50). A minute consists of 60 seconds thus the correct value for 50 minutes in seconds is 3000. Also, the altitude in the JSON structure is given as 100.0 meters but the altitude isn't specified in the natural language command."] +Stay still for a duration of 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command matches the "hover" action well, however, there might be a discrepancy in the duration units. The natural language command specifies "50 minutes", while the JSON code specifies these 50 minutes as 3000 seconds. This does not change the actual duration, but it could cause a misunderstanding. Consequently, the score is not the highest.'] +Maintain a stationary position for 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3.5; The action and main parameters are correct, however, the value of duration in the JSON structure is not converted properly as the command specifies "50 minutes" and the JSON structure suggests 50*60 = 3000 seconds. Furthermore, the altitude is specified as 0.0 in the JSON structure, while this information is not given in the command.'] +Remain in one spot for a period of 50 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The natural language command and the JSON structure do not conform. The command says to hover for a period of 50 minutes, whereas the JSON duration is given as 3000 seconds, which is equal to 50 hours, not 50 minutes. The command also does not specify altitude, which is present in the JSON.'] +Hold steady for 50 minutes without moving.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3000.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The command directly translates to a hover action with a specific duration. The duration in the command is mentioned in minutes but in the JSON it is correctly converted to seconds. The altitude mentioned in the JSON is not contradicted in the command and therefore, can be deemed as a reasonable value.'] +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn 135 degrees to the right at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The action and most parameters match correctly: "rotate", "angle" (135 degrees), "is_clockwise" (true), "unit" ("degrees"). However, "angular_velocity" is stated as 0.5 degrees/second in the JSON structure, while in the natural language command it is specified as 50 degrees/second.'] +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conformed. The natural language command is accurately translated into the correct JSON structure, with all specified parameters (action type, angles, angular velocity, rotation direction, and unit) perfectly matching.'] +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The natural language command mostly conforms to the JSON struct, with `action` as "rotate", `angle` as 135, `is_clockwise` as true, `unit` as "degrees". However, the "angular_velocity" in the JSON struct is 0.5, where the natural language command specifies a speed of 50 degrees per second. The conformity is not exact.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];["5; The command is reflected exactly in the JSON structure, only the landing coordinates are specified as 'default' because they weren't provided in the command."] +Please touch down at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'];["4.5; Almost exact conformity. The natural language command asks for the action 'land' which matches perfectly with the specified JSON structure. But the exact coordinates (latitude, longitude) of the landing area are not provided in the natural language command. Instead, a placeholder 'undefined' is used in the JSON, which is a reasonable consideration but slightly deducts the conformity score."] +Descend and touch base at the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Make your approach and touch ground at the designated landing site.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Please bring the aircraft to a stop at the approved landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'];['4; Although the natural language command asks to stop the aircraft at the approved landing zone and the JSON structure expresses a \'land\' action, specific coordinate parameters for "location" are not provided in the command.'] +Descend to an altitude of 600 meters and swin.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 600.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The natural language command instructs the drone to descend to an altitude of 600 meters and swim which does not match any of the actions in the provided JSON structures. The action "hover" would be suitable for descending to an altitude of 600 meters, however, the action of swimming is not compatible with any existing actions in the provided JSON structures. Therefore, the JSON structure does not accurately represent the requested action.'] +Swim after descending to an altitude of 600 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, -600)"', ' }', ' }', '}'];['1; The action "swim" is not present in any of the JSON structures, which means it doesn\'t match with them. The descent to 600 meters does match to an action "navigate_to_point" but swimming is not mentioned in the sample ontology at all.'] +Dive down to a depth of 600 meters and start swimming.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": -600,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The command refers to actions ("dive", "swim") that do not exist in the available ontology, and also refers to an "altitude" of "-600", which suggests a sub-surface operation not covered by the listed actions like "fly" and "hover". The direction value "down" does not match with the expected direction value "north" in the fly action of the JSON structure.'] +Lower yourself to an altitude of 600 meters and begin swimming.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 600.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The JSON structure correctly captures the action 'hover' and the target altitude of 600 meters. However, the natural language command also includes the order to 'begin swimming', which is not represented in the JSON structure at all."] +Drop down to a height of 600 meters and begin your swim.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 600.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The action presented in the natural language command corresponds to 'hover' action in JSON and 'altitude' is also correctly defined as 600 meters. However, 'swim' action doesn't exist in the sample JSON structures. Therefore, it doesn't fully conform."] +Turn left at a 45-degree angle and fly straight for 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['3; Partially conform. The action "rotate" is correctly represented with an angle of 45 and a counterclockwise rotation. However, the command to "fly straight for 500 meters" is not present in the JSON structure.'] +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['2; The JSON data provided only executes the turning action, the "fly" action that should continue after the drone has rotated is missing. The natural language command requires two actions with two sets of parameters, whereas in the JSON structure we only have the rotation action.'] +Take a left turn at a 45-degree angle and proceed straight for 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['2; The JSON partially matches the command. The "rotate" action and the "angle" parameter of 45 degrees are correctly reflected in the JSON, but the "is_clockwise" parameter is inconsistent with the command ("take a left turn"). The command to proceed straight for 500 meters is not reflected in the JSON structure at all.'] +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; The natural language command partially matches with the JSON structure. The \'rotate\' action and angle parameter with value of 45-degree is conforming. However, the "maintain a straight flight for 500 meters" part of the command does not exist in the provided JSON structure. Hence the score is not a perfect 5.'] +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['1; The JSON structure partially matches the natural language command because it only manages to represent the rotation aspect (\'Head in a leftward direction, turning at a 45-degree angle\') of the command. But, it fails to capture the \'keep flying straight for a distance of 500 meters\' part of the command, which should ideally translate to an action of type "fly" with corresponding parameters. Also, the value of "is_clockwise" does not match the leftward direction specified in the command.'] +Ascend to an altitude of 1000 feet and maintain position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['4; The JSON structure matches the action of hovering from the natural language command and specifies necessary parameters including duration and altitude. However, the unit of altitude in the command is "feet", but in the JSON ontology example, the unit of altitude is given as "meters". It\'s reasonable but not perfectly aligned with the example ontology. Hence, the score is 4.'] +Climb to a height of 1000 feet and stay in that position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command generally matches the JSON structure and it is understandable that the "hover" action is intended, with an altitude and a duration specified. There is some discrepancy in units (feet vs meters, minutes vs seconds) but the JSON has the correct values when converted from the units used in the natural language command.'] +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Increase your altitude to 1000 feet and remain at that level for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['5; Exactly conform.'] +Go up to a height of 1000 feet and keep your position steady for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command conforms to the JSON structure but the units do not match. The command specifies feet and minutes, whereas the JSON structure specifies meters and seconds.'] +Perform a vertical climb to 200 meters at a speed of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure aligns with the command in terms of action, speed, and altitude, but the direction 'up' is not represented in the sample ontology. Also, duration specified in JSON is not asked for in the command."] +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The action and most params in the JSON structure match with the natural language command but direction value ('up') does not exist in the sample keys and duration is added without it being specified in the command."] +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Almost every detail of the natural language command is captured accurately in the JSON structure. The speed is correctly set to 10 m/s, the altitude to 200 meters. The duration is not mentioned in the command but it\'s computed correctly in the JSON as time required (altitude/speed = 200/10 = 20 seconds). The direction is added as "up" in JSON which is equivalent to vertical ascent in the command. The units are also correctly set in the JSON. The only small discrepancy is that the command does not explicitly say to stop after reaching 200 meters, but this is implied and hence the JSON is an accurate conversion.'] +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2.5; The natural language command fits under the "fly" action, but the direction is defined as a string direction (\'north\', \'south\', etc.) in the sample ontology, whereas a vertical direction \'up\' is requested in the command. This means the natural language command is not fully conforming to the sample ontology. The \'duration\' JSON key is also not mentioned in the command.'] +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; Although the JSON structure correctly outlines the action along with the speed and altitude as per the natural language command, the use of direction as 'up' is not exactly specified in the natural language command. Also, while 'duration' is included in the JSON, it doesn't match exactly with the command as no specific duration is stated. Overall, the JSON is mostly in alignment with the command except for some small details."] +Fly around in a circular pattern with a radius of 100 meters for 15 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circular"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The command \'fly around in a circular pattern with a radius of 100 meters for 15 minutes\' does not conform to the provided JSON. The direction \'circular\' does not conform to the ontology (expected "north", "south", "east", "west", etc.), and there are no parameters in the ontology that would represent \'radius\'. Additionally, the duration is incorrect (15 minutes = 900 seconds, but the JSON shows 10 seconds).'] +Circle around with a 100-meter radius for a duration of 15 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['1; The provided JSON structure only indicates a "rotate" action. However, the natural language command specifies circling around (an unmentioned object), which would implied movement in space- this is not represented in the JSON. Additionally, the "duration" is not represented in the JSON which is asked for in the command. Furthermore, the radius is not mentioned in the JSON, and the JSON mentions rotation, which isn\'t exactly the same as circling around with a certain radius. The score is not zero because the rotation action can be loosely interpreted as circling around.'] +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius.,['The provided action is not listed in the ontology. Therefore, the action cannot be executed.'];['0; The natural language command cannot be mapped to any of the available JSON actions in the sample ontology.'] +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes.,['{', ' "action": null,', ' "params": {}', '}'];['0; The natural language command refers to a circular flight action, which is not a part of the given JSON structures and ontology. Therefore, the provided JSON structure does not match the command. So, the score is 0.'] +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circular"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure does follow the schema and includes most of the keys necessary for the \'fly\' action. However, the value of "direction" has been set to "circular" which doesn\'t conform to the expected ontology as a direction can\'t be circular. Circular trajectory can be associated with the \'rotate\' action but even then rotating wouldn\'t have a radius parameter. Furthermore, the \'fly\' action does not have a parameter for specifying the radius of a circular path as shown in the natural language command.'] +Hover in place and capture aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; The JSON corresponds to the 'hover' command, but does not address the part of the command about capturing aerial photographs. This might require a separate 'capture_photo' action or similar which is not outlined in the available keys."] +Stay suspended and take aerial photographs of the nearby area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The action "hover" in the JSON matches with the command "Stay suspended" but there is no parameter in the JSON for taking aerial photographs which is present in the natural language command.'] +Maintain a stationary position and capture aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The "hover" action in the JSON does align with the natural command of maintaining a stationary position, and the altitude and duration values (100.0 meters, 60.0 seconds) are reasonable. However, the command to capture aerial photographs of the area does not have a matching JSON structure in the given examples.'] +Levitate and snap aerial photographs of the surrounding area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action "hover" from the natural language command corresponds well with the JSON structure. However, the part of the command "snap aerial photographs of the surrounding area" is not represented in the JSON structure as there is no specified action for this functionality. Therefore the score cannot be 5.'] +Remain still and capture overhead photographs of the nearby area.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The action 'hover' matches with the natural language command 'Remain still' but there is no parameter in the JSON structure to match 'capture overhead photographs of the nearby area'."] +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 1200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; Almost conform. The JSON structure contains the action 'fly' with the parameters 'speed', 'altitude', 'direction', 'duration', 'unit_speed', 'unit_altitude', 'unit_duration' which are mentioned in the command. However, the value of the 'direction' is expected to be cardinal directions like 'north', 'south', etc. rather than 'down'. The duration is correctly converted from minutes to seconds. The altitude and speed units are correctly specified."] +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "undefined"', ' },', ' "duration": 1200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The JSON structure correctly represents the natural language command, including the correct action ("fly"), and correctly assigned parameters for speed, altitude, and duration with appropriate units. Even though the direction is marked as undefined in the JSON, it is considered reasonable since no direction was specified in the command.'] +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50.0,', ' "direction": {', ' "type": "str",', ' "value": "downward"', ' },', ' "duration": 1200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "direction" and "duration" keys do not exist in the sample ontology for the "fly" action. The "direction" noted in the natural language command does not match with any shown in the sample ontology and "duration" value given in natural language command is also incorrect. It is given as 20 minutes but JSON conversion made it as 1200 seconds. According to the sample ontology, for "fly" action the duration is mentioned in numbers and no unit is mentioned.'] +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "duration": 1200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command aligns perfectly with the JSON, with "altitude", "duration", and "speed" accurately defined.'] +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "duration": 20,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['4; The JSON structure has the correct action and parameters matching with the natural language command. However, the direction key is included in the JSON structure, though it was not specified in the natural language command.'] +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The natural language command asks for a series of maneuvers including rolls and loops, which is not reflected in any of the JSON data available in the sample ontology. The JSON provided only corresponds to hovering for a certain duration, which does not match the complexity of the maneuvers specified in the command.'] +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["0; The JSON structure does not correspond to the natural language command. The command specifies a sequence of rolls and loops for 5 minutes, which is non-specific and isn't clearly reflected in the given JSON structure. Also, the duration is not represented in the JSON structure, and the JSON represents a rotation, not a sequence of rolls and loops."] +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 1,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['0; The natural language command requests complex maneuvers including rolls and loops that are not included in the JSON action keys provided. The action "rotate" in the JSON structure does not match with the degree of maneuvers in the command.'] +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes.,[''];['0; The command does not conform to any of the provided JSON structures. There are no actions for engaging in succession of fast movements such as rolls and loops.'] +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['0; The command given refers to undefined actions such as "rolls" and "loops", which are not in the sample actions provided. Moreover, the \'rotate\' action in JSON provided does not match with the natural language command since the command asks for a series of actions for a duration of 5 minutes, not a single rotation. Therefore, this JSON does not match the command, hence the score of 0.'] +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command "Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop" requests an action of flying forward, specifying the direction and speed as parameters, however, it does not specify the duration which is assumed as \'90 seconds\' in the JSON. Additionally, the command also involves stopping but the JSON representation does not reflect this second action at all. Furthermore, the command does not specify an altitude which is assumed to be \'100 meters\' in the JSON. Therefore, the match between the given command and the JSON structure is not exact.'] +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.1111,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 90,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command instructs to move ahead a certain distance at a specified speed, and suddenly stop. This sort of movement implies navigational action which corresponds somewhat to the "fly" action in the provided JSON. Yet, the natural language command mentions "straight" direction which is not identical to "north" provided in the JSON. Additionally, the command\'s requirement to abruptly stop is not accounted for in the JSON. Finally, the altitude in JSON should be any reasonable value, not specifically zero.'] +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The "fly" action makes sense since it is being used to represent a movement of 1 kilometer. However, the direction is north in the JSON, while not being specified in the natural language command. Also, the duration is 90 seconds, which does not align with the command to "come to a rapid stop". Thus, the JSON partially matches the natural language command.'] +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The action and the parameters match the sample ontology correctly, the duration is converted correctly from minutes to seconds('30 mins' correspond to '1800.0 secs'), but there is a lack of details about the surveillance operation in the natural language command. The command 'carry out a surveillance operation' does not have a corresponding JSON action."] +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag pattern"', ' },', ' "duration": 150,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["0; The command specifies a 'zigzag' pattern but there is no such key in the sample ontology. Additionally, the command mentions a 'distance' which is not accounted for in the provided JSON structure. The 'duration' value in the JSON is also not specified in the command."] +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s.,['Prompt: "Rotate 90 degrees clockwise at a speed of 0.5 degrees per second."', 'returns: ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['0; The natural language command requires a zigzag flight pattern which does not match with any of the provided actions in the JSON structures. The JSON structure presented in the explanation instead refers to a rotation action, which is also not mentioned in the original natural language command.'] +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 150,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The given JSON structure does not match the natural language command entirely. Even though the "fly" action is correctly identified, the direction "zigzag" does not exist in the sample ontology. Also, there is no parameter in the ontology to specify the distance, hence, "3 kilometers" from the command cannot be mapped in the JSON structure.'] +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "duration": 150,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The command specifies an 'action' of 'fly' with a 'speed' of '20.0 m/s' which matches. But it implies a 'direction' that may be translated as 'zigzag', but this is not listed in the JSON values. The JSON structure also includes 'altitude' and 'duration' which are not mentioned in the command. The 'distance' of '3 kilometers' is inconsistent with the JSON structure."] +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 150,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command and the JSON structure almost perfectly match, except for one main discrepancy: the direction value specified as "zigzag". Although the "zigzag" value is understood in the natural language command, it doesn\'t comply with the expected string value for direction (which is typically a cardinal direction, not a pattern). Additionally, the duration value doesn\'t match the command ("3 kilometers" instead of duration in seconds). Therefore, the match isn\'t perfect.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The natural language command quite accurately describes the action (rotation) and associated parameters (angle, direction, and speed of rotation). However, the value of "angular_velocity" in JSON is not correct. The natural language command indicates a rotation speed of "45 degrees per second", while the JSON implies a speed of "one rotation per 45 seconds".'] +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4.5; The JSON structure follows the ontology with the action "rotate" and the corresponding parameters. However, in the JSON, the "angular_velocity" is supposed to be a float value (as per ontology), but here it is given as an integer.'] +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone and conduct a visual inspection of the UAV.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'];['1; The natural language command only partially matches with the JSON structure. The \'land\' action in the JSON structure correctly aligns with the command, but the command also includes an action ("conduct a visual inspection of the UAV") that does not exist in the JSON structures provided. Also, the exact location coordinates for landing are not specified in the natural language command.'] +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; Although the natural language command asks the UAV to land at a specific location and the JSON contains an action for landing, the natural language command also instructs a visual inspection, which is not covered in the JSON structure.'] +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command refers to landing the UAV at a specific location which corresponds accurately with the "land" action in the JSON structure where a location is specified.'] +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['2; The JSON structure represents the action of landing at a specific location, which partially matches with the natural language command. However, the command also includes another action ("visually inspect") which is not included in the JSON. Therefore, the match is partial.'] +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The natural command mentions to land the UAV, which corresponds to the "land" action in the JSON structure. But the second part of the command, to conduct a comprehensive visual inspection, has no corresponding JSON structure in the provided sample.'] +Hover in place and release a payload at a specified drop zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["0; The natural language command mentions releasing a payload at a specified drop zone, which is not present in the provided JSON structure. Therefore, the provided JSON doesn't accurately reflect the action described in the natural language command."] +Maintain a hovering position and deploy a payload at a designated release zone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The JSON structure provided does pertain to a "hover" action which is mentioned in the natural language command, however, there are important elements in the command that are not represented at all in the JSON structure, such as "deploy a payload" and "designated release zone". Additionally, the specifics of the hover action, such as the duration and altitude, do not need to match exactly but there are no details given in the command about these elements so the conformity of this part of the JSON cannot be assessed.'] +Stay suspended in one spot and discharge a payload at a predefined drop area.,['This action does not match any actions present in the ontology.'];['0; The command mentions an action "discharge a payload" that doesn\'t exist in the given JSON samples, and the "hover" action specified doesn\'t have the necessary parameters mentioned in the command.'] +Remain in a stationary hover and release a payload at a specified dropzone.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The JSON structure conforms to the "hover" action in the command. However, it lacks the information regarding the "release a payload at a specified dropzone" part of the command. There are no keys in the sample ontology for releasing payloads or specifying drop zones.'] +Hold position in mid-air and deliver a payload at a designated drop zone.,['This prompt does not conform to any action described in the provided ontology. Therefore, no JSON response can be produced.'];['0; The natural language command does not correspond to any of the actions in the provided sample ontology.'] +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The JSON structure pertains to a 'hover' action, which could be considered partially relevant as there is correlation with the mentioned action 'descent' in the command. But it doesn't actually perform the descent. The duration value is correctly calculated (1 hour = 3600 seconds), which is in accordance with the given natural language command. However, the original command mentioned 'feet' as units for altitude which has been converted to 'meters' in the JSON structure but the correspondence between the two (1 foot = 0.304 meters) hasn't been properly calculated (100 feet equals to approximately 30.48 meters not 30). Moreover, the more complex part of the command, 'conduct a search and rescue mission', doesn't have any associated action in the sample keys/JSON structure. Hence, the command isn't adequately represented by the given JSON structure."] +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, 30.48)"', ' }', ' }', '}'];['0; The natural language command is calling for a search and rescue mission for 1 hour while descending to an altitude of 100 feet, which is not reflected in the provided JSON structure. The JSON structure represents an action to navigate to a specific point with specific coordinates, not mentioned in the command. Therefore, there is no match between the natural language command and the JSON information.'] +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The natural language command\'s hovering part and lowering the altitude matches with the JSON structure, in which the altitude is given correctly as 100 feet converted to meters. But the command contains a "search and rescue operation" action which is not represented in the JSON structure or in the sample keys.'] +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 100)"', ' }', ' }', '}'];['0; The JSON structure does not match with the given natural language command. The action mentioned in the JSON script is "navigate_to_point", whereas the action required from the natural language command is a \'search and rescue task\', which does not exist in the JSON commands. Furthermore, the command requests an action to be done over a duration of "1 hour", but there is no provision for \'duration\' in the \'navigate_to_point\' action in the JSON script. Also, the command does not specify any coordinates, and the altitude is mentioned in feet instead of meters. For all these reasons, the natural language command does not conform to the sample JSON.'] +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 3600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['1; The natural language command is asking for a "search and rescue" operation, which is not a supported action in the provided JSON structures. The generated JSON structure corresponds to the \'hover\' action with the parameters \'duration\' and \'altitude\' correctly assigned, however the \'unit_duration\' should be \'hour\' instead of \'seconds\' and the \'unit_altitude\' should remain \'meters\' as there\'s no \'feet\' unit in the ontology. Hence, there is only partial match and many mismatches.'] +Perform a barrel roll maneuver at a high velocity of 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 100.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "km/h"', ' }', '}'];['2; The action "rotate" is correctly matched to the command "Perform a barrel roll maneuver", but the value of angular velocity in JSON does not match the natural language command. Additionally, the unit of angular velocity in the JSON is "km/h", which doesn\'t correlate to the sample ontology key "unit" which is in "degrees".'] +Execute a barrel roll maneuver at a rapid speed of 100 km/h.,['This action is not defined in the ontology, and therefore cannot be translated to JSON format.'];['0; The natural language command does not match any of the JSON structures provided in the list. The command is asking to \'execute a barrel roll maneuver\' which is not found in the actions ("navigate_to_point", "fly", "hover", "rotate", "land") in the sample ontology.'] +Carry out a barrel roll maneuver at a high rate of 100 km/h.,['This action is not included in the provided ontology. No valid JSON can be returned.'];['0; The action "carry out a barrel roll maneuver" and parameter "rate" don\'t exist in the sample keys.'] +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 100,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "km/h"', ' }', '}'];['2; While the command relates to a rotation action, the values and units in the JSON do not appropriately match the natural language command. Specifically, the unit for angular_velocity is mismatched (km/h vs a unit-less value), and the angle of rotation specified in the JSON is not mentioned in the natural language command. Furthermore, a barrel roll differs from a simple rotation.'] +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 1.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['1; The natural language command talks about a "barrel roll maneuver" with a specific speed but in the JSON structure, a rotation action with angular velocity and angle is given. A barrel roll is not just a rotation. Furthermore, the unit of speed is not covered by the sample ontology and the given speed doesn\'t match with the angular velocity in the JSON structure.'] +Fly forward for 500 meters and then execute a sharp turn to the right.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 47.62,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command involves two distinct actions: "fly" and "sharp turn". The JSON structure only includes the "fly" action and does not acknowledge the "sharp turn". Moreover, the term "forward" is supplied as the value of "direction", which isn\'t compatible with the ontological requirement of a "str" type defining cardinal directions. Another point of discrepancy is the expected distance of flight (500 meters) noted in the command is not reflected in the JSON; instead, duration-based flight is modelled.'] +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(500, 90)"', ' }', ' }', '},', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['2; The \'navigate_to_point\' action is not being used correctly. The coordinates provided "(500, 90)" do not make sense in the context of navigating straight ahead for 500 meters. \'Rotate\' action seems to be appropriate for executing a precise turn.'] +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 50,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; There is no matching between the natural language command and the JSON information. The command mentions flying in a forward direction and making a sudden turn to the right, but there is no indication of this in the JSON structure.'] +Move ahead for 500 meters and perform a quick right turn.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "North"', ' },', ' "duration": 500 / 10.5,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure does not fully conform with the natural language command given. The command specifies a "quick right turn" which would suggest a "rotate" action, however, the JSON structure only includes a "fly" command.'] +Travel straight for a distance of 500 meters before making a sharp right turn.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "east"', ' },', ' "duration": 50,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command and the JSON structure partially align. The action of flying matches. However, the direction in the command is not specified in the JSON, and the command's instruction to make a sharp right turn does not match with any provided actions in the JSON structures. Furthermore, the distance of 500 meters in the command does not have equivalent representation in the JSON."] +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1000.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The JSON conforms perfectly to the command. The "hover" action is correctly identified, and the appropriate parameters (altitude and duration) are correctly matched with their values, as well as the correct units of "seconds" and "meters". The part of the command about gathering data is not represented in the JSON, but that could potentially fall under other functionalities of the drone that are not covered by the current JSON schema.'] +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 300,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action fly does match the intent of the natural command to move upwards to a certain altitude. However, the command also includes an action of maintaining height and collecting data which is not reflected in the JSON. Moreover, the speed value in the JSON could be anything reasonable as it\'s not specified in the command, still the direction value in the JSON should be vertical or similar, not "up". "up" is not a direction. The duration is correctly converted from minutes to seconds.', ''] +Fly in a figure-eight pattern with a total distance of 2 kilometers.,['The action "Fly in a figure-eight pattern" is not in the ontology, thus it should be ignored.'];['0; The natural language command mentions an action ("fly in a figure-eight pattern") that is not represented in the JSON structures given. Furthermore, the parameter "total distance" is also not represented in the JSON structures. As such, there is no match between the command and the JSON.'] +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers.,['This action is not supported by the ontology. Therefore, no response JSON can be created.'];["0; The given command doesn't conform to any of the actions represented in the provided JSON structures as none of them include a 'figure-eight' maneuver or a defined 'total distance'."] +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total.,["The provided prompt describes an action that doesn't match any actions in the available ontology. Therefore, no conformant JSON can be generated."];['0; The natural language command requires an action of executing a complex flight path (figure-eight) which is not represented in the JSON structures provided. There is no "figure-eight" or similarly complex path instructions in the action keys. Thus, there is no conformity.'] +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,['This action is not defined in the ontology, so it cannot be converted into a corresponding JSON action.'];['0; The natural language command does not correspond to any of the provided JSON structures as it includes details not covered by the given ontology ( figure-eight trajectory and combined distance).'] +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command requests to fly in a pattern resembling the number eight but the provided JSON only accounts for a direction north and neither a pattern nor a total distance is included in the JSON. Additionally, the duration in the JSON is not compatible with the total distance mentioned in the command.'] +Hover in place and initiate a search for a lost object on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The JSON structure somewhat matches the command, but the command mentions initiating a search, which is not represented in the JSON structure. The 'hover' action is correctly represented though."] +Stay stationary and begin a search for a missing item on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command asks to "stay stationary" which matches the "hover" action in the JSON. However, there is a search command in the natural language command which is not present in the JSON. Therefore, it does not exactly conform.'] +Keep still and start looking for a lost object on the surface.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The command suggests a hovering action, but the command also suggests an unmentioned action (looking for lost object). There is also no specific duration or altitude mentioned in the command, but it is somewhat applicable since the drone is suggested to keep still.'] +Maintain a hovering position and commence a search for a misplaced item on the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The JSON structure provided partially matches with the command. The "hover" action is well matched, but the parameters for duration and altitude are mentioned as 0.0 which does not confirm to the command. The command does not provide specific values, hence any reasonable non-zero value should be acceptable.'] +Suspend movement and initiate a search for a lost object on the floor.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The action "hover" is mentioned in the natural language command which corresponds to the JSON structure. However, the command also includes "initiate a search for a lost object on the floor" which is not specified or suggested in any of the given JSON examples. The parameters such as duration and altitude are not mentioned in the command but they are not incorrect in the JSON.'] +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The natural language command talks about descending and performing a touch-and-go maneuver before landing. However, the provided JSON structure only describes the action of landing at a specific location. The additional actions mentioned in the command are not represented in the JSON structure. Therefore, the match is low.'] +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];["3; The JSON structure indicates to land at a certain location. However, it doesn't encapsulate the entire natural language command of 'Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot.', which includes additional steps/tasks not covered by the JSON structure."] +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["1; The JSON structure represents the action of landing at a specified location indeed. However, it does not reflect the 'touch-and-go' maneuver or the moving downward to ground level mentioned in the natural language command, thus it's not a proper match.", ''] +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['1; The JSON structure represents the "land" action, but it does not contain any information about descending, executing a touch-and-go maneuver or touching down at a specific location. The natural language command is more complex than what the JSON structure provides.'] +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'];['1; The natural language command denotes a series of actions including lowering altitude, performing a touch-and-go manoeuvre, and finally landing at a designated location. However, the provided JSON structure only corresponds to the final landing action and does not specify any coordinates for the landing location (undefined). Therefore, the match is quite minimal, and conformity with the sample keys is incomplete.'] +- Fly to waypoint A at a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "waypoint A"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. The "fly" action is correctly elicited from the given command, however, there is no mention or parameters for a \'distance\' or \'waypoint A\' in the provided JSON structure. Therefore, the "direction" value "waypoint A" does not perfectly suit the ontology.'] +Proceed to waypoint A, located at a distance of 1 kilometer, by flying.,["This action doesn't exist in the given ontology."];["0; The natural language command can't be converted to JSON because neither 'proceed to waypoint' nor 'distance' parameter exist in the sample keys."] +Utilize flight to reach waypoint A, which is situated 1 kilometer away.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 100,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command mentions flying to a certain location but does not specify any additional parameters such as speed, altitude, direction, etc. The provided JSON structure provides detail on these parameters. The 1 kilometer distance mentioned in the command can't exactly match to any parameter as parameters like direction, duration, speed are not relevant to this detail."] +Cover a distance of 1 kilometer by flying towards waypoint A.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "waypoint A"', ' },', ' "duration": 95,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The action is 'fly', which aligns with the command, however, some parameters in the JSON do not match the command. The altitude is specified in the JSON, although it is not mentioned in the command, and the duration, as calculated, seems to be based on assumptions not presented in the command. The command also mentions covering a specific distance, but this parameter isn't explicitly represented in JSON. While direction is mentioned, waypoint A isn't necessarily equivalent to 'north'. The speed could be considered reasonable."] +Fly towards waypoint A, which is precisely 1 kilometer away.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "unknown"', ' },', ' "duration": 95,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure corresponds to an action (fly) that is indeed required in the natural language command. However, the waypoint A, where the drone is supposed to fly to, is not represented in the JSON. The speed, altitude, and unit parameters do not match the natural language details. Also, the duration value is just added without mention in the natural language command.'] +- Descend to an altitude of 200 meters above ground level.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action \'hover\' and the parameters \'altitude\' and \'unit_altitude\' in the JSON structure perfectly match with the command "Descend to an altitude of 200 meters above ground level". However, the duration value does not match as the \'duration\' parameter is not specified in the command.'] +Reduce your altitude to 200 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command intends to reduce the altitude to 200 meters. The JSON structure captures this instruction in the "altitude" parameter and the appropriate "unit_altitude". However, there is a mismatch in the "direction" value, being "down" which is not exactly represented in the natural language command, and the "action", "fly", and other parameters like "speed", "duration" etc. are not mentioned or implied in the natural language command.'] +Go down until you reach an altitude of 200 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str", ', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command sort of matches the JSON structure, however "down" is used as the direction value in the JSON while nothing is mentioned about any direction value in the command. Thus, the command meaningfully requires the drone to reduce its altitude (which is correctly specified in the JSON), but doesn\'t explicitly instruct it to move in the \'down\' direction physically as represented in the JSON. If we consider \'down\' to merely represent a reduction in altitude and not an actual directional movement, it\'s a fitting translation. The duration and speed parameters not being mentioned in the command, any valid values in the JSON are fine.'] +Lower your altitude to 200 meters above the ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The command is partially conforming to the JSON structure. The "fly" action and "altitude" parameter match, but other parameters such as speed, direction, and duration weren\'t specified in the natural language command.'] +Descend until you are flying at an altitude of 200 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command talks about descending to an altitude of 200 meters, which matches with the "altitude" key in the JSON. However, there is a discrepancy with the "direction" value of "down" in the JSON because according to the sample ontology provided, the "direction" \'s value should be one of the cardinal points (north, south, east, west) and not "down".'] +- Perform a vertical climb at a rate of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; There are some matching parameters like the "speed" and "unit_speed" in the natural language command and the JSON. But there\'s some crucial information missing and/or mismatched in the JSON, such as the direction not being a part of the provided ontology parameters, and no duration being specified in the natural language command.'] +Ascend vertically, maintaining a speed of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches the natural language command. The command specifies an upward movement at a certain speed which is correctly captured in "speed" parameter with "unit_speed" as "m/s". However, the "direction" value should be "up" which does not conform with the direction key allowing only cardinal directions ("north", "south", "east", "west"). Furthermore, the "duration" parameter not specified in the command and the altitude value in JSON does not match with the command as the command does not specify an altitude.'] +Execute a vertical ascent, moving at a pace of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 20,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command matches the "fly" action with correct values for "speed" and "unit_speed". However, the "direction" value as "up" does not conform to the sample ontology where direction is expected as "north", "south", "east", "west". Additionally, the provided JSON contains a "duration" value that was not specified in the natural language command.'] +Scale upwards in a straight line, advancing at a rate of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command is partially represented in the JSON structure. The "fly" action is correct, and the "speed" parameter is correctly given as 5.0 m/s. The "direction" is given as "up" which matches the command of scaling upwards. However, the command does not specify an "altitude" or a "duration" which are presented in the JSON structure.'] +Carry out a vertical climb, sustaining a speed of 5 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 5.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches the natural language command. The action "fly" and the unit "m/s" for speed correctly correspond, as does the speed value of 5. However, the direction should be "up" to match the "vertical climb" in the command, but the JSON structure says "north". Additionally, the duration of the flight is not specified in the command but it is provided in the JSON structure.'] +- Fly in a zigzag pattern for 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command is not properly conveyed in the supplied JSON structure. Although the JSON structure provides a "fly" action, it does not include parameters for zigzag patterns or durations in minutes.'] +Perform a zigzag flight pattern for a duration of 10 minutes.,['{}'];["0; The command 'Perform a zigzag flight pattern for a duration of 10 minutes.' does not conform to any of the actions listed in the sample ontology, therefore no matching JSON structure exists."] +Fly in a serpentine motion for a period of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command talks about flying in a serpentine motion which doesn't match with provided JSON structure since 'direction' key in JSON only takes the type 'str' like 'north' not complex pathways like 'serpentine'. However, the 'action' and 'duration' keys in the command match the JSON structure."] +Execute a back-and-forth flying motion for a duration of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure is partially conforming to the natural language command. While the action "fly" and "duration" parameter match, the direction is unspecified in the natural language command. Additionally, the "back-and-forth" motion mentioned in the command is not represented in the JSON structure.'] +Soar in a crisscross pattern for a total of 10 minutes.,['{}'];['0; The natural language command does not correspond to any of the provided JSON structures. There are no actions or params that match a "crisscross pattern" or a "total of 10 minutes".'] +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The natural language command almost perfectly aligns with the JSON structure; however, the value of angular_velocity in the JSON does not conform to the command. The command mentions "45 degrees per second" which would be a significantly higher angular velocity than the 0.5 in the JSON structure.'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The provided JSON exactly matches the natural language command given, each qualification was met in the dictated command.'] +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['3; The "action" and "params" keys match and so do their values. Only the value of "angular_velocity" does not match with the command as it is 0.5 in the JSON but the command specifies 45 degrees per second.'] +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +- Fly forward at a speed of 30 km/h for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Mostly conform. The command matches the "fly" action in the JSON structure. However, there are some discrepancies. The "direction" value in the JSON is not exactly as in the natural language command ("north" vs "forward"). The "duration" value is also not consistent with the natural language command ("10" vs "duration not specified in the command"). While the speed is correctly interpreted from km/h to m/s, the command does not mention any duration, unlike in the JSON structure.'] +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 8.33,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command matches with the JSON structure almost perfectly. However, the direction is given as "forward" in the JSON structure while the natural language command gives it as "straight ahead". While these two directions are synonymous, they aren\'t a perfect match in terms of the exact wording.'] +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The "fly" action is correctly identified and the speed is correctly mapped to 30 in the JSON structure. However, the unit of speed is specified as kilometers per hour (km/h) in the command while the unit_speed in the JSON structure is given as meters per second (m/s) which is incorrect. The direction is correctly given as forward but the duration in the JSON structure doesn\'t correspond to any information in the command. Moreover, the command mentions travelling a certain distance (500 meters) which is not represented in the JSON structure. Thus, the JSON partially matches the command.'] +Glide forward at a rate of 30 km/h, covering a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command matches the "fly" action in the JSON structure, with correctly formatted parameters for direction and speed. However, the command does not specify altitude and the JSON contains specific values for altitude and duration which aren\'t mentioned in the command. Moreover, the command mentions about covering a certain distance, but the provided JSON structure does not have a provision to define distance.'] +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 60.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command and JSON information match for most parts, there are parameters that are not found in the ontology. The speed, direction and unit for speed are reflected correctly in the JSON. However, units for duration and altitude in the JSON do not match the command, and the command says to travel a certain distance, but the JSON reflects this as a duration. The command also does not specify an altitude like the JSON does.'] +- Hover at a specific location for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Although the "hover" action is correctly identified, the natural language command mentions a "specific location" which is not represented in the JSON. Therefore, the JSON partially matches the command. Further, the duration has been correctly converted from minutes to seconds, aligning with the unit used in the JSON.'] +Remain stationary at a designated spot for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure matches the command of "hovering" for a certain duration but the duration value in the JSON is in seconds (900.0) whereas the command specified the duration in minutes (15 minutes). Also the altitude of hovering is not explicitly mentioned in the command, so the JSON value of 0.0 can be considered reasonable, still the ideal would be to have an altitude mentioned or not mentioned at all in the JSON.'] +Stay in one place for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The natural language command matches with the JSON 'hover' action however the 'altitude' in the JSON is set to zero which is not specified in the natural language command. The command to stay in one place implies a neutral altitude. Furthermore, the unit of time is not correctly converted, it should be 900 seconds instead of 15 minutes."] +Maintain a fixed position for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The provided JSON structure correctly represent the required "hover" action, but the altitude parameter is given as 0.0 while such information is not indicated in the command. This might or might not conform to the original intentions of the user as it is not mentioned in the command. The duration is converted correctly from minutes to seconds.'] +Hold steady at a specific point for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure correctly corresponds to the "hover" action from the command, including the duration in seconds. However, the command doesn\'t specify the altitude, so assuming a random value (10.0) contradicts the principle of conformity. Better choice would have been a null value instead.'] +- Ascend to an altitude of 500 meters above ground level.,['This prompt does not fit into the provided ontology. None of the actions in the ontology corresponds to "ascend" with an altitude parameter.'];['0; The command "ascend to an altitude of 500 meters above ground level" does not match any of the JSON structures provided. The actions specified in the JSON structures are: navigate_to_point, fly, hover, rotate, and land. The action "ascend" is not included in the structures. Therefore, the command does not conform to the JSON structures.'] +Increase your height until you reach an altitude of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; While the "altitude" value matches perfectly, the "direction" does not exactly conform with the sample ontology. There is no direction named "up" or similar in the ontology, we only have "north" in the sample. The speed and duration parameters are not specified in the natural language command but acceptable since any reasonable value is accepted if a parameter\'s value is not specified in the natural language command.'] +Climb up until you are at an altitude of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Mostly conform. The natural language command matches the "fly" action in the given JSON structure. The altitude parameter correctly corresponds to the "altitude" parameter in the JSON. However, the "direction" parameter is given as "up" in the JSON which is not conventional since directions are mostly associated with cardinal points like "north", "south", "east", "west" and their variations. Also, other specific parameters such as speed, duration, unit_speed, and unit_duration are not specified in the command but are assumed from the JSON. The unspecified values in the command are reasonable values in the JSON structure.'] +Move upwards until you reach a height of 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure partially matches with the command. The "action" is correctly identified as "fly" and the "altitude" is correctly given as 500. Also, unit of "altitude" is correctly identified as "meters". However, in the command, there\'s no specific speed, duration and direction provided but in the JSON, defaults are filled in. The "direction" field has a value "up" which is not seen in context of the provided ontology. Therefore, due to these mismatches, the score is decreased.'] +Reach an altitude that is 500 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; While the JSON structure is correct for the 'fly' action, the direction value is 'up' which does not match the command or the sample ontology. It could have been omitted since the direction is not specified in the command."] +- Perform a horizontal slide to the left for 200 meters.,['This action is not supported by the provided ontology.'];["0; The natural language command 'Perform a horizontal slide to the left for 200 meters.' does not match any JSON structure or action present in the sample ontology."] +Slide 200 meters horizontally to the left.,['{', ' "action": "slide",', ' "params": {', ' "distance": 200,', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "unit_distance": "meters"', ' }', '}'];['0; The action "slide" and its corresponding parameters do not exist in the ontology, hence the command cannot be converted to JSON.'] +Move to the left in a horizontal slide for a distance of 200 meters.,['{ }'];['0; The natural language command indicates a movement to the left for a distance, however there is no corresponding action in the JSON structures provided that allows for a horizontal slide or specifying a direction such as "left".'] +Execute a horizontal leftward slide spanning 200 meters.,['This action is not defined in the ontology, so no JSON can be provided according to the given ontology.'];['0; The natural language command requests an action that does not exist in the sample keys.'] +Take a 200 meter horizontal slide towards the left.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "west"', ' },', ' "duration": 19.05,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural command issued is asking for a horizontal slide, not exactly a flight. The JSON structure is for 'fly' function but the altitude is set at zero which is good but the speed and duration parameters seem incorrect as they do not match the '200 meters' distance requested in the natural language command. Also, the direction 'west' may not always correspond to 'left', as it depends on the current heading of the drone. However, because 'fly' operation at zero altitude might emulate 'slide', and the rest parameters (altitude, unit_speed, unit_altitude, unit_duration) conform to the sample keys of the ontology, it is given a score of 2."] +- Circle around a fixed point at a radius of 100 meters for 5 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 1.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['2; The JSON corresponds to the "rotate" action in the sample keys however, the parameters are partially matched. The \'angular_velocity\', \'angle\', \'is_clockwise\', \'unit\' are matched but the duration or radius of rotation mentioned in the natural language command is missing in the JSON.'] +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes.,['This action is not covered in the ontology.'];["0; The natural language command describes a circular path movement which is not supported by any of the actions provided in the JSON structures like 'navigate_to_point', 'fly', 'hover', 'rotate, and 'land'."] +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes.,['This action is not available in the ontology.'];['0; The natural language command does not conform with any of the provided JSON structures as the action described ("perform rotations around a center point with a constant radius") is not available in these structures. The duration of 5 minutes also doesn\'t match since time units in the JSON structures are in seconds, not minutes.'] +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 100)"', ' }', ' }', '}'];['0; The command given doesn\'t correspond with the provided JSON structure. The command seems to imply a unique "move in circular path" action which isn\'t provided in the JSON. Furthermore, the JSON structure seems to act upon presentation of specific set of coordinates while the command transmits the navigation to be based on a pattern around a central point.'] +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 100)"', ' }', ' }', '}'];['0; The command talks about orbiting around a specific point, and maintaining a particular distance for a specified time period, however, this cannot be correlated to any of the mentioned JSON structures because none of them defines an action and parameters that would allow a navigation in orbit for a specific duration, at a specific distance.'] +- Fly backward at a speed of 40 km/h for 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command instructs to "fly backward at a speed of 40 km/h for 1 kilometer" while in the JSON structure, the \'direction\' key has the value "backward", the \'speed\' key has the value of 40.0 and the \'unit_speed\' has the value "km/h", which match the instructions. However, the \'duration\' key in the JSON structure doesn\'t have a matching instruction in the natural language command. Furthermore, the command\'s request to "fly ... for 1 kilometer" doesn\'t conform with the \'altitude\' key in the JSON structure. Hence, the majority of the JSON keys don\'t match with the natural language command.'] +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "speed" and "unit_speed" parameters match with the command. The "direction" is not stated in the command but a reasonable value is given. The "altitude" is not mentioned in the command, and the "duration" value in the JSON does not match what would be needed to travel a distance of 1 kilometer at the given speed. The "unit_duration" is correct according to ontology.'] +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command partially matches with the JSON structure. The command mentions the action "fly" and the "speed" parameter which are found in the JSON. However, the command also mentions "distance" which is not found in the JSON structure. The \'direction\' in JSON is \'south\' which is not exactly the opposite direction mentioned in the command without specifying the current direction. The mentioned \'duration\' parameter in JSON doesn\'t match with any instruction in the natural language command.'] +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3.5; Partially conforms. The natural language command correctly describes the "fly" action and its parameters. However, the direction is given as "backwards" which is not equivalent to "south." Also, the provided duration in JSON is 90 seconds, which doesn\'t align with the 1 kilometer distance mentioned in the command. The conformity of the unit_speed is also incorrect as km/h is not provided in the sample ontology as a possible value.'] +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command mentioned a flight in reverse direction which is not represented in the JSON structure, as it just mentioned the direction of flight to be "south". Also, there is a discrepancy in the values for speed where the command mentions 40 km/h but the JSON structure has a specific speed value of 40.0. The command also talks about a distance of 1 kilometer which is not mentioned in the JSON structure. The duration in the JSON structure is also not mentioned in the command.'] +- Descend rapidly at a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action \'fly\' and the parameter \'speed\' are correct. However, "rapid" and "descend" are not correctly conveyed, the direction value doesn\'t match as it should be \'down\'. The altitude is not being reduced here, it remains static which conflicts with the action to descend. So, the command and the JSON structure partially conform.'] +Quickly descend at a speed of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure mostly matches the natural language command, as it correctly identifies the action ("fly") and the speed parameter. However, the command talks about descending quickly, but the JSON structure includes unnecessary parameters such as "direction" and "duration". Also, the command does not provide explicit information about duration or altitude, but the JSON has specified these values.'] +Drop down rapidly, maintaining a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 1,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Although the "direction" attribute in the JSON structure is not a part of the sample ontology, the natural language command matches well with the overall JSON structure. The action to "fly" is accurately represented with the correct speed and the direction "down" makes sense in this context. The duration of 1 second might be assumed since the command did not specify a duration. The units used are all correctly implemented in the JSON structure.'] +Perform a swift descent, descending at a speed of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure does represent a flying action with speed of 10 "m/s", however, it is accompanied by additional parameters such as direction, duration and altitude which are not mentioned in the natural language command. Moreover, the direction is "down" which is not similar to "swift descent".'] +Go down at a rapid pace, descending at a rate of 10 meters per second.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 0,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3.5; The action "fly" in the natural language command can be associated with the "fly" action in the JSON structure. The "speed" and "unit_speed" params are also matched. But the "direction" param in the JSON structure has a string type and cannot accept the "down" direction in the natural language command. The "duration" and "altitude" values in the JSON are reasonable defaults since they aren\'t specified in the command.'] +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["4; Mostly conform. The command translates almost perfectly to the JSON structure, but the term 'barrel roll fashion' is not accounted for in the JSON structure, hence the minor deduction."] +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command matches the JSON structure perfectly, indicating a "rotate" action with correct parameters for "angular_velocity", "angle", "is_clockwise", and "unit".'] +- Fly in a figure-eight pattern for 10 minutes.,[''];['0; The command does not match any of the JSON structures, and "figure-eight pattern" and "10 minutes" are not parameters or actions encountered in the given ontology.'] +Perform a figure-eight flight maneuver for a duration of 10 minutes.,['This action is not in the ontology. Therefore, it will be ignored.'];['0; The natural language command does not match with any of the JSON structures provided in the sample ontology. A "figure-eight flight maneuver" action does not exist.'] +Fly in a pattern resembling the shape of an eight for a total of 10 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 600,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure does include the "fly" action and "duration" parameter, which aligns with the "fly" command and "10 minutes" duration in the natural language command. However, the JSON structure includes other parameters such as "speed", "altitude", and "direction" that are not mentioned in the natural language command. Additionally, the \'shape of an eight\' pattern is not captured in the JSON structure.'] +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes.,['Sorry, but your instruction does not match any actions in the given ontology. Please provide a valid action such as navigating to a point, flying, hovering, rotating, or landing.'];["0; The natural language command doesn't match any of the available actions in the JSON structures provided. The command mentions a 'figure-eight configuration' which is not represented in the JSON."] +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes.,['{}'];['0; The provided JSON structures do not have an action or parameters dedicated to figure-eight movements or time-based actions in minutes.'] +- Ascend to an altitude of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The command partly conforms with the JSON structure. The action of “fly” aligns with the command to ascend, and the altitude parameter matches the requested 800 meters. However, the direction key-value pair does not conform to the provided ontology, as there is no "up" value in the schema.'] +Achieve an elevation of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure somewhat matches the natural language command. The "fly" action and "altitude" parameter correctly correspond to the command to achieve an elevation of 800 meters. However, the "direction" value in the JSON is given as "up" while it isn\'t specified in the command. The "speed" and "duration" parameters are also included in the JSON structure although they aren\'t present in the command.'] +Reach a height of 800 meters above sea level.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(unknown, unknown, 800)"', ' }', ' }', '}'];['4; The action "navigate_to_point" matches but the value for the height (800) was given in the command and hence "unknown" for the height in the JSON structure does not completely comply with the command. Although the latitude and longitude are unspecified in the command, so "unknown" is acceptable for those values.'] +Climb to an altitude of 800 meters above sea level.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 800.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The natural language command is partially matched with the JSON structure. The "hover" action in JSON can be interpreted as "climb" in natural language and the altitude is correctly captured. However, climbing usually implies a change in position while hovering suggests staying at the same place, which would not be strictly interpreted as "climbing". Also, the duration parameter is not specified in the command, but inputted in the JSON structure.'] +Move up to a height of 800 meters above sea level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command is converted into JSON which requests the action of flying. It has the correct \'altitude\' parameter as specified in the command. The "direction" parameter is interpreted in the JSON as \'up\' which loosely makes sense. However, the "speed" and "duration" parameters in the JSON are not mentioned in the natural language command and the command does not specify the drone to fly, rather to move up, so the action isn\'t fully accurate.'] +- Hover in place while capturing photos for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON partially conforms to the command. The "hover" action, "duration" parameter, and unit types ("seconds", "meters") are all correct. However, the command mentions capturing photos, which is not represented in the JSON at all. Also, the JSON duration value of 1200 seconds does not match the command\'s duration of 20 minutes.'] +Maintain a stationary hover for a duration of 20 minutes, taking photos.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command is mostly conforming with the "hover" action in the ontology with right "duration" parameter converted into seconds and unspecified "altitude" is accepted. However, the part of the command that says "taking photos" doesn\'t have a corresponding JSON structure in the provided ontology, hence the point deduction.'] +Hold position and take photographs for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; There is a slight match between the command and the JSON structure as the "hover" action is indicated. However, the duration in the JSON structure doesn\'t match with the command (20 minutes in NL command and 1200 seconds in the JSON) and the command talks about taking photographs which is not represented in the JSON at all.'] +Stay in one spot and capture photos continuously for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The action 'hover' matches with the JSON structure. However, the command to 'capture photos continuously' is not represented within the JSON structure provided. Additionally, the duration value in the JSON structure does not match the 20 minutes specified in the natural language command (1200 seconds is equal to 20 minutes)."] +Remain suspended in the air and photograph for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; While the mentioned action "hover" and duration is present in the JSON structure, the natural language command also mentions taking photographs which is not represented in the JSON command at all. Therefore, this part of the command does not exist in the JSON structure and is not represented.', ''] +- Fly forward at a speed of 50 km/h for 2 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 144,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The parameters \'speed\' and \'direction\' in the JSON were correctly illustrated by "Fly forward at a speed of 50 km/h" in the natural language command. However, the value for the \'direction\' parameter in the JSON, which is "forward", doesn\'t match with the catalogue ontology which states it should be a cardinal point (north, south, east, west). Also, the duration calculated to be 144 seconds in the JSON doesn\'t match with "for 2 kilometers" in the command. Distance is not considered a factor in duration in the provided ontology. The \'altitude\' parameter specified in the JSON is 100 meters but there’s no mention of altitude in the command. The unit of speed in the JSON is "km/h" which doesn\'t exist in the ontology, it should be "m/s".'] +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,['This action does not belong to the available ontology. Therefore, it cannot be converted into a JSON object as per the given instructions.'];["0; The command isn't represented in the provided JSON structures. None of the actions and associated parameters mentioned in the JSONs match the action and parameters in the command."] +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 144,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command mostly conforms to the JSON structure. However, the keyword "straight" is not a valid direction as given in the example ontology where direction is specified as "north", suggesting cardinal directions. Also, the "direction" value in "fly" action is a string and not a key-value pair of type and value which is seen in the provided JSON.'] +Propel forward for 2 kilometers at a rate of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 540,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command almost perfectly aligns with the JSON structure provided, but the "duration" key in the JSON structure doesn\'t match with the command provided. It seems to be calculated based on the distance and speed given in the command rather than being explicitly provided in the command, thus it\'s not perfectly conforming.'] +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 144,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command and JSON structure match considerably, but the speed value in the command (50 km/h) and the JSON (10.5 m/s) mismatch. The direction in the natural language command ("forward") does not exactly match with the JSON structure ("north"). The duration in JSON (144 seconds) is not mentioned in the command.'] +- Descend to a low altitude of 50 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The drone is told to descend to a specific altitude which aligns with the \'fly\' action in the JSON, where "altitude" is set at 50 but there is lack of clear mapping for \'descend\' (the \'direction\' in the JSON sample is \'north\', not \'down\'). The speed and duration parameters are also not explicitly called for in the command.'] +Lower your altitude to 50 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure aligns with the command to decrease the altitude to 50, however, there are extra parameters in the JSON (i.e., speed, duration, and direction) which are not present in the natural language command.'] +Move down to an altitude of 50 meters above the ground.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command matches the JSON structure "hover" action but there is a discrepancy in the "duration" parameter value. The command does not specify a duration for the hover action, while the JSON has a 5.0 seconds value for duration. However, as any reasonable JSON value is accepted when the command does not specify a parameter value, the overall match is still high.'] +Decrease your altitude until you are only 50 meters above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The "direction" value in the JSON structure has been represented as "down" which is not a conventional direction value of north, south, east or west. However, in the context of a device that can move in 3D space (like a drone), the usage of "down" as a direction to reduce altitude makes sense, that\'s why the score is not lower. Apart from this discrepancy, the rest of the parameters match perfectly with the natural language command, especially considering that "altitude" is specified as 50 meters.'] +Descend to a height of 50 meters above the ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; The JSON structure partially matches the natural language command. The action of 'fly' and the value of 'altitude' as 50 meters conforms to the command. However, the 'direction' value 'down' in JSON is not a part of the listed ontology set. It is expected to be a compass direction such as 'north'. Additionally, the speed, duration, and their respective units are arbitrary and not requested in the command."] +- Perform a sudden stop and hover for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Somehow conform. The natural language command using "minutes" as a unit instead of "seconds" which is present in the JSON structure. The altitude is reasonable and the duration is correctly converted from 2 minutes to 120 seconds. However, the command of "Performing a sudden stop" does not exist in the JSON structure.'] +Execute an abrupt halt and remain stationary for a duration of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3.5; The JSON structure correctly identifies the action as "hover" and the duration as 120 seconds, which matches the natural language command. However, the command does not specify the altitude, so it should not have been assumed to be 0. The unit_duration and unit_altitude are acceptable as they match the sample keys.'] +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The JSON structure matches the command quite closely; the 'hover' action and 'duration' parameter are present in both. However, the altitude is specified in the JSON structure with its value as 0.0, but no mention of altitude is made in the natural language command. This lack of perfect correspondence results in a score of 4.", ''] +Achieve an instant stop and remain suspended in the air for a period of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Implement a sudden pause and hover motionless for a timeframe of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command and the JSON structure mostly match. However, the altitude value is not specified in the natural language command but it is given in the JSON structure. The assumption that the hovering would take place at an altitude of 0.0 meters might not be accurate.'] +- Land at the designated landing zone, then record a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];["2; The command includes both the action 'land', which aligns well with the provided JSON structure, however, the second part of the command 'record a video' does not have a corresponding JSON structure in the provided set. Therefore, it is not fully conforming."] +After landing at the specified landing area, proceed to film a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The JSON structure corresponds with the "land" action mentioned in the command but it doesn\'t contain any information about the next command to film a video.'] +Upon arrival at the designated landing zone, commence recording a video.,['{}'];['0; The natural language command does not conform to any of the JSON structures provided. The action and parameters associated with recording a video are not defined in the sample keys.'] +Touch down at the designated landing zone and proceed to capture a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['1; The JSON structure partially matches with the command. The "land" action is properly defined in JSON but "proceed to capture a video" command doesn\'t exist in the provided sample keys.'] +Once you have safely landed at the assigned landing area, begin filming a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'];['1; The natural language command partially conforms to the JSON structure. The "land" action is correctly mentioned, but there is no provision in the example ontologies to accomplish the part about "begin filming a video".'] +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4.5; The command matches the "fly" action. However, the unit of altitude in the command is in \'feet\' while in the JSON structure it\'s in \'meters\'. Also, the \'direction\' value in the JSON structure is set to \'up\' which makes sense but was not directly specified in the command.'] +Climb to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure declares an "action" of "fly" with specific "params", which could correlate to the natural language command of the drone climbing to a certain altitude. However, the "direction" key in the JSON structure is defined as "up", which doesn\'t perfectly align with the concept of "climbing", although they might be presumed as similar. Also, although "altitude" is mentioned in both the command and the JSON, there\'s no direct correspondence of \'climbing\' in the JSON actions.'] +Reach an elevation of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 15,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Partial conformity. The "fly" action is correct in the JSON structure. The altitude is also correctly translated from 500 feet to meters. However, the direction "up" is not clear and doesn\'t fit the "north" in the sample JSON. There\'s also no duration or speed specified in the command which makes it only partially conforming.'] +Achieve a position at an altitude of 500 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 152.4)"', ' }', ' }', '}'];['4; The JSON structure corresponds to the "navigate_to_point" action specified in the natural language command, but it lacks exactitude because the specified latitude and longitude coordinates are zero in the JSON instead of being unspecified as in the command. The altitude is converted from feet to meters correctly.'] +Ascend to a height of 500 feet above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches with the natural language command. The action "fly" and the "altitude" parameter in the JSON align with the ascent command. However, the command does not specify "speed", "direction", "duration", and their units which are present in the JSON. Additionally, the ascent should more accurately map to a "navigate_to_point" action with a specified altitude rather than a "fly" action.'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command asks for a drone to fly forward for 1 mile at a speed of 40 mph. However, the provided JSON does not match this command well. In the JSON, duration of flight is mentioned as 10 seconds whereas no such interval is referred in the text command. The altitude is specified as 100 meters in the JSON, but the text command does not require altitude parameters. Furthermore, the JSON mentions forward as direction value while it is not a valid direction and the unit of speed is given as mph in the command but m/s in JSON. For these reasons, the JSON does not conform to the natural language command.'] +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 1.5,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['4; Although the JSON has some of the aspects from the command, "straight" is not technically a direction (north, south, west, east or any combination of those should be used) and the unit for duration is wrong (it should be in hours, not minutes if you want the drone to fly for 1 mile at 40 mph).'] +Move forward for a mile, traveling at a speed of 40 miles per hour.,['This action is not available in the ontology and it should be ignored.'];['0; The provided natural language command does not match any of the actions in the JSON structures presented in the ontology. The "move forward" command does not exist in the sample keys.'] +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 90,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON partially conforms to the natural language command. The command instructs the drone to fly "in a straight line for a mile", but it doesn\'t indicate a direction like north, south, east, or west. The JSON interprets "straight line" as a direction, which is a sensible interpretation. The speed and its unit are correctly captured. However, the command doesn\'t specify an altitude, and the JSON has a default of 100 meters. The duration is also not specified in the command but is present in the JSON.'] +Travel forward for a distance of 1 mile, with a velocity of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 17.88,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 101.376,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command doesn't specify the direction nor the altitude, and the action 'fly' includes in its parameters 'direction' and 'altitude'. Also, the value of 'speed' and the value of 'duration' in the JSON don't match the command. The command specifies '40 mph' which was correctly converted to '17.88 m/s', but '1 mile' wasn't correctly converted to '101.376 seconds'."] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 200)"', ' }', ' }', '}'];['3; The command is partially conform. The action is identified as "navigate_to_point", which is suitable for the "descend" command. However, the parameters are not entirely appropriate - "coordinates" being used instead of "altitude" for the vertical movement, and no specific latitude and longitude provided. The \'value\' in the coordinates matches with the command as the altitude measurement provided matches with the command.'] +Reduce your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command asks to reduce the altitude to 200 meters, which is reflected in the JSON parameters as "altitude": 200 and "unit_altitude": "meters". However, the direction "down" isn\'t explicitly stated in the natural command, and other parameters like "speed", "duration" and "unit_duration" are given in JSON but they are not specified in the natural language command. Also, the action "fly" may not best represent the action of reducing altitude, something like "descend" may have been better. Therefore, the command partially conforms to the JSON.'] +Lower down to an altitude of 200 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 5.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; While the action of hovering to adjust the altitude in the JSON structure matches with the natural language command of lowering to an altitude, the duration of the action is not mentioned in the natural language command. However, the requested altitude is correctly matched at 200 meters.'] +Move downwards until you reach an altitude of 200 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure mostly matches the command. There is a matching "action" ("hover") and the "altitude" value matches the command exactly. However, the "duration" value in the JSON structure doesn\'t exactly conform to the command - the user didn\'t specify any duration for the drone to hover.'] +Descend until you are flying at 200 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Although the "action" - "fly" matches and most parameters are there, we\'re missing the "direction" key in the command even though it\'s present in the JSON. The suggested value "down" isn\'t accurate as the ontological structure provided the direction as "north", not "down". Also, the "speed" and "duration" parameters were not mentioned in the original command but were arbitrarily added to the JSON structure.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure matches the natural language command in terms of the action ("hover") and most parameters such as "duration", with an accurate conversion from minutes to seconds. However, the "altitude" parameter in the JSON structure is not mentioned in the natural language command and hence its conformity is unclear.'] +Stay suspended in the air for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The command "Stay suspended in the air for a duration of 10 minutes." matches the action "hover" in the JSON structure, including the right duration translated from minutes to seconds. The altitude value was not specified in the natural language command, but a reasonable value of 50.0 meters was accepted from the JSON format.'] +Maintain a hovering position for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Remained fixed in mid-air for a time span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command instructs the drone to hover in place (remain fixed in mid-air) for a duration of time (10 minutes, converted to seconds in the JSON structure), which aligns perfectly with the given JSON structure.'] +Suspend yourself without moving for the next 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The command instructs to "suspend" which translates to "hover" in the keys. And the duration given in the command matches with the duration in the JSON structure. The altitude is not specified in the command, so any reasonable value for altitude in the JSON structure is acceptable.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command corresponds well with the JSON structure. It correctly specifies the action as rotate and gives all required parameters. The rotation direction is specified as clockwise, the angle of rotation is given as 180 degrees, and the angular velocity is provided as 45. These details align exactly with the keys given in the JSON structure.'] +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn clockwise by 180 degrees, at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 2.4,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['1; The natural language command instructs to "Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h." The provided JSON structure somewhat matches the command is somewhat similar as \'action\': \'fly\' and \'speed\' parameters are correct. However, the \'direction\' value in the command is \'zigzag\', which is not conforming to the sample JSON keys ontology. Also, the duration is provided in hours in JSON when it should have been in distance \'kilometers\' as per the command. Therefore, the match is partial and not fully conforming to the sample keys.'] +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 144,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure matches the action "fly" and some parameters like "speed" and units ("unit_speed", "unit_altitude", "unit_duration") from the natural language command. However, the phrase "zigzag maneuver" is not represented and the "direction" value in the JSON is "north", which doesn\'t match with the command. Also the "altitude" and "duration" values are included in JSON structure but not specified in natural language command.'] +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,["This action is not within the ontology, hence it can't be returned as a json."];["0; The command does not match any existing ontological structure as there is no action to 'fly in a serpentine pattern'."] +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers.,['This action is not defined in the ontology, hence no valid JSON output can be generated.'];['0; The natural language command is not represented in the JSON structure. The action of flying in a zigzag pattern is not available in the sample ontology, and no parameter is provided for total distance.'] +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 2.4,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['1; The natural language command talks about flying in a zigzag formation which is not reflected in the JSON information as there is no parameter to define the formation of flying. The speed in the command is in km/hr, however the unit_speed in the JSON is given in m/s and the direction value is "north" which does not match the "zigzag" pattern specified in the command. The duration is incorrect - speed is 50 km/hr and distance is 2km, so duration should be 0.04 hours (2.4 minutes) not 2.4 hours. Also, the command does not specify an altitude, but an altitude value is provided in the JSON structure.'] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action "fly" in the JSON structure is somewhat aligned with the natural language command "ascend." However, the parameter \'direction\' with a value \'up\' is not in line with the ontology, as it expects a cardinal point (north, south, east, west). Also, altitude in JSON is converted to meters (304.8) from feet (1000), which is correct, but it\'s not clear from the command whether this should be a fast ascent ("speed": 10.5) or how long the action should last ("duration": 10). Therefore, there is a partial match but several aspects are not conforming.'] +Increase your altitude to 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command matches the JSON structure quite well. The command instructs a rise in altitude which aligns with the action "fly". However, the conversion from feet to meters for 1000 feet is not accurate (should be ~304.8 meters), and the direction of "up" is not typically used in navigation a more appropriate would be a bearing. Also nota all parameters are necessary for compliance.'] +Climb to a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["3; Partially conform. The specified altitude in the command and JSON match. However, the direction 'up' was added in the JSON despite not being explicitly stated in the command, and 'fly' action does not typically allow vertical motion, a 'climb' action would be more accurate. Furthermore, the unit of altitude was correctly altered to 'feet' in the JSON. The speed and duration values in the JSON are accepted since they were unspecified in the command."] +Reach an elevation of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command and the JSON structure are almost perfectly aligned. The action "fly" does conform to raising elevation or altitude, and the altitude in the JSON structure is correctly converted from feet to meters. However, the "direction" doesn\'t exactly correspond, as "up" is not typically a direction for flying (it would normally be "north", "south", "east", "west").'] +Move upward and maintain a height of 1000 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; This JSON structure does align with the command given. The action is to "hover", which represents moving upwards and maintaining height. The altitude value of 304.8 meters is correctly converted from 1000 feet. However, it loses one point because the duration of the hover action is arbitrarily specified in JSON, but not mentioned in the command.'] +Fly forward for 5 miles at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command is partially matching with the JSON structure. The "action": "fly", "params", "unit_speed" and "speed": 30.0 are matching, but the direction value in the given JSON structure is "north", not "forward". Also, the natural language command mentioned a distance ("Fly forward for 5 miles"), not a duration. The JSON structure contains a "duration": 10, which is not coherent with the natural language command. The "unit_speed" in JSON is "m/s", not "mph" as stated in the natural language command.'] +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command is partially matched with the JSON structure. The action "fly" and unit of speed "mph" are correctly interpreted. However, non-conforming aspects include a lack of conversion from miles to an unspecified duration in seconds, the assumed direction "north" doesn\'t match "straight ahead" in the natural language command, and the altitude is arbitrarily set at 100 meters, which is not mentioned in the command.'] +Travel in a straight line for 5 miles, moving at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 10,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure seems to attempt to represent the command but has many disagreements. The command specifies a distance of 5 miles, but there is no related information in the JSON. The "direction" is indicated as "straight" which is not a valid direction. There is no mention in the command for the duration, altitude and the unit of altitude which are given in the JSON. The unit of speed in the command is accurate, but in the wrong format in the JSON.'] +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The 'direction' parameter does not have the value 'straight ahead' in the sample keys, and thus does not completely match the natural language command. The unit of 'speed' should be 'm/s' according to the ontology, but 'mph' is used in the JSON structure. Furthermore, 'duration' is not specified in the command but is included in the JSON structure."] +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles.,['This action is not present in the ontology, so it cannot be transformed into the required JSON format. The only actions present in the ontology are "navigate_to_point", "fly", "hover", "rotate", "land". None of these actions contain parameters relating to distance or speed in mph.'];["0; The given command specifies actions and parameters (speed in mph, total distance in miles) which do not exist in the provided sample keys. The 'fly' action in the sample keys uses 'm/s' as speed units and it doesn't include a distance parameter."] +Hover and take aerial photographs for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command matches well with the JSON structure for the "hover" action. The duration has been correctly converted to seconds. However, the command mentions "take aerial photographs" which does not exist in the JSON structure, so it\'s not a perfect match.'] +Capture aerial photographs by flying and hovering for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The JSON structure only corresponds with a part of the natural language command which is 'hovering for duration of 20 minutes', and it does not address 'flying' or 'capturing aerial photographs'. Additionally, the given value in the JSON structure for duration is in seconds (1200 seconds - which is 20 minutes), which correlates accurately with the command. The altitude value does not have a match in the command but as per the instructions, any reasonable value is accepted. However, the most of the command ('capture aerial photographs by flying') is not addressed at all in the JSON structure."] +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The action and the duration parameters in the JSON structure match the command. The altitude parameter is not specified in the command but a reasonable value is given in the JSON, which is acceptable. The command mentions capturing images, which is not represented in the JSON. Therefore, it's not a complete match."] +Take aerial photos by hovering in the air for a total of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; Partial conformity. The natural language command asks for hovering and taking photos, but the JSON structure only covers the hovering action. There is no mention or parameter for taking photos. The duration is also not matching - 20 minutes in the command would equate to 1200 seconds, not 1000.'] +Fly and maintain a hover position for 20 minutes to capture aerial photographs.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The action \'hover\' in the JSON structure matches with the command "maintain a hover position". However, the command does not specify an altitude for the hover, but an altitude is specified in the JSON, causing a partial conformity. Furthermore, the duration in the command does not match the duration in the JSON. The command says "20 minutes," whereas the JSON structure has 1200 seconds(which is indeed 20 mins but the units don\'t match). Also, the command has an extra action, "capture aerial photographs", which does not appear in the JSON structure at all, causing a discrepancy in match. Hence, the score is 3 for partial match.'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Descend to an altitude of 100 meters.,["Your prompt doesn't correspond to any action from the given ontology. Therefore, it can't be translated into a comparable JSON action. Please provide a different instruction."];["0; The given command 'Descend to an altitude of 100 meters' does not match any of the available JSON structures in the given ontology sample. There is no JSON command for 'descend' and the action 'land' does not match the indented action of descending to a specified altitude, and not specifically to the ground. Therefore, there is no conformity between the command and the JSON structures."] +Lower down to an altitude of 100 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action in the command corresponds to the "hover" action in JSON. The "altitude" parameter also matches. However, duration which is "10.0" in the JSON is not specified in the command. The "unit_duration" and "unit_altitude" matches.'] +Reduce your altitude to 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; While the action "fly" is appropriate, the command is not specific to speed, direction, and duration, which are mentioned in the JSON structure. The value for "direction" is also incorrectly mentioned as "down" instead of a geographical direction like "north", as per the JSON example. The altitude is correctly matched.'] +Move downward until you reach an altitude of 100 meters.,['The request is not conformant to the given ontology. The possible actions in the ontology include "navigate_to_point", "fly", "hover", "rotate", and "land". "Moving downward" does not match any of the available actions. Please provide a request that matches the available actions in the ontology.'];['0; The command does not match with any given JSON structures and its commands. "Move downward" command is unavailable in sample ontology.'] +Descend until you are at a height of 100 meters.,['This action is not in the ontology.'];['0; The provided natural language command does not correspond to any of the JSON structures provided in the ontology, thus there is no conformity.'] +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circle"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The given JSON structure does not follow the example ontology perfectly. \'Fly\' action is matched correctly, but the \'direction\' key in the ontology doesn\'t allow for a "circle" value. \'radius\' of the circle is also missing in the JSON structure, and \'radius\' doesn\'t exist in the sample keys. The duration value is present in the JSON structure albeit it\'s not specified in the natural language command.'] +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circular"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; While the JSON structure does match the action ("fly") and speed parameters of the natural language command, it does not reflect the command to fly in a circular path with a specified radius. Also, the direction value given in the JSON is "circular", which is not conform with the available ontology. The duration value in the JSON is also not mentioned in the command.'] +Circle at a speed of 20 km/h with a 500-meter radius.,['This action is not defined in the ontology and therefore, no action can be executed in response to this prompt.'];['0; The provided command is not included in the specified JSON structures, so there are no matching actions or parameters.'] +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circular"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure includes a "fly" action and a speed value which matches the instruction. However, it does not incorporate the instruction\'s circular path or radius. Furthermore, although the command indicates a specific speed unit (km/h), the JSON uses m/s instead. Our sample ontology also does not include keys for path type or path radius, leading to partial conformity.'] +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h.,['This action is not present in the ontology.'];['0; The command requires an action that is not present in the sample keys. Thus, it cannot be converted to JSON using the provided ontology.'] +Ascend to an altitude of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 457.2,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3.5; The command matches the "fly" action in the JSON, but the "direction" value doesn\'t exist in the sample keys, it should be "north", "south", "east" or "west". The conversion from feet to meters in the altitude is accurate. The speed and duration are not specified in the command, but the given values in the JSON are acceptable.'] +Increase your elevation to a height of 1500 feet.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];['4.5; The JSON structure accurately represents increasing the altitude to a height of 1500 feet, but it includes a duration with a value of 0, which is not specified in the natural language command. However, this does not significantly detract from the overall meaning.'] +Climb to a 1500-foot altitude.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["3.5; Partially conform. The action and parameters are all correctly identified, but the 'direction' value is not part of the sample ontology for the 'fly' action. There's no specification for direction in the ontology sample for 'fly'. Instead, changing altitude already implies the direction, so the 'direction' key is unnecessary."] +Reach a height of 1500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 457.2,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3.5; The structure of the JSON generally conforms. The altitude reflects the equivalent of 1500 feet in meters. However, the direction value should be "north", "south", "east", or "west". The "up" direction is not supported by this ontology. Also, duration and speed values don\'t match with the command.'] +Ascend to a level that is 1500 feet above the ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 457.2,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command is only partially represented in the JSON structure. The "fly" action and altitude (converted from feet to meters) are correctly extracted. However, there is no "up" direction stipulated in the given ontology. The speed, duration and their respective units are extra information not specified in the given command, thus not conforming well with the JSON.'] +Fly forward and survey the area for 3 miles at a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The parameters for speed, unit_speed and direction conform to the natural language command but the duration of 10 seconds does not match the command of flying for 3 miles. Moreover, the action of surveying the area does not conform because it is not specified in the JSON structure. Finally, the altitude parameter is not specified in the language command.'] +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour.,['The provided action does not conform to the available actions in the ontology. Hence, no JSON output can be produced.'];["0; The provided command does not match any action from the sample keys. The command asks for a 'visual inspection' action that is neither 'navigate_to_point', 'fly', 'hover', 'rotate', nor 'land'. Therefore, the command cannot be converted to any JSON structure based on the given ontology."] +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Partially conforms. The \'fly\' action is correct, and the speed has been understood correctly as 35 mph. However, the direction is missing in the command so it should not be assumed as \'north\'. Also, the duration of the flight and the altitude is not provided in the command but mentioned in the JSON. The \'observe\' action implied by the command is missing in the JSON. The command also mentions "observe the vicinity for a span of 3 miles" which is not represented in the JSON at all.'] +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 35.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure provided slightly matches the natural language command. The action to "fly" aligns with "move forward". However, the command\'s detail of "surveying the area within a 3-mile radius" is not represented in the JSON structure. Also, the speed value is correctly represented in the JSON, but the use of the wrong unit "mph" instead of "m/s" causes more non-conformity. There are also default parameter values in the JSON (such as altitude, duration) which were not mentioned in the command, these do not affect the score but should ideally not be included. The value of "direction" as "forward" should also ideally be "north," "south," "east," or "west" as per the provided ontology samples.'] +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph.,['This action is not in the provided ontology.'];["0; The natural language command does not match with any of the provided JSON structures. No actions such as 'glide', 'explore' or parameters like 'distance', 'velocity' in 'mph' are provided in the sample ontology."] +Hover and drop a package at the designated location.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The JSON part corresponds to the 'hover' action from the natural language command but there is no information or action provided for 'drop a package at the designated location' which is present in the command."] +Carry a package and release it at the specified spot by slightly floating above it.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The natural language command mentions "Carry a package and release it at the specified spot" which does not exist in the JSON and the hover action in the JSON structure does not include any parameters to specify a spot to release a package at. Furthermore, the values in the JSON such as duration and altitude do not perfectly match the natural language command.'] +Gently float and deposit a package at the predetermined destination.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, undetermined)"', ' }', ' }', '}'];["1; The natural language command asks for a package to be deposited at a location, but the corresponding JSON structure only shows navigation to a point, without any information about package handling or delivery. The provided value for the coordinates is also 'undetermined', which does not match 'predetermined' stated in the natural language command."] +Utilize aerial suspension to transport and release a package precisely where directed.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(latitude, longitude, altitude)"', ' }', ' }', '}'];['1; The natural language command is about transporting and releasing a package, which does not conform to the "navigate_to_point" action in the provided JSON structure. The provided JSON structure only indicates navigation to a point, not transporting or releasing anything. The conformity is low.'] +Levitate above a designated area and carefully place a package down.,['This action is not defined in the provided ontology. Therefore, it cannot be translated into the defined JSON format.'];["0; The command does not correspond to any of the JSON structure actions provided in the sample ontology, thus can't be converted."] +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The JSON structure matches the natural language command in every aspect except the angular velocity - the command specifies 15 degrees per second while the JSON structure has 0.5. Everything else matches perfectly.'] +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Descend to an altitude of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command seems to refer to a descending action, not a flying action. Moreover, the 'direction' parameter in the JSON structure is incorrect; 'down' direction doesn't exist in the provided ontology. The 'speed' and 'duration' parameters have not been specified in the command and are irrelevant for the descent."] +Reduce your altitude to 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure partially matches the natural language command. The "action" is "fly" which isn\'t directly stated but could be inferred in the command and the "altitude" parameter is correct as per the command. However, the values for other parameters like "speed", "direction", "duration" do not match the command and are irrelevant. Also, "direction" set to "down" is not correct according to given ontology keys.'] +Go down to a height of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3.5; Partial match. The natural language command is translated partially correct into the JSON structure. The "action" is "fly" and the "altitude" is 50, which matches the command. However, "direction" was interpreted as "down", which is not mentioned in the ontology. The "speed", "duration", and all the units are also not mentioned in the natural language command, so any value for them is acceptable as per the instructions. The action of "going down" would be better represented by a separate action like "descend" if it were present in the ontology.'] +Lower yourself to an altitude of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Descend until you reach a height of 50 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure partially matches the natural language command. The command "Descend until you reach a height of 50 meters." corresponds to the action "fly" and the altitude of 50 meters. However, the direction "down" and the specified speed and duration parameters in JSON structure, are not mentioned in the command. Also, the "fly" action in the sample ontology does not have the "direction" parameter.'] +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "direction": {', ' "type": "str",', ' "value": "figure-eight"', ' },', ' "duration": {', ' "type": "float",', ' "value": 1.0 / 45.0 * 3600.0', ' },', ' "unit_speed": "km/h",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action "fly" in the natural language command matches the JSON structure, and the speed of 45 km/h is also included. The natural language command includes a flight pattern (figure-eight) that doesn\'t exist in the JSON structure\'s keys, and also includes a distance (1 kilometer), while the JSON structure assumes a duration parameter. The JSON structure also does not account for a \'direction\' parameter having a \'figure-eight\' value, as the sample ontology describes a string value indicating compass direction.'] +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h.,['This action is not identified in the ontology. Therefore, the request cannot be converted to a valid json format according to the provided ontology. Please provide a different action.'];['0; The command does not correspond to any of the available actions provided in the JSON structures.'] +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command asks for a drone to "fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h". However, the JSON structure provided does not support a specific path or shape of flight (such as a figure-eight). Also, there is no distance parameter in the JSON structure. Even though the speed parameter matches in the command and JSON structure, the major part of the command does not match the available parameters. Hence, the score is low.'] +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h.,['The action "Execute a figure-eight maneuver" is not part of the ontology, so it cannot be translated into a conformant json object as per the provided ontology.'];['0; The provided command refers to a "figure-eight maneuver" which does not exist in the sample keys, therefore, the command cannot be converted to any of the given JSON structures.'] +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 45.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 80.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; While the JSON structure reflects the speed and units correctly mentioned in the command, it does not cover the other specifications. The action from the command of following a figure-eight pattern does not exist in the JSON structure, so it does not perfectly match the command. Additionally, the command specifies a distance of 1 kilometer to be covered, however, the JSON structure notes a duration of time instead. The direction of "north" noted in the JSON is also not present in the original command. Thus, while some aspects align, several key elements of the command are not represented in the JSON structure provided.'] +Ascend to an altitude of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The action in the command "Ascend" corresponds to the "fly" action in the JSON structure. Additionally, the altitude parameter in the command and JSON have the same value of 2000. However, the direction of the movement in the JSON is identified as "up" which is not explicitly mentioned in the command, lowering the conformity score.'] +Reach a height of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command to reach a height is correctly matched to the "fly" action. However, the "direction" parameter is not applicable as its use in this use does not conform with the sample keys. The altitude is correctly included as 2000, but the units should be "meters" instead of "feet", according to the ontology\'s sample keys. Additionally, values for "speed" and "duration" are included in the JSON but not specified in the command.'] +Climb to an elevation of 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform.'] +Increase your altitude to 2000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The action and parameter "altitude" match with the JSON structure but there is no \'direction\' in the natural language command where \'up\' is assigned in JSON. Also, the value for \'duration\' and \'speed\' are not mentioned in the natural language command but specified in the JSON.'] +Ascend to a level that is 2000 feet above ground.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 2000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON mostly matches the command, but there is no clear indication for the duration, for which a value of 10 seconds is filled-in.'] +Fly forward and inspect power lines for 4 miles at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 9.65606,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['2; The JSON structure contains parameters that are not specified in the natural command. Specifically, "altitude" is not requested in the natural command. Moreover, the direction in the JSON is "forward" while the natural command specifies inspection of power lines which implies a vertical or at least, a non-linear flight path. The unit of "duration" is also not specified in the natural language command. It is assumed in the JSON to be "minutes" whereas it isn\'t clear from the command. Lastly, although the distance is specified in the natural language command, it isn\'t represented anywhere in the JSON structure.'] +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command asks to fly and examine power lines over a distance of 4 miles, which matches with the "fly" action in JSON. It also requests to move at a speed of 25 mph, but the JSON has a speed of 10.5 m/s (meters per second), which isn\'t a direct match. Also, the natural language command does not specify a direction, altitude, or duration, which are parameters in the JSON. Additionally, the task of examining power lines is not represented in the JSON.'] +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 9.656,', ' "unit_speed": "mph",', ' "unit_duration": "minutes"', ' }', '}'];['4; The JSON information in general matches with the natural language command. The drone is instructed to fly, which aligns with the action "fly". The given speed, direction and the unit of speed also align well. However, there is no information to indicate that an inspection of power lines is taking place in the JSON structure. Also, the duration is not calculated correctly in the JSON structure to match the "a span of 4 miles at a rate of 25 mph". With a speed of 25 mph, it would take approximately 9.6 minutes to cover 4 miles, not 9.656 minutes.'] +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action in the JSON structure is "fly", which could potentially correlate with the command. However the direction, duration and altitude parameters in the JSON don\'t match with those implied in the command, and the command implies a sightseeing or inspection task which isn\'t referenced in the JSON. The speed is correctly mentioned. The JSON structure doesn\'t suitably capture the entirety of the command.'] +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "ahead"', ' },', ' "duration": 9.66,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; Partially conform. The 'fly' action and speed parameter are correctly expressed in the JSON, but the duration calculation, altitude and direction aren't explicitly stated in the natural language command. Power lines survey component is absent in the sample ontology."] +Land at the designated landing zone, then take a nap.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The JSON structure aligns with the first part of natural language command "Land at the designated landing zone". However, the second part, "then take a nap", does not correspond to any of the provided JSON structures, thus making the overall score low.'] +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['2; The command talks about landing which is correctly reflected in the JSON action. However, the command also mentions about finding a comfortable spot to rest and sleep which does not correlate to any available JSON structure or action. Hence, the match is partial.'] +After successfully reaching the designated landing zone, feel free to relax and take a nap.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];['4; The natural language command instructs to land, aligning with the "land" action in the JSON structure. However, there\'s no command related to "relax and take a nap", hence, not a perfect match.'] +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undefined, undefined)"', ' }', ' }', '}'];['0; The JSON structure indicates a "land" action, but it does not conform to the natural language command given. The command mentions about locating a suitable place to take a nap which is not represented in the JSON structure.'] +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];['4; The natural language command mentions that the drone should "land at the designated landing zone" and the JSON structure has the action "land" correctly. However the natural language command doesn\'t mention any specific coordinates for the landing and the subsequent activities ("finding a peaceful spot to unwind and get some sleep") are not represented in the JSON structure.'] +Fly forward for 1 kilometer at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure accurately depicts the action "fly" and the direction "forward" as stated in the command. However, there is a discrepancy with the speed; in the command, the speed is specified as 40 km/h, but in the JSON it\'s displayed as 10.5 m/s. Further, the duration value of 90 seconds is not mentioned in the command.'] +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.111,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 270.27,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure doesn\'t fully match with the natural language command. The command mentions going "straight for a distance of 1 kilometer" but the JSON does not define a distance. Instead, it provides a duration which may not correspond to a kilometer travel. Additionally, the speed is not equivalent to 40 km per hour as stated in the command. The direction in the command is described as "straight," but it should be specified as "north," "south," "west" or "east" by the JSON structure ontology.'] +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 900,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The command does mention to fly 'straight ahead', which matches with the 'direction' key in the JSON structure, and also mentions the 'speed'. However, it neither specifies the 'altitude' nor the 'duration', but the JSON contains non-default values for these keys."] +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command partially conforms to the JSON representation. The action and speed aligns with the JSON, however, the direction is not specified in the natural language command, and the duration does not match as the speed and distance would equate to a 1.5 minute duration, not 3600 seconds. The unit of speed in JSON is also correctly represented as "km/h".'] +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "duration": 900,', ' "unit_speed": "km/h",', ' "unit_duration": "seconds",', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "altitude": 100,', ' "unit_altitude": "meters"', ' }', '}'];['4; Almost conform. The speed, direction, and unit of speed are correct. However, the duration value does not appear in the command and the command does not mention anything about an altitude, thus these values are not completely conforming with the natural language command.'] +Ascend to an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action "fly" and altitude value of 500 meters matches the command but the direction "up" does not match the provided directions in the JSON structure. The JSON also includes additional unnecessary parameters like speed, duration, unit speed, and unit duration which are not asked in the command.'] +Reach a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly aligns with the given natural language command. The "altitude" and "unit_altitude" in the JSON correctly matches "a height of 500 meters" from the command. However, in the "fly" action, there is no direction value "up" as per the sample keys. Also, parameters like "speed", "direction" and "duration" are mentioned in the JSON structure which were not specified in the command.'] +Climb up to an elevation of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; While the JSON structure mostly matches the natural language command, the direction value being "up" is not perfectly in line with the sample keys which specify directional movement in terms of cardinal directions (north, south, etc) rather than vertical movement.'] +Move upwards until you are at an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure corresponds to the "fly" action, which is in accordance with the command to move upwards. However, the \'direction\' key is not present in the given ontology and therefore is incorrect. The value of \'altitude\' is correctly interpreted in the JSON from the command. The \'speed\' and \'duration\' keys are also not mentioned in the command but are included in the JSON, therefore, while their inclusion is reasonable, their specific values are arbitrary and not derived from the command.'] +Achieve a vertical position of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command mentioned about flying to a certain altitude which is correctly presented in the JSON structure. However, the direction "up" does not exist in the preset values and the speed and duration parameters are not mentioned in the command but are specified in the JSON.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; Exactly conform. The natural language command accurately matches the JSON structure for the 'hover' action. The duration has been correctly converted from minutes to seconds in the JSON structure."] +Stay stationary for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command \'Stay stationary for a duration of 10 minutes\' corresponds well with the action "hover" and duration value in JSON. However, altitude is not specified in the command. While the JSON correctly converts the duration to seconds, a default altitude value is set.'] +Remain suspended in the air for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The natural language command corresponds to the 'hover' action in the sample keys, which mentions the duration as 10 minutes. However, the value given in the JSON is 600 seconds (equivalent to 10 minutes), which constitutes a minor mismatch due to the different units of measurement. Additionally, while the command does not specify altitude, the JSON does contain an arbitrary reasonable value which is accepted according to the instructions."] +Keep yourself hovering in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The overall command corresponds to the JSON structure but the duration unit in the natural language command is in minutes while in the JSON it's in seconds. However the conversion is correct (10 minutes = 600 seconds)."] +Maintain a fixed position in the air for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The JSON structure correctly represents the action of hover and the duration of 600 seconds (10 minutes). However, the altitude given in the JSON doesn't match with the given command as the command doesn't specify any altitude."] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 500 meters at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure correctly represents the action "fly" and the speed is correctly identified as "50.0". The direction value "forward" is not represented as "north", south", "east", or "west" but can be acceptable as per the instruction. However, the value of duration seems arbitrary and is not derived from the natural language command, it should ideally be derived based on the distance (500m) and speed (50km/h). The altitude parameter also appears arbitrary as it was not specified in the command. The unit of speed has been correctly identified as "km/h", but again, the "unit_altitude" and "unit_duration" were not specified in the command.'] +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 129.032,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The natural language command matches the JSON structure, although the values differ, the keys and structure align correctly with the "fly" action in the sample.'] +Move straight ahead at 50 km/h for a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 50,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 129.59,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON structure does follow the ontology of the 'fly' action but the values do not correspond accurately with the natural language command. Firstly, the speed of 13.89 m/s does not match the 50 km/h stated in the command (which is approximately 13.88 m/s, so a rounding error may be forgiven). Secondly, the 'altitude' parameter is unjustified as its value is not stated in the command. The direction value as 'straight' is incorrect as the command did not specify a direction (ahead does not typically mean north, south, east or west). The duration is also uncertain as the command indicates a distance of 500 meters, not a duration, and these should not be intermixed. Therefore, aside from the overall structure and perhaps a rounding-off error with the speed, the JSON does not conform well to the commands in the second half of the line."] +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 129,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command mostly maps to the "fly" key in the JSON structure, with parameters such as speed and direction specified. While the direction value is correctly represented as "forward" in the JSON, there\'s a slight discrepancy in the speed value. The command calls for a speed of 50 km/h, which is actually equivalent to approximately 13.89 m/s not 10.5 m/s as given in JSON. No altitude is specified in the command but a reasonable value of 100 meters is provided in JSON. Also, the duration calculated does not match as per the given command. Therefore there\'s partial conformity.'] +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 36,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The "fly" action and most of the parameters match. However, the duration is specified in the JSON but not the command, the speed unit is given in the command as km/h but the JSON uses m/s which cause the conversion calculation error, and the command doesn\'t specify an altitude, but the JSON does.'] +Descend to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command asks to descend to an altitude of 200 meters, which should trigger the "fly" action. The altitude matches perfectly but there might be a mismatch in the direction as "down" is not the opposite of "north", hence, the Direction value from the JSON sequence seems a bit wrong. Speed and duration parameters have not been specified in the command, and thus, any value for these in the JSON is acceptable.'] +Lower your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 200)"', ' }', ' }', '}'];['1; The JSON structure uses the "navigate_to_point" action while the command specifies reducing the altitude which corresponds more closely to the action "fly" with a specified "altitude". However none of the JSON structures accurately capture that the altitude needs to be lowered.'] +Decrease your altitude to 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 200)"', ' }', ' }', '}'];['2; The action specified in the natural language command is not entirely captured in the JSON structure. Though it\'s implied that navigating to a certain point involves changing altitude, the specific request to "decrease" altitude isn\'t represented. The parameters are also not properly defined; instead of \'coordinates\', it should be \'altitude\' similar to some other actions shown in the sample ontology.'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The JSON structure represents a 'fly' action with a specified speed, direction, duration, and unit measures which are not mentioned in the command. In contrast, the command only mentions changing the altitude, not flying in a certain direction or for a certain duration. The matching is partial as the altitude is correctly mentioned but additional details in the JSON are not present in the command."] +Bring your altitude down to 200 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action in the natural language command is "bring your altitude down" which is closely related to "hover" action in the JSON object. The altitude specified is 200 which matches with the value given in the JSON. However, the duration value is not specified in the natural language command and the value given in JSON is 0 which may not be a reasonable assumption as hover need some certain amount of time.'] +Hover in place for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Stay still for a duration of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command "Stay still for a duration of 2 minutes" matches perfectly with the given JSON structure for the "hover" action. Even though the altitude is not specified in the command, a reasonable value of 0.0 is used in the JSON, which implies that the drone should stay at its current position. Also, the duration units are correctly converted from minutes to seconds.'] +Remain stationary for a period of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The command is asking for a hovering action for a specified time. This matches the "hover" action in the JSON, including the required duration parameter set correctly to 120.0 seconds (2 minutes). The altitude is not specified in the command, but it is reasonably set to 50.0 meters as in the sample JSON.'] +Hold your position for a span of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command matches well with the provided JSON structure of "hover" action. The duration indicated in the command is correctly converted to seconds in the JSON structure but there is no mention of \'altitude\' in the natural language command while it is present in the JSON.'] +Do not move for a total of 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The 'action' 'hover' matches with the command of not moving. The 'duration' is also accurately captured as 120 seconds. However, the command does not specify the 'altitude' so it should not presume a value of 0.0 meters. A more accurate JSON structure might just omit the 'altitude' field in this case."] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn to the left by 45 degrees at a rate of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Spin counterclockwise by 45 degrees, moving 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 10,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 3 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Mostly conform. The "direction" parameter does not have the correct value, it should be "north","south","east" or "west", not "forward". And there is no natural language command specified for "altitude".'] +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 2.57,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['2.5; The natural language command matches with the "fly" action in the JSON structure. However, there are some keys in the JSON structure that are not mentioned in the command. There is no mention of the altitude or direction in the command. The unit of duration in the JSON structure is "hours" whereas the command does not specify any unit of duration. Also the duration calculated base on the distance and velocity does not match with the natural language command which just asked to move a certain distance but did not specify any duration for it.'] +Travel straight ahead for 3 kilometers at a rate of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": {', ' "type": "float",', ' "value": 155.2', ' },', ' "unit_speed": "km/h",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure somewhat matches the command. The command involves forward movement at a certain speed, which corresponds to the "fly" action in the JSON. The specified speed and direction are also present in the JSON. However, the duration is not explicitly mentioned in the command, but it is computed and included in the JSON, which might not be accurate. Also, the command specifies a distance (3 kilometers), but there is no corresponding key in the JSON structure. Therefore, the match is not perfect.'] +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 60*(3/70),', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['3; The natural language command and the JSON structure are mostly matched. The command speaks of moving in a forward direction, at a specific speed over a certain distance. The structure similarly indicates an action of flying at a specified speed and direction. However, the JSON has parameters for altitude, unit of altitude and duration that were not included in the command. This and the distance traveled (rather than duration) in the command lead to a score of 3. Moreover, the unit of speed in the command ("km/h") is different from the example ontology ("m/s"). The natural language command didn\'t mention the altitude it\'s flying at as well.'] +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": {', ' "type": "float",', ' "value": 155.6', ' },', ' "unit_speed": "km/h",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure correctly represents the "fly" action and the speed, but it does not represent the distance requested in the natural language command. Instead, it includes a "duration" parameter with an unclear justification for its value. A potential command for distance does not exist in the ontology provided and therefore should not be represented in the JSON. Furthermore, the "direction" value of "straight" does not match the ontology\'s structure, which expects a cardinal direction.'] +Ascend to an altitude of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; The natural language command correctly suggests the 'fly' action and 'altitude' parameter in the JSON structure. However, the 'direction' value should be 'north', 'south', 'east', 'west', not 'up'. Also, the 'speed' and 'duration' parameter values are arbitrary in the JSON and not mentioned in the command."] +Reach a height of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; While the JSON structure is related to flying action and the altitude shift, the direction, speed, and duration parameters do not correspond to the natural language command. The command simply tells to reach a certain altitude, not how fast or in which direction.'] +Climb to an elevation of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; Partially conform. The natural language command is mostly converted correctly into the JSON structure. The action 'fly' and parameter 'altitude' matches perfectly. However, the 'direction' value 'up' does not conform to the sample keys as it should be cardinal directions like 'north', 'south', etc. The parameters 'speed' and 'duration' that are not specified in the natural language command are reasonably filled in the JSON."] +Increase your altitude to 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3.5; The JSON structure does not perfectly comply with the natural language command but most of the essential elements are present. The action "fly" is implied within the original command and the altitude of 800 meters is correctly interpreted. However, no direction of "up" exists in the example ontology (it expects a cardinal direction like "north"), and the speed and duration parameters are not referenced in the original command.'] +Go up to a height of 800 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 800,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command is mostly compatible with the JSON structure. The direction "up" is not defined in the sample keys, but it is logical to use it in this context as the requested action is to go up to a certain altitude. The speed and duration values are not provided in the command but are accepted since any reasonable value in the JSON is accepted in such a case. Therefore, the score is not perfect but quite high.'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4.5; The natural language command and the JSON structure are mostly conform. The action "hover" is correctly matched. The duration is also correctly converted from minutes to seconds. However, the altitude is not specified in the command but it is specified as 0.0 in the JSON, which may not always be a reasonable value as hovering usually occurs at some altitude.'] +Stay still for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; The action and duration values match exactly with the JSON structure but the altitude is specified as 0 in the JSON, while it's not mentioned in the command. This is still reasonable hence a high score."] +Maintain a hovering position for the next 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure mostly conforms to the natural language command. The action is correctly identified as "hover" and the "duration" is correctly converted into seconds from minutes. However, the "altitude" value is mentioned in the JSON but it was not specified in the original command.'] +Remain in place without moving for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure provided almost completely matches the natural language command. The action is identified correctly as "hover" and the duration is correctly converted to 900 seconds (as 15 minutes is equal to 900 seconds). However, the altitude parameter isn\'t mentioned in the natural language command so assuming it to be \'0\' isn\'t fully correct. A \'hover\' act does not usually imply an altitude of \'0\'. Therefore, it can\'t be given full points.'] +Suspend motion for a time period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command instructs to "suspend motion for a time period of 15 minutes" which matches with the "hover" action in the JSON structure. The duration specified in the JSON structure, however, is in seconds (900 seconds = 15 minutes), and altitude is provided without being specified in the original command. The provided altitude value is considered reasonable therefore it is accepted. The loss of a point arises from the mismatch of the units "minutes" in the command and "seconds" in the JSON.'] +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 40.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 2.5 kilometers at a speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The direction specified as "forward" doesn\'t correlate with the sample ontology where the direction should be something like "north", "south", etc. Furthermore, the duration isn\'t specified in the command but it\'s present in the JSON, so it’s not perfectly conforming.'] +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 2.5,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'];["2; The natural language command and the JSON structure somewhat conform. The 'action' key and 'speed' parameter correspond perfectly. But there is a mismatch in 'duration' parameter as it is expected to be in time format as per given JSON structure but it is given in distance format in the command. Also, there is no provision for directional value as 'forward' in the JSON structure provided."] +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; In the JSON structure "speed" and "direction" match exactly with the natural language command but the units used for "speed" is in conformity, also "duration" and "altitude" are not mentioned in the command but have values in the JSON structure. The natural language command mentions distance but that is not represented in the JSON. Considering all these points, the justification score is 4.'] +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Mostly conform. The action and parameters \'speed\' and \'unit_speed\' match completely. However, "straight ahead" as a direction value isn\'t clearly defined and the value for \'duration\' is not provided in the command but is present in the JSON.'] +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 55.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.72', ' },', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['4.5; The JSON structure mostly aligns with the command. The action "fly" matches perfectly, and parameters like "speed" and "unit_speed" are represented correctly. The "duration" parameter is inferred correctly from the command as well. However, there is a small mismatch with the "direction" parameter where "forward" is given instead of a specific compass direction like "north".'] +Descend to an altitude of 300 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action "fly" is used instead of a more appropriate action such as "descend" which is not in our ontology. Also, in the JSON structure, the "direction" value is specified as "down" which isn\'t defined in our ontology under "fly" action. However, "altitude" is correctly specified as 300 meters.'] +Lower yourself to a height of 300 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure accurately represents the action of hovering and correctly specifies the altitude. However, the duration is incorrectly set to 0.0 in the JSON structure when it is not specified in the natural language command. Any reasonable value should be assumed in this case.'] +Reduce your altitude to 300 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 300,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Almost conform. The JSON structure has the right action "fly" and parameters set with correct altitude of 300 and unit_altitude of "meters". However, the direction value of "down" doesn\'t seem to accurately represent the command of reducing altitude. The speed and duration values included in the JSON are not mentioned in the natural language command, but it\'s understandable as they might be reasonable default values.'] +Move down to a height of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 300)"', ' }', ' }', '}'];['4; The command "Move down to a height of 300 meters." is generally conform with the JSON structure. However, the specific action is not explicitly mentioned as "navigate_to_point" in the natural language command.'] +Descend until you reach an altitude of 300 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 300)"', ' }', ' }', '}'];['3.5; The natural language command instructs the drone to decrease its altitude to 300 meters but does not instruct it to navigate to a specific point. The JSON structure uses the correct "action" and "params", but uses them to imply that the drone should navigate to specific coordinates. The "coordinates" "type" and "value" are incorrect, as the drone is not instructed to move laterally (latitude, longitude). The altitude is correct in the "value".'] +Hover in place for 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Stay still for a duration of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; While the action and duration parameters given in natural language command match with "hover" action in the JSON structures, the altitude value is assumed to be 0 which is not explicitly specified in natural language command. As per the instructions, any reasonable value in JSON is accepted if a parameter\'s value is not specified in the natural language command. But having an altitude of 0 for a hover action might not be conceptually correct, hence, a score of 4.'] +Maintain a stationary position for a period of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Suspend movement and remain in one spot for 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command matches the "hover" action in JSON but the duration in the command is in minutes, while the JSON structure specifies seconds.'] +Keep hovering without moving for a total of 8 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 480.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The command mostly aligns with the JSON structure except for the unit of duration. In the command, duration is in 'minutes' while in the JSON it is specified as 'seconds'. The given value in JSON (480) correctly represents the 8 minutes from the command."] +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left at a rate of 25 degrees per second for 120 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command perfectly maps to the provided JSON, with "rotate" as the action and "angle", "angular_velocity", and "is_clockwise" parameters matching accurately with the values in the natural language command. The only difference is the "is_clockwise" value, which is acceptable considering the command specifies "turn left" (which is a counterclockwise motion).'] +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command matches exactly with the JSON structure. Every parameter, "rotate" action, angular velocity, orientation (anti-clockwise indicated by "is_clockwise" : false) and the unit of measure, is correctly represented.'] +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 120,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 4 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command partially conforms with the JSON ontology. The command specifies "fly" as the action, which has an equivalent key, and "speed" is also specified. The "direction" as "forward" is not completely matching with the ontology as it expects the cardinal directions ("north", "south", "east", "west") but it is reasonable. It also mentioned a distance "4 kilometers" which is not there in the sample ontology. The duration is calculated from the speed and distance but this was not specified in the command. So we have some mismatches and extrapolations and missing entities. Hence the score is 4.'] +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,["I'm sorry but there is no action matching this instruction in the ontology."];['0; The natural language command does not match any of the provided JSON structure actions in the ontology.'] +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command asks to move forward for a specific distance (4 km) not a specific duration. Also, the direction "north" in the JSON doesn\'t match with the command which doesn\'t specify any direction. The value "80.0" for speed, and the "unit_speed" as "km/h" does conform with the command.'] +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 3,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['4; The JSON structure mostly conforms to the natural language command. The action "fly" is correctly identified and most parameters like "speed" and "direction" are correctly defined. However, the specified "duration" in the JSON does not match the implied duration from the command (it should be 3 minutes, given a speed of 80 km/h for a distance of 4 km). Also, the "altitude" parameter is not specified in the command but it exists in the JSON.'] +Travel at 80 km/h in a straight path for 4 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command does specify the action and gives a value for the speed. However, it does not match the JSON structure because it mentions a distance '4 kilometers' and not a 'duration'. The direction 'straight' is not a compass direction as suggested in the JSON structure. Also, there is no altitude specified in the command. The unit of speed in the command is 'km/h' , but the JSON specifies the unit as 'm/s'."] +Ascend to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON command contains a "fly" action with an "altitude" parameter of 1000 which matches the natural language command. However, the direction value in the JSON is "up" which is not present in the natural language command. Additionally, there are also "speed", "duration", and their corresponding unit parameters in the JSON command which are not mentioned in the natural language command.'] +Increase your altitude to 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure partially matches the command. The "fly" action and the "altitude" parameter with the value of 1000 are correct. However, the "direction" parameter with the value "up" is not accurate as increasing altitude does not equate to moving in an upward direction. The "speed" and "duration" parameters are not mentioned in the command and are therefore not completely appropriate.'] +Reach a height of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The provided JSON structure partially conforms to the natural language command. The "altitude" value matches with \'1000\' in the command but the "direction" value does not accurately conform since "up" is not equivalent to "north". In addition, in the given command, the values for "speed", "duration" are not specified.'] +Climb up to an elevation of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure aligns mostly with the command, with the "fly" action and the altitude parameter correctly specified. However, the "direction" value as "up" and "duration" as 10 do not match the given command. The command does not specify any duration or exact direction, but mentions about climbing, which technically means moving upward or increasing altitude, so it could be somewhat inferred.'] +Scale up to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure is partly conform to the natural language command. The "action" key is correctly conveyed as "fly" and the "altitude" is also suitably interpreted as 1000 in the JSON. However, the "direction" value as "up" is not consistent with the natural language command and the "speed" and "duration" parameters don\'t exist in the natural language command.'] +Hover in place for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command matches the "hover" action perfectly in the JSON structure. The duration parameter is correctly converted from 20 minutes to 1200 seconds. The altitude parameter isn\'t specified in the command, but it has a reasonable value in the JSON.'] +Remain suspended in one spot for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches with the "hover" action in the JSON structure. The duration of 20 minutes is converted to seconds in the JSON which is a reasonable conversion. The altitude value is not specified in the natural language command, but a reasonable value is provided in the JSON structure.'] +Stay airborne without moving for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The instruction "Stay airborne without moving for a period of 20 minutes" matches perfectly with the "hover" action in the JSON structure, including the parameters duration and altitude. The unit_duration and unit_altitude keys also match. The JSON structure even correctly converts the 20 minutes into seconds.'] +Keep stationary in mid-air for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure somewhat conforms to the natural language command. It correctly captures the action "hover" and presents the duration in seconds (1200.0 seconds = 20 minutes). But the altitude is not mentioned in the command, so the value in the JSON (100.0 meters) can be seen as a reasonable value but it is not perfect since the command doesn\'t mention any specific altitude.'] +Suspend motion and hover in the same position for a duration of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The command indicates that the drone should hover for 20 minutes, which translates to 1200 seconds. This is accurately represented in the JSON structure. However, the altitude for the drone to hover at isn't specified in the command, yet it is included in the JSON. Thus the score is 4, not 5."] +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; Mostly conform. The given JSON structure correctly denotes an action of rotation in a clockwise direction and the correct angle is specified as 360 degrees. However, the "angular_velocity" in the JSON structure does not match the "speed" specified in the natural language command. The command specifies a speed of 50 degrees per second, whereas the JSON structure specifies an angular velocity of 0.5.'] +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 2.7 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 2.7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'];['3; Although the "fly" action and its parameters "speed", "direction", and "unit_speed" match, there is a mismatch in the "duration" and "unit_duration" parameters. The value of "duration" should be in time units instead of distance units and "unit_duration" is supposed to be a time unit, here it\'s presented as a distance unit (\'kilometers\'). The altitude is not specified in the natural language command however the JSON includes an altitude of 100 meters which is acceptable. Therefore, the command partially conforms to the JSON structure.'] +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 2.7,', ' "unit_speed": "km/h",', ' "unit_duration": "km"', ' }', '}'];['2; The command and the JSON structure partially match. Both suggests a flying action with a certain speed. However, the direction in the JSON should be "straight" instead of "forward". Also, the duration should be a time length instead of a distance. Therefore, the unit of duration should be a unit of time such as \'hours\', instead of \'km\'.'] +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "unknown"', ' },', ' "duration": 2.7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'];['2; The action is correct as "fly" but several parameters do not match. In the JSON, the `altitude` parameter is included without being mentioned in the natural language command. The `direction` value should not be "unknown", but unmentioned as it isn\'t specified in command. The `duration` parameter doesn\'t match with the command as it says to fly for a "total of 2.7 kilometres" but in JSON, the unit of duration is given as "kilometers", which is incorrect because duration should be time-based, not distance-based.'] +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 2.7,', ' "unit_speed": "km/h",', ' "unit_duration": "kilometers"', ' }', '}'];['3; Partially conform. The natural language command matches the action "fly" in JSON structure and also correctly uses parameters like speed, direction, and time unit. However, the command uses \'distance\' instead of \'duration\' and the \'unit_duration\' value in JSON structure is inaccurately referred as \'kilometers\' instead of \'seconds\' or \'minutes\', it could\'ve been more appropriate to use a duration in time for flight.'] +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 2.7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['4; The command somewhat matches but has discrepancies with the JSON. The JSON defines the action as "fly" and contains "speed", "altitude", and "direction" which are correctly converted from the command. However, in the command, the "distance" is mentioned, but the JSON structure does not have a parameter for "distance". Instead it uses "duration", which is not a correct representation of "distance". In addition, the "duration" value in the JSON is assumed as 2.7 hours - a direct conversion from the distance (2.7 kilometers), this could be an incorrect assumption as the command does not state the duration. Lastly, the direction "straight ahead" might not exactly match with the typical directions ("north", "south", "east", "west") as per the sample ontology.'] +Descend to an altitude of 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command is partially conforming to the JSON structure. The "action" is correctly identified as "fly", and the "altitude" parameter is correct. However, the command does not specify values for "speed" or "duration", and the direction "down" is not specifically stated in the command (rather, it’s inferred from the verb "descend"). Additionally, the ontology does not contain the option for the drone to fly in the "down" direction. This is likely to be considered as a case of hovering or descending. Furthermore, the direction attribute doesn\'t exist in the sample ontology provided.'] +Reduce your altitude to 400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 400,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action in the JSON structure is "fly" while the natural language command suggests a change of altitude, no actual flying. The direction "down" is not initially accurate since we only know that the altitude should be reduced to 400 meters, not that the direction should specifically be down. The natural language command does not mention speed, direction, or duration, hence the values of 10.5, "down", and 10 respectively do not match the natural language command. The "unit_speed", "unit_altitude", and "unit_duration" keys are consistent with the context of the natural language command though.'] +Move down until you are at an altitude of 400 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(_, _, 400)"', ' }', ' }', '}'];['4; The command partially conforms to the JSON structure. The "navigate_to_point" action is correctly identified and the "altitude" parameter is suitably matched. However, the command only specifies the altitude, while the JSON structure requires a tuple of coordinates (latitude, longitude, altitude).'] +Descend until you reach a height of 400 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 400.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The action in the JSON is "hover" which doesn\'t perfectly align with the command "descend" mentioned in the natural language command. Other than that, the other parameters and values match in the JSON and the command.'] +Lower your altitude to 400 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 400.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The command is perfectly matched with the provided JSON with required "action" as "hover" and "params" keys "duration" and "altitude" are specified as per the command. Even though the duration in command is not mentioned, a reasonable value of 1.0 seconds is provided in JSON which is acceptable as per the guidelines specified.'] +Hover in place for 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command is mostly in conformity with the JSON structure. It correctly identifies the "action" as "hover" and the "duration" (converted to seconds) as 720.0. However, the "altitude" parameter is not specified in the original command and it\'s assumed to be 100 meters in the JSON, which is reasonable.'] +Stay in one spot for a duration of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The JSON structure correctly matches the 'hover' action specified in the natural language command. The duration is correctly converted from minutes to seconds. However, the altitude value is not mentioned in the natural language command, and 0.0 might not be a reasonable value for hovering. It may have been better to not include that property since it wasn't mentioned in the command."] +Remain stationary for a period of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command aligns with the "hover" action in the JSON structure. However, the specified duration in the JSON needs to be adjusted to match the command (12 minutes should convert to 720 seconds not 1200), so it is not an exact match. An altitude level is also included in the JSON structure, which wasn\'t specified in the natural language command.'] +Keep still for 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command translates to a "hover" action, which correctly identifies the duration values. However, the provided value for duration is not matched as the command says "12 minutes" which equals 720 seconds but in the JSON structure it\'s provided value is in seconds as "720.0". The altitude value is not specified in the command, however, the JSON includes a value for it. The "unit_duration" and "unit_altitude" values match the JSON structure. The overall score is reduced because of the mismatch in the duration measurement unit and the unexpected inclusion of altitude value in the JSON despite it not being mentioned in the command.'] +Do not move for a total of 12 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 720.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command and the JSON are mostly conform. The action "hover" and unit_duration in seconds are correctly mapped. However, it\'s not specified in the command to hover at an altitude of 0.0 meters, so the altitude is not matching perfectly.'] +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command exactly matches the JSON structure. The "rotate" action is used with all necessary parameters, such as angular_velocity, angle, is_clockwise, and unit.'] +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 35.0,', ' "angle": 150,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 5 kilometers at a speed of 90 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 90.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 5,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'];['3; The "direction" value "forward" doesn\'t align with the sample, which specifies "north". The "unit_duration" is supposed to be in time (like seconds), not distance (kilometers). However, other elements match, including the action and use of speed, altitude, and taking in direction.'] +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.83,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 900,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not conform to the natural language command given. The direction in the JSON is set to "north", but the natural language command does not specify a direction. Also, the speed in the JSON structure does not comply with the natural language command of "velocity of 90 kilometers per hour" and the duration calculated in the JSON structure does not correspond to the "distance of 5 kilometers" stated in the natural language command.'] +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour.,["The prompt doesn't specify a relevant action from the ontology. Therefore, this action cannot be performed."];['0; The natural language command does not match with any of the given JSON structures. There is no action that conforms to \'Travel in a straight line" in the ontology. Moreover, the parameters \'distance\' and \'speed\' also do not exist in the given JSON structures.'] +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 720,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command translates to the action "fly" and sets the parameters for speed, direction and duration. While the direction and action correctly match the JSON data, the speed and duration are incorrectly translated. The given speed in the JSON is 25.0 m/s but the command clearly states 90 km/h. The duration in command is not specified but is given in JSON as 720 seconds. Also, the command refers to a distance (5 kilometers) but JSON structure doesn\'t contain parameter for distance. '] +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 720,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; Partial match. The action \'fly\' in the JSON matches with the action implied by the command ("move ahead"), however, the specified speed does not match (25 m/s in JSON vs 90 km/h in command). The duration and direction in JSON are not specified in command, and the altitude in JSON is not relevant to the command. The action parameters are not correctly reflected in the JSON structure.'] +Ascend to an altitude of 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command generally conforms to the JSON structure with the "fly" action and the correct altitude parameter in meters. However, the direction (north) and duration (10 seconds) are not specified in the natural language command. The "speed" parameter also does not match because it is not specified in the command.'] +Increase your elevation to 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command match with the JSON structure, but the value of direction "up" doesn\'t exist in the provided ontology, this reflect a correct action but with incorrect direction. So, it\'s a partial match.'] +Climb to a height of 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command is mostly correct, the "direction" key is not present in the sample ontology. Other than that, rest of the command correctly aligns with the ontology for the "fly" action.'] +Reach an altitude of 1200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure represents the action of flying with an altitude of 1200 meters, which matches the natural language command. However, it also includes details of direction, speed, and duration that are not specified in the natural language command. Also, the direction value "up" is not in conformity with the sample ontology where direction is expected to be a cardinal direction like "north".'] +Move upwards to a position of 1200 meters above ground level.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1200,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; There\'s a mismatch in the direction field. In the JSON, the direction value is "up", not found in ontology (can only be a cardinal direction). Also, the command doesn\'t specify necessary parameters such as speed and duration that exist in the ontology.'] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The command and the JSON structure mostly conform, however, the duration value in the command is in minutes while in the JSON structure it is in seconds. The command was converted to seconds which is correct, but there is non-conformity with the units. Also, the command does not specify altitude so the given value of 0.0 in JSON is acceptable but doesn't match the natural command of hovering 'in place' which would imply maintaining a current altitude."] +Stay still for a duration of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure partially conforms to the natural language command. The command instructs the drone to hover for a duration, and the JSON structure reflects this with the "hover" action and "duration" parameter. However, the duration value in the JSON is set to 1500 seconds, equivalent to 25 minutes, which correctly matches the natural language command, but the type of the duration is listed as a float, though it\'s actually an integer. The altitude value of 0 coincides with the idea of "stay still," but the natural language command doesn\'t explicitly specify an altitude.'] +Maintain a hovering position for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The command matches the structure of the 'hover' action JSON structure, but the duration value is inconsistent. While 25 minutes were specified in the command, this doesn't equate to 1500 seconds in the JSON structure. It should be 1500 seconds."] +Remain in place without moving for a period of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The action in the JSON structure correctly matches ('hover') with the natural language command. However, the altitude in the JSON is 0 whereas in the command it is not specified. The JSON duration (1500 seconds) does not exactly match the command that wants the duration in minutes (1500 seconds is equal to 25 minutes), but it is acceptable because the units are different (seconds vs minutes)."] +Hold your position in mid-air for a total of 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1500.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Mostly conform. The action type and keys in the JSON structure match with the natural language command, however the duration value in the JSON structure is different from what is mentioned in the command.'] +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55.0,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55.0,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The JSON structure perfectly matches the natural language command which is asking to execute a rotation to the right (clockwise) by 450 degrees at a speed of 55 degrees per second. All parameters: action, angle, angular_velocity and is_clockwise, match in both command and JSON.'] +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 55,', ' "angle": 450,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 3.2 kilometers at a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action and the speed parameter match, however, the "direction" value in the natural language command "forward" is not exactly the same with the "north" value in the JSON, they\'re just similar in meaning. Besides, the "duration" parameter (that is not mentioned in the natural language command) also exists in the JSON. Since the action and most of the parameters match, a score of 3 is given.'] +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure has action as "fly" which corresponds to moving ahead but there is a mismatch in the parameters. In the natural language command, only distance (which doesn\'t exist in the JSON) and speed are mentioned. In the JSON structure, the values for duration, altitude and direction are not mentioned in the command. Also, the unit of speed in the JSON is not matching with that in the command.'] +Proceed straight for 3.2 kilometers at a pace of 65 km/h.,[''];['0; The natural language command given does not correspond to any of the identified types of actions in the sample ontology. The natural language command refers to moving forward a specified distance at a certain speed, but the sample ontology does not contain parameters to describe this.'] +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command partially matches the JSON structure in the action "fly" and the "speed" parameters. However, the "distance" parameter in the natural language command is not represented in the JSON structure, and the "direction" value in the JSON structure does not match with the natural language command (It is "forward" but should be "north" as per sample JSON). In addition, the values for "altitude", "duration" do not match the command and their respective units are also missing in the command.'] +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 65.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command refers to the "fly" action and hte JSON represents this action. However, the direction key contains "forward" which is not a valid direction (should be north, east, south, west). The duration is also mentioned as 10 seconds, but the command doesn\'t indicate a duration. Finally, the command mentions a distance covered (3.2 kilometers), which is not represented in the JSON.'] +Descend to an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined, 500)"', ' }', ' }', '}'];['2; Partial match. The JSON structure and the natural language command both aim to modify altitude, but the command implies a change in current altitude rather than a navigation to a point with a specific altitude.'] +Lower your altitude to 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The command 'Lower your altitude to 500 meters' does match with action 'fly' and parameter 'altitude' = 500 with 'unit_altitude': 'meters' in the provided JSON structure. However, the other parameters like 'speed', 'direction', 'duration' are not mentioned in the command but have been assigned values in the JSON. Thus, it does not match completely."] +Decrease your altitude to 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly matches the command. The action "fly" and the parameters "altitude" and "unit_altitude" are all present. However, the direction given in the JSON structure is "down" which is not mentioned explicitly in the command. The command only states "Decrease your altitude" which implies going down but does not explicitly state it.'] +Descend until you reach an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command mostly conforms to the JSON structure. The action, units and altitude all match up. However, there is no specific direction for "down" in the provided ontology, making this not perfectly conforming. Hence, 1 point is deducted.'] +Bring yourself down to an altitude of 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 500)"', ' }', ' }', '}'];['2; The natural language command specifies an action to decrease altitude, but it does not imply navigation to a specific coordinate point. Therefore, "navigate_to_point" is not the most accurate action. The correct action type could potentially be "fly" or "hover" but the value for altitude is correct (500).'] +Hover in place for 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command perfectly fits the "hover" action JSON structure. The "duration" value is correctly converted from minutes to seconds as reflected in the JSON. The "altitude" value is not mentioned in the command, but 50 as a reasonable value is correctly included in the JSON.'] +Maintain a stationary hover for a duration of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Stay in one position for a period of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command and JSON structure involve the hover action of staying in one position for a specific duration, but the altitude value is not specified in the command and JSON picks 0.0 as the altitude. However the duration in the command is in minutes while in the JSON it is converted to seconds. This is a reasonable conversion and can be understood by the ontology, hence the score is not a perfect match but very close.'] +Remain suspended in the air for a total of 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The natural language command aptly matches the JSON structure. It refers to the "hover" action and specifies the duration but does not specify the altitude. In the JSON structure, the "hover" action is present with a duration parameter (converted from minutes to seconds, as indicated by the "unit_duration" field), and an unspecified altitude value is acceptable.'] +Do not move and stay at the same spot for the next 18 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1080.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The command is to "hover" or remain stationary for a duration (18 minutes which is equivalent to 1080 seconds in the JSON). The parameter values in the JSON match the command given. The altitude value is not specified in the natural language command, so the JSON value of 0.0 is considered reasonable. The units are also correctly specified in the JSON.'] +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.45,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4.5; Mostly conform, there is a discrepancy in the specified angular velocity. The command says "45 degrees per second" while the JSON has 0.45.'] +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 6 kilometers at a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure correctly represents the action "fly" with the appropriate parameters like "speed", "direction" and "unit_speed". However, the direction value is "forward" instead of "north", and the duration is provided when it\'s not mentioned in the command. The altitude is also given a default value of 100, but it\'s not specified in the command.'] +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h.,['This action does not correspond to an action specified in the ontology, thus it cannot be converted into a corresponding JSON.'];['0; The command does not match with any actions provided in the sample ontology. Therefore, it cannot be converted into a JSON structure.'] +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure partially conforms to the natural language command. The "action" is correctly identified as "fly" and the "speed" parameter matches the command. However, the "direction" is not "north" but "straight". It would have been ideal to also include a "distance" parameter in the json, specifically "6 km", to fully match the command. The values for "altitude", "duration", and their respective units do not coincide with any information provided in the natural language command, however, this is acceptable since no specific values were laid out.'] +Move forward for 6 kilometers while flying at a velocity of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 27.78,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 720,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3.5; The JSON structure has elements of "fly" with matching speed, direction, altitude and unit parameters. However, the direction value "forward" is not in conformity with the ontology which accepts cardinal direction values. The altitude value of \'100\' is not provided in the natural language command but is a reasonable value. The duration in the JSON is calculated from the command but it\'s not explicitly mentioned in the natural language command.'] +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure provides the right action, "fly", as well as correct parameters such as speed and direction. However, the command does not specify the altitude so it\'s not quite clear how the value 100 was ascertained. Furthermore, the "duration" key has been arbitrarily set to 216 seconds, presumably as a calculation from speed and distance (speed = distance/time), while in the command only distance is specified. A "distance" key would have been more appropriate. The "unit_speed" has been correctly converted from natural command (km/h) to JSON.'] +Ascend to an altitude of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Mostly conform. The natural language command matches with the "fly" action in JSON structure as both refer to flying (ascending) to a certain altitude. However, the direction and the duration time are not specified in the natural language command but those keys are in the JSON structure. Also, the speed in JSON structure does not match with the command as the speed is not specified in the command.'] +Climb to a height of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2.5; The "altitude" key and unit matches correctly with the JSON. However, "direction":"up" is not part of the original JSON structure and the command does not provide information about "speed", "duration" and "direction" keys.'] +Reach an elevation of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command prompts for reaching an elevation of 1400 meters, which relates to the "altitude" key in the JSON structure. However, the "action" required here is to change the altitude, thus "navigate_to_point" or even "fly" would have been more appropriate. Additionally, the direction value in the JSON is "up", which is not required or specified in the command. Also, the natural language command does not specify any direction, speed or duration which are present in the JSON representation. Therefore, the match is partial and a bit erroneous.'] +Scale to a height of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command asks for the action of scaling to a certain height, which is best matched with the action "fly". However, the JSON properties diverge as it specifies direction as "up" which was not mentioned in the natural language command. Also, there\'s mention of speed and duration in the JSON which isn\'t mentioned in the command. Therefore, the alignment is low.'] +Go up to an altitude of 1400 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1400,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. The JSON structure matches the action of flying and going upwards to a particular altitude as stated in the natural language command. Nevertheless, the speed and duration are arbitrary and not derived from the command, and the direction value as "up" is not a standard cardinal direction.'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The command "Hover in place for 30 minutes" matches with the action "hover" and the specified duration. Even though the altitude for the hover action is not specified in the command, it is provided in the JSON and is considered a reasonable value. The unit of duration is implicitly converted from minutes to seconds in the JSON.'] +Stay suspended in one spot for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action and duration match the command, but the command did not specify an altitude.'] +Maintain a stationary position for the next half-hour.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command "Maintain a stationary position for the next half-hour" correctly corresponds to the action "hover" in JSON structure. But the altitude is not specified in the command while it is present in the JSON. The duration has been translated correctly from half an hour to 1800 seconds.'] +Remain hovering without moving for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The natural language command matches the "hover" action in the JSON structure. However, it does not specify the altitude, which is mentioned as 0.0 in the provided JSON. This is a reasonable value, but the command specifies that the object should hover "without moving", which in general might be interpreted to mean maintaining the current altitude rather than going to an altitude of 0 meters.'] +Suspend yourself in the air for the next 30 minutes without any movement.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The JSON structure correctly identifies the action as "hover" and correctly translates "30 minutes" into seconds for the unit duration. However, the natural language command does not specify an altitude at which the hover should occur. The JSON structure has been assigned an altitude value of 0.0 which might indicate the command to hover at ground level which is incorrect information.'] +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The JSON structure correctly represents the command to rotate in a clockwise direction, specifying the angle of rotation as 540 degrees and the speed of rotation (angular velocity) as 60 degrees per second. This corresponds well with the sample ontology\'s "rotate" action and the relevant parameters.'] +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 3.7 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 200,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure has a command from the \'action\' key named \'fly\' which is present in the natural language command. The \'speed\' parameter is also found in both formats and is correctly setup as 70 km/h. However, the natural language command asks for a specific distance (3.7 kilometers) to be flown, which is not represented anywhere in the JSON. The \'direction\' value of "forward" doesn\'t specifically match any sample key ontology as the direction values are typically cardinal directions. Lastly, the \'duration\' value in the JSON does not match with the command.'] +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['This action is not in the ontology.'];['0; The natural language command appears to be instructing to navigate or move forward, but there isn\'t a specific action for this in the ontology. The closest match would be the "navigate_to_point" action, but this requires specific coordinates, which are not provided in the command. The commanded speed also has no corresponding place in the ontology.'] +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 197,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; While the command mention the "action" as "fly" correctly and "speed" (70 km/h) is also accurately converted, the "direction" is taken as "forward" which is not wrong. However, "altitude" is not provided in the command but is included in the JSON. The "duration" is also calculated correctly considering distance/speed formula to convert kilometers to seconds. The given units are also accurately represented in JSON. However, due to lack of information about "altitude" in the command while it is shown in JSON, one mark is reduced.'] +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command direction is going "ahead", which is not explicitly north, south, east or west. The unit of the speed command is "km/h", which is not "m/s" as in JSON structure. The duration is not mentioned in the natural language command. However, the action "fly" and the speed and altitude are somewhat matched. Hence, the score is low due to these partial matches.'] +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0528571', ' },', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['4.5; The JSON structure accurately represents the action "fly" and parameters such as "speed", "direction", and "duration". The "duration" has been calculated based on distance and speed from the natural language command, allowing for completion of the desired action. However, the provided \'altitude\' is not mentioned in the natural language command.'] +Descend to an altitude of 600 meters.,['The action "descend" is not specified in the ontology. Please provide a different direction.'];["0; The action 'descend' does not exist in the sample keys."] +Reduce your altitude to 600 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; While the action to be performed and parameter of altitude are correct in the JSON structure, the command doesn\'t specify the speed and direction to be "down" or the duration of the action. These parameters are not explicitly required for the drone to just reduce its altitude. Furthermore, "fly" might not be the best "action" for this command, "hover" at a lower altitude could also be a suitable action.'] +Move down to an altitude of 600 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["5; Exactly conform. The natural language command is perfectly represented in the JSON structure. All the parameters are correctly filled. The correct action 'fly' is used, with an 'altitude' set at 600. The 'direction' is set to down, which can also be interpreted as lowering altitude. All other parameters are consistent with the provided command."] +Decrease your altitude until you reach 600 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly aligns with the command but "down" is not a mentioned value in the "direction" object of the "fly" action.'] +Descend until you are at 600 meters altitude.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 600,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The JSON structure matches the action of flying however the direction 'down' does not exist in the sample JSON. Additionally, the speed and duration parameters are included in the JSON but they were not specified in the natural language command."] +Hover in place for 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The JSON structure correctly represents the command "Hover in place for 22 minutes" with the "action" set as "hover" and the "duration" set as 1320 seconds, which equals 22 minutes. The altitude is a reasonable value as it is not specified in the command.'] +Stay still for a duration of 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command asks the system to "Stay still for a duration of 22 minutes." which is translated into the \'hover\' action in the JSON. However, the duration is described in minutes in the command, while it\'s converted to seconds in the JSON. Also, the command doesn\'t mention any specific altitude for hovering, but the JSON includes an altitude value of 0, which could be considered a reasonable default.'] +Hold your position for a period of 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; While the action of "hover" matches the command to "hold your position," the duration value provided in the JSON (1320 seconds) does not match the command\'s request to hold position for 22 minutes. There\'s also no specification of altitude in the command nor the JSON structure, which is one of the requirements in the given ontology.'] +Remain stationary for 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The command suggests that the drone should hover for 22 minutes which means it should be stationary but an altitude or height isn\'t specified. Thus the "altitude" field isn\'t applicable here but is included in the provided JSON. Also, the "duration" value in the JSON structure is converted to seconds which isn\'t wrong but it wasn\'t specified in the command that the duration should be in seconds.'] +Do not move for the next 22 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1320.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command is quite properly translated into the JSON structure. However, the duration in the JSON structure is in seconds (1320 seconds), whereas the command asks for duration in minutes (22 minutes). The unit of duration in the JSON should be minutes or the value in the natural language command should be converted into seconds.'] +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The JSON structure correctly defines the action as "rotate" and specifies the respective parameters properly, including the angular velocity, the rotation angle, the direction of the rotation, and the unit of the rotation. The natural language command and JSON structure align perfectly.'] +Turn left by 210 degrees with a rotational velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 210,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The structure of the given JSON partially matches the natural language command. However, it contains additional keys, such as altitude and duration, which are not mentioned in the command. Moreover, the command includes a second action (taking a nap) which is not defined in the JSON, and the direction key holds "forward" as its value, but in the ontology it should hold "north". The speed is correctly converted to the JSON structure.'] +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 0.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 228,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command denotes an action of moving forward and then resting, however, the provided JSON structure is for the action of flying. Also, the command does not specify the direction of movement nor the duration of rest which were both present in the JSON structure. Therefore, there is no conformity between the command and the JSON structure.'] +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 7,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'];["1; The given JSON structure does not match the natural language command accurately. Even though it captures the 'fly' action and speed parameter, the direction is inaccurately represented as 'north' instead of 'forwards'. The duration unit is wrongly set as 'kilometers' while in the command it is not specified. The altitude parameter is also missing from the command."] +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure contains keys for \'action\', \'speed\', \'altitude\', \'direction\', \'duration\', \'unit_speed\', \'unit_altitude\', \'unit_duration\' which align with elements of the command. However, the values do not match. The command asks to "cover a distance of 7 kilometers" but there is no parameter for this in the JSON. The command also asks for a \'period of rest\' which does not align with any key in the JSON structure.'] +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break.,['{', ' "action": "fly",', ' "params": {', ' "speed": 110,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 7.0,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'];['1; The JSON structure has the correct action "fly", but the rest of the parameters do not match with the command. Specifically, \'direction\' should not have a value of "straight ahead", \'altitude\' is not specified in the command, \'duration\' is incorrect and should be time, not distance, furthermore, \'unit_duration\' should not be "kilometers".'] +Ascend to an altitude of 500 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 500.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Increase your elevation to 500 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0.0, 0.0, 500)"', ' }', ' }', '}'];['2; The natural language command is being partially mapped in the provided JSON structure where an elevation change is being requested but the action is "navigate_to_point" where in reality no actual navigation is specifically requested in the command. So the action key is not very consistent with the original natural language command. Moreover, the "coordinates" are provided as (0.0, 0.0, 500) which means that the drone would move to this coordinate not just increase its altitude. Thus, it may change its location too, which is not in the command.'] +Climb up to a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partial match. The natural language command correctly specifies the \'fly\' action and altitude, but incorrectly sets direction value as "up" and includes unnecessary speed and duration parameters.'] +Reach an altitude of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command is about reaching a certain altitude which aligns with the action "fly" in JSON. However, the direction, speed, and duration are not specified in the command but they are present in the JSON structure. Therefore, it\'s not a perfect match.'] +Move upward to a height of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure matches the command partially. The command asks to "move upward to a height of 500 meters" which correctly translates to "altitude": 500, and "unit_altitude": "meters". But "direction": "up" doesn\'t exist in the sample ontology for the action "fly". Also, the command did not specify "speed", "duration" and "unit_speed" which appear in the JSON structure.'] +Fly forward for 10 kilometers at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["5; Exactly conform. The natural language command asks to fly forward for a certain amount of time with a specific speed, all of which is reflected accurately in the given JSON structure. Although there is no specific value given for the altitude or duration in the command, the semantics of 'flying forward' and the given speed allows us to infer acceptable values for these parameters in compliance with the ontology."] +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h.,['I\'m sorry, but as per the given ontology, there are no matching actions to "Proceed straight ahead for a distance". However, "fly" action could be considered if direction and duration are given.'];['0; The natural language command does not match any of the JSON structures or actions in the sample ontology. The "fly" action has parameters like "speed", "altitude", "direction", "duration" but it doesn\'t have parameters to cover "proceed straight ahead for a distance". Also, the unit of speed in the ontology is "m/s", but in the command, it\'s "km/h". These discrepancies lead to non-conformity.'] +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.22,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 450,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The natural language command and the JSON structure have a good match, although the command specifies 80 km/h as the speed, which has been converted into m/s in JSON, Also, in the command there are no altitude and it's not stated that the drone should move towards 'north' it is simply said forward. This might mean different things based on the context and where the drone is currently facing."] +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 80,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": 7.5,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['3; The JSON structure partially matches the natural language command. The action is correct to "fly", the "speed" parameter and its unit "km/h" match the command. The "direction" value matches as well. However, the "duration" parameter in the JSON is not mentioned in the command, and thus it doesn\'t perfectly adhere to the provided instruction. The "altitude" parameter is also not specified in the command.'] +Move forward at a rate of 80 km/h for a total of 10 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 22.22,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 1611.4,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON object includes properties that are compatible with the natural language command, but the values provided are incorrect. In the JSON object, the 'speed' value is '22.22', which does not match the command's '80 km/h'. The 'duration' value is '1611.4', which is in seconds and does not translate to the command's '10 kilometers'. Additionally, the 'direction' value is 'forward', which is not a cardinal direction and thus does not correspond with the ontology provided."] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The action "hover" and the duration of that action are both correctly reflected in the JSON structure. Note that though the instruction states \'15 minutes\', the JSON reflects time in seconds— but this is acceptable as 15 minutes is equal to 900 seconds.'] +Stay suspended in one spot for a duration of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command and the JSON mostly conform. However, the unit of time in the JSON (seconds) is different from that in the command (minutes). Therefore, the value in the JSON matches with the command when converted from minutes to seconds (15 minutes = 900 seconds). The JSON also includes the "altitude" attribute thas is not mentioned in the command but as according to the guide, reasonable assumed values are acceptable here.'] +Maintain a hovering position without movement for a period of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command matches with the JSON structure for the action "hover". The duration in the command is converted correctly to seconds in the JSON structure (15 minutes = 900 seconds), however, the altitude in the JSON structure is not defined in the command but as per sample ontology, it is a reasonable value thus accepted.'] +Keep floating in a fixed location for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command and the JSON structure are largely conforming. The command is for the action "hover", which matches the action in the JSON. The duration in the command (15 minutes) corresponds to 900 seconds which is correctly represented in the JSON. The command does not mention an altitude, but because it\'s not specified, the existing value in the JSON is acceptable. However, the term "floating" used in the command does not perfectly align with "hover" although they imply similar actions. Therefore, a point was deducted.'] +Remain in mid-air without any displacement for a total of 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure conforms to the command but the time unit in the natural language command is minutes, while in the JSON structure, it is in seconds. Apart from that, the "altitude" value was not specified in the command but is present in the JSON.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The command and the JSON structure match in terms of their semantics, however, the "unit" for angular velocity is missing in the JSON while it is clear from the natural language command that it is \'degrees per second\'.'] +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command corresponds to the "rotate" action, and every parameter mentioned in the command (angular_velocity, angle, and is_clockwise) matches with the parameters in the JSON structure, with the values provided aligning perfectly with those requested in the command.'] +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command matches perfectly with the JSON representation. The action "rotate" has been correctly recognized and all the parameters "angular_velocity", "angle", "is_clockwise", and "unit" have the correct values.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["5; Exactly conform. The natural language command corresponds to the JSON command of 'land' with specified parameters for location (latitude, longitude)."] +Please touch down at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0.0, 0.0)"', ' }', ' }', '}'];['5; Exactly conform.'] +Make your descent and land on the assigned landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +It is required for you to land at the designated area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command asks to "land" which perfectly corresponds to the "land" action in the JSON structure. Although the coordinates (latitude and longitude) are defined as "default" in JSON, this is acceptable, as the specific values were not mentioned in the natural language command.'] +Ensure that you land precisely at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command instructs to land at a precise location, which perfectly correlates with the JSON structure where the action is "land" and there are parameters for a specific "location" given in latitude and longitude.'] +Descend to an altitude of 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 100)"', ' }', ' }', '}'];['3; While the natural language command communicates the idea of changing the altitude, it does not mention navigation to a point specifically. The JSON structure uses the "navigate_to_point" action which isn\'t a perfect fit to the command although it includes the altitude change to 100. Perhaps a more appropriate action would be "fly" or "descend".'] +Reduce your altitude to 100 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3.5; The action partially conforms to the JSON structure. The action "hover" could be interpreted as reducing altitude, while the altitude parameter is correctly defined as 100 in the command and JSON. However, the command does not specify the duration of this action, so the value in the JSON is arbitrary and may not accurately represent the command.'] +Decrease your altitude to 100 meters.,['I\'m sorry, but the ontology does not support the action "decrease altitude". Therefore, it is not possible to create a specific JSON for this action.'];["0; The command 'Decrease your altitude to 100 meters.' does not correspond to any actions present in the provided JSON structures."] +Descend until you reach an altitude of 100 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command is partially conforming with the provided JSON structure but the order of the "direction" which is "down" does not exist in the sample ontology. The given command asks the drone to descend to a specified altitude which matches with the "fly" action and "altitude" parameter in the JSON structure. The speed and duration values are not provided in the command but are acceptable. The \'direction\' value in JSON is not correct. It should not be "down" as the sample does not include this direction in drone movements.'] +Bring yourself down to an altitude of 100 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The command requests an action to hover at a specified altitude, which matches exactly with the corresponding JSON structure. The duration is not specified in the command, but a value of 1.0 is acceptable.'] +Fly backward for 5 kilometers at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "backward"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; While the action and some parameters match correctly, some details like altitude, duration do not match with the command given. Also, the direction value \'backward\' is not typically expected in this context as the direction values are generally cardinal points (north, south, etc.). The unit_speed "km/h" and distance covered "5 kilometers" is also not captured in JSON structure.'] +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure matches the \'fly\' action within the sample ontology. However, the direction value in the JSON ("south") does not match the way implied in the command ("reverse course") because the original direction is not given. The duration is also not explicitly mentioned in the command and thus cannot be correctly inferred to be \'450\' seconds. Additionally, the command\'s desired distance of travel is not represented in the JSON structure.'] +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_duration": "seconds"', ' }', '}'];["4; The natural language command mostly aligns with the JSON structure. The 'speed' and its unit 'km/h' are accurately captured. However, the 'direction' in the natural language command and the JSON structure do not match. The command asks to travel in the 'opposite direction', which isn't explicitly an established direction like 'south' in the JSON. Also, the 'duration' has been calculated based on the provided speed and distance, which weren't explicitly mentioned in the natural language command."] +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command matches the JSON structure for the most part. The "fly" action and "speed" parameters are correctly matched, and the direction is inferred to be south if flying backward is considered. However, the altitude is not specified in the natural language command but is included in the JSON, and the duration is calculated which isn\'t mentioned in the command. Also, the "unit_speed" in the JSON is "km/h" which is correct but it doesn\'t exist in the sample ontology where the unit is "m/s".'] +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 450,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["0; The command 'Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h' cannot be properly interpreted by the given JSON schema. The action 'fly' does exist, but the term 'in reverse' is not covered by the existing parameters. Consequently, it couldn't be transformed into the direction value. Additionally, the provided JSON expresses the duration in seconds not in distance (kilometers in this case), which does not conform to the command. The speed unit in the sample ontology is 'm/s', whereas in the command, it's 'km/h'. Due to these mismatches, the given JSON does not conform to the command."] +Circle around a specific location for 20 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['2; The JSON structure partially matches the natural language command, as circling around can be interpreted as a "rotation"; However, there is no parameter for duration or the specific location to rotate around in the JSON structure, and the command also specifies a continuous rotation for 20 minutes, which is not represented in the JSON.'] +Perform a circular motion around a particular spot for a duration of 20 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['1; The JSON structure does describe a rotate action, but doesn\'t match the natural language command completely. The command specifies a duration for the rotation, yet the JSON structure does not include duration parameter. In addition, there\'s no information given about "performing a circular motion around a particular spot".'] +Move in a circular pattern around a designated area for a period of 20 minutes.,['This action is not in the provided ontology. But it sounds closest to the "hover" action, but the duration unit should be converted to seconds (from minutes).', '', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The provided JSON structure does not match the natural language command. The command instructs a circular motion, but there is no such action available in the provided ontology. Additionally, the duration of 20 minutes appears to be converted correctly into seconds (1200 seconds) but the command does not have the information for the altitude.'] +Encircle a specific location for 20 minutes, continuously moving in a circular motion.,['This action is not in the ontology.'];["0; The natural language command seems to instruct a particular circling or orbiting action which is not covered in the provided JSON structures and thereby doesn't match any actions or parameters mentioned in those structures."] +Follow a circular path around a particular place for a duration of 20 minutes.,['This action is not present in your ontology. Please provide an activity which is present in the given ontology.'];["0; The command does not match any of the given JSON structures. None of the actions ('navigate_to_point', 'fly', 'hover', 'rotate', 'land') can be interpreted as 'Follow a circular path around a particular place'."] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60.0,', ' "angle": 270,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The given natural language command perfectly matches with the JSON information provided. All parameters are correctly interpreted such as action as "rotate", a specified angular_velocity of 60, a mentioned angle of 270 and direction of rotation as "is_clockwise: false" indicating anticlockwise rotation, and the appropriate unit. Therefore, it is a perfect match.'] +Ascend to an altitude of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command mostly matches the JSON structure, with the action as "fly" and the altitude correctly set as 1000. However, the direction is specified as "up" in the JSON, which doesn\'t exactly conform to the sample ontology which specifies a cardinal direction (e.g., "north") rather than a relative direction like up or down.'] +Reach a height of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. The natural language command is to reach a height of 1000 meters which matches correctly with the altitude parameter in the JSON. However, the direction "up" does not conform with the example ontology as it should be either "north", "south", "east", or "west". Further, speed and duration parameters are not stated in the natural language command so their values in the JSON are acceptable, but not exactly conforming.'] +Climb up to an elevation of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; Some of the parameters in the JSON don't match the natural language command (i.e., it is not specified in the command to fly at a speed of 10.5 m/s for a duration of 10 seconds and in the direction 'up'). Therefore, it partially conforms."] +Increase the altitude to 1000 meters.,['This prompt does not align with the provided ontology as there is no specific action present for just increasing the altitude. Actions according to the ontology include "navigate_to_point", "fly", "hover", "rotate" and "land". Therefore, following the given instructions, no valid JSON could be returned.'];['0; The natural language command does not correspond to any actions in the sample JSON structures. The command suggests changing a setting (altitude), whereas the available actions in the JSON structures are navigational or operational, such as "navigate_to_point", "fly", "hover", "rotate", and "land".'] +Achieve a vertical position of 1000 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action and altitude parameter align with the natural language command, but the direction "up" does not exist in the JSON structure. Other parameters such as speed and duration are also unspecified in the command.'] +Fly forward for 15 kilometers at a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.15', ' },', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];["2; The JSON structure seems to match with the command for the most part in terms of action and parameters like speed, direction, and unit of speed. However, the natural language command specifies a distance to be covered (15 kilometers), which doesn't have a corresponding key in the JSON structure. Instead, duration (as a substitute for distance) is inferred and given a value of 0.15 with a unit of hours, which is not directly specified in the command. Also, the altitude parameter in the JSON does not correspond to any part of the command."] +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 540,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command matches in some aspects, however, the unit of speed in the natural language command ("km/h") does not match with the provided sample ontology ("m/s"). Also, the duration parameter was not specified in the natural language command, but is included in the JSON with a reasonable value.'] +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 15,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'];['3; The JSON structure correctly identifies the "fly" action and "speed" parameter, but it doesn\'t correctly represent the direction as "ahead" instead of "straight". Also, "duration" is represented in terms of distance ("kilometers") which contradicts the ontology\'s specification of duration as a time measure ("seconds"). The "altitude" parameter is not specified in the natural language command but is included in the JSON.'] +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 0.15,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hours"', ' }', '}'];['4; The natural language command matches most of the JSON keys apart from the "direction" value being \'straight\' instead of \'north\'. The command does not specify the altitude, but a reasonable default value of 100 meters was used in the JSON structure.'] +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers.,['{', ' "action": "fly",', ' "params": {', ' "speed": 100.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 540,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; Partial match. The JSON structure somewhat matches the natural language command as both convey the action of flying (moving forward) with a specified speed. However, the direction parameter is incorrect in the JSON (it should be unstated or any reasonable value, as it's not mentioned in the command). Also distance was mentioned in the command but there was no key where it could be reflected in the JSON, instead there a duration key where the time taken to travel 15km is calculated and reflected. Therefore, the matching isn't complete."] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The natural language command perfectly matches with the JSON structure. The command asks for a hovering action for 10 minutes which equates to 600 seconds as presented in the JSON. The altitude is not specified in the natural language command but is accepted as it is a reasonable value in the JSON structure.'] +Stay suspended in midair for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command calls for the drone to hover, which matches the "action" in the JSON. The specified duration in the command (10 minutes) also matches with the "duration" key in JSON. However, the altitude value, which the command does not specify, is set to 0 in the JSON, which doesn\'t necessarily mean being suspended in midair. Additionally, the duration in the natural language command is in minutes while the unit_duration in the JSON is seconds (which is a correct conversion).'] +Maintain a hovering position for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; The Natural language command perfectly matches with the JSON structure. The operation 'hover' is specified in the command and also exists in the JSON structure. The duration is correctly given in the JSON structure as 600 seconds (which is 10 minutes). The altitude is not specified in the natural language command but it is given a reasonable value in the JSON structure."] +Remain airborne without moving for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command matches the "hover" action. However, the "altitude" value given in the JSON was not specified in the natural language command. Thus, it\'s not a perfect match but close.'] +Suspend yourself in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command perfectly fits the action "hover" and the duration is correctly converted to seconds. However, altitude is not specified in the command but it\'s included in the JSON.'] +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The natural language command and the JSON structure have the same "action" and "params". However, the parameter "angular_velocity" value in JSON structure does not match with the one in the natural language command. The command specifies 30 degrees per second, but the JSON structure uses a value of 0.5.'] +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate to the right by 90 degrees at a rate of 30 degrees every second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; Pronoun "right" is semantically equivalent to "is_clockwise": true and while angular velocity is mentioned in the command the specific value is different than that in JSON representation. Everything else conforms well.'] +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The "angular_velocity" in JSON structure is given as 30, while the ontology example provides 0.5 as the value. However, the values provided are reasonable and match the natural language command. The keys and other parameters are perfectly in line with the command.'] +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 30,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(unknown, unknown)"', ' }', ' }', '}'];['3.5; The natural language command asks to land at a "designated landing zone" which is similar to the JSON structure as it has the "action": "land". However, the JSON structure does not fully conform to the natural language command as the specific "location" coordinates are listed as "unknown, unknown". The correct JSON structure should ideally contain the specific coordinates of the "designated landing zone".'] +Please land at the specified landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];['5; Exactly conform. The command "Please land at the specified landing area" corresponds directly with the "land" action. The parameters also match as the location is correctly specified. The exact values are not provided in the command, which is why default values are used in the JSON.'] +Ensure you land at the indicated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(unknown, unknown)"', ' }', ' }', '}'];['2; The JSON structure matches the command of landing but does not provide the exact coordinates as instructed in the natural language command.'] +It is important to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command specifies a landing action, which conforms perfectly with the provided JSON structure corresponding to the "land" action.'] +Make sure to land precisely at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0, 0)"', ' }', ' }', '}'];['4; Almost perfect match. The command is about landing which matches the "land" action in the JSON structure. However, it doesn\'t mention specific coordinates which are referenced as (0,0) in the JSON. Therefore, the tuple values might not reflect the real command.'] +Descend to an altitude of 200 meters.,['The action "descend to an altitude" is not defined in the given ontology, therefore, it can\'t be converted into a JSON format based on the ontology.'];['0; The action "descend to an altitude" does not exist in the sample keys.'] +Decrease your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command is asking to decrease the altitude, which isn\'t necessarily a "fly" action as specified in the JSON structure. Additionally, the "down" direction isn\'t part of the sample ontology.'] +Lower yourself to an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Although the action "fly" and the altitude parameter with a value of 200 meters does match with the natural language command given, the direction value of "down" does not exist in the sample ontology keys. Thus, the matching is partial.'] +Go down to a height of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure contains the "fly" action, but the direction "down" doesn\'t align with the sample ontology where the direction could be a string such as "north". The altitude value is mentioned correctly. However, the natural language command does not specify "speed" or "duration", but these values are assumed in the JSON structure. The natural language command seems to be more suitable for a "navigate_to_point" action with an altitude parameter only, rather than a "fly" action, but the exact coordinates are not given in the command.'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. The natural language command indicates that there should be descending action, however, there\'s no "direction" key in the sample JSON structure for the action "fly". The altitude value and units match the command, but the speed and direction value do not match.'] +Fly backward for 3 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command partially conforms to the JSON structure. The action "fly" is correctly identified with its parameters "speed", "altitude", "direction" and "duration". However, the "direction" value in the JSON doesn\'t match with the command as it\'s not \'south\' but \'backward\'. Additionally, the altitude from the command is missing in the JSON. The unit of speed is also correctly identified as "km/h".'] +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 12,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['2; The natural language command mentions reversing the direction and flying for a specific distance which isn\'t acknowledged in the JSON structure. The JSON does have the correct speed, but the units are wrong (should be km/h instead of m/s in the example ontology). The duration in the JSON doesn\'t match the command either (the command specifies a distance, not a duration). Altitude is not mentioned in the command but is present in the JSON. There\'s also no parameter in the sample keys reflecting the action to "reverse direction".'] +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 3.6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}', ''];['4; The natural language command mostly conforms with the JSON structure, however there are some minor inconsistencies. The "duration" in JSON structure is converted as the distance which is not exactly correct according to the provided ontology. The "direction" is assumed to be "south" as the opposite direction, but the actual opposite direction is not provided in the command.'] +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The natural language command corresponds exactly to the JSON structure. The direction is interpreted as opposite to a previously mentioned or implied direction, represented as "south" here. The speed and its units are perfectly matched. The duration is calculated correctly as 3km at a speed of 50km/h equals 216 seconds. Although the altitude is not mentioned in the command, the value provided in the JSON structure is reasonable and acceptable.'] +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "duration": 3.6,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "unit_speed": "km/h",', ' "unit_duration": "hours"', ' }', '}'];['2; The natural language command "Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour" mostly matches the JSON structure, but not perfectly. "Fly" corresponds to the "action" key, and "speed" of "50 kilometers per hour" corresponds to the "speed" and "unit_speed" in the JSON. However, the command specifies a "distance" of "3 kilometers", but the matching JSON key would be "duration" which is not equivalent. Also, "in reverse" does not have a corresponding key in the example JSON structure. The direction value \'south\' doesn\'t match as \'in reverse\' does not inherently mean \'south\'. Thus, it does not completely conform to the JSON structure.'] +Circle around a specific location for 30 minutes.,['This action is not part of the ontology, therefore cannot be translated into a JSON structure following the ontology.'];['0; The natural language command does not match any of the existing actions in the provided JSON structures. Therefore, it cannot be converted to JSON based on this sample ontology.'] +Perform a 30-minute loop around a designated area.,['This action is not represented in the ontology.'];['0; The command provided does not match with any action or parameters detailed in the provided JSON structures.'] +Go in a circular route around a specific spot for half an hour.,['The action "Go in a circular route around a specific spot for half an hour." is not defined in the current ontology. Therefore, no action can be returned.'];['0; Justification: The ontology does not include support for a natural language command to "go in a circular route around a specific spot for half an hour." The ontology includes actions like: navigate_to_point, fly, hover, rotate, and land. There is no action for moving in a circular route. Therefore, the command cannot be converted to a JSON.'] +Complete a 30-minute circuit around a particular location.,['This action is not defined in the given ontology. Therefore, no JSON can be returned that conforms to the ontology.'];["0; The natural language command doesn't match any of the available JSON structures as a 30-minutes circuit action is not defined in the provided ontology. Therefore, no conversion can be made."] +Traverse in a circular path around a specific point for a duration of 30 minutes.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["2; There is some partial match between the command and the JSON action rotate, but it lacks crucial information such as duration which is needed as per the command specification and the specific point around which the rotation is to occur. Furthermore, the duration value isn't represented in the JSON at all."] +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90.0,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; The natural language command perfectly matches the given JSON structure. The "action" is correctly defined as "rotate", and all the parameters - "angular_velocity", "angle", "is_clockwise" and "unit" - are properly provided and conform to the given datatype. The direction of rotation and the unit are also correctly matched as counterclockwise and degrees respectively. Thus, the command and the JSON are in complete agreement.'] +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90.0,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4.8; The JSON structure accurately represents the command given, with the appropriate keys and parameters. The only reason the score is not 5 is because the "angular_velocity" given in the JSON is a numerical value, whereas the ontology suggests that "angular_velocity" should be in the format: {"type": "float", "value": 90}. However, this is a minor discrepancy and should not notably affect the functionality of the program.'] +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Ascend to an altitude of 700 meters and swin.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);['0; The natural language command does not conform to any of the JSON structures present in the samples. The action "ascend" and the term "swin" are not recognized actions in the given sample ontology.'] +Gain an elevation of 700 meters and swim.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 700,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The command is to gain elevation but given JSON structure represents action of "fly" instead of gaining elevation and also, the direction “up” does not exist in the provided ontology or sample keys moreover swimming action isn\'t even represented in JSON.'] +Reach a height of 700 meters and engage in swimming.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 700.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The natural language command partially matches with the JSON structure. The 'hover' action and 'altitude' parameter are correctly reflected. However, the 'duration' is not mentioned in the command, and the command requests a 'swimming' action, which does not exist in the JSON structure."] +Ascend to a 700-meter altitude and partake in swimming.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 700.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure partially corresponds to the "hover" action in the ontology, specifically the ascending to a certain altitude part. However, the command also mentions \'swimming\' which does not match any of the sample keys in the ontology and does not make much sense in this context. The duration of the hover action is also not given in the natural command so the JSON value could be perceived as arbitrary.'] +Increase your altitude to 700 meters and then swim.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 700)"', ' }', ' }', '}'];['1; The action from the JSON structure is "navigate_to_point" but the natural language command is for increasing altitude and then swimming, which is not fully conforming. The swimming part doesn\'t match any of the available actions. Only one action of increasing the altitude to 700 meters partially matches the "navigate_to_point" action but doesn\'t provide latitude and longitude coordinates.'] +Fly forward for 8 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": {', ' "type": "float",', ' "value": ((8/70)*3600)', ' },', ' "altitude": 100,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4.5; The natural language command is well translated into the JSON. The "fly" action correctly corresponds, and the parameters such as "speed", "direction", "duration", and "unit_speed" are also included. The only thing that does not match entirely is the "altitude" and "unit_altitude" that are not provided in command but present in JSON. Nonetheless, the JSON structure generally corresponds to the command.'] +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h.,ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600);['0; The provided natural language command involves moving forward for a certain distance at a specific speed, however, there is no corresponding JSON structure that represents this particular action. The existing ontology only provides keys for actions like "navigate_to_point", "fly", "hover", "rotate", and "land" and none of these actions directly involve moving forward a specific distance or maintaining a particular speed.'] +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": (8000/70)*3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The overall structure matches the natural language command closely. However, there is a mismatch between the units of speed specified ('km/h' in the command vs 'm/s' in the JSON structure). Additionally, the altitude, duration and direction in JSON are assumed without being explicitly mentioned in the command, so it's a partial match rather than an exact one."] +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": (8 / 70) * 3600,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command matches the JSON structure completely. The action is to fly and the parameters specified include speed, direction, duration, unit of speed, unit of altitude, and unit of duration which are all present and correctly formatted in the JSON structure.'] +Fly straight for a total of 8 kilometers at a speed of 70 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 70.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 411.43,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['5; The JSON structure conforms exactly to the command given, providing the accurate action "fly" and parameters requested such as "speed", "direction", "duration", and their associated units.'] +Hover in place for 20 minutes and watch TV.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Although the command to hover is reflected in the JSON structure, the second part about "watching TV" isn\'t captured in the JSON as this action does not exist in the sample keys. Hence, the JSON only partially conforms to the natural language command.'] +Stay stationary for a duration of 20 minutes while watching television.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The command mentions "stay stationary for a duration of 20 minutes" which matches with the hovering action, but the duration is not correctly reflected in the JSON structure (20 minutes = 1200 seconds, not 20). Moreover, the detail "watching television" does not match any elements in the given ontologies. Additionally, the altitude value doesn\'t make sense in this context as there\'s no specification in the natural language command for it to be zero.'] +Maintain a hovering position and engage in television viewing for a period of 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The natural language command partially matches with the JSON structure. The "hover" action and "duration" parameter provided in the natural language command matches with the JSON structure, but the duration value is not set correctly in the JSON, since 20 minutes should equal to 1200 seconds, not 2000. There was also no mentions of the altitude in the natural language command, so the JSON structure matches with any reasonable altitude value. The act of \'engaging in television viewing\' isn\'t represented in the JSON at all.'] +Hold a steady hover for 20 minutes while enjoying television watching.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The natural language command perfectly translates to the JSON structure, the "hover" action with a duration consistent with 20 minutes (converted to seconds in JSON) and the assumed value for altitude from the JSON structure as it is not specified in the natural language command. The component about "enjoying television watching" has no corresponding JSON structure, but it\'s not a command to the drone, so it does not affect the conformity of the conversion.'] +Remain in one place without moving for 20 minutes and entertain yourself by watching TV.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The natural language command asks to "remain in one place without moving for 20 minutes", which matches to the action "hover" in the JSON structure. However, the latter part of the command - "entertain yourself by watching TV" does not have any corresponding action or parameter in the provided JSON structures. This is why the conformity score can\'t be higher.'] +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50.0,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 50,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone, then sing loudly.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The JSON information corresponds partially with the natural language command. The command to "land at the designated landing zone" matches the "land" action in the JSON. However, the command to "sing loudly" doesn\'t correspond to any action represented in the JSON ontology.'] +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["1; Although the 'land' action is correctly interpreted, the natural language command mentions a singing action which does not conform with any actions in the sample ontology."] +After successfully landing at the designated landing zone, proceed to sing loudly.,['{}'];['0; The natural language command specifies an action, "sing loudly", which is not present in the provided JSON schemas. Also, the phrase "After successfully landing at the designated landing zone" is not clearly reflected in any of the schemas, as there\'s no indication of a success condition or the completion of the "land" action.'] +Ascend to an altitude of 500 feet.,["This action does not fit into the ontology provided, as there's no action specific for ascension."];["0; The command doesn't match any of the actions in the provided JSON structures."] +Increase your altitude to 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action and unit_altitude in the JSON structure match with the command, but the altitude value in the command (500 feet) was not properly converted to meters (around 152.4 meters, not 100 meters). Also, direction as "up" does not match the sample ontology.'] +Climb to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 14.52,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The action "fly" and "unit_altitude" in JSON match with the command "climb" and "feet". However, the "direction" value of "up" in JSON does not completely conform to the command "height of 500 feet". The parameters "duration" and "speed" in JSON do not exist in the command.'] +Reach an elevation of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 15,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command is almost perfectly matched to the JSON representation. However, there is a minor discrepancy with the direction value being "up" in the JSON while not specified in the command. But overall, the key parameters such as action type \'fly\' and required altitude are correctly represented in JSON. Also, it is understood that the altitude value in the JSON is correctly converted from feet to meters as per the command.'] +Rise to a position 500 feet above ground level.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 152.4', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The command "Rise to a position 500 feet above ground level." perfectly matches with the JSON command of action "hover" having an altitude parameter with a value approximately equal to 152.4 meters (which is equivalent to 500 feet). Other parameters like duration and unit also conform to the JSON structure.'] +Fly forward for 1 mile at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 120,', ' "unit_speed": "miles per hour",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command broadly matches with the JSON structure in terms of action which is to "fly" but the specific parameters and their units in the JSON structures do not fully conform. In the command, the drone is asked to fly "forward for 1 mile at a speed of 30 mph", however in the JSON, the direction is given as "forward" not as "north", the speed is given in "miles per hour" unlike in the sample ontology which is "m/s", and finally the command mentions flying for a distance instead of a duration.'] +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100.0,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 120.0,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}', ''];["1; The command implies a 'fly' action which is present in the JSON structures. However, it lacks the required details that match with the keys of the provided sample ontology. More specific keys mentioned for the action 'fly' such as 'speed', 'altitude', 'direction', 'duration', 'unit_speed', 'unit_altitude', and 'unit_duration' don't have corresponding values in the command. Although speed is mentioned, it's not in the correct unit (mph instead of m/s), and duration should be given, but it's not clearly stated in the command hence it can't be converted correctly. So, the conformity is quite low."] +Travel straight ahead for 1 mile at a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 120,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure mostly matches the natural language command; however, the direction "straight" is not perfectly clear as direction is usually described in relative terms like north, south, east, west. The duration is also arbitrarily set in the JSON while not specified in the command.'] +Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 120,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["4; The command and JSON correctly define the action 'fly' and detail the speed and direction. However, the speed unit in JSON is 'miles/hour' (not available in the sample ontology) and the direction value given is 'forward' instead of 'north' as in the sample keys. There could be conformity issues with units, but directions might be more flexible according to specific application/context."] +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 30,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 2,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];["2; The JSON structure describes an action of 'flying' which accords to the natural language command. But the parameter values 'altitude': 100, 'duration': 2, 'unit_altitude': 'meters' and 'unit_duration': 'minutes' do not correspond with the given command. The command doesn't specify the altitude and duration of the flight, hence the JSON contains extra details. Furthermore, the value for 'direction' in JSON should ideally be 'ahead' to match the command but 'straight' is also an accepted synonym. So, because of these inconsistencies, it only partially matches the command."] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The command almost perfectly matches the JSON structure. However, while it's clear from the prompt that the hover action should last 10 minutes (and the JSON parameter value does correctly convert this to 600 seconds), the prompt does not specify an altitude, and an altitude of 0.0 meters is not a standard or universally reasonable assumption for a hover command; most drones, even when hovering, remain at a fairly constant nonzero altitude."] +Stay suspended in one spot for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The natural language command matches the action "hover" and the parameter "duration" in the JSON structure. However, the altitude is not specified in the command but is included as a parameter in the JSON structure. Hence, one point is deducted for the unmentioned parameter in the command.'] +Maintain a hovering position without moving for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The hovering action and duration are correctly represented in both the natural language command and JSON structure. The value for duration has been correctly converted to seconds. However, the command doesn't specify an altitude, but the JSON structure does. For full conformity, the command needs to provide altitude as well."] +Stay suspended in mid-air without any motion for a time span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON matches the command in the action "hover" and the duration changing it to seconds. However, the altitude is not specified in the natural language command but it is specified in the JSON. It is reasonable but not explicitly stated in the command.'] +Hold a hover position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; Exactly conform. The command refers to the 'hover' action which exists in the sample keys, with a specified duration of 10 minutes. The duration is correctly converted to seconds in the JSON structure. The altitude is not mentioned in the command, but a value of 50 is reasonable and within the ontology schema."] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The JSON structure mostly conforms with the natural language command. The "action" is correctly identified as "rotate", and "is_clockwise" is correctly marked as true. The "angle" is correctly indicated as 180 degrees. However, the "angular_velocity" should be how fast the rotation is happening and the value 45.0 in the JSON doesn\'t necessarily mean it\'s per second, hence the conformity is not exact.'] +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command specifies all required parameters such as the action "rotate", the angular velocity of 45 degrees per second, the angle of 180 degrees, and moreover, the rotation is clockwise which matches completely with the provided JSON structure.'] +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Descend to an altitude of 200 meters.,['I\'m sorry, but the action "Descend" is not present in the ontology. As a result, it is not possible to create a JSON format that corresponds with the ontology.'];["0; The natural language command refers to an action ('Descend') that does not exist in the sample keys of the ontology. Therefore, it cannot be converted into any of the provided JSON structures."] +Decrease your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON action "fly" partially aligns with the natural language command "decrease your altitude"; however, the intended action is likely more aligned with "navigate_to_point". Furthermore, "direction" in JSON is specified to "down" which is not a valid direction in the provided sample ontology (it should be a compass point). The altitude is correctly specified as 200 meters though.'] +Lower your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["3; The command and the JSON structure partially conform. The action of flying and the parameter of altitude are correctly represented. However, the direction 'down' and speed are not explicitly mentioned in the command so they shouldn't have been assumed in the JSON structure."] +Move down to an altitude of 200 meters.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 200.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The action in the command is described as \'move down\', which would be more appropriate with a \'fly\' action with a \'down\' direction rather than \'hover\'. The \'hover\' action describes a stationary action, not a change in altitude. However, the altitude "200 meters" is correctly translated into the JSON structure.'] +Descend until reaching an altitude of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure indicates a \'fly\' action with the drone moving downward to reach an altitude of 200 meters. However, the action \'fly\' does not capture the intention of "descend" properly, as \'descending\' would typically indicate a \'land\' or \'hover\' action. Moreover, the direction value "down" also does not exist in the ontology, making it an imperfect translation. Other parameters like speed and duration with their arbitrary values have not mentioned in the natural language command as well.'] +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 3.6,', ' "unit_speed": "km/h",', ' "unit_duration": "hours"', ' }', '}'];['2; The action "fly" is correct, however in params field, the actual example ontology requires the parameters like \'altitude\', \'direction\' as a string (not \'zigzag\'), there is no mention of \'direction\' being any type other than \'str\'. As such the action \'fly\' isn\'t capable of \'zigzag\'ing. Also, the duration unit is specified as seconds in the ontology but the provided JSON has it as hours. Altitude field is missing in the JSON. So, due to wrong direction value ,wrong duration unit and missing altitude field, it is partially conform.'] +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command includes \'zigzag maneuver\' which has no corresponding action in the JSON templates provided. The speed specified also does not match the "unit_speed" as "km/h" instead of "m/s". Furthermore, the duration is calculated as seconds to cover 3 kilometers, but it is not mentioned in the command.'] +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 216,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command instructs to "Fly in a serpentine pattern", which is not an action indicated within the provided JSON structures. While some elements, such as the speed unit, do align with the \'fly\' action parameters, other elements such as \'covering a distance of 3 kilometers\' or \'serpentine pattern\' don\'t exist.'] +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 13.89,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 810,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["0; The command doesn't match with the provided JSON. There are no corresponding keys for executing a flight in a zigzag trajectory, no matching key for a distance of 3 kilometers, and the speed is not accurately converted from km/h to m/s in the JSON structure. The provided JSON seems to be related to some other command of flying north with a certain speed, duration, and altitude."] +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 50.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "duration": 3.6,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "hour"', ' }', '}'];['2; The natural language command does not match the JSON structure perfectly. The JSON structure interprets \'zigzag\' as a direction, but in the sample ontology, \'direction\' only accepts "north" as a valid value. Also, there\'s no key for distance, but instead, \'duration\' is used which is not exactly the same concept. The units in the JSON structure does not conform with the sample, which accepts m/s instead of km/h.'] +Perform a barrel roll to the left.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['3; Partially conform. The natural language command asks for a barrel roll to the left, which is interpreted as a 360 degree anti-clockwise ("is_clockwise": false) rotation in the JSON command. However, a "barrel roll" is usually understood to involve more than just a rotation on one axis, it typically involves changes in pitch, roll and yaw simultaneously, which the given JSON structure does not support. So, it is a matter of interpretation if rotate command can be considered equivalent to a barrel roll.'] +Execute a left barrel roll.,['{', ' "action":"rotate",', ' "params":{', ' "angular_velocity":0.5,', ' "angle":360,', ' "is_clockwise":false,', ' "unit":"degrees"', ' }', '}'];['3; The command partially matches the JSON structure. The "action" is correct as "rotate" and "unit" as "degrees" matches. However, a barrel roll involves a rotation along the longitudinal axis which would be more than just rotating left or right. Besides, "angular_velocity" and "angle" value does not seem to match because in command there were no specific values mentioned. Finally, the "is_clockwise" parameter is not clear because the direction (left or right) of a barrel roll is usually mentioned, but in this case it is mentioned as "left" which would mean a counter-clockwise direction thus it should be "false", but in JSON it\'s mentioned as "true".'] +Rotate in a barrel roll towards the left.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['3; The natural language command instructs the drone to perform a barrel roll to the left. The JSON command, however, instructs a rotation but does not specify a barrel roll. Although the direction (left) matches as to the JSON "is_clockwise": false, the JSON structure is missing the information about a barrel roll which is a specific type of rotation.'] +Perform a barrel roll in a counterclockwise direction.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; Even though the natural language command matches the "rotate" action and "is_clockwise" parameter in JSON data, a barrel roll action in a counterclockwise direction ideally involves more than just rotation along one axis, and would require an extra level of complexity and skill. However, it is good enough for a basic understanding and executing on the drone.'] +Initiate a leftward barrel roll.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['3; The JSON structure is partially conforming to the natural language command. The action "rotate" and some parameter keys like "angle", "angular_velocity", and "unit" match. However, the direction of rotation indicated in the command is "leftward", which implies a counter-clockwise rotation, but "is_clockwise" in the JSON is set to false. Also, the specific action of performing a "barrel roll" does not have an exact correspondence in the provided sample ontology.'] +Ascend to an altitude of 1000 feet and maintain it for 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The action 'hover' and its parameters 'duration' and 'altitude' match correctly. However, the unit of duration in the command is 'minutes' whereas in the JSON structure it's 'seconds'. The same goes for the altitude unit - 'feet' in the command and 'meters' in the JSON. Although the values in the JSON structure are correctly converted from 'minutes' to 'seconds' and 'feet' to 'meters', the mismatch in units leads to a score less than 5."] +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Partially conform. The "hover" action and "duration" parameter match correctly, but the unit of "altitude" in the command is in "feet" while in JSON it\'s in "meters", the provided value of 304.8 meters equal to 1000 feet is correct. The value of duration is also not a direct match, the command asked for 20 minutes which equals 1200 seconds, this calculation is correct. However, this involves a conversion that\'s not directly mentioned in the command.'] +Increase your elevation to 1000 feet and sustain it for the next 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Elevate to 1000 feet and retain that height for the next 20 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1200.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 304.8', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The provided JSON structure does conform to the ontology mentioned but altitude value is given in "meters", while the command specifies it in "feet". The duration value is correct, converted from minutes to seconds per the ontology.'] +Fly backward for 500 meters at a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 45,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The command and the JSON mostly match, however there are discrepancies. The direction value in JSON is "south" which would indicate moving backwards if "north" is taken as forward. However, no explicit indication of direction ("backward") is mentioned in JSON. Altitude should be replaced with "distance" but it\'s not part of the original ontology. Moreover, the duration value does not align with the command and appears to be an arbitrary value.'] +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h.,[''];["0; The natural language command doesn't match with any action and its parameters in the sample JSON structures. The 'go in reverse' concept is not represented in any JSON structure."] +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.11,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds",', ' "altitude": 0,', ' "duration": 45.0', ' }', '}'];['4; The natural language command mostly conforms with the JSON dictionary as it correctly refers to the \'fly\' action and the \'speed\', \'direction\', \'unit_speed\', \'unit_altitude\', \'unit_duration\', \'altitude\', and \'duration\' parameters. However, the direction of the drone is described as "backwards" in the natural language command and "south" in the JSON, which may not always be the same. The "duration" parameter is also not specified in the natural language command but it is in the JSON. This can be accepted since the parameter\'s value does not need to be specified in the natural language command for full conformity.'] +Reverse your flight and go for 500 meters at a velocity of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 45,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "minutes"', ' }', '}'];['3; Partially conform. The action "fly" matches, but the units don\'t match: the speed is in km/h versus m/s and duration is in minutes instead of seconds. The command also doesn\'t specify the duration and altitude clearly, as "go for 500 meters" could be interpreted as distance instead of altitude. Lastly, there is no reference in sample keys about reversing the flight direction, so it is not clear how the "south" direction is inferred.', ''] +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 11.11,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "south"', ' },', ' "duration": 162.16,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; Almost perfect match. The JSON structure replicates most of the required information from the natural language command. However, the direction has been given as south, whereas the command simply states "opposite direction". Although it is implied, the exact opposite direction cannot be determined without a reference direction.'] +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4; The JSON structure mostly matches the command. However, the command asks the entity to "move" in a counter-clockwise direction, but within the context of the provided JSON structure, there\'s no specific action for "moving". Despite this, "rotate" seems to be the best fit for "move" within this context.'] +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15.0,', ' "angle": 45,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['4.5; Almost all elements in the command and the JSON align perfectly. However, there is a slight discrepancy in the understanding of angular velocity. Based on the command, "at a rate of 15 degrees per second" can be interpreted as angle per second but in physics terminologies, it usually denotes rotation speed per unit of time, not the total angle of rotation per unit of time. But in the context of this ontology and without a separate place for defining unit of time for angular velocity, the interpretation seems reasonable.', ''] +Descend to an altitude of 100 feet and hold for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "feet"', ' }', '}'];["5; Exactly conform. The natural language command perfectly matches the JSON structure. The 'hover' action is correctly recognized, and the duration and altitude parameters are also matched correctly."] +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command clearly corresponds to the "hover" action in the JSON structure. The key parameters (altitude and duration) are accurately represents in the JSON with respect to the drone\'s commands. The conversion from feet to meters and minutes to seconds is correctly implemented in the provided JSON.'] +Descend until you reach an altitude of 100 feet and remain there for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 300.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 30.48', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; Exactly conform. The natural language command matches with the JSON structure. The 'hover' action has been correctly used with the right parameters of duration and altitude, with units correctly translated from feet and minutes to meters and seconds respectively."] +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h.,['This action is not present in the provided ontology, so no JSON response can be constructed.'];['0; The command instructs the drone to fly in a circular pattern which does not conform to any of the provided actions in the JSON structures.'] +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure partially matches the natural language command. The "fly" action and the "speed" param align with the command, and the adoption of a different speed unit ("km/h") is also acceptable. However, the command\'s ask for a "circular pattern with a radius of 1 kilometer" isn\'t captured in the JSON at all - neither is the structure for "direction" and "duration" accurately represent the command. The command didn\'t mention the direction as "north" or the duration as 10 seconds. The correct \'altitude\' isn\'t specified in the command either.'] +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h.,['The action described in the prompt is not represented in the ontology. Therefore, no JSON output can be generated.'];["0; The given command is asking for a circular flight which doesn't correspond to any of the given JSON structures, each action in the JSON structures doesn't support flying in a circular motion."] +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h.,['{', ' "action": "fly",', ' "params": {', ' "speed": 20.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circle"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; While the JSON contains an action of "fly" which correlates with the command to "Perform a flight maneuver", the rest of the parameters and their values, such as the circular pattern and radius, do not match the provided JSON structure. The JSON structure lacks the keys to represent a circular pattern or a specific radius. Moreover, the JSON structure uses a different unit for speed ("m/s" in the sample versus "km/h" in the given command). Therefore, the conformity is low.'] +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer.,['This action is not defined in the ontology, thus it cannot be translated into a JSON conformant to the ontology.'];["0; The natural language command includes actions and parameters that don't exist in the sample ontology, such as maintaining a constant speed, flying in a circular path, and a radius for the path. Therefore, it cannot be converted to a conformant JSON structure."] +Ascend to an altitude of 300 meters and maintain it for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Climb to a height of 300 meters and stay there for a duration of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The actions and parameters in the JSON structure align with the natural language command. However, the command specifies a duration in minutes, but the JSON structure uses seconds as the unit of duration.'] +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Scale up to an altitude of 300 meters and sustain it for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3.5; While the JSON structure provided correctly captures the action (hover) and correctly converts the duration from 30 minutes to 1800 seconds, the altitude parameter in the natural language command is not correctly interpreted in the JSON. The JSON structure has a fixed altitude set at 50.0 meters, not 300 as specified in the command.'] +Hover in place for 15 minutes and then proceed forward for 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The time duration is correctly converted from 15 minutes to 900 seconds in the JSON, and the hover action is as per the command. However, the 'proceed forward for 2 kilometers' part of the command is not reflected in the JSON, making the JSON incomplete in terms of the full command."] +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; Only the hover action is correctly represented in the JSON. The second part of the command, "continue moving ahead for a distance of 2 kilometers", does not correspond with any JSON structure.'] +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; Partially conform. The natural language command is partially represented in the JSON structure. The 'hover' action is correctly defined with a matching duration. However the 'proceed ahead for 2 kilometers' command is not represented in the JSON structure. Additionally, the unit_duration is supposed to be in 'minutes' according to the natural language command, not 'seconds', and specifying an altitude of 0 meters does not necessarily translate to 'maintain your position'."] +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The natural language command is asking the drone to hover for a duration and then move forward for a distance. However, the provided JSON structure only describes the "hover" action and does not cover the second requested action (moving forward). Therefore, it does not conform to the natural language command.'] +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 900.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['0; The JSON structure only includes the command to "hover" with a given duration, but it does not include any command or parameters to then "advance forward for a distance of 2 kilometers." The natural language command describes a two step process, whereas the JSON structure only describes the first step. Also, the altitude in the JSON structure does not match with the natural language command.'] +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The natural language command matches the JSON action "rotate" and parameters exactly, except for the "angular_velocity" where the JSON has a different value of 0.5, whereas the command specifies 20. But since the specific value is not crucial in this case, it\'s considered a reasonable match.'] +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20.0,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches the JSON structure, including the "action" which is "rotate", the "angle" which is 90 degrees, the direction being "is_clockwise" at true, and the "angular_velocity" being 20.0 which matches the rotational speed of "20 degrees per second".'] +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["5; The JSON structure perfectly matches the natural language command. Every attribute in the JSON corresponds with a detail in the command. The action 'rotate', angle of '90' degrees, correct direction 'clockwise' and the 'angular_velocity' matching the rate of 20 degrees per second are all specified."] +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 20,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The command matches the JSON structure perfectly, including all keys and values within the "rotate" action.'] +Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "serpentine"', ' },', ' "duration": 10,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON structure does not conform to the given command. The directions do not have "serpentine" as a value in the keys of sample ontology. Also, the distance of "1 mile" isn\'t represented anywhere in the JSON structure.'] +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "duration": 144.0,', ' "direction": {', ' "type": "str",', ' "value": "unknown"', ' },', ' "unit_speed": "mph",', ' "unit_duration": "seconds",', ' "altitude": 100,', ' "unit_altitude": "meters"', ' }', '}'];['1; The JSON structure partially matches the natural language command. The "fly" action and parameters such as "speed", "duration", "unit_speed", "unit_duration", "altitude", and "unit_altitude" are present in both. However, the natural language command specifies a "serpentine flight maneuver" which have no corresponding action or parameter in the ontology. Also, the "direction" value in the JSON is "unknown", which does not match with the command. Finally, the command specifies a distance, not a duration for the action.'] +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 120,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["1; The JSON structure represents the 'fly' action, but there are some parts of the natural language command that are not represented properly. 'Aerial trajectory in the shape of a serpent' does not have a match in the JSON structure. The JSON action 'fly' does not consider the trajectory shape and cannot handle 'serpent' as a parameter. The speed and speed unit are correctly represented in the JSON. The altitude and direction parameters in the JSON do not match with the command since the command does not specify these elements. Finally, the 'duration' in the JSON does not match any part of the natural language command.", ''] +Fly in a zigzag pattern for a mile at a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "direction": {', ' "type": "str",', ' "value": "zigzag"', ' },', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure is partially conforming to the natural language command. The "fly" action and the speed are correctly represented. However, the "direction" value of "zigzag" doesn\'t match with the ontology keys which only accepts cardinal points. The duration, altitude, and direction are missing and are required in the sample ontology. Additionally, the measurement unit for speed (\'mph\') is not directly compatible with ontology\'s unit for speed (\'m/s\'). The distance (a mile) is also not represented in the JSON structure.'] +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 25.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "north"', ' },', ' "duration": 10,', ' "unit_speed": "miles/hour",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['0; The JSON struct does not match the natural language command. The command requires a snakelike motion path which is not presented in the JSON at all. Furthermore, the direction parameter in the JSON is specifically pointed "north", which doesn\'t match the command\'s requirement of snakelike motion. The speed in the JSON does match the speed in the command but this isn\'t enough for conformity.'] +Descend to an altitude of 100 meters and hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Lower your altitude to 100 meters and remain stationary for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The provided JSON structure accurately represents the given natural language command, with correct action and parameters. It is properly converting minutes to seconds, as the unit of duration in the ontology is in seconds.'] +Descend until reaching an altitude of 100 meters and then hover for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches the JSON structure. The "action" of hovering aligns with the "hover" action in JSON structure. The specified "duration" and "altitude" parameters in the natural language command are also correctly presented in the JSON, with values of 600 seconds (equal to 10 minutes) and 100 meters respectively. The units of measure ("seconds" for duration and "meters" for altitude) also match.'] +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The command specifies a "fly" action with "speed", "direction", and "duration" parameters, all of which are represented in the JSON structure. The "altitude" parameter is included in the JSON but is not mentioned in the command. However, the "land" action is included in the command but its JSON representation is missing in the provided structure. So there is some mismatch.'] +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];['0; No conformity. The provided JSON structure does not match with the natural language command as it does not include the information about maintaining a speed or a distance which is essential for the command. The JSON structure simply describes an action to land at a certain location, not about moving forward or maintaining a certain speed.'] +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '},', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['3; The command mostly matches with the respective JSON structures. However, the \'direction\' key is given as \'forward\' in the command, whereas \'forward\' is not a valid direction value and instead it should be one of the cardinal directions as per the ontology given. Also the altitude value in "fly" action is not mentioned in the command, but still 100 meters is assumed, which might not always be accurate.'] +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 180,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; The natural language command mostly aligns with the JSON structure. The "fly" action and its parameters ("speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", "unit_duration") are correctly identified. However, the JSON lacks the action of "landing" mentioned in the natural language command. The duration is also assumed rather than specified in the original command.'] +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area.,['{', ' "action": "fly",', ' "params": {', ' "speed": 60.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight"', ' },', ' "duration": 3,', ' "unit_speed": "km/h",', ' "unit_altitude": "meters",', ' "unit_duration": "kilometers"', ' }', '}'];["2; The action 'fly' and units for speed, altitude and duration match the command but the value of 'direction' to be 'straight' is incorrect as it has to be a cardinal direction based on the sample keys 'north'. Further, the 'duration' parameter in 'fly' action is expected to be in time 'seconds' per sample, but it is given in kilometers in the JSON. Finally, the landing action is not specified in the provided JSON but mentioned in the natural language command."] +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The command \'Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second.\' directly maps to the provided JSON structure. The action is \'rotate\' and all parameters (\'angular_velocity\', \'angle\', \'is_clockwise\', and \'unit\') map correctly to the values specified in the command. The command specifies a counterclockwise direction, which is correctly represented in JSON as \'"is_clockwise": false\'.'] +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 25.0,', ' "angle": 180,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a loop-de-loop and then watch TV.,[''];['0; None of the given commands match the ontology keys. The action "perform a loop-de-loop" and "watch TV" do not exist in the sample keys.'] +Execute a loop-de-loop and subsequently engage in watching TV.,['{}'];['0; The given command (to execute a loop-de-loop and subsequently engage in watching TV) does not match nor conform to any of the actions or parameters provided in the sample JSON structures.'] +Carry out a loop-de-loop and proceed to view television.,['{}'];["0; The natural language command does not match any of the JSON structures provided, neither the action 'loop-de-loop' nor 'view television' exist in the sample keys."] +Conduct a loop-de-loop before indulging in some TV time.,['{}'];["0; The natural language command does not correspond to any actions ('navigate_to_point', 'fly', 'hover', 'rotate', 'land') defined in the sample ontology. Loop-de-loop action and watching TV are not supported in the given ontology."] +Maneuver a loop-de-loop and then enjoy some TV programming.,[''];['0; The command doesn\'t match any of the action commands provided in the JSON structure. The tasks like "Maneuver a loop-de-loop" and "watch TV programming" are not described in the sample keys.'] +Ascend to an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partial match. The natural language command to ascend to an altitude is correctly translated to "fly" action in JSON. However, the altitude value of 500 feet is incorrectly converted to 152.4 meters in JSON (should be approximately 152.4 not such a precise value), and the "direction" is not specified in the command but is added in the JSON as "up". The "speed" and "duration" values also have default values not specified in the command. The unit of altitude in the command is "feet", while it\'s "meters" in the JSON.'] +Increase your height to 500 feet.,['Your prompt does not match any actions in the ontology exactly. Therefore, the appropriate JSON cannot be produced.'];['0; The natural language command does not match with any JSON structure in the sample ontology.'] +Climb up to an elevation of 500 feet.,['Your instruction does not match any action in the provided ontology. Please provide a command that matches the existing actions: navigate_to_point, fly, hover, rotate, or land.'];["0; The given natural language command does not map to any of the provided JSON structures. The command 'Climb up to an elevation of 500 feet.' would suggest an action of ascending, which is not one of the available actions in the sample ontology which include navigate_to_point, fly, hover, rotate, or land."] +Reach an altitude of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 500,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];["2; The JSON structure partially matches the natural language command. The 'fly' action and 'altitude' parameter are correct, but the 'direction' value of 'up' is not included in the sample keys. The unit of altitude in the command is 'feet', but the sample ontology uses 'meters'."] +Go up to a height of 500 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 152.4,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON information corresponds mostly with the natural language command. The "fly" action is correct and "altitude" unit is correctly converted from feet to meters (as 152.4). However, the direction parameter "up" is not part of the sample ontology. Also, assuming the speed and duration, although reasonable, is not directly derived from the natural language command.'] +Fly forward for 1 mile at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "mph",', ' "unit_duration": "seconds"', ' }', '}'];["2; Partially conform. The direction and speed values match in the JSON and natural language command, however, the 'duration' is not mentioned in the command but is present in the JSON. Also, the distance (1 mile) is mentioned in the command but it's not in the JSON schema at all. Additionally, the unit of speed in the command is in 'mph' which is not in accordance with the 'm/s' unit defined in the sample ontology."] +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['The provided action "Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph." is not defined in the ontology and therefore is ignored.'];['0; The provided natural language command does not match any of the JSON structure actions provided in the sample ontology.'] +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph.,['This action is not compatible with the given ontology.'];["0; The natural language command doesn't correspond to any JSON structure provided in the sample ontology. Namely, the 'proceed straight ahead' action and the distance parameter aren't represented in the given ontology."] +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "duration": 90,', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The JSON structure corresponds to a 'fly' action, which partially matches the command to 'Travel in a straight line'. However, it lacks a representation for 'going forward for 1 mile', as there are no 'distance' key in the ontology. The 'speed', 'direction', and 'unit_speed' values loosely conform to the command. The 'altitude' and 'unit_altitude' are irrelevant compared to the command. The 'duration' and 'unit_duration' are also irrelevant and added out of context.", ''] +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile.,['{', ' "action": "fly",', ' "params": {', ' "speed": 40.0,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "straight ahead"', ' },', ' "duration": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit_speed": "mph",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conforms. The JSON representation consists of the right action, direction and speed. However, the duration value in JSON doesn\'t match with the command, it was not mentioned. And the speed unit in JSON is in "mph" while the ontology provides it in "m/s".'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; Exactly conform.'] +Remain stationary for a duration of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The action "hover" in the JSON matches with the command "Remain stationary". The duration of "10 minutes" is correctly converted into seconds as 600.0 in the JSON. However, the altitude value in the JSON is 0.0m which is not provided in the natural language command.'] +Stay in one spot for a period of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The provided JSON structure correctly represents the command\'s "hover" action, and it correctly converts the duration from minutes to seconds. However, it specifies that the drone should hover at an altitude of 0.0 meters, which is incorrect because the given natural language command doesn\'t specify an altitude.'] +Float in the same position for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command matches the "hover" action in the JSON. However, the duration in the JSON structure is in seconds, while the command mentions minutes. After conversion, it is accurate. The altitude in the JSON is not specified in the command, so it is accepted as 0.'] +Suspend yourself in midair for a span of 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 600.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 100.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The duration value in the JSON is set to 600 seconds, which corresponds to 10 minutes in the command. However, altitude is specified as 100 in the JSON while the command does not provide a specific altitude. The "hover" action and the "unit_duration" and "unit_altitude" keys match perfectly between the command and the JSON.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The action matches and the provided parameters ("angle" and "is_clockwise") are correct. However, the "angular_velocity" in the JSON structure does not match the speed specified in the command.'] +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45.0,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform. The natural language command matches the JSON structure perfectly. It correctly identifies the "rotate" action and includes all relevant parameters: "angular_velocity", "angle", "is_clockwise", and "unit". The values provided in the command also match those in the JSON.'] +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['5; Exactly conform.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Please land at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(0,0)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command corresponds perfectly to the provided JSON structure for the "land" action. The specific location isn\'t mentioned in the command, but a location (0,0) is provided in the JSON, which is acceptable.'] +You are required to touch down at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Make sure to land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(default_latitude, default_longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command requires a landing action, which matches the "land" action in the JSON structure. The parameter\'s specific values are not provided in the command but the use of "default_latitude, default_longitude" in the tuple is a reasonable placeholder.'] +It is important to secure a landing at the designated zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(undetermined, undetermined)"', ' }', ' }', '}'];['4; The JSON structure corresponds to the "land" action in the provided ontology and details a location parameter. However, the coordinates are listed as "undetermined" which means the command isn\'t entirely clear, thus preventing a perfect score.'] +Fly sideways for 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "sideways"', ' },', ' "duration": 47.62,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];["2; The direction 'sideways' is not conforming, as the direction should be a cardinal direction like 'north', 'south', etc. Also, the distance of 500 meters is not included in the JSON structure. The value 47.62 for duration does not match anything from the command so it's not clear where this value came from."] +Move horizontally for a distance of 500 meters while airborne.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "undetermined"', ' },', ' "duration": 47.62,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command is asking for the drone to move a specific distance (500 meters) while airborne. It doesn\'t specify speed, altitude, or direction. The JSON structure includes action set to "fly", which is correct, but the command doesn\'t order to move in an unspecified direction at a set speed and altitude for a specific duration. More suitable parameter related to the command would be distance instead of duration.'] +Perform a lateral flight movement covering a distance of 500 meters.,['This action is not available in the provided ontology. Therefore, we cannot generate a JSON response for it.'];["0; The given command doesn't exist in the sample keys, so no JSON structure matches with it."] +Traverse 500 meters in a sideways direction while in flight.,['This action is not in the ontology.'];['0; The given command does not correspond to any of the actions provided in the JSON structures.'] +Travel parallel to the ground for a distance of 500 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 0,', ' "direction": {', ' "type": "str",', ' "value": "east"', ' },', ' "duration": 47.62,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure does correctly indicate the "fly" action and includes the correct units for speed, altitude, and duration. However, the direction is incorrectly given as "east", and the specific values for speed, altitude, and duration do not align with the natural language command. The command does not specify these values, it only indicates a distance of "500 meters", hence this specific disalignment is not a major issue and doesn\'t affect the score greatly.'] +Ascend to an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON structure accurately represents the natural language command, but the sample ontology doesn\'t contain the direction as "up". The command clearly indicates to fly upwards (or ascend) to a certain altitude, but the ontology suggests that the device can fly in the cardinal directions (N, S, E, W). Hence, there is a minor inconsistency.'] +Increase your elevation to 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command reasonably matches with the JSON structure with the action "fly" and the altitude "1000 feet". However, the direction "up" does not belong to the sample keys. Therefore, we consider it as a slight divergence.'] +Climb to a height of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 1000,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "feet",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure corresponds partially to the natural language command. The action "fly" is correctly identified. However, the direction "up" is not typically associated with a flight direction in the ontology provided. Also, the unit of altitude is stated as "feet" in the natural language command, but the sample JSON uses "meters". These discrepancies lower the score.'] +Reach an altitude of 1000 feet.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 304.8,', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command partially conforms to the JSON structure. The action "fly" and parameter "altitude" are properly matched. However, the altitude\'s unit does not match, the command specifies feet while the JSON uses meters. Similarly, the direction in the JSON structure is specified as "north", while the direction in the command is "up".'] +Move upwards to a level of 1000 feet.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 305)"', ' }', ' }', '}'];['3; The action in JSON structure "navigate_to_point" partially matches the intended action in the natural language command which is more about flying or hovering to a certain altitude rather than navigating to a specific point. Additionally, the \'coordinates\' value in JSON is assumed to be converting feet to meters which is not explicitly mentioned in natural language command. However, the parameters and the action are sort of aligned to the command.'] +Fly in a circular pattern with a radius of 500 meters for 20 minutes.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 100,', ' "direction": {', ' "type": "str",', ' "value": "circle"', ' },', ' "duration": 1200,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure has recognizable elements from the command such as the "action" being "fly" and the presence of "duration". However, the command mentions a \'circular pattern\' and a \'radius\' of 500 meters that is not represented in the JSON structure. The direction of flight specified in JSON is \'circle\' but the circle\'s radius isn\'t represented. Also, the duration in the command (20 minutes) is not accurately converted in the JSON (1200 seconds should be 20*60 = 1200, not 600). Hence, significant elements of the command fail to be represented in the JSON structure.'] +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes.,['The action "perform a circular flight with a radius of 500 meters for a duration of 20 minutes" is not defined in the provided ontology, the prompt cannot be translated into a JSON conformant to the ontology.'];['0; The natural command does not correspond to any of the provided JSON structures, nor does it conform with the keys of the sample ontology. The action "perform a circular flight" is not defined in the ontology.'] +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center.,['This action is not supported by the given ontology. So, there is no appropriate JSON that could be produced.'];["0; The natural language command does not match with any of the actions or parameters described in the provided JSON structures. There is no action related to 'fly in a circular motion' or parameter for 'maintaining a distance from the center' in the sample ontology."] +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes.,["This action is not specified in the ontology, thus can't be transformed to a JSON following the ontology rules."];["0; The command provides instructions for an action that doesn't exist in the sample keys of the ontology given. Therefore it can't be translated into a JSON structure according to this ontology."] +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters.,['This action cannot be represented using the given ontology as it does not support "flight time", "trajectory" or "radius".'];['0; The command does not match any of the JSON structures given in the ontology. The keys "flight time", "trajectory", and "radius" do not exist within the sample ontology.'] +Descend to an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(undefined, undefined, 200)"', ' }', ' }', '}'];['2; The JSON structure has the correct action "navigate_to_point" and includes altitude in the parameters which matches the command. However, the command does not specify a particular set of coordinates to navigate to in 2-dimensional space (latitude and longitude) which is included in the given JSON structure. This mismatch affects the score.'] +Go down to a height of 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['2; Partial match. The command "Go down to a height of 200 meters." is attempting to set the altitude through the "fly" action. However, "down" is not a valid direction for the \'fly\' action in the samples provided. It is also missing values for speed and duration. The conformity is not full, hence the score of 2.'] +Lower yourself to an elevation of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(0, 0, 200)"', ' }', ' }', '}'];['2; Even though the command is indicating a change in altitude which could be perceived as "navigate_to_point", the specific "coordinates" values are not mentioned in the natural language command, and it is not clear whether the drones current location is to be maintained while changing the altitude. This could potentially be a "fly" action with a specified altitude.'] +Decrease your altitude to 200 meters.,['{', ' "action": "fly",', ' "params": {', ' "speed": 10.5,', ' "altitude": 200,', ' "direction": {', ' "type": "str",', ' "value": "down"', ' },', ' "duration": 10,', ' "unit_speed": "m/s",', ' "unit_altitude": "meters",', ' "unit_duration": "seconds"', ' }', '}'];['3; Partially conform. The JSON structure provided does match the action of \'fly\' and the parameter of \'altitude\' being 200m. However, the direction is indicated as "down" which does not match possible value in the sample ontology, and the "speed" and "duration" values were not specified in the natural language command.'] +Descend until you reach an altitude of 200 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(Undetermined, Undetermined, 200)"', ' }', ' }', '}'];['5; The natural language command is perfectly matched with the JSON structure. The action and parameters are all correctly identified despite the latitude and longitude being undetermined. The JSON correctly recognizes the command as "navigate_to_point" and correctly assigns the altitude value of 200 to the coordinates parameter.'] diff --git a/evaluation/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV_SELECTED_5pct_for_manual_eval-HIST.png b/evaluation/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV_SELECTED_5pct_for_manual_eval-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..567c071a46960b5abec1fbd902078752e6512e31 GIT binary patch literal 46165 zcmeFa2UJz()-}BCiCs}qX_hD|0zpuEN$d?oY=}Sv6%?fxk*bN2jveVJDi)L=Dj?NJ zQK^aw;-LhDgMbGC;efP%u44?_d*3qN@sIZ(-}et4BRAKaviEuRde*bnTyxFky-9oZ zxY095GYm6s?V1&v8D>lp!;Ij3HxmElj?N=<{7cz>Z*OgX z3^{y7(~)5k{#?7_r!9xWnk)97d|4O#;jff;BjZnP)!L*x(OP)>-Cfp?My%MfZ{#Uk z-$|UOGrZ*kCa>SMxo+G1fYV8{&SYKLtm`)?>xZ$vb8bg3KL5+a83%{@9Fs0E8S`^V z%ZdEAOTBw_O56(HUvaGiO-UU&Ueclq-D`}ddOj=ubfI(5&ydBm5$;oq}< zt{y-5SFJh2d4qpre)#FD7bkyvk{BcjJ<_ z^K~Lbxe+dwrg6HG(zwFlYmC>#q+x@9J?V8P$B1dWxH?eWql5e8jO6M_4Y!&5MF!tt 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0000000..a632af6 --- /dev/null +++ b/evaluation/evaluations/UAV/GPT4/Evaluated_JSON_commands_GPT4_UAV_SELECTED_5pct_for_manual_eval.txt @@ -0,0 +1,53 @@ +;;Human; +"906: Descend to an altitude of 100 feet and hold for 5 minutes.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 300.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 100.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""feet""', ' }', '}']";5;5;" Exactly conform. The natural language command perfectly matches the JSON structure. The 'hover' action is correctly recognized, and the duration and altitude parameters are also matched correctly.""]" +"264: Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 1,', ' ""angle"": 360,', ' ""is_clockwise"": true,', ' ""unit"": ""degrees""', ' }', '}']";0;2;" The natural language command requests complex maneuvers including rolls and loops that are not included in the JSON action keys provided. The action ""rotate"" in the JSON structure does not match with the degree of maneuvers in the command.']" +"47: Please arrive at the pre-assigned landing area.,{', ' ""action"": ""land"",', ' ""params"": {', ' ""location"": {', ' ""type"": ""tuple"",', ' ""value"": ""(latitude, longitude)""', ' }', ' }', '}']";4;5;" The command ""Please arrive at the pre-assigned landing area"" implies landing but doesn\'t provide specific coordinates for the location. However, the JSON structure correctly presents the action as ""land"", with the parameters for location not specified, which is acceptable in this case.']" +"119: 3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second.,{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 30,', ' ""angle"": 360,', ' ""is_clockwise"": true,', ' ""unit"": ""degrees""', ' }', '}']";5;5; Exactly conform. The natural language command accurately corresponds to the given JSON structure. All the parameters such as action, angular_velocity, angle, is_clockwise and unit are correctly provided. The values for these keys perfectly match with the command as well.'] +"224: Descend and touch base at the assigned landing zone.,{', ' ""action"": ""land"",', ' ""params"": {', ' ""location"": {', ' ""type"": ""tuple"",', ' ""value"": ""(latitude, longitude)""', ' }', ' }', '}']";5;5; Exactly conform.'] +"241: Go up to a height of 1000 feet and keep your position steady for 10 minutes.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 600.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 304.8', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;5; The command conforms to the JSON structure but the units do not match. The command specifies feet and minutes, whereas the JSON structure specifies meters and seconds.'] +"457: Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,This action is not within the ontology, hence it can't be returned as a json.""]";0;5;" The command does not match any existing ontological structure as there is no action to 'fly in a serpentine pattern'.""]" +"306: Proceed straight ahead for a distance of 500 meters, then execute a precise right turn.,{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(500, 90)""', ' }', ' }', '},', '{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 0.5,', ' ""angle"": 90,', ' ""is_clockwise"": true,', ' ""unit"": ""degrees""', ' }', '}']";2;2.5;" The \'navigate_to_point\' action is not being used correctly. The coordinates provided ""(500, 90)"" do not make sense in the context of navigating straight ahead for 500 meters. \'Rotate\' action seems to be appropriate for executing a precise turn.']" +"686: Bring yourself down to an altitude of 500 meters.,{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(0, 0, 500)""', ' }', ' }', '}']";2;4;" The natural language command specifies an action to decrease altitude, but it does not imply navigation to a specific coordinate point. Therefore, ""navigate_to_point"" is not the most accurate action. The correct action type could potentially be ""fly"" or ""hover"" but the value for altitude is correct (500).']" +"543: Reach a height of 500 meters.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 10.5,', ' ""altitude"": 500,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""up""', ' },', ' ""duration"": 10,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";4;5;" The JSON structure mostly aligns with the given natural language command. The ""altitude"" and ""unit_altitude"" in the JSON correctly matches ""a height of 500 meters"" from the command. However, in the ""fly"" action, there is no direction value ""up"" as per the sample keys. Also, parameters like ""speed"", ""direction"" and ""duration"" are mentioned in the JSON structure which were not specified in the command.']" +"196: Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second.,{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 45,', ' ""angle"": 270,', ' ""is_clockwise"": false,', ' ""unit"": ""degrees""', ' }', '}']";5;5; Exactly conform.'] +"420: - Perform a sudden stop and hover for 2 minutes.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 120.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 50.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;5;" Somehow conform. The natural language command using ""minutes"" as a unit instead of ""seconds"" which is present in the JSON structure. The altitude is reasonable and the duration is correctly converted from 2 minutes to 120 seconds. However, the command of ""Performing a sudden stop"" does not exist in the JSON structure.']" +318: Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,This action is not defined in the ontology, so it cannot be converted into a corresponding JSON action.'];0;5; The natural language command does not correspond to any of the provided JSON structures as it includes details not covered by the given ontology ( figure-eight trajectory and combined distance).'] +"315: Fly in a figure-eight pattern with a total distance of 2 kilometers.,The action ""Fly in a figure-eight pattern"" is not in the ontology, thus it should be ignored.']";0;5;" The natural language command mentions an action (""fly in a figure-eight pattern"") that is not represented in the JSON structures given. Furthermore, the parameter ""total distance"" is also not represented in the JSON structures. As such, there is no match between the command and the JSON.']" +"26: Descend to an altitude of 200 meters.,{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(latitude_default, longitude_default, 200)""', ' }', ' }', '}']";3;5;" The JSON structure reflects a navigation action to a specific altitude which partially matches the natural language command of descending to a certain altitude. However, the ""navigate_to_point"" action isn\'t exactly the same as descending, and the addition of default latitude and longitude values in the JSON is not specified in the command.']" +"368: Move upwards until you reach a height of 500 meters above ground level.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 10.5,', ' ""altitude"": 500,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""up""', ' },', ' ""duration"": 10,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3;4;" The JSON structure partially matches with the command. The ""action"" is correctly identified as ""fly"" and the ""altitude"" is correctly given as 500. Also, unit of ""altitude"" is correctly identified as ""meters"". However, in the command, there\'s no specific speed, duration and direction provided but in the JSON, defaults are filled in. The ""direction"" field has a value ""up"" which is not seen in context of the provided ontology. Therefore, due to these mismatches, the score is decreased.']" +"648: Stay in one spot for a duration of 12 minutes.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 720.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;3;" The JSON structure correctly matches the 'hover' action specified in the natural language command. The duration is correctly converted from minutes to seconds. However, the altitude value is not mentioned in the natural language command, and 0.0 might not be a reasonable value for hovering. It may have been better to not include that property since it wasn't mentioned in the command.""]" +"885: Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 50.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""zigzag""', ' },', ' ""duration"": 3.6,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""hour""', ' }', '}']";2;3;" The natural language command does not match the JSON structure perfectly. The JSON structure interprets \'zigzag\' as a direction, but in the sample ontology, \'direction\' only accepts ""north"" as a valid value. Also, there\'s no key for distance, but instead, \'duration\' is used which is not exactly the same concept. The units in the JSON structure does not conform with the sample, which accepts m/s instead of km/h.']" +"45: Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 10.0,', ' ""angle"": 45,', ' ""is_clockwise"": false,', ' ""unit"": ""degrees""', ' }', '}']";5;5; Exactly conform.'] +"942: Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area.,{', ' ""action"": ""land"",', ' ""params"": {', ' ""location"": {', ' ""type"": ""tuple"",', ' ""value"": ""(default_latitude, default_longitude)""', ' }', ' }', '}']";0;2.5; No conformity. The provided JSON structure does not match with the natural language command as it does not include the information about maintaining a speed or a distance which is essential for the command. The JSON structure simply describes an action to land at a certain location, not about moving forward or maintaining a certain speed.'] +"308: Move ahead for 500 meters and perform a quick right turn.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 10.5,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""North""', ' },', ' ""duration"": 500 / 10.5,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";1;4;" The JSON structure does not fully conform with the natural language command given. The command specifies a ""quick right turn"" which would suggest a ""rotate"" action, however, the JSON structure only includes a ""fly"" command.']" +"486: Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 20.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""circular""', ' },', ' ""duration"": 10,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";2;4;" While the JSON structure does match the action (""fly"") and speed parameters of the natural language command, it does not reflect the command to fly in a circular path with a specified radius. Also, the direction value given in the JSON is ""circular"", which is not conform with the available ontology. The duration value in the JSON is also not mentioned in the command.']" +"816: Go down to a height of 200 meters.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 10.5,', ' ""altitude"": 200,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""down""', ' },', ' ""duration"": 10,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";1;3;" The JSON structure contains the ""fly"" action, but the direction ""down"" doesn\'t align with the sample ontology where the direction could be a string such as ""north"". The altitude value is mentioned correctly. However, the natural language command does not specify ""speed"" or ""duration"", but these values are assumed in the JSON structure. The natural language command seems to be more suitable for a ""navigate_to_point"" action with an altitude parameter only, rather than a ""fly"" action, but the exact coordinates are not given in the command.']" +"254: Maintain a stationary position and capture aerial photographs of the surrounding area.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 60.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 100.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";3;5;" The ""hover"" action in the JSON does align with the natural command of maintaining a stationary position, and the altitude and duration values (100.0 meters, 60.0 seconds) are reasonable. However, the command to capture aerial photographs of the area does not have a matching JSON structure in the given examples.']" +"464: Move upward and maintain a height of 1000 feet.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 10.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 304.8', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;5;" This JSON structure does align with the command given. The action is to ""hover"", which represents moving upwards and maintaining height. The altitude value of 304.8 meters is correctly converted from 1000 feet. However, it loses one point because the duration of the hover action is arbitrarily specified in JSON, but not mentioned in the command.']" +"194: Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second.,{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 45.0,', ' ""angle"": 270,', ' ""is_clockwise"": false,', ' ""unit"": ""degrees""', ' }', '}']";5;5; Exactly conform.'] +"492: Climb to a 1500-foot altitude.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 10.5,', ' ""altitude"": 1500,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""up""', ' },', ' ""duration"": 10,', ' ""unit_speed"": ""m/s"",', ' ""unit_altitude"": ""feet"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3.5;4;" Partially conform. The action and parameters are all correctly identified, but the 'direction' value is not part of the sample ontology for the 'fly' action. There's no specification for direction in the ontology sample for 'fly'. Instead, changing altitude already implies the direction, so the 'direction' key is unnecessary.""]" +"139: Remain stationary in the same spot for a period of 35 minutes.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 2100.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";3.5;4;" The command and JSON structures are partially matched. The action ""hover"" matches correctly but the duration value in the JSON structure is in seconds, not in minutes as specified in the command. Also, the altitude value is not specified in the command, but it is presented in the JSON structure.']" +"619: Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 80.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""north""', ' },', ' ""duration"": 180,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";2;4;" The command asks to move forward for a specific distance (4 km) not a specific duration. Also, the direction ""north"" in the JSON doesn\'t match with the command which doesn\'t specify any direction. The value ""80.0"" for speed, and the ""unit_speed"" as ""km/h"" does conform with the command.']" +"357: Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 30,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""forward""', ' },', ' ""duration"": 60,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";3;5;" The ""fly"" action is correctly identified and the speed is correctly mapped to 30 in the JSON structure. However, the unit of speed is specified as kilometers per hour (km/h) in the command while the unit_speed in the JSON structure is given as meters per second (m/s) which is incorrect. The direction is correctly given as forward but the duration in the JSON structure doesn\'t correspond to any information in the command. Moreover, the command mentions travelling a certain distance (500 meters) which is not represented in the JSON structure. Thus, the JSON partially matches the command.']" +"649: Remain stationary for a period of 12 minutes.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 720.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;3;" The natural language command aligns with the ""hover"" action in the JSON structure. However, the specified duration in the JSON needs to be adjusted to match the command (12 minutes should convert to 720 seconds not 1200), so it is not an exact match. An altitude level is also included in the JSON structure, which wasn\'t specified in the natural language command.']" +"598: Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 55.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""forward""', ' },', ' ""duration"": 2.5,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""kilometers""', ' }', '}']";2;3;" The natural language command and the JSON structure somewhat conform. The 'action' key and 'speed' parameter correspond perfectly. But there is a mismatch in 'duration' parameter as it is expected to be in time format as per given JSON structure but it is given in distance format in the command. Also, there is no provision for directional value as 'forward' in the JSON structure provided.""]" +"405: - Hover in place while capturing photos for 20 minutes.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1200.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 50.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;5;" The JSON partially conforms to the command. The ""hover"" action, ""duration"" parameter, and unit types (""seconds"", ""meters"") are all correct. However, the command mentions capturing photos, which is not represented in the JSON at all. Also, the JSON duration value of 1200 seconds does not match the command\'s duration of 20 minutes.']" +"291: Maintain a hovering position and deploy a payload at a designated release zone.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 30.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 70.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";0;5;" The JSON structure provided does pertain to a ""hover"" action which is mentioned in the natural language command, however, there are important elements in the command that are not represented at all in the JSON structure, such as ""deploy a payload"" and ""designated release zone"". Additionally, the specifics of the hover action, such as the duration and altitude, do not need to match exactly but there are no details given in the command about these elements so the conformity of this part of the JSON cannot be assessed.']" +"89: Levitate motionlessly for 25 minutes.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1500.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 50.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;5;" The natural language command aligns with the JSON structure, specifically under the ""hover"" action. The ""duration"" parameter in the command is 25 minutes, which is expressed in the JSON as 1500 seconds (25 minutes * 60 seconds/minute). However, the command does not specify the altitude, and the JSON structure filled in with a reasonable, but unrelated value of 50 meters. So, although the JSON action and duration conforms to the command, the altitude does not match exactly, leading to a point deduction.']" +"168: Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees.,{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 40,', ' ""angle"": 90,', ' ""is_clockwise"": true,', ' ""unit"": ""degrees""', ' }', '}']";5;5; Exactly conform.'] +"380: - Fly backward at a speed of 40 km/h for 1 kilometer.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 40.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""backward""', ' },', ' ""duration"": 90,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";2;5;" The natural language command instructs to ""fly backward at a speed of 40 km/h for 1 kilometer"" while in the JSON structure, the \'direction\' key has the value ""backward"", the \'speed\' key has the value of 40.0 and the \'unit_speed\' has the value ""km/h"", which match the instructions. However, the \'duration\' key in the JSON structure doesn\'t have a matching instruction in the natural language command. Furthermore, the command\'s request to ""fly ... for 1 kilometer"" doesn\'t conform with the \'altitude\' key in the JSON structure. Hence, the majority of the JSON keys don\'t match with the natural language command.']" +"472: Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1200.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 100.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";4;5;" The action and the duration parameters in the JSON structure match the command. The altitude parameter is not specified in the command but a reasonable value is given in the JSON, which is acceptable. The command mentions capturing images, which is not represented in the JSON. Therefore, it's not a complete match.""]" +"973: Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second.,{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 0.5,', ' ""angle"": 180,', ' ""is_clockwise"": true,', ' ""unit"": ""degrees""', ' }', '}']";4;4;" The action matches and the provided parameters (""angle"" and ""is_clockwise"") are correct. However, the ""angular_velocity"" in the JSON structure does not match the speed specified in the command.']" +"183: Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 65.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""north""', ' },', ' ""duration"": 10,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";2;3; The JSON structure partially matches with the natural language command but several key elements are missing or mismatched. The command specifies a distance and speed, whilst the JSON includes an altitude, duration and direction that aren’t mentioned in the command. Moreover, the speed unit in the command is in kilometers/hour whereas in JSON it is meters/second.'] +"825: Go in a circular route around a specific spot for half an hour.,The action ""Go in a circular route around a specific spot for half an hour."" is not defined in the current ontology. Therefore, no action can be returned.']";0;1;" Justification: The ontology does not include support for a natural language command to ""go in a circular route around a specific spot for half an hour."" The ontology includes actions like: navigate_to_point, fly, hover, rotate, and land. There is no action for moving in a circular route. Therefore, the command cannot be converted to a JSON.']" +"161: Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 55.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""north""', ' },', ' ""duration"": 10,', ' ""unit_speed"": ""mph"",', ' ""unit_altitude"": ""miles"",', ' ""unit_duration"": ""seconds""', ' }', '}']";2;3;" The natural language command instructs the device to move ahead for 7 miles at a speed of 55mph, while the JSON structure executes a 'fly' action, but the direction is set as 'north' instead of 'ahead'. There is no information in the JSON structure about distance, only duration. The units of speed match ('mph') but the unit of altitude in JSON is in 'meters' instead of 'miles' as mentioned in the command. Also, the speed, duration and altitude values in JSON are different from what is mentioned in the command.""]" +"37: Stay stationary for a duration of 15 minutes.,The action ""Stay stationary for a duration of 15 minutes"" is not supported as per the ontology. Therefore, there is no JSON object generated for this action.']";0;0;" The provided natural language command does not match with any of the actions specified in the JSON structures. The command to stay stationary could be seen as an instruction to ""hover"", but the unit of duration in the command is in minutes, while the unit specified in the ontology is in seconds, causing a mismatch.']" +"638: Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 60.0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""forward""', ' },', ' ""duration"": 2.7,', ' ""unit_speed"": ""km/h"",', ' ""unit_duration"": ""km""', ' }', '}']";2;3;" The command and the JSON structure partially match. Both suggests a flying action with a certain speed. However, the direction in the JSON should be ""straight"" instead of ""forward"". Also, the duration should be a time length instead of a distance. Therefore, the unit of duration should be a unit of time such as \'hours\', instead of \'km\'.']" +"553: Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees.,{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 20.0,', ' ""angle"": 180,', ' ""is_clockwise"": true,', ' ""unit"": ""degrees""', ' }', '}']";5;5; Exactly conform.'] +"882: Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 50.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""north""', ' },', ' ""duration"": 216,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";1;4;" The command includes \'zigzag maneuver\' which has no corresponding action in the JSON templates provided. The speed specified also does not match the ""unit_speed"" as ""km/h"" instead of ""m/s"". Furthermore, the duration is calculated as seconds to cover 3 kilometers, but it is not mentioned in the command.']" +"744: Increase your elevation to 500 meters.,{', ' ""action"": ""navigate_to_point"",', ' ""params"": {', ' ""coordinates"": {', ' ""type"": ""tuple"",', ' ""value"": ""(0.0, 0.0, 500)""', ' }', ' }', '}']";2;4;" The natural language command is being partially mapped in the provided JSON structure where an elevation change is being requested but the action is ""navigate_to_point"" where in reality no actual navigation is specifically requested in the command. So the action key is not very consistent with the original natural language command. Moreover, the ""coordinates"" are provided as (0.0, 0.0, 500) which means that the drone would move to this coordinate not just increase its altitude. Thus, it may change its location too, which is not in the command.']" +"932: Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 25.0,', ' ""duration"": 144.0,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""unknown""', ' },', ' ""unit_speed"": ""mph"",', ' ""unit_duration"": ""seconds"",', ' ""altitude"": 100,', ' ""unit_altitude"": ""meters""', ' }', '}']";1;4;" The JSON structure partially matches the natural language command. The ""fly"" action and parameters such as ""speed"", ""duration"", ""unit_speed"", ""unit_duration"", ""altitude"", and ""unit_altitude"" are present in both. However, the natural language command specifies a ""serpentine flight maneuver"" which have no corresponding action or parameter in the ontology. Also, the ""direction"" value in the JSON is ""unknown"", which does not match with the command. Finally, the command specifies a distance, not a duration for the action.']" +"597: Fly forward for 2.5 kilometers at a speed of 55 km/h.,{', ' ""action"": ""fly"",', ' ""params"": {', ' ""speed"": 55.0,', ' ""altitude"": 100,', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""forward""', ' },', ' ""duration"": 10,', ' ""unit_speed"": ""km/h"",', ' ""unit_altitude"": ""meters"",', ' ""unit_duration"": ""seconds""', ' }', '}']";2;4;" The direction specified as ""forward"" doesn\'t correlate with the sample ontology where the direction should be something like ""north"", ""south"", etc. Furthermore, the duration isn\'t specified in the command but it\'s present in the JSON, so it’s not perfectly conforming.']" +"113: Maintain a fixed position for the next half an hour.,{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 1800.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 50.0', ' },', ' 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Also, the unit of measurement 'feet' is not present in the example JSON structures."] +Increase the elevation to a height of 500 feet.,['The response is 500.'];['0; The natural language command does not correspond to any of the provided JSON structures. The execution of increasing elevation or height is not specified in the JSON samples provided.'] +Climb to a height of 500 feet above ground.,['The response is 500.'];["0; The provided JSON structure(s) does not contain any matching information with the natural command. There is no 'climb' action or a parameter to denote 'feet' in the JSON structure."] +Reach an altitude of 500 feet above sea level.,['The response is 500.'];['0; The given natural language command REFERENCES an action (changing altitude), but the corresponding JSON structure or similar action is not present in the given sample ontology.'] +Ascend to a height of 500 feet in the air.,['The response is 500.'];["0; The JSON structure doesn't match the provided command. The command talks about ascending to a certain height, but none of the given JSON structures have a corresponding action key to represent that operation. The value of altitude is also in feet in the command, while in the JSON structures altitude is measured in meters."] +Fly forward for 1 mile at a speed of 40 mph.,['The response is ', 'Fly forward for 1 mile at a speed of 40 mph.'];['0; The provided JSON does not match with the sample ontology. The "fly" action in sample ontology uses units of "m/s" for speed, "meters" for altitude and "seconds" for duration whereas in the command the units are "mph" and "mile" which are not supported. Also, direction parameters are missing in the command and the JSON has values which are not meaningful.'] +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile.,['The response is 40 miles.'];['0; The natural language command does not conform to any of the action keys ("navigate_to_point", "fly", "hover", "rotate", "land") in the sample ontology. Furthermore, the parameters mentioned ("velocity", "distance") and their units ("miles per hour", "mile") do not match with any parameter in the JSON structures. The JSON response provided has no relation to the command and is incorrect.'] +Travel in a straight line for 1 mile, maintaining a speed of 40 mph.,['The response is 1 mile.'];["0; The natural language command and the JSON doesn't match. The action performed along with its params are not one of the examples in the JSON structures. Moreover, the unit of measurement given in the natural language command (mph, mile) are not present in the sample keys (m/s, meters)."] +Move forward for a distance of 1 mile, traveling at a speed of 40 mph.,['The response is 1 mile.'];['0; The provided JSON structues do not include a "move forward" action or parameters related to distance or speed in miles or miles per hour, so the natural language command does not conform to the sample ontology.'] +Cover a distance of 1 mile by flying forward at a velocity of 40 mph.,['The response is 1 mile.'];['0; The natural language command corresponds to an action of flying with a certain speed, but the provided JSON structures do not offer a parameter for distance, nor units matching the "mile" or "mph" units mentioned in the command. Therefore, there is no conformity.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The action command matches ("hover"), but the values for duration and altitude are incorrect. The duration should be computed in seconds (600), but the given is 60. Also hovering in place implies retaining current altitude while the JSON denotes the altitude value as zero.'] +Stay still for a duration of 10 minutes.,['The response is 10.0.'];['0; The given JSON structures do not contain any action that corresponds to the command "Stay still", so there is no match. The duration parameter is also incorrectly represented in the JSON response.'] +Maintain a hovering position for the next 10 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 10.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The action is correctly identified as "hovering", and the duration key is correctly specified. However, the original command does not provide information about altitude, therefore a zero value is not acceptable. Furthermore, the duration unit should be "minutes" according to the command but it\'s "seconds" in the JSON.', '', ''] +Remain suspended in one spot for a period of 10 minutes.,['The response is 10 minutes.'];["1; The provided JSON structure is just a string, whereas the commands in the ontology should be formatted as an action object with parameters. The command partially relates to the 'hover' action, but it does not provide a duration in the correct format of seconds nor does it provide an altitude."] +Hold a stationary hover for the next 10 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 10.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The "action" and "unit_duration" keys are correctly filled, but the "duration" value in the JSON structure is incorrect. It should be 600 seconds (10 minutes), not 10 seconds.'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['The response is:'];["4; The action 'rotate' matches as well as the parameters 'is_clockwise' and 'angle'. However, 'angular_velocity' does not match '20 degrees per second' as it does not adhere to the value in the JSON structure which is 0.5"] +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['2; The JSON information partially matches with the command. The "action" field matches as both are rotate. However, the "angular_velocity" value in the JSON structure does not match the rotation speed specified in the command. Additionally, the "angle" in the JSON structure does match the one specified in the command.'] +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn.,['The response is ', ''];["0; The provided JSON structure does not include a 'rotate' action with the specified parameters such as 'angular_velocity' with a value of 20, 'angle' of 180 degrees, and 'is_clockwise' as true."] +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second.,['The 180-degree clockwise rotation at a rate of 20 degrees per second would take 180/20 = 9 seconds.'];['0; The provided JSON structure does not specify any action named "rotate" with the parameters "angular_velocity", "angle" and "is_clockwise". So, there is no match between the command and the JSON representation.'] +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees.,['The response below conforms to the request.', ''];['3; The JSON structure partially matches the natural language command. The "action" is correctly identified as "rotate", the "is_clockwise" parameter is correctly identified as true, and the action type / value of "angle" is given as 180. However, the "angular_velocity" in the natural language command is not the same as the one in the JSON structure, as the command specifies a velocity of 20 while the JSON specifies 0.5.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Please ensure you touch down safely at the specified landing area.,['The response is ', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194)"', ' }', ' }', '}'];['5; Exactly conform. The command \'Please ensure you touch down safely at the specified landing area\' maps perfectly to the JSON structure for the "land" action. Even though the specific location is not provided in the command, any reasonable value is accepted as per the instructions.'] +It is essential that you land at the designated land zone.,['The response is:'];['4; The command asks for the action "land" which exists in the JSON structures provided. However, exact "location" parameters are not specified in the natural language command, but the command implies a specific landing location is required. So some information is missing but in general it meets the structure of the JSON.'] +Make sure you reach the assigned landing zone for landing.,['The response is acceptable.'];['2; The JSON structure has a "land" action but it\'s not fully conform to the command as it does not specify the "location" parameter which is required for landing according to the sample keys. A more precise location might have increased the score.'] +Ensure your landing takes place at the specified landing area.,['The response is accepted.'];["0; The command implies a 'land' action but no specific parameters such as 'location' value are given. Also, the provided JSON does not match the sample keys and structure."] +Descend to an altitude of 200 meters.,['The response is ', ''];['0; The provided JSON structures do not contain an action to descend to a specific altitude, thus there is no conformity with the natural language command.'] +Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'];["0; The natural language command refers to changing the altitude, but there's no corresponding action available in the given JSON structure for adjusting the altitude directly."] +Lower yourself to an altitude of 200 meters.,['The response is 200.'];['1; The command contains an action ("lower yourself") and a parameter ("altitude of 200 meters") but these are not reflected in the provided JSON structure. The closest possible match could be the "fly" or "hover" action with setting the "altitude" parameter to 200, but the actual lowering action is not defined in the sample keys.'] +Descend until you reach an altitude of 200 meters.,['The response is ', ''];['0; The provided JSON structures do not contain an action or parameters for descending to a specific altitude.'] +Bring your altitude down to 200 meters.,['A: Bring your altitude down to 200 meters.'];["0; The provided command doesn't match any of the action types in the sample JSON structures."] +Fly forward for 3 kilometers at a speed of 80 km/h.,['The response is ', 'Fly forward for 3 kilometers at a speed of 80 km/h.'];['0; None of the JSON structures match the command. The "Fly" action does not have parameters for distance or converting speed to km/h.'] +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['The response is 3 kilometers.'];['0; The JSON structures provided do not contain any action or parameters that would correspond with moving in a direction for a certain distance at a specific speed.'] +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h.,['The response is 3 kilometers.'];["0; The JSON structure(s) doesn't include any actions or parameters relevant to the command's request to travel a certain distance with a specific velocity."] +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['The response is 3 kilometers.'];['1; The command asks for a movement with a specified distance and speed, which is partially covered in the "fly" action from the JSON structures. However, it does not align with the provided sample since the JSON does not have any "distance" parameter and the "speed" unit in the JSON structure is "m/s", not "km/h".'] +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h.,['The response is:'];['0; The provided JSON structures do not support the action of flying in a straight line for a certain distance or at a specified speed in km/h. The "fly" action requires parameters for speed, altitude, direction, duration, and units for each, none of which are fully specified in the natural language command.'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The structure of JSON is correct, but the value for "duration" does not match with the natural language command. The command specifies "15 minutes" but the JSON indicates "15.0 seconds". Also, the command does not specify an altitude, while the JSON structure does.'] +Stay stationary for a duration of 15 minutes.,['The response is 15.0.'];['1; The action in the command is somewhat represented in the JSON structure (hover), however, the duration is mismatched with the natural language command stating 15 minutes, and the JSON showing a value of 15 with the unit in seconds. The unit of time in the command does not match with the JSON.'] +Maintain a hovering position for a period of 15 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 15.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The duration value in the natural language command is said to be minutes, but in the JSON structure it's in seconds. It is also missing the value for altitude."] +Remain suspended in one place for 15 minutes.,['The response is 15.0.'];["0; The JSON structure does not correspond to the natural language command. The command indicates a 'hover' action which requires 'duration' parameter with 'unit_duration' in minutes. However, the provided JSON does not include an action 'hover', nor does it specify 'unit_duration' in minutes."] +Hold in mid-air without moving for 15 minutes.,['The response is ', ''];['1; The natural language command is implied to require the action "hover", however, the duration parameter is not correctly matched in the JSON structure as the unit for duration is in seconds not minutes.'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['The response is:'];['3; The action "rotate" is correctly identified, and the angle matches. However, the "is_clockwise" parameter is mentioned in the command yet its value is opposite of what\'s in the JSON structure. The "angular_velocity" does not match (10 vs. 0.5 given).'] +Turn left at a rate of 10 degrees per second for a duration of 45 degrees.,['The response would be:'];['3; The JSON structure partially matches the natural language command. In the command, "Turn left at a rate of 10 degrees per second for a duration of 45 degrees", it is indicated that an action of rotation should be performed (matching the "rotate" action in JSON). The "angular_velocity" parameter is also given, but the term "duration" is misused here as the JSON ontology suggests it should be a unit of time not degrees. Additionally, the fact that the action should be performed to the left suggests counterclockwise rotation, which is the opposite of the "is_clockwise" key provided in the JSON structure.'] +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second.,['The response is ', ''];['3; The action "rotate" and parameter "angle" matches with the given JSON structure. Further, an \'angular_velocity\' as a parameter is also presented. However, the direction of rotation (counterclockwise) contradicts the "is_clockwise": true value in the JSON structure. The value given for "angular_velocity" in the command does not match the sample value in the JSON, but this is acceptable as any reasonable value is allowed.'] +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees.,['The response is:'];['4; The natural language command matches well with the JSON structure for the "rotate" action. However, the "is_clockwise" parameter value should be false for anticlockwise rotation. Despite not explicitly stated, the JSON structure implies that a rotation is clockwise when "is_clockwise" is true. The values of "angular_velocity" and "angle" are not exact but within reason, hence they are accepted.'] +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,['The response would be:'];["4; The command mostly matches the JSON structure for 'rotate'. The angular velocity matches with the value of 10-degree turn per second, however there's no key to denote the direction of rotation in the JSON structure. Also, instead of giving 'is_clockwise' as false, the language command mentioned counterclockwise which could be assumed as false. The command asks for a 45-degree rotation which matches the 'angle' parameter but the JSON structure does not have a field for turn direction."] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["5; Exactly conform. The command clearly directs for the 'land' action at a location which is supposed to be in the format of a tuple (latitude, longitude), which aligns perfectly with the provided JSON structure."] +Please arrive at the pre-assigned landing area.,['The response is, "Okay."'];['0; The command "Please arrive at the pre-assigned landing area." does not match with any available JSON structures as there is no provided information about any action or its corresponding parameters.'] +Make your way to the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; The natural language command "Make your way to the specified landing zone." corresponds exact to the "land" action in the JSON structure were a location is specified for landing.'] +Ensure you land at the designated landing spot.,[''];['1; The natural language command implies a "land" action at a specific location, and while the sample keys do encompass a "land" action, the JSON structure provided does not include a specific location or coordinates, so the command does not conform fully.'] +Please touch down at the designated landing area.,['The response is,'];['0; The natural language command is asking for a landing to occur, but the JSON structure provided does not specify a location for the landing, which does not match the provided sample ontology for the "land" action.'] +Ascend to an altitude of 1000 feet.,['The response is 1000.'];['0; The provided JSON structure does not contain any action and parameters that relate to ascending to an altitude. Therefore, the natural language command does not conform to the sample keys.'] +Climb to a height of 1000 feet.,['The response is 1000.'];['0; The natural language command requests an action ("climb to a height") that does not exist in the sample keys of the ontology. Also, the JSON structure provided does not match the command in any manner, making it impossible to interpret the command into the given JSON structures.'] +Reach an elevation of 1000 feet.,['The response is 1000.'];["0; The natural language command is asking for the action of reaching an elevation, however, there is no corresponding action for this in the JSON structures provided. Furthermore, the use of 'feet' as the unit of measurement does not conform with the 'meters' unit provided in the JSON structures."] +Go up to an altitude of 1000 feet.,['The response is 1000.'];['0; The provided JSON structures do not contain any action related to altitude modification or settling to a certain height, hence the natural language command does not match any existing ontology in the JSON actions.'] +Achieve a height of 1000 feet.,['The answer is 1000.'];["0; The provided JSON structure does not conform to the natural language command as there's no action or parameter pertaining to 'achieving a height' in the sample keys. The JSON snippet also seems to have irrelevant information."] +Fly forward for 2 miles at a speed of 45 mph.,['The response is ', 'Fly forward for 2 miles at a speed of 45 mph.'];['0; The given JSON structure does not match the natural language command. The command involves flying a specific distance in a specific direction at a certain speed but the JSON structure does not provide details about speed, distance, or direction. Furthermore, the units in the command (miles, mph) are not acknowledged in the JSON structure.'] +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph.,['The response is 2 miles.'];['0; The provided command refers to an action of moving straight ahead for a certain distance and speed, but no equivalent action or parameters are present in the provided JSON structures.'] +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph.,['The response is 2 miles.'];['0; The JSON structure provided does not correlate with the natural language command. There is no action, param, or key for the units used in the command (miles, mph), nor for maintaining a straight line course.'] +Fly ahead for 2 miles while moving at a speed of 45 mph.,['The response is, "Fly ahead for 2 miles while moving at a speed of 45 mph."'];['1; The natural language command refers to a flight action. However, the provided JSON structure does not perfectly represent the command. The action "fly" is present, although the parameters "speed" and "distance" are not perfectly reflected. The command mentions a distance of 2 miles without a respective JSON field, and speed in mph while JSON outlines speed in m/s.'] +Maintain a speed of 45 mph while flying forward for a distance of 2 miles.,['The answer is 45 mph for 2 miles.'];['0; The command provided does not conform to any of the provided JSON structures. The "fly" action in JSON could be closest, but it does not have parameters for distance or unit of speed in \'mph\'.'] +Hover in place for 20 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure corresponds to the "hover" action, but the duration value and unit are not accurately matching the natural language command. The command states to hover for 20 minutes but the JSON presents the duration as 120 seconds. Also, the altitude value is introduced in JSON despite not being specified in the command.'] +Remain stationary for a period of 20 minutes.,['The response is 20.0.'];['0; The provided JSON does not match with any of the sample JSON structures provided. The command \'Remain stationary for a period of 20 minutes\' would more closely align with the "hover" action, but the duration is not provided in the correct units (seconds, not minutes) and there is no mention of altitude, which is a required parameter in the hover action. Therefore, it does not conform to the sample ontology.'] +Stay suspended in one spot for a duration of 20 minutes.,['The response is 20.0.'];['2; The natural language command partially matches with the "hover" action JSON structure. However, the duration unit in the command is in "minutes", whereas in the JSON structure it\'s represented in "seconds". Furthermore, the JSON structure provided does not contain any value.'] +Keep still for 20 minutes while floating in the air.,['The response is ', ''];['0; The provided JSON structure does not match with the given natural language command. There is no JSON structure for the action "keep still" or "floating in the air" in the given sample keys.'] +Hold position for 20 minutes without moving.,['The response is 20 minutes.'];["0; The JSON structures provided do not have a corresponding action or params for the natural language command. None of the actions (navigate_to_point, fly, hover, rotate, land) match the description 'Hold position for 20 minutes without moving', nor do they hold a parameter resembling time in minutes."] +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second.,['The response is:'];['4; The basic action "rotate" is followed correctly with the right field names: "angle", "is_clockwise", and "angular_velocity". However, the "angular_velocity" in the command (15 degrees per second) does not match the provided JSON structure (0.5).'] +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second.,['The response is ', ''];['2; The action "rotate" matched correctly as well as the "angle" and "is_clockwise" parameters. However, instead of "angular_velocity", the command is using the term "speed", and the value for this parameter (15 degrees per second) is different from the one in the JSON structure (0.5).'] +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second.,['The response is ', ''];['0; The provided JSON structure is incomplete and irrelevant to the natural language command. There is no JSON action for the rotation as stated in the command nor any fields to hold the information for rotation rate and direction.'] +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second.,['The response is ', ''];['4; The natural command "Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second" mostly corresponds to the JSON structure for the action "rotate." However, the angular velocity parameter in the JSON structure is 0.5, but the natural language command specifies an angular velocity of 15, hence the point deduction.'] +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second.,['The response is ', ''];['4; The JSON structure mostly conforms to the command. The action "rotate" matches with the command. The parameters "angle", "is_clockwise" and "angular_velocity" align with the instructions in the command. However, the "angular_velocity" in the JSON structure is different from the one mentioned in the command (0.5 vs 15). The unit of the angular velocity is assumed to be in "degrees per second" even though it\'s not clearly mentioned in the JSON structure.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command "Land at the designated landing zone." corresponds to the action "land" in the JSON object and the parameters structure matches, even if the specific values aren\'t provided.'] +Please make a landing at the specified landing zone.,['The response is:'];['1; The natural language command asks for a landing at a specified zone, but no specific parameters for location coordinates are provided in the command. Therefore, the command doesn\'t entirely align with the JSON structure associated with the \'land\' action, which expects a location\'s "latitude" and "longitude" values.'] +Ensure that you land at the assigned landing zone.,[''];['2; The command requires the drone to land which is available in the JSON keys for action: "land". However, the parameters do not specify a location such as "assigned landing zone". The action "land" requires a tuple for location (latitude, longitude), which is not provided in the command. Hence the mismatch.'] +It is necessary for you to touch down at the designated landing zone.,['The response is:'];['4; The command is asking to land (\'touch down\') at a particular location (\'the designated landing zone\'), which aligns with the "land" action in the sample keys. The exact coordinates for the location are not specified in the command, but as per the rules, any reasonable value is accepted. However, the command does not specify \'action\' and \'params\' fields. Hence the score is 4 not 5.'] +The instruction is to land specifically at the assigned landing zone.,['The response is to land at the assigned landing zone.'];['1; The natural language command indicates an action of landing, which matches with the JSON structure. However, the specifics about the "assigned landing zone" (coordinates in the case of this sample ontology) are not given and not exact.'] +Descend to an altitude of 300 meters.,['The response is ', ''];["0; The command does not match any of the action keys in the JSON structures provided. There's no action for descending to a specific altitude."] +Lower your altitude to 300 meters.,['We lowered the altitude to 300 meters.'];['0; The provided JSON structure does not match with the natural language command. The command is asking to lower the altitude, however there is no action related to changing altitude in the given JSON structures.'] +Move down to an altitude of 300 meters.,['The response is:'];["0; The natural language command does not match any of the JSON structures provided. An action to move to a specific altitude isn't specified in the sample templates."] +Deescalate to a height of 300 meters.,['Deescalate to a height of 300 meters.'];['0; The natural language command mentions an action (deescalation) which does not exist in the sample keys of the provided JSON structures. Therefore, it cannot be converted to JSON based on the given samples.'] +Descend until you reach an altitude of 300 meters.,['The response is ', ''];["1; The command to descend could be linked to the 'action': 'fly' key, with the 'altitude' parameter being set to 300. However, the context of flying generally imparts the act of moving in a horizontal direction, and therefore may not fully align with the concept of descending vertically. Additionally, there is no specific action key for descending in the ontology, making conformity incomplete."] +Fly forward for 4 kilometers at a speed of 70 km/h.,['The response is ', 'Fly forward for 4 kilometers at a speed of 70 km/h.'];['0; The JSON structure provided is not relevant for the command. The "fly" action in the JSON has specific parameters (speed, altitude, direction, duration, unit_speed, unit_altitude, unit_duration), none of which matches the command. There is no accordance between the units (km and km/h in the command vs m, m/s and seconds in the JSON), the \'fly forward for 4 kilometers\' parameter cannot be fulfilled with the given JSON structure, and there\'s no reference to a \'70 km/h\' speed.'] +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour.,['The response is 4 kilometers.'];['0; The provided JSON structures do not have the necessary keys to fully represent the command. The command specifies a distance and a speed, but the JSON structures only account for speed, not distance. Also, the units used in the command ("kilometers", "kilometers per hour") do not match with unit speed in json "m/s".'] +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour.,['The response is 4 kilometers.'];['0; There is no JSON structure matching the natural language command. According to the sample ontology given, actions and parameters are not related to the command to travel forward at a certain speed for certain distance.'] +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour.,['The response is 4 kilometers.'];['1; The natural language command involves a "fly" action, but the distance to be covered is not part of the JSON structure. The speed mentioned in the natural language command is not in the correct units (it should be in m/s). Thus, the command somewhat matches the "fly" action but not completely.'] +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,['The response is ', ''];['0; The natural language command asks for an action of "fly" with parameters of distance and velocity, however, the provided JSON structures do not contain these specific parameters. The "fly" action in the JSON structures includes parameters for speed, altitude, direction, duration but not for distance or velocity of this type. Therefore, the command cannot be converted accurately to any of the provided JSON structures.'] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 125.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command asks to hover but does not specify the altitude, hence \'0.0\' value for altitude could be incorrect. Also, the unit of time in "duration" should be \'minutes\' as per the command, not \'seconds\'.'] +Stay suspended in one spot for a duration of 25 minutes.,['The response is 25.'];["2; The natural language command aligns partially with the 'hover' action in the ontology. The 'duration' parameter is mentioned, however, the unit of time is minutes in the command and seconds in the JSON. This inconsistency makes them only partially matched. The altitude parameter is not mentioned in the command, hence any reasonable value in the JSON is acceptable. Also, the JSON response provided doesn't match the format in the ontology and doesn't contain the expected information."] +Remain airborne without moving for a period of 25 minutes.,['The response below conforms to the request.', ''];["3; The command refers to the 'hover' action with a duration of 25 minutes. However, the 'duration' is represented in 'seconds' in the JSON structure, not minutes. The command also doesn't specify the 'altitude' which is a necessary parameter for the 'hover' action in the JSON structure."] +Levitate motionlessly for 25 minutes.,['Levitate motionlessly for 25 minutes.'];['0; The provided natural language command of "Levitate motionlessly for 25 minutes." cannot be mapped to any of the provided JSON structures as there is no "levitate" action present in the keys of the sample ontology. Additionally, the term "motionlessly" doesn\'t correspond to any parameters in the JSON structures.'] +Hold position without any movement for 25 minutes.,['The response would be:'];['0; The given command asks for a hover action for 25 minutes. However, there is no corresponding JSON structure present in the given examples. The "hover" command in the sample JSON has a "duration" specified in seconds, not minutes, which also doesn\'t match the natural language command.'] +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second.,['The response is:'];["3; The JSON structure partially conforms to the command. 'action' is correctly 'rotate', and 'angle' is correct at 135. However, 'angular_velocity' should be 25, and 'is_clockwise' should be false as the command is to rotate counterclockwise."] +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second.,['The answer is 135 degrees.'];['2; The JSON structure provided doesn\'t match the command well. While the "rotate" action is identified correctly, the "angular_velocity" mentioned in the command doesn\'t fit with the unit using in the provided structure (0.5 without the unit specified), and the direction of the rotation ("counterclockwise") is the opposite of what\'s specified in the provided structure ("is_clockwise": true). Lastly, the JSON struct doesn\'t represent an output, which is present in the provided JSON.'] +Turn left by 135 degrees with an angular speed of 25 degrees per second.,['The response is, "Turn left by 135 degrees with an angular speed of 25 degrees per second."'];['2; The JSON structure presents the "rotate" action which could potentially match the natural language command. However, the parameters in the command such as "angular_velocity" and "angle" do not match the values provided in the natural language command, and the command does not specify the rotation direction as clockwise or counterclockwise which is required in the JSON.'] +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second.,['The response is:'];["1; The natural language command talks about a 'rotate' action which is present in the sample keys, but there are several mismatches. The given rate of rotation doesn't match the 'angular_velocity' in the JSON structure. Also, the rotation is stated to be anticlockwise, which is the opposite of 'is_clockwise': true in the JSON structure. The angle of the rotation is well translated into the JSON."] +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second.,['The response is ', ''];['3; The JSON structure partially matches with the command. The "action" correctly corresponds to "rotate" and the "angular_velocity" argument generally matches the specified speed in the command. However, the "angle" includes more degrees in the JSON than specified in the command, and the JSON implies a "is_clockwise" rotation which contradicts the "counterclockwise" command. The "unit" matches.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; The command asks the drone to land at a specific location. The JSON structure corresponds to the "land" action and the "location" parameter is also mentioned, which matches the command perfectly.'] +Please ensure you land at the specified landing area.,['The response is ', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'];['1; The natural language command asks for landing at a specific area, however, the JSON structure does not specify any location and also includes an altitude in the location tuple, which is not accounted in sample provided.'] +Your objective is to touch down at the designated landing zone.,['The response is:'];['3; The given command asks for a landing action which is present in the sample keys. However, the specific landing zone or coordinates are not specified in the command, and thus, the JSON "location" cannot be filled with accurate information as per the natural language command. Still, a general "land" action could be taken from the command.'] +You are required to land at the assigned landing zone.,['The response is:'];['4; The command is related to the action "land" as per the JSON structure. However, the coordinates for landing are not provided in the command. Thus, the command does not fully match the JSON structure, which requires a "location" parameter which is missing.'] +Make sure you reach the designated landing area safely.,['The response is acceptable.'];["0; The natural language command doesn't match any JSON structure provided, thus the conformity score is 0."] +Ascend to an altitude of 1500 feet.,['The response is 1500.'];['0; The JSON structure does not match the natural language command. The JSON example does not contain an action for ascending or a parameter for adjusting altitude in feet.'] +Increase your altitude to 1500 feet.,['The response is 1500.'];["1; The JSON structure does not include any information about changing altitude independently. The 'altitude' key exists within 'navigate_to_point', 'fly', and 'hover' actions, but it is always tied to some other action. Additionally, the unit of altitude in the ontology is meters, not feet. Therefore, even though the parameter (altitude) is mentioned in the command, the usage is not in conformity with the JSON structures given."] +Climb up to a height of 1500 feet.,['The response is 1500.'];['0; The JSON structures provided do not contain an action or parameters that match with the natural language command. No keys in the provided sample ontology pertain to climbing or changing altitude to a specified amount.'] +Reach an elevation of 1500 feet.,['The response is 1500.'];["0; The given command and JSON structure don't match. Command requests for navigating to an elevation (altitude), but provided JSON doesn't represent this."] +Scale to a height of 1500 feet.,['A: Scale to a height of 1500 feet.'];['0; The natural language command does not match with any JSON command structures provided in the sample ontology.'] +Fly forward for 5 miles at a speed of 50 mph.,['The response is ', 'Fly forward for 5 miles at a speed of 50 mph.'];['0; The JSON structure does not match with the natural language command. The command involves parameters for distance and speed which are not represented in the JSON structures provided. Additionally, no "fly" action with "speed" parameter is provided in any suitable form in the ontology.'] +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles.,['The response is 50 mph for 5 miles.'];["0; The natural language command doesn't have a match in any of the provided JSON structures as there is no action for moving straight ahead with a specified velocity and distance."] +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles.,['The answer is 5.'];["0; The provided natural language command can't be matched to the provided JSON structures, mainly because there is no action that corresponds to traveling with a specified speed and distance in the sample ontology."] +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph.,['The response is 50.0.'];["0; There is no match in the provided ontology for the natural language command. The ontology doesn't have keys for moving a certain distance or maintaining a specific speed. The speed provided in the command is also not found in any of the JSON parameters."] +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph.,['The response is 5 miles.'];['0; The JSON structures provided do not support actions involving distance measurements in miles or speed in mph, hence the natural language command does not conform to the available JSON structures.'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; Although the natural language command and the JSON structure are consistent with the keys of the schema and match in the "hover" action, the units of the duration parameter do not match. The natural language command specifies 30 minutes, but the JSON specifies seconds for unit_duration.'] +Stay in one spot for a duration of 30 minutes.,['The response is 30.0.'];['1; The natural language command suggests an action that could be interpreted as "hover", but the JSON structure provided does not match the \'hover\' schema from the sample ontology. Additionally, the duration of "30 minutes" isn\'t represented in the JSON.'] +Maintain a fixed position for the next half an hour.,['The response is an empty array.'];['1; The JSON structures provided do not have an action or parameters that match the action of maintaining a fixed position for a significant duration as specified in the natural language command.'] +Remain suspended in mid-air for the next 30 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 1800.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The JSON structure includes an 'action' of 'hover' which aligns with the command of remaining suspended in mid-air. However, the specific duration is provided in the command but not exactly reflected in the JSON (it should be 1800 instead of 15.0 for 30 minutes). The altitude is not specified in the command, so any reasonable value in the JSON is accepted. Therefore it is a partial match."] +Hold still for a period of 30 minutes.,['The response is 30.0.'];['0; The provided JSON structure does not match with the command. The command suggests to "hover" for a duration of 30 minutes, but the provided JSON structure does not contain any action or parameters related to that.'] +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second.,['The response is:'];['5; The command matches with the "rotate" action in the JSON structure. The angle for rotation is specified as 360 degrees, the direction is clockwise and the angular velocity is set to 30 which matches the structure of the JSON example.'] +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second.,['A: The rate of rotation is 30 degrees per second, so it will take 360/30 = 12 seconds to complete a full rotation. The answer is 12.'];["2; The natural language command refers to a rotation action, which is a key in the sample ontology. However, the JSON provided does not follow the structure provided in the ontology. Also, the JSON structure does not capture the full information from the command; it's a calculation rather than an action definition."] +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second.,['3)'];['4; The command "Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second" matches the "rotate" action type in the JSON structure. The "is_clockwise" parameter also matches the command while "angle" is correctly indicated as 360 degrees. However, the command\'s speed is mentioned as degrees per second which is not present in JSON structure.'] +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second.,['The response is:'];['4; The "rotate" action in the JSON structure matches with the natural language command in terms of the action and parameters but the values of \'angular_velocity\' and \'angle\' do not match. The JSON structure suggests an angular_velocity of 0.5 and angle of 90 degrees, whereas the command specifies an angular_velocity of \'30 degrees per second\' and \'a total of 360 degrees\'. However, the format and keys are in accordance with the command.'] +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['2; The JSON structure does correctly identify the "rotate" action and the "is_clockwise" parameter however, the "angular_velocity" value in the JSON does not match the value in the command of 30 degrees per second. Additionally, the "angle" value in the JSON is 90 degrees, while the command specifies a full 360-degree turn.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command instructs to land which aligns with the "land" action in JSON. Location parameter is not explicitly mentioned but it\'s reasonable to infer that the drone would be programmed to know the location of the "designated landing zone".'] +Please make your way to the designated landing zone and touch down.,['The response is an empty array.'];['1; The natural language command implies a "land" action, which exists in the sample keys. However, the JSON provided does not match the expected structure of a "land" action (it is an empty array instead).'] +The designated landing zone is where you should aim to touch down.,['The designated landing zone is where you should aim to touch down.'];['0; The given command doesn\'t conform to any of the listed JSON structures. There\'s no specification for a "landing zone", and there\'s no detail in the command as to the parameters for the landing action such as the location coordinates.'] +You are required to land at the specific landing zone as indicated.,['The response is:'];['1; The natural language command instructs to land at a specific location, which matches with the "land" action in the JSON structure. However, it does not provide any specific coordinates for the landing zone as indicated in the JSON structure, hence, the low score.'] +Ensure that you come to a safe landing at the designated landing zone.,['The safe landing zone is at coordinates (37.7749, -122.4194, 100). You will be flying at a speed of 12 m/s for 20 seconds. Then you will hover for 30 seconds at an altitude of 70 meters. Finally, you will dance. The response is:'];['0; The JSON structures provided do not match with the natural language command. The command talks about landing, flying, and hovering, but the structures include those of navigating to a point, rotating, and a missing action. Plus, the dancing action is not specified in the JSON structures.'] +Descend to an altitude of 400 meters.,['The response is 400.'];["0; The provided JSON structures do not have a key for changing the altitude directly, only within the context of other actions such as 'fly' or 'hover'. The JSON response provided does not match any of the sample ontology keys at all."] +Decrease your altitude to 400 meters.,['A: Decrease your altitude to 400 meters.'];["0; The provided JSON structures do not provide an action for decreasing altitude. The commands available are 'navigate_to_point', 'fly', 'hover', 'rotate', and 'land' but none of them directly support the changing of altitude without an associated movement action."] +Lower yourself to an altitude of 400 meters.,['The response is 400.'];['1; While the command indicates an action related to changing altitude, there is no specific "lower" or "altitude" action in the JSON structure. It\'s related, but does not conform well to the given keys and actions in the ontology, hence the low score.'] +Go down to an altitude of 400 meters.,['The response is 400.'];['1; The natural language command suggests an action similar to "navigate_to_point" where a specific altitude is mentioned. However, the provided JSON structure is incorrect and does not follow the sample ontology, missing essential keys such as "action" and "params".'] +Descend until you reach an altitude of 400 meters.,['The response is ', ''];["0; The natural language command doesn't correspond to any of the provided JSON structures. The action described in the command (descend to a certain altitude) is not represented in the JSON actions (navigate_to_point, fly, hover, rotate, land). Therefore, it cannot be accurately translated to given JSON."] +Fly forward for 6 kilometers at a speed of 60 km/h.,['The response is ', 'Fly forward for 6 kilometers at a speed of 60 km/h.'];["1; The mentioned action in the command is 'fly' which is present in the sample keys, but the parameters specified in the command (distance and speed) don't exactly match the ones in the sample JSON structure. The sample ontology has 'speed', 'altitude', 'direction', 'duration', 'unit_speed', 'unit_altitude', 'unit_duration' as parameters for the 'fly' action. The command doesn't provide 'altitude', 'direction', 'duration' and uses different units for speed. Hence the partial match."] +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h.,['The response is 6 kilometers.'];["0; The natural language command talks about moving straight for a certain distance at a defined speed which doesn't match any of the JSON structures. The provided JSON structures does not have a suitable match for the command. None of the actions and their respective parameters in the sample keys align with the natural language command."] +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward.,['The response is 60 km/h.'];["1; The provided JSON structures do not cover the concept of covering a specific distance. The 'fly' action has parameters for speed, altitude, direction, and duration but not for distance. Additionally, the speed unit in the JSON structure is in 'm/s' whereas in the command it is given in 'km/h'. Hence the command is not exactly conform to the available JSON structure."] +Fly straight ahead at 60 km/h for a distance of 6 kilometers.,['The response is 60.0.'];["0; The provided JSON structure doesn't match the natural language command. The command mentions flying straight ahead at a certain speed and distance but the given JSON is incorrect and irrelevant to the command, it's not even formatted as a proper JSON structure."] +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers.,['The response is 60 kilometers.'];['1; The natural language command is about flying at a certain speed for a specific distance while in the JSON structure it refers to flying at a certain speed, in a specific direction for a specified duration. The given command and the JSON structure are partially related but there are a few mismatches - there is no mention of direction in the command and no mention of distance in the JSON structure.'] +Hover in place for 35 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 1800,', ' "altitude": 0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The 'action' in JSON is correct, but the 'duration' value does not match with the command (it should be 2100 seconds for 35 minutes, not 1800), also the 'altitude' value must not be 0 as it is not specified in the command, hence it can take any reasonable value."] +Stay suspended in mid-air for a duration of 35 minutes.,['The response is 35.0'];['1; The command suggests the "hover" action but the duration in the command (35 minutes) does not match the duration value in the JSON structure (\'35.0\', in unspecified units). The JSON also doesn\'t specify that the duration is in minutes and the structure lacks other necessary information like altitude.'] +Maintain a fixed position in the air for the next 35 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 35.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; The action type 'hover' is correct, but the duration value on JSON is not matching with the natural language command. The unit of duration is also incorrect, it should be 'minutes' not 'seconds'. The altitude value and unit is not specified in the command but present in the JSON."] +Remain stationary in the same spot for a period of 35 minutes.,['The response is 35.'];["0; The JSON structure does not match the command given, there's no correlation between the command to hover and the provided JSON output."] +Keep yourself suspended without moving for the next 35 minutes.,['The answer is 35.'];['0; The JSON structure provided does not match the natural language command given. The command is referring to the hover action, however, the duration is supplied in minutes, not seconds as per the sample ontology. Additionally, there are no parameters referring to a lack of movement.'] +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second.,['The response is:'];["4; The action 'rotate' and parameters 'angular_velocity' and 'angle' match, however the 'is_clockwise' parameter in the JSON has a value of 'true' which contradicts the 'counterclockwise' command in the natural language command."] +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise.,['The response is ', ''];["1; The command instructs the drone to rotate, however the specific details provided in the natural language command such as 'rate', 'total rotation' and 'opposite direction' are not adequately represented in the JSON structure. The JSON structure only displays 'angular_velocity', 'angle' and 'is_clockwise', and the provided values in the command do not match these parameters. The 'angular_velocity' is given as 0.5 in the JSON but the command specifies 35 degrees per second and the 'angle' is given as 90 in the JSON while the command specifies 180 degrees. Furthermore, the 'is_clockwise' parameter is set to true in the JSON which contradicts the command's specification of a counterclockwise rotation."] +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second.,['The 180-degree counterclockwise rotation at a speed of 35 degrees per second would take 180/35 = 5 seconds.'];['4; The natural language command partially conforms to the JSON structure for "rotate". Although the angle and the angular_velocity (speed of rotation) values are not matching, the command still indicates a rotation action. The direction (counterclockwise) isn\'t explicitly mentioned in the JSON, but could be derived from the value of \'is_clockwise\' param."""', ''] +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees.,['The response below conforms to the request.', ''];['2; The natural language command partially conforms with the JSON structure. The action "rotate" exists and "angle" is correct. However, the "angular_velocity" does not match (given as 35 in command, but 0.5 in JSON), and the "is_clockwise" is mismatched as the command specifies a counterclockwise rotation. The JSON suggests that the rotation is clockwise.'] +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second.,['The response is ', ''];['4; Although the "action" is correctly identified as "rotate" and the angle is correctly defined as 180 degrees, the angular_velocity specified ("35 degrees per second") is not the same as that defined in the JSON structure (0.5). The direction of the rotation ("counterclockwise") is also not explicitly mentioned in the JSON.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The command asks for a land action which is found in the JSON. But there is no reference to the "location" parameter in the command despite its existence in the JSON structure.'] +Please make a landing at the specified landing zone.,['The response is:'];['0; The JSON structure is not provided for comparison.'] +Ensure a safe landing at the assigned landing area.,["The action is 'land'. The coordinates are (37.7749, -122.4194, 100). The speed is 12 m/s. The duration is 20 seconds. The altitude is 120 meters. The unit speed is m/s, the unit altitude is meters, and the unit duration is seconds. The response is:"];['2; The JSON structure does not conform entirely to the natural language command. It includes several keys not mentioned in the command such as "speed", "duration" and their units, which are not required for \'land\' action. Also, the JSON structure is explained in text and not actually represented.'] +You are instructed to touch down at the designated landing zone.,['The response is:'];['3; The command is mostly conforming to the following JSON structure: ', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', ' }', 'However, there is lack of specificity in the natural language command as the exact coordinates (latitude, longitude) of the designated landing zone are not specified.'] +It is requested that you land at the predetermined landing zone.,['The response is:'];['2; The natural language command requests a "land" action which does exist in the JSON structures provided. However, the term "predetermined landing zone" does not correspond to a coordinate tuple as outlined in the JSON structure for the "land" action. Therefore, the command only partially matches with the JSON information.'] +Ascend to an altitude of 2000 feet.,['The response is 2000.'];['0; The command does not match any of the JSON structures. The command refers to a change in altitude but it doesn\'t fit into any action such as \'navigate_to_point\', \'fly\', \'hover\', \'rotate\', or \'land\'. Also, the unit of measurement is in feet, which doesn\'t adhere to the JSON structures that only accept "meters".'] +Increase your elevation to a height of 2000 feet.,['The response is 2000.'];['0; The provided JSON structures don\'t support an action to increase the elevation or a parameter that supports the unit "feet". The command can\'t be converted to any of the given JSON structures.'] +Reach a height of 2000 feet above the ground level.,['The response is 2000.'];['0; The provided JSON structures do not support the action or parameters specified in the natural language command. None of the available actions ("navigate_to_point", "fly", "hover", "rotate", "land") match with the action of reaching a specific altitude in the command. Furthermore, the unit "feet" is not in conformity with the ontology, which uses "meters" as units for altitude measurement.'] +Climb to an altitude of 2000 feet.,['The response is 2000.'];["0; The JSON structure provided does not match the natural language command. The command talks about changing altitude, but there's no reference to what action should be triggering the altitude change (e.g., climb, hover, etc.). The provided JSON structure is also not properly formatted as a valid JSON command."] +Ascend to a height of 2000 feet above sea level.,['The response is 2000.'];['0; The provided JSON structure does not include an action or parameter for ascending to a specific height. The natural language command does not match the given keys in the sample ontology.'] +Fly forward for 7 miles at a speed of 55 mph.,['The response is ', 'Fly forward for 7 miles at a speed of 55 mph.'];["0; The provided JSON structure does not match the natural language command. The command specifies an action of flying a certain distance at a specific speed, however the corresponding JSON structure provided is incorrectly repeating the same command in a string format, instead of containing keys that match the command's content (action, distance, speed). The provided JSON is also not in a valid format."] +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour.,['The response is 7 miles.'];['0; The provided JSON structure does not match the natural language command. The JSON only includes a sentence, not a structured command according to the provided ontology. Additionally, there is no "speed" or "distance" parameter in the JSON structure.'] +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph.,['The answer is 7.'];["0; The provided JSON structures do not contain any command for traveling a certain distance or setting a specific speed in terms of miles or miles per hour. Therefore, the natural language command doesn't conform to the provided JSON structures."] +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,['The answer is 7 * 55 = 395 miles.'];['0; The JSON structures provided do not have matching keys or actions for moving a certain distance at a specific speed, as described in the natural language command. The JSON structure for the action "fly" comes closest, but does not perfectly match as it involves speed, altitude, and direction instead of distance and speed.'] +Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,['The response is 7 miles.'];['0; The JSON structures provided do not include an action or parameters that match the command "ascend ahead for 7 miles, maintaining a velocity of 55 mph.". The closest action might be "fly", but there are no parameters for "velocity" or "miles" in the related JSON structure. The command does not conform to the provided ontology.'] +Hover in place for 40 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 40.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The command "Hover in place for 40 minutes." and the JSON are nearly consistent. However, the unit of time in JSON structure is set as "seconds" and does not match the command\'s unit of time which is "minutes".'] +Stay in one position for a duration of 40 minutes.,['The response is 40.'];["2; The natural language command dictates an 'hover' action. However, the JSON information provided does not accurately correspond to this command. The 'duration' indicated is not provided in the JSON and the value given in the command, '40 minutes', does not fit with the unit in ontology 'seconds'."] +Remain suspended in the air without moving for a total of 40 minutes.,['The response is 40.'];["0; The JSON structure provided doesn't match with the natural language command. The given command is about hovering for a specific duration but the JSON structure is unrelated to the action."] +Maintain a hovering position for the next 40 minutes.,['The response should be 40.0.'];['1; The command implies the "hover" action with a "duration" parameter, but the duration mentioned in the command is in \'minutes\', while the sample key uses "seconds" as the unit_duration. Furthermore, no specific altitude is mentioned in the command which is another necessary parameter for the \'hover\' action in the key.'] +Levitate and hold your position for a period of 40 minutes.,['Levitate and hold your position for a period of 40 minutes.'];["0; The natural language command does not conform to any of the JSON structures, the word 'levitate' is not an action listed in the sample keys."] +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second.,['The response is:'];["3; The 'action' type matches ('rotate') and the 'angle' matches (90 degrees). However the 'angular_velocity' given by the command (40 degrees per second) doesn't match the JSON structure data (0.5); also, the 'is_clockwise' parameter was not specified in the command but appears in the JSON structure."] +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['2; The natural language command refers to a rotate action that is present in the JSON structure. However, the given "angular_velocity" in the JSON does not match with the one provided in the command. The "angle" and the "is_clockwise" entries conform correctly with the command.'] +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["3; The command asks for a rotation of 90 degrees in a clockwise direction which is correctly represented in the JSON structure. The unit 'degrees' also matches. Problems arise with the values for 'is_clockwise' and 'angular_velocity'. The JSON structure correctly identifies the rotation as clockwise, but the value for the angular_velocity in the JSON structure is 0.5, not the 40 specified in the command. This discrepancy in the angular speed reduces the score."] +Turn right by 90 degrees with an angular speed of 40 degrees per second.,['The response is ', ''];['2; The command mentions the `rotate` action and the `angle` parameter correctly. However, the `angular_velocity` value mentioned in the command (40 degrees per second) does not match the JSON structure\'s value (0.5). The `is_clockwise` value is not specified in the natural language command, but its value in the JSON is true, which is a reasonable interpretation of "turn right".'] +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation.,['The response would be:'];['4; The JSON mostly conforms to the command. The "action" is "rotate", "angular_velocity" is 40, "angle" is 90 and "is_clockwise" is true, which matches the command. However, the unit for "angular_velocity" in the command is "degrees per second" which is not represented in the JSON structure. The "unit" field in the JSON only refers to the unit of the "angle" parameter, not the "angular_velocity" parameter.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["5; Exactly conform. The command 'Land at the designated landing zone.' perfectly matches with the 'land' action in the JSON structure. Although the specific coordinates are not provided in the command, it is assumed they have been predefined (as indicated by 'designated landing zone') and the JSON structure correctly allows for latitude and longitude parameters."] +Please touch down at the assigned landing area.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The natural language command instructs for a landing action, which is present in the JSON structure. The landing location is not specified in the command, however, it accepts any reasonable value. So, it partially conforms to the "land" action structure.'] +Ensure that you arrive at the specified landing zone.,['The landing zone is 37.7749° N, 122.4194° W at an altitude of 100 meters. You need to fly north at a speed of 12 m/s for 20 seconds. Then you need to hover for 30 seconds at 70 meters. Then you need to land at the specified location.'];["2; Only some elements of the natural language command are referenced in the JSON structures. The 'fly' and 'hover' actions are mentioned, but the values provided don't exactly match those in the JSON structures. Furthermore, the 'land' action is suggested in the landing zone part but no JSON structure is provided for it. The 'navigate_to_point' action and the 'rotate' action aren't mentioned at all in the natural command. Therefore, the command only partially conforms to the JSON structures."] +Make sure to land at the designated touchdown point.,['The response is:'];["1; The natural language command is requesting a 'land' action at a specific location, which does exist in the ontology. However, the exact location or coordinates ('latitude, longitude') are not specified in the command but are required in the JSON structure for 'land'. Without these parameters, the action cannot be properly executed, thus the low score."] +It is required that you land at the designated landing zone.,['The response is:'];['1; The command is for the action "land" where the location is the "designated landing zone". However, there is no specific tuple values for "latitude" and "longitude" defined in the command. Therefore, it is impossible to match it appropriately with the "land" action JSON structure. Hence, it partially conforms to the JSON structure.'] +Descend to an altitude of 500 meters.,['The response is 500.'];['0; None of the provided JSON structures match the given command to descend to an altitude.'] +Lower yourself to a height of 500 meters.,['The response is 500.'];['0; The JSON structures provided do not have a matching action or parameters that could correspond to "lower yourself to a height of 500 meters". The natural language command may be referring to changing altitude, but no such specific action is present in the JSON structures. The closest available action would be "fly" with a lower altitude, but it is not a perfect match.'] +Decrease your altitude to 500 meters.,['A: Decrease your altitude to 500 meters.'];['0; The provided natural language command does not match any of the provided JSON structures, as the sample keys do not include any action for decreasing altitude.'] +Go down to an altitude of 500 meters.,['The response is 500.'];["0; The given natural language command doesn't conform to any of the JSON structures provided. There is no specified action to decrease the drone's altitude in the ontology."] +Reduce your height to 500 meters.,['The response is 500.'];['0; The given JSON structures do not contain an action and parameters corresponding to the adjustment of height. The natural language command does not match any of the provided JSON structures.'] +Fly forward for 8 kilometers at a speed of 65 km/h.,['The response is 8 kilometers.'];['1; The natural language command instructs to fly for a certain distance and speed, but the JSON structure provided does not have a key for distance. While the command matches partially with the "fly" action\'s JSON structure, the keys and details are not an exact match, hence the low score.'] +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h.,['The response is 8 kilometers.'];['0; The JSON structures provided do not contain any "action" or "params" that correspond to the natural language command of moving ahead for a certain distance at a specified speed. The sample keys in the ontology do not include commands for \'proceed\', \'distance\', or \'speed\' in km/h which are needed to fully represent the given command.'] +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h.,['The response is 8 kilometers.'];['0; The JSON structure does not match the command because it requires keys related to speed and duration, which are not included in the JSON. Additionally, the command also requires a velocity distance and direction, both of which are not specified in the JSON. Therefore, the command cannot be translated to a meaningful JSON structure according to the sample keys.'] +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers.,['The answer is 8.'];['0; The JSON structure provided does not contain information related to travelling in a straight line for a specific distance or maintaining a specific speed in km/h. The natural language command does not match with any of the sample keys in the given JSON structures.'] +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h.,['The response is ', ''];['1; The command asks the drone to fly at a certain speed for a certain distance. While the JSON structure does have a "fly" action and "speed" parameter, it uses distance units (m/s), contrary to the command\'s km/h. It also lacks a parameter for the total distance. Thus, the command does not conform well to the JSON structures.'] +Hover in place for 45 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 45.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The JSON structure corresponds to the action "Hover" as in the verbal command, but the "duration" is set to "45", which if it is in seconds as suggested by the "unit_duration", does not match the "45 minutes" required by the verbal command. The "altitude" is not specified in the verbal command, however it is set to 0 in the JSON structure, which technically does not fit the definition of "hovering".'] +Stay suspended in position for a duration of 45 minutes.,['The response is 45.'];['1; The natural language command suggests the action of hovering for a specific duration, which is similar to the "hover" action in the ontology. However, the JSON structure provided doesn’t match the ontology or the command – it doesn’t define any action or parameters and seems unrelated to the command.'] +Remain airborne without moving for a period of 45 minutes.,['The response is ', ''];['3; The command corresponds to the "hover" action, however, the duration in the JSON structure is given as 15 seconds, not 45 minutes as specified in the command. The unit of duration in the JSON is also in "seconds", not "minutes". There is a mismatch in both value and unit between the command and the JSON.'] +Keep yourself elevated without any movement for a span of 45 minutes.,['The response is 45.'];['2; The command suggests the "hover" action which is present in the ontology. However, the JSON structure provided does not match with the sample ontology for the "hover" action. The parameters like "duration" and "altitude" are missing. Also, the given duration time in the command is not reflected in the JSON structure.'] +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position.,['The answer is 45.'];['1; The natural language command instructs a hovering action for a duration of 45 minutes. However, the provided JSON structure does not conform to this command properly. Although the "hover" action is present, the unit of duration in the sample key is in seconds, not minutes. The JSON array provided doesn\'t have any relevance to the command.'] +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second.,['The response is:'];['3; The command partially conforms to the JSON structure. The "action" key correctly corresponds to "rotate". The "angle" parameter is also correctly matched as 270 degrees. However, the JSON structure dictates an "angular_velocity" parameter, which is given as a single number (0.5), not in the form of degrees per second. Furthermore, the rotation direction specified in the natural language command as counterclockwise is not directly stated in the JSON, although it can be inferred by setting "is_clockwise" to false.'] +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second.,['The response is:'];['3; The natural language command mostly matches with the JSON structure for the "rotate" action. However, the given angular velocity in the natural language command ("45 degrees per second") does not match with the angular velocity in the JSON structure ("0.5"). The direction ("anticlockwise") also contradicts with the "is_clockwise" key in the JSON structure (set as "true"). However, since specific agreed values are not required, the main parameters are present and correctly structured.'] +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second.,['The counterclockwise rotation of 270 degrees would take 270 / 360 = 0.75 seconds. The angular speed of 45 degrees per second would be 45 / 360 = 0.125 seconds. So the total time would be 0.75 + 0.125 = 0.875 seconds.'];['0; The JSON structure does not match with the natural language command. The command refers to a rotation action with an angular velocity and a counterclockwise direction which is not represented in the provided JSON structure. The mentioned parameters in the command ("counterclockwise rotation" and "angular velocity of 45 degrees") cannot be found in the JSON structure.'] +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction.,['The response is ', ''];['2; The natural language command is partially in conformity with the JSON structure. The action "rotate" matches but it lacks some key parameters like \'angular_velocity\'. Also, the direction is indicated as \'counterclockwise\' which goes against the \'is_clockwise\' : true in the JSON structure.'] +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second.,['The response is:'];["3; The JSON structure partially matches the command. The 'action' key is correctly identified as 'rotate'. However, the 'angular_velocity' is different from the command (specified as 45 degrees per second in the command but 0.5 in the JSON) and 'is_clockwise' is not correctly represented (the command specifies anticlockwise rotation but the JSON shows `true` for clockwise rotation). The 'angle' is accurately represented as 270 degrees in both the command and the JSON."] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The "land" action in the JSON structure matches the command "Land at the designated landing zone." perfectly. The actual coordinates aren\'t given in the command but any valid values are accepted as per the instructions.'] +Please proceed to land at the specified landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform.'] +Make your way to the indicated landing zone and prepare for landing.,['The response is:'];['4; The natural language command refers to a navigation action and a landing action, which exist in the sample keys. However, the command does not specify the coordinates for the navigation action or the location for the landing action as indicated in the sample JSON ontology. The command also does not reference any of the parameters associated with these actions.'] +Follow the instructions and land at the designated landing zone.,['The response is:'];['0; The provided JSON structure does not include the action "follow the instructions" or the parameter "designated landing zone" specified in the natural language command.'] +It is required that you land at the assigned landing zone.,['The response is:'];['1; The command calls for a "land" action, which is present in the JSON structures, but it doesn\'t specify a location, which is a required parameter according to the JSON structure, but it does not provide any additional information, so it doesn\'t match exactly.'] +Ascend to an altitude of 2500 feet.,['The response is 2500.'];["0; The natural language command can't be converted into any of the provided JSON structures as it doesn't match any of the sample keys in the JSON structure. There's no action available in the JSON ontology for 'ascend'."] +Climb to a height of 2500 feet.,['The response is 2500.'];['0; The structure given does not match any of the sample keys provided in the ontology. The natural language command pertains to flying to a certain altitude, but the JSON structure is unidentified and does not conform to any of the sample keys. The command does not specify an action or provide appropriate parameters.'] +Reach an elevation of 2500 feet.,['The response is 2500.'];['0; The JSON structure does not provide any action or parameter values related to elevation or feet units which matches with the natural language command.'] +Scale to an altitude of 2500 feet.,['A: Scale to an altitude of 2500 feet.'];['0; The natural command does not match any of the JSON structure. There is no "scale" action key in the JSONs provided.'] +Increase your height to 2500 feet.,['The response is 2500.'];["0; The JSON information provided does not contain any command or parameter related to changing the drone's height or altitude."] +Fly forward for 9 miles at a speed of 50 mph.,['The response is ', 'Fly forward for 9 miles at a speed of 50 mph.'];['0; The provided JSON structures do not provide keys for distance in miles or speed in mph. Given the natural language command is not converted to JSON due to this unavailability, it does not conform and, therefore, gets a score of 0.'] +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph.,['The response is 9 miles.'];["0; The given natural language command doesn't match any of the provided JSON structures as there is no action for proceeding straight or maintaining speed in the sample keys."] +Cover a distance of 9 miles by flying forward at a speed of 50 mph.,['The answer is 9 * 50 = 450 miles.'];['0; The provided JSON structure does not correspond with the natural language command. The JSON snippet appears to be a computation of a mathematical operation involving multiplication of two numbers while the natural language command pertains to an action command of covering a specific distance by flying. There is no "action" key or related parameters in the JSON structure reflecting the desired intended action.'] +Maintain a speed of 50 mph while traveling straight ahead for 9 miles.,['The answer is 9.'];["0; The provided JSON structure does not match the natural language command. There's no action in the JSON structure that matches maintaining speed and traveling for a particular distance, so we can't even assume the action. Moreover, the units used in the command (miles per hour and miles) are not present in the JSON structures."] +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles.,['The response is ', ''];["0; The JSON structure does not match the given command, as the command pertains to an action that involves not just 'flying', but also specifying a 'distance' parameter, which is not supported in the sample ontology."] +Hover in place for 50 minutes.,['The response is 50.0.'];["2; The command request 'hovering' which matches correctly with the available actions. But the duration unit applied in the command is 'minutes', not 'seconds' as outlined in the JSON structure - plus, the actual duration isn't specified properly."] +Stay still for a duration of 50 minutes.,['The response is 50.0.'];["1; The command instructs the subject to 'stay still' for a certain duration. This could imply a 'hover' action in the context of a drone but not necessarily. But also the duration mentioned is in 'minutes' in the command, while the unit of duration in JSON structures and provided sample keys is in 'seconds'. Hence, the matching is partial so the score is 1."] +Maintain a stationary position for 50 minutes.,['The response is 50.'];['0; The JSON structure does not match the natural language command and does not conform with the keys of the sample ontology. The command describes hovering action with a duration in "minutes," but the sample JSON for the "hover" action only accepts "duration" measured in "seconds." Therefore, the provided JSON structure does not provide the correct information. The JSON snippet is also incorrect and does not correspond to the expected format.'] +Remain in one spot for a period of 50 minutes.,['The response is 50.0.'];['0; The JSON structure does not correlate with the given command. The command suggests a "hover" action with a duration of 50 minutes, but the JSON structure wrongly reflects a string response without any relevant keys or values.'] +Hold steady for 50 minutes without moving.,['The response is 50.'];['0; The natural language command suggests an action of maintaining a steady position for a duration, which might be related to the "hover" action in the ontology. However, the command specifies the duration in minutes, not seconds as per the JSON structure. Also, the given JSON does not have any conforming structure.'] +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second.,['The response is:'];["3; The action 'rotate' and parameter 'is_clockwise' in the natural language command match those in the JSON structure, but the values for 'angle' and 'angular_velocity' in the command do not match the example values in the JSON ontology, and there's no unit provided for the 'angular_velocity'."] +Turn 135 degrees to the right at a rate of 50 degrees per second.,['The answer is 135 degrees.'];["1; The command asks for a rotation but the represented JSON structure doesn't match with the given ontology. The correct ontology should have an action of 'rotate', with 'angle' of 135 and 'angular_velocity' of 50. However, the is_clockwise parameter is correctly inferred to true. The JSON also has a wrong extra text structure."] +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["4; The command and JSON mostly conform. The angular velocity value does not match the command's specified speed, but the angle and direction are correct."] +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 135,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The natural language command and the JSON structure match in terms of action and parameters like angle, direction of rotation (clockwise), and unit (degrees). However, the value for angular_velocity in the JSON structure does not conform to the specified value in the natural language command.'] +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second.,['The response is ', ''];['3; The JSON partially matches the command. The "action" is correctly identified as "rotate" and the "angle" is correctly identified as 135. However, 50 degrees per second does not fit into the "angular_velocity" in the given JSON structure (which has a value of 0.5, representing a much slower speed). Also, the "is_clockwise" parameter isn\'t specified in the JSON.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4; The natural language command is correctly instructing the system to land which matches the JSON "action": "land". However, the specific location (latitude, longitude) to land at mentioned as "designated landing zone" is not specified in the JSON structure.'] +Please touch down at the specified landing area.,['The response is:'];['1; The natural language command is referring to a landing action but no specific location is mentioned. The JSON structure for the "land" action requires a location parameter, which is not fulfilled in the command.'] +Descend and touch base at the assigned landing zone.,['The response is,'];['2; The natural language command seems to align with the "land" action, but it is not fully clear, as specific parameters like location are not mentioned. Additionally, the command uses different verbiage ("Descend and touch base") compared to the JSON structure ("land").'] +Make your approach and touch ground at the designated landing site.,['The response is,'];["2; The command is implying an action similar to 'land', however, it is not an exact match to any of the JSON descriptions, but it can be inferred that the object needs to move to a 'location'(landing site). The key 'location' matches with the JSON structure given under the action 'land'. Yet, the exact coordinates of the location are not provided in the command."] +Please bring the aircraft to a stop at the approved landing zone.,['The approved landing zone is at (37.7749, -122.4194, 100). So the response is ', '{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'];["2; The natural language command can be understood as requiring the aircraft to land at a certain location, so the associated JSON partially matches. But the landing zone in the natural language command and in the JSON data don't match. The natural language command does not provide specific coordinates, while JSON example presents actual values."] +Descend to an altitude of 600 meters and swin.,['The response is, "Descend to an altitude of 600 meters and swim."'];["0; The command talks about descending to a certain altitude, but there is no matching JSON structure for this action. Additionally, 'swim' is not a valid action in the given sample ontology."] +Swim after descending to an altitude of 600 meters.,['The response is:'];['0; The command is asking for a non-existing action "swim" in the ontology, and also the action "descend" does not exist. The parameter "altitude" is present but used in a non-existing action. Therefore, the natural language command does not match any JSON structure provided.'] +Dive down to a depth of 600 meters and start swimming.,['The response would be something like this:'];['0; The natural language command requires actions that are not included in the available JSON structures (Diving and Swimming).'] +Lower yourself to an altitude of 600 meters and begin swimming.,['The response is, "Lower yourself to an altitude of 600 meters and begin swimming."'];['0; The natural language command does not conform to any of the provided JSON structures. The command mentions reducing altitude which relates to hover action, but it does not match exactly. Additionally, the action "begin swimming" does not exist in the provided list of actions.'] +Drop down to a height of 600 meters and begin your swim.,['The response is ', ''];['0; The command does not match with any of the given JSON structures. The action "swim" and parameter "height" do not exist in the available sample keys.'] +Turn left at a 45-degree angle and fly straight for 500 meters.,['The response is, "Turn left at a 45-degree angle and fly straight for 500 meters."'];['0; The provided JSON structures do not have any action or parameters that conform to the natural language command "Turn left at a 45-degree angle and fly straight for 500 meters." The actions and parameters in the ontology are not able to represent this command.'] +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['2; Partially conform. The JSON structure represents a rotation, but the parameters don\'t match the command. The angle should be 45 degrees not 90, and "is_clockwise" should be false for a left turn. The flight action is not represented at all in the JSON.'] +Take a left turn at a 45-degree angle and proceed straight for 500 meters.,['The response is, "Take a left turn at a 45-degree angle and proceed straight for 500 meters."'];["0; The natural language command is about turning left and proceeding straight which doesn't match any actions in the provided JSON structures. The JSON structures don't have parameters for turning left or proceeding straight for a certain distance."] +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters.,['The response is ', ''];['0; The JSON structures provided do not match the natural language command given. There is no information related to maintaining a straight flight for a certain distance, nor is there any JSON structure for a rotation command with a specified angle to the left.'] +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters.,['The response is ', ''];["0; The given command doesn't adequately match any of the provided JSON structures. It describes a sequence of actions (heading leftward, turning at 45 degrees, flying straight) but none of the JSON structures have the specified parameters for the actions described. Also, the JSON structure provided at the end doesn't represent a valid action or parameter and isn't related to the command."] +Ascend to an altitude of 1000 feet and maintain position for 10 minutes.,['The response is ', ''];['0; The provided JSON structures do not match the natural language command, there is no action that combines both ascending (or changing altitude) and maintaining position (or hovering) in a single action or across different actions. Additionally, the unit of altitude in the command is feet, while in the sample structures it is meters.'] +Climb to a height of 1000 feet and stay in that position for 10 minutes.,['The response is ', ''];['0; The provided JSON structures do not support the action and parameters described in the command. The command talks about climbing to a certain altitude and staying there which could correspond to the actions "fly" and "hover" respectively but the unit of altitude in the command (\'feet\') does not align with that in the JSON structures (\'meters\'). Furthermore, the duration mentioned in the command (\'10 minutes\') does not match the unit_duration used in the JSON structures (\'seconds\').'] +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes.,['The response is ', ''];['0; The provided JSON structure does not contain any relevant keys for the conversion of the given command. The command relates to changing altitude and holding that position for a certain duration, but the JSON samples only include keys for navigating to a point, flying, hovering, rotating, and landing. None of these actions correctly reflect the command. Additionally, the provided JSON structure is incomplete, thus no matching is feasible.'] +Increase your altitude to 1000 feet and remain at that level for 10 minutes.,['The response is ', ''];['0; The provided JSON structure does not include any information related to the natural language command.'] +Go up to a height of 1000 feet and keep your position steady for 10 minutes.,['The response is ', ''];['1; The given command partially matches with the "hover" action. However, the measurement units used in the command ("feet" for altitude and "minutes" for duration) do not match with the units in the JSON structure ("meters" and "seconds" respectively). Also, the command of going up to a certain height does not exist in the sample JSON.'] +Perform a vertical climb to 200 meters at a speed of 10 meters per second.,['The response would be something like this:'];['2; The natural language command mentions "vertical climb" which represents a kind of flight, and it includes "speed" and "altitude", which are parameters in the "fly" JSON structure. However, it is not a perfect match because the JSON structure also includes parameters such as "direction" and "duration", which are not specified in the command. Also, the "fly" action does not necessarily imply a "vertical climb", and may involve horizontal movements as well.'] +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters.,['The response would be:'];["1; The given command instructs the drone to ascend at a certain speed until reaching a certain altitude. However, neither the 'navigate_to_point' or the 'fly' actions in the JSON structures accurately represent this command. The 'fly' action schema has the most relevant fields ('speed', 'altitude') but lacks a condition for stopping the flight at a certain altitude. The 'navigate_to_point' action schema would only be relevant if specific coordinates were provided. Hence, the command doesn't perfectly match any of the JSON structures."] +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters.,['The response would be:'];['1; The provided JSON structures don\'t have an action that corresponds to a "vertical ascent". However, the command is somewhat similar to "fly". Nonetheless, this correlation isn\'t strong enough to acknowledge a higher conformity score. The speed and altitude parameters do coincide, but the action does not.'] +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters.,['The response would be:'];["2; The command slightly matches with the second JSON structure which describes flying action with speed, altitude and a direction, however the height and speed values in the command are not matching with JSON's and the direction is missing in the command."] +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters.,['The response is ', ''];["2; Only 'speed' and 'altitude' parameters of 'fly' action from the JSON structures are mentioned in the natural language command. However, the command does not specify 'direction', 'duration', 'unit_speed', 'unit_altitude', 'unit_duration', even though some units can be inferred. Also, the natural language command suggests an action ('vertical ascent') that doesn't quite match the 'fly' action - it is more specific. Commands that don't exist in the sample keys should not be converted to JSON."] +Fly around in a circular pattern with a radius of 100 meters for 15 minutes.,['The response is:'];["0; The natural language command doesn't map to any of the JSON structures. 'Flying around in a circular pattern' isn't an action specified in the sample keys. Additionally, parameters like 'radius' and 'time duration' are not included in the JSON structures."] +Circle around with a 100-meter radius for a duration of 15 minutes.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'];['0; The natural language command instructs to circle around with a specific radius for a certain duration, which does not match the given JSON structure for "navigate_to_point" action. The JSON structure is about navigating to a specific point, not circling around a radius. Therefore, the conformity is not present.'] +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius.,['The response is ', ''];["0; The provided natural language command does not match any of the listed JSON structures. The command 'execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius' cannot be translated into any of the provided JSON actions (navigate_to_point, fly, hover, rotate, land)."] +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes.,['The response would be something like this:'];['0; The provided JSON structures do not support a command to "perform a circular flight". No parameters for defining the radius or type of flight path, such as "circular", exist in the JSON.'] +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes.,['The response is:'];["0; The natural language command given does not match with any of the JSON structures provided in the sample keys. The command mentions a circular trajectory flight which isn't covered by any of the JSON structures."] +Hover in place and capture aerial photographs of the surrounding area.,['The response is:'];["0; The natural language command is asking for an action to hover and take photographs, which does not match any of the provided JSON structures. The sample ontology doesn't contain a corresponding action for capturing photographs."] +Stay suspended and take aerial photographs of the nearby area.,['The response is,'];["0; The provided natural language command doesn't match with any of the provided JSON structures as there is no action related to taking photographs in the sample keys."] +Maintain a stationary position and capture aerial photographs of the surrounding area.,['The response is ', ''];['0; The command does not match with any of the JSON structures provided. An action relating to capturing photographs is not available in the ontology. Hence, it cannot be converted to JSON using the given examples.'] +Levitate and snap aerial photographs of the surrounding area.,['The response is,'];["0; The natural language command does not match any of the given JSON structures. None of the action in the command ('levitate', 'snap aerial photographs') matches with any actions ('navigate_to_point', 'fly', 'hover', 'rotate', 'land') provided in the JSON. Hence, the JSON does not represent the natural language command."] +Remain still and capture overhead photographs of the nearby area.,['The response is,'];['0; The command refers to hovering and taking photographs, none of which is described in the provided JSON structures.'] +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes.,['The response is:'];['1; The natural language command refers to the action "fly" and specifies parameters "speed", "altitude", and "duration". However, the mentioned speed and duration units in the command do not conform with the units in JSON ("m/s" and "seconds" respectively). The command also lacks the "direction" parameter indicated in the JSON structure.'] +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['The response is, "Decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes."'];["1; The JSON structure(s) do not match the command. The exact parameters in the command such as 'decrease altitude', 'maintain speed', and 'for the next' are not present in the sample ontology."] +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['The response is ', ''];['1; The natural language command is asking for descending to a certain altitude with a certain speed and aimed duration. This most likely corresponds with the fly action of the ontology. However, the provided JSON does not correlate with this, as it does not include all the necessary keys such as speed, duration, and altitude, and the command also includes parameters for which there is no key in the JSON ontology (like unit_speed in km/h).'] +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes.,['The response is ', ''];["0; The JSON structures provided do not contain any information about adjusting altitude and speed simultaneously, or any action that could combine these parameters. Therefore, there's no match."] +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes.,['The response is,'];["2; The command includes two actions, reducing the altitude and continuous flying, which corresponds to the 'fly' action in the sample keys. The 'fly' action in JSON, partially matches mentioning parameters like speed, duration, and altitude. However, units of speed and duration in the given command (km/h and minutes) do not match with the JSON structure (m/s and seconds). The action of reducing altitude is not represented in the JSON structure."] +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes.,['The response is:'];['0; The command "Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes" does not correspond to any of the provided JSON structures. None of the actions, like "navigate_to_point", "fly", "hover", "rotate" and "land" include maneuvers like rolls and loops.'] +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes.,[''];['0; The given command does not match with any of the provided JSON structures. The command asks for "rolls and loops" which are not included in the actions available in the sample ontology.'] +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,['The response is:'];['0; The natural language command requests a set of quick maneuvers, including rolls and loops, which does not seem to match with any of the actions or parameters in the provided JSON structures.'] +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes.,['The response is:'];["0; The provided command refers to a range of actions including rolls and loops over a defined period which don't match any actions or parameters in the sample JSON structures (navigate_to_point, fly, hover, rotate, land)."] +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes.,['The response is:'];['0; The command does not match any of the sample ontology as there are no keys to indicate "rolls" or "loops" actions. The duration key is available in some actions but not related to the requested actions.'] +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop.,['The response is ', ''];["0; The provided JSON structures do not contain the necessary keys to fulfill the natural language command. The command speaks of an action to fly a specific distance (not duration or to a point), and performing a 'quick stop', neither of which are available actions in the JSON structures."] +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt.,['The response is ', ''];['0; The natural language command does not match any of the provided JSON structure actions or parameters. The command refers to moving ahead and halting, neither of which are covered by the "navigate_to_point", "fly", "hover", "rotate", or "land" actions. The speed is given, but it\'s not in the same units as the "fly" action parameters (km/h instead of m/s), and duration or direction is not mentioned. Therefore, there is no conformity.'] +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,['The response would be:'];["0; The JSON structures provided do not accommodate actions such as 'move forward' and 'come to a rapid stop'. The speed parameter in the provided JSON structures is also in 'm/s' and not 'km/h'. Therefore, the natural language command does not match any of the JSON structures provided."] +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes.,['The response is ', ''];['0; The given command does not conform to any of the JSON structures provided in the sample ontology. The action "ascend" and "conduct a surveillance mission" are not available in the samples. Also, there is no mention of the time for the action in minutes in any of the JSON structure.'] +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation.,['The response is ', ''];["1; The natural language command asks the drone to increase its altitude (which could potentially fit into the 'fly' action with 'altitude' parameter) and then carry a surveillance operation. But 'surveillance' is not considered in any of the JSON structures provided."] +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes.,['The response is:'];['0; The natural language command is asking for two actions - rising to a certain height and undertaking a surveillance mission - neither of which are represented in the JSON structures. There\'s no "rise" or "surveillance" action in the sample keys. Thus, the command does not conform to the sample ontology.'] +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor.,['The response is:'];['2; The natural language command talks about scaling up to a certain altitude and conducting surveillance, actions that partially match with "fly" and "hover" actions in the JSON structures. However, the duration for hovering and the exact altitude isn\'t specified in any of the JSON structures. Also, the surveillance action cannot be directly correlated with any action in the given JSON structures.'] +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes.,['The response is:'];['0; The given command asks for climbing and performing a surveillance task, neither of which are found in the provided JSON structures. The keys in the command do not conform with any of the provided JSON keys.'] +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,['The response is:'];['0; The command is asking to fly in a zigzag pattern at a specific velocity for a certain distance, but none of the JSON structures provided have options for a zigzag pattern or distance.'] +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s.,['The response should be something like this:'];["0; The provided natural language command doesn't match any of the JSON structures in the given sample ontology, as there is no action or parameter for 'zigzag flight pattern' or 'distance'."] +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s.,['The answer is 3 kilometers.'];["0; The natural language command suggests an action of flying in a zigzag pattern at a specific speed which does not match any of the JSON structures. The JSON structures do support a 'fly' action, but there's no provision to specify the pattern (zigzag) of flight. Also, the speed mentioned in the command is not reflected in any of the JSON structures."] +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner.,['The response is:'];['0; The natural language command does not conform to any of the actions or parameters within the provided JSON structures.'] +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers.,['The response would be something like this:'];['0; The natural language command references action and parameters (zigzag pattern, distance) that do not exist in the provided JSON structures.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'];['4; The natural language command matches the "rotate" action in the JSON structure, but the specified angular velocity does not match. The JSON structure specifies an angular velocity of 0.5, not 45 as stated in the natural language command.'] +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second.,['The response is ', ''];['1; The action "rotate" is correctly specified in the natural language command and the value of "is_clockwise" is also correctly given. However, the parameter "angular_velocity" in the JSON does not match the natural language command ("45 degrees per second" is not specified in the JSON structure). The parameter "angle" has a value of "180" in the command, which is not the same as "90" in the JSON.'] +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second.,['The response is ', ''];['4; The JSON structure partially conforms to the natural language command. It includes the correct "action" ("rotate") and "params" such as "angular_velocity" and "angle", and "is_clockwise" is correctly set as true. However, the "angular_velocity" in the JSON is not matching with the natural language command. In the command, the angular velocity is defined as 45 degrees per second, but in the JSON, it is set as 0.5.'] +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second.,['The response is ', ''];['3; The JSON command correctly represents the action "rotate" with parameters containing \'angular_velocity\', \'angle\' and \'is_clockwise\', but it omitted to give a specific value for \'angular_velocity\' which is mentioned in the natural language command as 45 degrees per second. The natural language command also does not convert into a proper JSON structrure as it includes a unnecessary phrase "[\'The response is\', \'\']".'] +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second.,['The response is:'];["3; The JSON structure partially conforms to the natural language command. The 'rotate' action, 'angle', and 'is_clockwise' parameters match but the 'angular_velocity' in the JSON structure is not matching with the value specified in the natural language command."] +Land at the designated landing zone and conduct a visual inspection of the UAV.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The command involves landing at a specific location which matches the "land" action in the JSON structure. However, the command to conduct a visual inspection of the UAV doesn\'t match with any of the JSON structures provided.'] +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection.,['The response is acceptable.'];['2; The natural language command indicates to land the drone at a designated location. This instruction is partially matched with the "land" action in the JSON ontology. However, there is no equivalent JSON action for the "proceed with a visual inspection" part of the command. Hence, the command doesn\'t totally conform with the JSON structure(s).'] +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV.,['The response is:'];['0; The natural language command is referring to landing and inspecting an UAV, however, there is no JSON structure provided to compare the command with.'] +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it.,['The response is:'];['0; The natural language command doesn\'t match with any JSON structure - specific details about the landing location are not provided and proceed to "visually inspect" it is not a command included in the sample ontology.'] +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components.,['The response is:'];['0; The natural language command does not match any of the provided JSON structures. It features an action, "land," and a subsequent action, "conduct a comprehensive visual inspection," that is not represented in the sample keys. Furthermore, it does not provide parameters for the "land" action.'] +Hover in place and release a payload at a specified drop zone.,['The response is an empty array.'];['0; The provided command does not match the any of the given JSON structures. There\'s no "release payload" or "drop zone" actions or parameters in any of the JSON examples.'] +Maintain a hovering position and deploy a payload at a designated release zone.,['The response is:'];['0; The natural language command speaks about maintaining a hover position and deploying a payload, none of which are actions or parameters detailed in the provided JSON structures. The actions in JSON structures are navigate_to_point, fly, hover, rotate and land, while parameters vary across them. None of these actions or parameters match with deploying a payload. Therefore, the provided command does not conform to the provided JSON structures.'] +Stay suspended in one spot and discharge a payload at a predefined drop area.,['The response is an empty array.'];["0; The natural language command requires an action of 'discharge payload' which does not exist in the provided JSON structures. So, there is no match."] +Remain in a stationary hover and release a payload at a specified dropzone.,['The response is:'];["0; The given command 'Remain in a stationary hover and release a payload at a specified dropzone.' talks about releasing a payload, however none of the JSON structures provided have keys or parameters to handle the action of releasing payloads. Therefore, it's not feasible to represent this command with the given set of JSON structures. Also, there is no specification of the dropzone which is supposedly the target of the action."] +Hold position in mid-air and deliver a payload at a designated drop zone.,['The response is:'];['0; The command includes actions like "hold position in mid-air" and "deliver a payload at a designated drop zone" which do not match with any actions in the provided JSON structures.'] +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour.,['The response is ', ''];['0; None of the provided JSON structures contain information for descending, conducting a search and rescue mission, or specific time duration in hours.'] +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet.,['The response is:'];["0; The provided command does not conform to any of the provided JSON structures. The action 'search and rescue mission' is not found in the sample keys and the term 'descending' is not equivalent to any provided actions."] +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour.,['The response is ', ''];["0; Although the command mentions lowering altitude which is a parameter in the ontology, the specific action of 'search and rescue' for 1 hour does not match any available action, and there are no parameters related to an operation of search and rescue."] +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet.,['The response is ', ''];['0; The provided JSON structures do not support a "search and rescue" task, nor do they contain a parameter for time expressed in hours or altitude in feet.'] +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet.,['The response is ', ''];['0; The natural language command cannot be converted to JSON as it doesn\'t match any examples in the sample keys provided. There is no corresponding action in the ontology for "conduct a search and rescue operation". Maintaining an altitude could be associated with the "hover" action but the unit does not match (“feet” in the text, “meters” in JSON). The length of time is not a parameter included in the keys for this action.'] +Perform a barrel roll maneuver at a high velocity of 100 km/h.,['The response is ', ''];["0; The natural language command is asking for a 'barrel roll' maneuver, which is not included in the sample keys of the JSON structure. Additionally, 'velocity' is not a parameter in the provided sample ontology."] +Execute a barrel roll maneuver at a rapid speed of 100 km/h.,['The response is ', ''];['0; The command asks for a \'barrel roll\' maneuver at a specified speed. This does not conform to any action type in the sample JSON structure. The action types available in the sample JSON are "navigate_to_point", "fly", "hover", "rotate" and "land". A \'barrel roll\' maneuver could refer to a complex movement not covered by a single simple action, and the speed parameter mentioned in the command does not match with any of the param values of these keys.'] +Carry out a barrel roll maneuver at a high rate of 100 km/h.,['The response is ', ''];['0; The command does not match any of the provided JSON structures. The "barrel roll" action and "rate" parameter do not exist in the sample keys. Furthermore, the units in "km/h" are also not represented in the sample ontology.'] +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h.,['The response is ', ''];["0; The natural language command mentions a 'barrel roll' maneuver which is not represented in any of the JSON structures provided, hence no conformity."] +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h.,['The response is ', ''];['0; The given command asks for a barrel roll maneuver which is not present in the available actions in the sample keys. Hence, it cannot be converted to JSON.'] +Fly forward for 500 meters and then execute a sharp turn to the right.,['The response is,'];['0; The given natural language command does not match with any of the provided JSON structures, as there are no parameters for executing a turn, or flying a certain distance. The "fly" action does not include a parameter for distance, only speed, altitude, direction, and duration. The "rotate" action does not include a parameters for direction, only angular velocity, angle and rotating direction (clockwise or not).'] +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn.,['The response is ', ''];['0; The provided JSON structure does not contain an action or parameters that match the natural language command of proceeding straight ahead or executing a right turn. Therefore, the command cannot be mapped to any of the existing JSON structures.'] +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right.,['The response is:'];['0; The provided JSON structures do not provide keys or parameters for either distance cover or sudden turns. As such, the natural language command cannot be mapped accurately to the JSON information provided.'] +Move ahead for 500 meters and perform a quick right turn.,['The response is ', ''];["0; The provided JSON structures do not match with the natural language command. There is no action for 'moving ahead' or 'performing a right turn'."] +Travel straight for a distance of 500 meters before making a sharp right turn.,['The response is ', ''];['0; The provided JSON structures do not support the mentioned natural language command. It includes the actions "navigate_to_point", "fly", "hover", "rotate" and "land", but none of these actions matches with the command of travelling straight for a certain distance and making a turn.'] +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data.,['The response is ', ''];["0; The provided JSON structures do not match with the natural language command. There are no JSON entries for actions such as 'ascend', 'maintain position' or 'collecting data'."] +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data.,[''];['2; The natural language command includes multiple actions that are not fully covered by any single JSON structure. The first part \'climb to a height of 1000 meters\' could be covered by the "fly" action with "altitude" parameter, however, the \'stay in that position for 5 minutes\' could be related to the "hover" action, but the duration is described in minutes, not seconds as in JSON. The last part \'gathering data\' has no representation in provided JSON structures, so it\'s not conforming.'] +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data.,['The response is ', ''];['0; The provided JSON structures do not match with the natural language command. There is no JSON structure for the action of rising to a specific altitude and remaining stationary for a specified duration to collect data.'] +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data.,['The response would be something like this:'];['1; The natural language command requests an action that combines hovering at a certain altitude and data gathering. However, the given JSON structures do not provide an option for data gathering. The "hover" action is present, but it refers to holding a certain altitude for a specified duration.'] +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data.,['The response would be:'];['2; The first part of the instruction asking to move to an altitude of 1000 meters could somewhat match the \'fly\' action if \'altitude\' was not a fixed value. However, the JSON structure does not have a prompt for time duration in the \'fly\' action so the "maintain that height for 5 minutes" instruction cannot be covered. Lastly, there is no instruction or action to "collect data" in the JSON structures given.'] +Fly in a figure-eight pattern with a total distance of 2 kilometers.,['The response is ', ''];['0; The natural language command does not match with any of the JSON structures provided. The "fly in a figure-eight pattern" action does not exist in the sample keys and the measurement of total distance is also not specified as a parameter in the JSON structures.'] +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers.,['The answer is ', ''];['0; The given natural language command "Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers" does not match any of the provided JSON structures. The information given in the command cannot be formed into any of the sample ontology. Therefore, there is no conformity.'] +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total.,['The answer is 2000.'];['0; The command requires an "execute flight path" action which does not exist in the given ontology. In addition, the parameters are also not clearly identifiable in the command for the available given actions. The JSON is generating text which is irrelevant to the command.'] +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,['The answer is ', ''];['0; The natural language command does not match with any of the JSON structures provided. The action "navigate_through_air" with a "figure-eight_tracjectory" doesn\'t exist in sample keys.'] +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,['The response is 2 kilometers.'];['0; The natural language command referenced a pattern flight action (resembling the number eight) which isn\'t represented in any provided JSON structures. The JSON structures have specific actions such as "navigate_to_point", "fly", "hover", "rotate", and "land" none of which contain a parameter that can specify this pattern. As such, it\'s non-conformant with the sample keys.'] +Hover in place and initiate a search for a lost object on the ground.,['The response is:'];['0; The natural language command instructs to hover and search, but the JSON structures provided do not contain any action relating to a search command. The hovering action exists but without the search action in the JSON structures, the command cannot be effectively and completely translated.'] +Stay stationary and begin a search for a missing item on the ground.,['The response is an empty array.'];['0; The natural language command does not match any of the provided JSON structures. Actions like "stay stationary" and "begin a search" are not found in the sample keys.'] +Keep still and start looking for a lost object on the surface.,['The response is an empty array.'];['0; The given command does not correspond to any of the JSON structures provided in the sample keys. There are no actions or parameters that match "looking for a lost object on the surface."'] +Maintain a hovering position and commence a search for a misplaced item on the ground.,['The response is accepted.'];['0; There are no actions or parameters in the JSON structure that match or correspond with the command to "maintain a hovering position and commence a search for a misplaced item on the ground". The \'hover\' action present in the JSON structure is the only potential match however, in context, there are no parameters for the action to "commence a search" in the JSON structure.'] +Suspend movement and initiate a search for a lost object on the floor.,['The response is an empty array.'];['0; The provided command does not match any of the action types or parameters given in the sample ontology. A command to \'suspend movement and initiate a search\' would likely require action types and parameters that are not included in the sample ontology (such as "search", "object", etc.).'] +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot.,[''];['0; The provided JSON structures do not support actions or parameters for descending, performing a touch-and-go maneuver, or landing at a designated spot. Therefore, the natural language command does not conform to the provided JSON structures.'] +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot.,['The response is:'];["0; The command is complex, referring to multiple actions which aren't clearly defined in the JSON commands provided. A touch-and-go maneuver could involve 'fly', 'hover', and 'land' actions but it's not specified how to combine these in the provided JSON structures. The JSON structure for 'land' is provided but there is no corresponding action in the JSON structures for a 'touch-and-go' maneuver. In addition, there are no parameters provided to match 'ground level' or 'designated spot'."] +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location.,['The response is:'];["0; There are no matching actions or parameters in the JSON structures for the command 'move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location'."] +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot.,[''];['0; None of the JSON structures given match the natural language command. There is no JSON action corresponding to "touch-and-go maneuver" or "touching down".'] +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot.,['The response is:'];['0; The natural language command does not match any of the JSON structures provided. Although there is mention of changing altitude and landing, the specific command of a "touch-and-go" maneuver does not exist in the sample keys.'] +- Fly to waypoint A at a distance of 1 kilometer.,['- { action: fly, params: { speed: 12, altitude: 120, direction: "north", duration: 20, unit_speed: "m/s", unit_altitude: "meters", unit_duration: "seconds" } }'];['1; The natural language command talks about flying to a specific waypoint but the JSON structure largely talks about generic parameters associated with flying and does not mention the waypoint. There is an action match but the parameters do not match completely.'] +Proceed to waypoint A, located at a distance of 1 kilometer, by flying.,['The response is ', ''];["0; The provided JSON structures don't have a matching action or parameters for a command about proceeding to a waypoint or flying a specific distance. Therefore, we cannot convert this command into a suitable JSON structure."] +Utilize flight to reach waypoint A, which is situated 1 kilometer away.,['The response would be something like this:'];['0; The natural language command indicates an action of flight to a specific location. However, it does not match with any of the JSON structures as it lacks specific coordinates for the "navigate_to_point" action and doesn\'t include required parameters such as "speed", "altitude", "direction", "duration" etc for the "fly" action.'] +Cover a distance of 1 kilometer by flying towards waypoint A.,['The response is 1 kilometer.'];['0; The provided JSON structure does not include any specific information or parameters that fit the natural language command. The command mentions flying towards a waypoint, but this is not represented in the given JSON structures.'] +Fly towards waypoint A, which is precisely 1 kilometer away.,['The response would be something like this:'];['0; The given command refers to an action of flying towards a specific waypoint which is not reflected in any of the provided JSON structures. The JSON structures describe actions like navigate to a point, fly, hover, rotate and land, but none of these actions show the option of defining a waypoint as a target for the action. Hence the conformity score is 0.'] +- Descend to an altitude of 200 meters above ground level.,['The response is ', 'A: Descend to an altitude of 200 meters above ground level.'];['0; The command in the natural language doesn\'t match with any of the JSON structures provided. The mention of "Descend to an altitude" is not an action covered in the sample keys.'] +Reduce your altitude to 200 meters above the ground.,['The response is 200.'];['0; The provided JSON structures do not have any action that corresponds to reducing altitude.'] +Go down until you reach an altitude of 200 meters above the ground.,['The response is an empty array.'];["0; The command is related to changing the altitude, but there are no JSON structures provided that involve this action. Therefore, the natural language command can't be matched with any of the listed JSON structures."] +Lower your altitude to 200 meters above the ground level.,['A: Lower your altitude to 200 meters above the ground level.'];['0; There is no matching JSON structure for lowering altitude in the given examples. The example ontology does not have a command for changing altitude independently.'] +Descend until you are flying at an altitude of 200 meters above the ground.,['The response is ', ''];['0; There is no JSON structure matched with the natural language command. It would require keys for the change in altitude and an action that reflects descent, neither of which are present in the JSON structure sample.'] +- Perform a vertical climb at a rate of 5 meters per second.,['The response is ', ''];["0; The command refers to a climbing action which doesn't exist in the given sample keys. Therefore, it cannot be converted to JSON using the provided ontology."] +Ascend vertically, maintaining a speed of 5 meters per second.,['The response is an empty array.'];['0; The JSON structure is not provided for the given command. The command seems to be directing a "fly" action, but no specific action or parameters in the JSON structures match the natural language command\'s instruction to "ascend vertically". The response is also incorrectly formatted as an empty array rather than an ontology conforming structured JSON.'] +Execute a vertical ascent, moving at a pace of 5 meters per second.,['The response is an empty array.'];['0; The command requires an action called \'vertical ascent\' with a parameter \'pace\' and a speed of 5 meters/second, but there is no corresponding action in the JSON ontologies. The existing actions are "navigate_to_point", "fly", "hover", "rotate", and "land".'] +Scale upwards in a straight line, advancing at a rate of 5 meters per second.,['The answer is 5.'];['3; The command is partially matched with the action "fly" and parameters such as "speed" and "unit_speed" are consistent with the input command. However, the command doesn\'t specify an "altitude", "direction", "duration", which are required in the JSON structure. It\'s also unclear what the drone\'s "altitude" would be.'] +Carry out a vertical climb, sustaining a speed of 5 meters per second.,['The answer is 5.'];['1; The "action" found in the command like "vertical climb" is not found in the available ontology. The ontology does have "fly" as an action, which could be most closely related, but the "direction" key and its corresponding values do not match the "vertical" direction given in the command. The "speed" key is present in the ontology and matches with the command.'] +- Fly in a zigzag pattern for 10 minutes.,['The response is:'];['0; The natural language command doesn\'t match any JSON structure as there is no action or parameters related to "zigzag pattern" or "10 minutes" in the given JSON structures.'] +Perform a zigzag flight pattern for a duration of 10 minutes.,['The zigzag flight pattern can be described as a series of straight lines. A straight line can be described as a tuple of the form (latitude, longitude, altitude). So the zigzag flight pattern can be described as a series of tuples of the form (latitude1, longitude1, altitude1), (latitude2, longitude2, altitude2), (latitude3, longitude3, altitude3), (latitude4, longitude4, altitude4), (latitude5, longitude5, altitude5), (latitude6, longitude6, altitude'];['0; The JSON structure provided doesn\'t correspond to the natural language command. The command refers to a complex action of performing a "zigzag flight pattern", which is not represented in the structure. Furthermore, the JSON information contains a detailed breakdown describing tuples of latitudes, longitudes, and altitudes, however, there isn\'t a command and respective parameters in the ontology to represent this breakdown.'] +Fly in a serpentine motion for a period of 10 minutes.,['The response should be something like this:'];['0; The JSON structures do not contain any actions relating to flying in a serpentine motion.'] +Execute a back-and-forth flying motion for a duration of 10 minutes.,['The response is ', ''];['0; The natural language command refers to a "back-and-forth flying motion" which does not correspond to any action in the provided JSON structures. Therefore, it cannot be converted into any of the available JSON formats.'] +Soar in a crisscross pattern for a total of 10 minutes.,['The response is:'];["0; The provided natural language command does not correlate with any JSON structure in the sample keys. Specifically, 'soar in a crisscross pattern' is not compatible with any of the available actions i.e. 'navigate_to_point', 'fly', 'hover', 'rotate', or 'land'."] +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'];["3; The action 'rotate' and parameter 'is_clockwise' match correctly. However, the 'angle' is incorrect (180 degrees in the command vs 90 degrees in the provided JSON) and the 'angular_velocity' is far off (45 in the command vs 0.5 in the provided JSON)."] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['The response is ', ''];['2; Although the natural language command refers to an action ("rotate") and parameters ("is_clockwise", "angular_velocity", "angle") that are included in the JSON structure, the specified values do not match. The command specifies an "angular_velocity" of 45, while the JSON has 0.5, and also an "angle" of 180, while the JSON structure states 90.'] +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second.,['The response is ', ''];['3; The JSON structure partially conforms to the command. The "action" is "rotate" and "is_clockwise" is true, both matching the command. However, "angle" is not 180 as in the command. Also, the "angular_velocity" which could correspond to the speed in the command is not matching (0.5 vs 45). The unit of the angle and angular velocity are, however, correctly represented as "degrees" and "degrees per second" respectively. Although not all values match perfectly, the general structure and intention of the command are recognizable in the JSON.'] +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second.,['The response is ', ''];["3; The command matches with the 'rotate' action in JSON structure, but the JSON information does not include the 'angular_velocity' value which is expressed as 'rate' in natural language command. The rest of the parameters such as direction ('is_clockwise': true), angle (180) and unit ('degrees') match correctly."] +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation.,['The response is ', ''];['3; The natural language command partly conforms to the JSON structure. The "action" is correctly identified as "rotate" and the direction as "clockwise". However, the angular velocity in the JSON structure is 0.5, not 45, and the specified angle of rotation is 90, not 180.'] +- Fly forward at a speed of 30 km/h for 500 meters.,['The response is:'];["1; The command involves the action of flying similar to the second JSON structure but some of its parameters like speed, direction and unit_speed don't match with the command and the navigation measured in 'meters' doesn't belong to the sample keys."] +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour.,['The response is 500 meters.'];["0; The JSON structures provided do not contain an action or parameters that can be used to represent the command. There is no action for 'move straight ahead' or corresponding parameters for 'distance' and 'velocity'."] +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour.,['The response is 500 meters.'];['1; The natural language command does require an action related to movement, like "fly", but the parameters requested do not clearly match with any of those in the JSON structure. The speed is mentioned but in a different unit ("kilometers per hour" instead of "m/s"), the direction is suggested (forward) but not specified as "north", "south", "east", or "west", and the distance is hinted ("500 meters") but there\'s no specified parameter in the JSON for distance. Therefore, the level of conformity is low.'] +Glide forward at a rate of 30 km/h, covering a distance of 500 meters.,['The response would be:'];['1; The given command talks about moving forward at a certain speed for a certain distance. The sample JSON structures provided have "fly" and "navigate_to_point" actions which somewhat map to this task but neither captures the full intent, especially the "covering a distance" part. As such, it loosely conforms to the JSON structure of "fly".'] +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters.,['The response is ', ''];['1; The natural language command can be mapped to the "fly" action in the provided JSON structure, however, the provided parameters in the JSON structure such as speed, direction, duration, and others don\'t exactly match with the ones given in the command. The command gives a direction (straight ahead) that isn\'t represented in the JSON, and the JSON asks for speed and duration, which are not in the command. Therefore, the conformity is low.'] +- Hover at a specific location for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The \'duration\' in the JSON structure matches the command\'s phrase \'for 15 minutes.\' However, \'hover at a specific location\' suggests geographic coordinates which are not present in the JSON structure. Also, the unit of duration in JSON structure is "seconds", not "minutes". Hence conformity is partial.'] +Remain stationary at a designated spot for a duration of 15 minutes.,['The response is ', ''];["0; The JSON structure does not match the command. There is no 'hover' action or 'duration' within the given structures that would correspond to the command's request to 'Remain stationary at a designated spot for a duration of 15 minutes'. The response also incorrectly gives a list and a closing tag '' which are not related to the command."] +Stay in one place for a period of 15 minutes.,['The response is 15.'];['1; The natural language command instructs to "stay in one place for a period of 15 minutes", which is related to the "hover" action but the provided JSON is invalid and does not conform to the sample ontology. The JSON just has a float value without any key and doesn\'t provide other necessary parameters like "altitude".'] +Maintain a fixed position for 15 minutes.,['The response is 15 minutes.'];['0; The provided JSON structures do not match the natural language command. The "hover" action would be the closest match, but it expects a duration in seconds, not minutes, and no conversion is indicated. Additionally, the provided JSON with the text input doesn\'t provide any relevant information.'] +Hold steady at a specific point for a duration of 15 minutes.,['The response is ', ''];['0; The JSON structure does not match the natural language command. The command suggests a "hover" action, but no suitable JSON structure is provided. The provided JSON structures include closing XML tags which does not match the sample keys in the ontology.'] +- Ascend to an altitude of 500 meters above ground level.,['A: The response is 500.'];['0; The provided JSON structures do not contain any structure that would handle the command of ascending to a certain altitude. The command given does not conform to any action described in the provided JSON structures.'] +Increase your height until you reach an altitude of 500 meters above ground level.,['The response is 500.'];['1; The provided JSON snippet does not fully match with the natural language command. Although there is implied action to increase altitude (which can match with "fly" action), there is no exact action in the ontology to "increase height". Also, altitude parameter with value 500 is part of the command, but the sample does not provide this specific value.'] +Climb up until you are at an altitude of 500 meters above ground level.,['The response is 500.'];['0; The provided JSON does not correlate with the natural language command. There\'s no corresponding action to "climb up" in given JSON structures. Therefore, no conformity is observed.'] +Move upwards until you reach a height of 500 meters above ground level.,['The response is 500.'];['1; The provided JSON structures do not contain an action or parameters that correspond directly to the command of moving upwards to a certain altitude. The closest existing action could be "fly" with an "altitude" parameter, but this action seems more related to horizontal movement rather than vertical. Moreover, the provided JSON does not match at all with the given one.'] +Reach an altitude that is 500 meters above ground level.,['The response is 500.'];['0; The JSON structures provided do not match with the command. There is no action or parameter related to the altitude adjustment in the sample ontology. The provided JSON code is not relevant to the command.'] +- Perform a horizontal slide to the left for 200 meters.,["A: The action is 'horizontal slide to the left'. The params are '200 meters'."];["0; The provided natural language command does not match with any of the JSON structures provided. There is no 'horizontal slide' action in the JSON structures."] +Slide 200 meters horizontally to the left.,['The answer is 200.'];['0; The JSON structures do not contain an action that matches the "slide" action mentioned in the natural language command. Hence, the command does not conform to the sample JSON keys.'] +Move to the left in a horizontal slide for a distance of 200 meters.,['The response would be something like this:'];['0; The given natural language command does not conform to any of the provided JSON structures. There is no "action" in the sample keys that matches a movement to the left in a horizontal slide.'] +Execute a horizontal leftward slide spanning 200 meters.,['The response would be something like this:'];["0; The given command does not conform to any of the provided JSON structures. There is no action that corresponds to 'execute a horizontal leftward slide' in the sample keys provided."] +Take a 200 meter horizontal slide towards the left.,['The response is 200 meters.'];["0; The JSON structures do not contain a key for a horizontal slide action or a direction specified as 'left'. The natural language command provided does not match any of the sample keys in the ontology."] +- Circle around a fixed point at a radius of 100 meters for 5 minutes.,['The response is ', '{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'];['1; The command talks about circling around a fixed point which might involve an action like "rotate" rather than "navigate_to_point". However, the specific action "circle" doesn\'t exist in the provided sample ontology. The parameters mentioned in the command like "radius" and "duration" also do not have corresponding keys in the ontology. So the conformity between the command and the JSON structure is quite low.'] +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes.,['The response is:'];['0; The provided command cannot be converted to JSON as there are no matching keys in the sample ontology for "Move in a circular path" or "keeping a distance from a central point".'] +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes.,['The response is:'];['0; The JSON structures provided do not contain any information related to performing rotations around a center point while maintaining a constant radius for a specified duration. Therefore, the natural language command cannot be accurately represented in the given JSON structures.'] +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes.,['The response is ', ''];['0; The provided natural language command does not have a matching structure in the given JSON commands. None of the sample keys in the provided JSON include a command for fixed-distance circular travel for a specified duration of time.'] +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes.,['{', ' "action": "orbit",', ' "params": {', ' "radius": 100.0,', ' "period": 5.0', ' }', '}'];['0; The provided JSON structure doesn\'t match with the ontology. The "orbit" action and its parameters "radius" and "period" are not defined in the sample ontology.'] +- Fly backward at a speed of 40 km/h for 1 kilometer.,['The response is:'];['1; The natural language command asks for a backwards flight at a specific speed and distance, which could be interpreted as an action with different parameters such as direction, speed and duration. However, the given template does not provide sufficient parameters to fulfil this command, specifically it lacks a parameter for distance and the direction does not specify backward as a value option. The unit_speed in the JSON structure is also in "m/s", not "km/h" as specified in the command, which causes another inconsistency.'] +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer.,['The response is ', ''];['0; The natural language command refers to a change in flight direction and a certain travel speed and distance, but none of these parameters or actions could be mapped onto the provided JSON structures as they do not exist in the sample keys.'] +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer.,['The response is 1 kilometer.'];['0; The natural language command requests a travel action with specified speed and distance. Neither the action "travel" nor parameters related to speed and distance are represented in the given JSON structures.'] +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer.,['The response is ', ''];['0; The command instructs a movement backwards at a certain speed and distance. However, none of the given JSON structures matches with this command - there is no "move backwards" action, nor a parameter that indicates distance or speed in kilometers or kilometers per hour.'] +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer.,['The answer is 40.0.'];["0; The natural language command doesn't match with any JSON structures. The command indicates a 'fly' action in reverse but no attribute for 'fly' action to be performed in 'reverse' exists in the JSON structure. Moreover, the 'distance' attribute is also not available in the JSON structure."] +- Descend rapidly at a rate of 10 meters per second.,['The response is ', 'A: Descend rapidly at a rate of 10 meters per second.'];['0; The natural language command does not match any of the JSON structures provided. The command implies a specific action ("descend") with a specific speed, but none of the JSON structures includes an action for descending with a specified speed.'] +Quickly descend at a speed of 10 meters per second.,['The response is ', ''];['1; The natural language command is giving an instruction to descend which can relate to the "fly" action in the JSON structures. However, the "fly" action JSON structure contains many keys which are not mentioned in the command such as "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration". The parameter\'s value of speed is specified, which matches the "speed" key in the JSON structure. But overall, several key/value pairs in the JSON structure do not match or are missing compared to the natural language command.'] +Drop down rapidly, maintaining a rate of 10 meters per second.,['The response would be something like this:'];['0; The provided JSON structures do not have an action command that matches or correlates with the description of dropping down rapidly at a certain speed. The structures mainly cater to navigation, flying, hovering, rotation, and landing actions.'] +Perform a swift descent, descending at a speed of 10 meters per second.,['The response is ', ''];['0; The natural language command requests a specific descent action with a specific speed parameter, while none of the provided JSON structures contain an action or parameters that correlate with these requirements.'] +Go down at a rapid pace, descending at a rate of 10 meters per second.,['The response is ', ''];["0; The natural language command does not match any of the given JSON structures. There is no 'descending' or 'going down at a rate' action or associated parameters in the sample ontology."] +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,['The response is:'];['0; The natural command involves an action of performing a barrel roll, which does not have an equivalent in the given sample keys. Also, the JSON structure lacks parameters for defining a barrel roll maneuver.'] +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second.,['The response is:'];['0; The command is not related to any of the JSON structure provided. There is no JSON for any such "barrel roll" action as well the rotation velocity specified ("60 degrees per second") is not conforming with the provided velocity in JSON examples.'] +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second.,['The response is ', ''];['2; The JSON structure does represent a rotation action, which matches the natural language command. However, the JSON structure contains extraneous keys ("angle", "is_clockwise") and lacks a key to specify the angular_velocity unit ("degrees per second"), which is mentioned in the natural language command. Moreover, the JSON information does not conform to the natural language command which specifies a "barrel roll" while the JSON structure doesn\'t reflect this specific type of rotation.'] +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second.,['The response is ', ''];['0; The JSON structure doesn\'t have a specific action for a "barrel roll" and hence the command cannot be translated directly to JSON. Also, the \'angular_velocity\' in JSON is set to 0.5 while in the command it is specified as 60 degrees per second which doesn\'t match.'] +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second.,['The response is ', ''];['0; The natural language command requests a "barrel roll" maneuver which does not exist in the sample keys provided. Therefore, it cannot be converted to JSON.'] +- Fly in a figure-eight pattern for 10 minutes.,['The response is ', ''];['0; The natural language command does not match any of the keys provided in the JSON structure. The command pertains to a specific flight pattern (figure-eight) and time duration (10 minutes) which are not compatible with any of the available actions or parameters in the sample ontology.'] +Perform a figure-eight flight maneuver for a duration of 10 minutes.,['The figure-eight flight maneuver can be performed at a speed of 10 m/s for 10 minutes. This means the total distance traveled is 10 * 60 * 10 = 6000 m.'];['0; The natural language command refers to a "figure-eight flight maneuver" which is not described in any of the JSON structures. Also, the JSON response does not match any of the actions in the sample ontology.'] +Fly in a pattern resembling the shape of an eight for a total of 10 minutes.,['The response is ', ''];["0; The natural language command doesn't have a corresponding JSON representation in the given set of JSON structures. None of the JSON structures support a flying pattern of any sort, let alone one in the shape of an eight."] +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes.,['The response is:'];['0; The natural language command does not correspond to any of the JSON structures provided, as there are no actions or parameters related to executing a figure-eight flight path in the sample ontology.'] +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes.,['The response is ', ''];['0; The given command does not match with any of the JSON structures.'] +- Ascend to an altitude of 800 meters above sea level.,['A: The response is 800.'];['1; The natural language command instructs to change the altitude, but it does not match any of the sample JSON keys as the \'fly\' or \'hover\' actions which have altitude parameters, do not capture simply ascending to a certain altitude without other parameters such as speed, direction or duration. The provided JSON structures also do not include any parameters in relation to "sea level".'] +Achieve an elevation of 800 meters above sea level.,['The answer is 800.'];['1; The natural language command is asking for a change in altitude, which can be related to the actions "fly" or "hover" which utilize an "altitude" parameter in the ontology. However, the specific command of achieving a certain elevation does not exactly match any of the given JSON structures. The associated JSON is not relevant to the command.'] +Reach a height of 800 meters above sea level.,['The response is 800.'];["1; The natural language command talks about reaching a certain altitude which could be linked to the 'fly' or 'hover' action in the given ontologies but it is not clearly specified whether the drone should fly or hover to reach that altitude. Also, the JSON structure given does not match with the provided data."] +Climb to an altitude of 800 meters above sea level.,['The response is 800.'];['0; The provided JSON structure does not contain any elements that match the given natural language command. The sample keys do not include a command for climbing to a specific altitude.'] +Move up to a height of 800 meters above sea level.,['The response is 800.'];['1; The provided JSON structures do not include an instruction or action that involves moving to a specific altitude. The keys for actions such as "navigate_to_point", "fly", "hover", "rotate", and "land" do not contain an explicit parameter for moving to a specific altitude besides the current position. The command is therefore not really conforming to the JSON structures.'] +- Hover in place while capturing photos for 20 minutes.,['- Hover in place while capturing photos for 20 minutes.'];['1; The action "hover" can be linked to the natural language command, but there is no reference to the duration as 20 minutes in the JSON structure. Also, the part of the command regarding capturing photos does not correspond to any action or parameter in the json structures.'] +Maintain a stationary hover for a duration of 20 minutes, taking photos.,['The response would be something like this:'];['0; The JSON structure for the command to hover exists, but there are no parameters for photo taking in the hovered state in any of the provided JSON structures. Therefore, the command does not exactly conform to the ontology.'] +Hold position and take photographs for a period of 20 minutes.,['The response is ', ''];['0; The provided JSON structures do not have any command that matches with the "hold position and take photographs" in the natural language command. There is no action key for holding position or taking photographs in the provided JSON options. Therefore, the command cannot be converted to a JSON structure based on the sample keys.'] +Stay in one spot and capture photos continuously for 20 minutes.,['The response is 20 minutes.'];["0; The command given in natural language doesn't match any of the JSON structures provided. There is no action regarding capturing photos or staying in one spot (hovering) for a specified duration in the provided JSON structures."] +Remain suspended in the air and photograph for a duration of 20 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 20.0,', ' "altitude": 70.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["2; While the action 'hover' matches correctly, the duration in the given JSON structure is 20.0 which should be in minutes as per command and not in seconds. Additionally, the command talks about photographing which is not reflected in the JSON structure. Therefore, it isn't a perfect match."] +- Fly forward at a speed of 50 km/h for 2 kilometers.,['The response is, "Fly forward at a speed of 50 km/h for 2 kilometers."'];['1; While the action "fly" is present in the given JSON, the parameters in the command do not cover all the required fields from the JSON structure. Speed and direction are mentioned, however, altitude, duration, and unit specifications are not directly given and can\'t be implicitly inferred. Also, flying for \'2 kilometers\' doesn\'t align with the \'duration\' key in the JSON structure.'] +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,['The response is 2 kilometers.'];['0; The natural language command refers to moving at a certain speed for a certain distance, but there is no corresponding action or parameters in the provided JSON structures. Therefore, there is no conformity.'] +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,['The response is 2 kilometers.'];['0; The natural language command intends for a movement with a certain speed and distance but the provided JSON structures do not accommodate such an action. The JSON structures do not support actions of moving a specific distance or adjusting speed, thus this command cannot be converted into a corresponding JSON command.'] +Propel forward for 2 kilometers at a rate of 50 kilometers per hour.,['The response is 2 kilometers.'];['0; The JSON structure provided does not match with the natural language command. The command indicates an action of moving forward at a specific speed but the provided JSON snippet is not related to this action or its parameters. Moreover, the ontology does not contains keys referring to distance or speed in the provided units (kilometers or kilometers per hour).'] +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h.,['The response is 2 kilometers.'];['0; The natural language command describes flying for a particular distance, which doesn\'t exist in the sample keys. Plus, the JSON response mentioned is not only unrelated but also improperly formatted, missing key structure components such as "action" and "params". No part of JSON matches the provided natural language command. The "speed" and "direction" mentioned in the command couldn\'t be matched with any JSON structure.'] +- Descend to a low altitude of 50 meters above ground level.,['A: The response is, "Descend to a low altitude of 50 meters above ground level."'];['1; The given command relates to a change in altitude, but the specific action of "descend" or "lower altitude" is not explicitly given in the sample keys of the provided JSON structures. The closest match would be the "hover" action which involves an "altitude" parameter; however, the command does not include a duration which is required for the "hover" action according to the sample JSON, and the action "lower" or "descend" doesn\'t exist in this context. The "fly" action could be relevant too, but without specified speed, direction, duration it doesn\'t match perfectly. Therefore, the match is partial, leading to a low conformity score.'] +Lower your altitude to 50 meters above the ground.,['A: Lower your altitude to 50 meters above the ground.'];['1; The natural language command seems to be indicating a change in altitude, but there is no direct match for such action in the sample ontology provided. The ontology does include a parameter for \'altitude\' in the \'fly\' and \'hover\' actions, but the command doesn\'t clearly specify an action. The closest potential match could be: {"action": "fly", "params": {"altitude": 50, "unit_altitude": "meters"}}, but there is no direct match.'] +Move down to an altitude of 50 meters above the ground.,['The response is:'];["1; The command suggests a changing of altitude which is a parameter present in the actions 'fly' and 'hover'. However, the command does not specify any particular action (like fly, hover) and also the motion indicated 'Move down' is not explicitly covered in the mentioned actions. Hence, a partial match is suggested with a low score."] +Decrease your altitude until you are only 50 meters above the ground.,['The response is 50.0.'];["1; The natural language command requests an action to decrease the altitude, which is not explicitly defined in the sample ontology. The JSON response provided is incorrectly formatted and does not map to any action in the sample keys. Adjustment in altitude can be a part of different actions such as 'fly' or 'hover', but a specific action for reducing altitude is not defined. Therefore, the match is not accurate."] +Descend to a height of 50 meters above the ground level.,['The response is ', ''];["1; The natural language command is asking to change the altitude, which corresponds to 'altitude' key in the JSON command related to 'hover' action, however, the action 'descend' doesn't exactly match the 'hover' action."] +- Perform a sudden stop and hover for 2 minutes.,['A: Perform a sudden stop and hover for 2 minutes.'];["0; The given natural language command does not match any provided JSON structure. The 'hover' action does not include a command for a 'sudden stop'. Also, the duration is specified in minutes in the natural language command, while the JSON expects a float number in seconds."] +Execute an abrupt halt and remain stationary for a duration of 2 minutes.,['The response would be:'];['0; The natural language command doesn\'t conform to any of the provided JSON structures. An "abrupt halt" doesn\'t have a clear corresponding action within the listed sample keys, and none of the existing actions (\'navigate_to_point\', \'fly\', \'hover\', \'rotate\', \'land\') could be reasonably interpreted as such.'] +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes.,["The immediate cessation of movement and maintaining a stable position for 2 minutes can be expressed as the action 'hover' with the parameters 'duration' = 2, 'altitude' = 0, 'unit_duration' = 'seconds', and 'unit_altitude' = 'meters'."];["2; The general intent of the natural language command matches with the 'hover' action in the JSON structure. However, the 'duration' parameter in the command (2 minutes) is not correctly represented in the provided JSON (2 seconds). Additionally, the 'altitude' value has been arbitrarily assigned as 0 in the JSON structure whereas it's not specified in the command."] +Achieve an instant stop and remain suspended in the air for a period of 2 minutes.,['The response is ', ''];['1; The natural language command involves an "instant stop" and "remain suspended" which could be interpreted as the "hover" action, but there is mismatch in the duration parameter as JSON structure does not specify duration in minutes and the natural language command does not specify altitude which is required in the \'hover\' action. There is no action related to \'instant stop\' in the sample keys.'] +Implement a sudden pause and hover motionless for a timeframe of 2 minutes.,['The response should be something like this:'];['4; The command refers to a "hover" action, matching with the \'hover\' action in the schemas. However, the duration value is not provided in the appropriate format. In the command, it is given in minutes, while in the provided JSON keys, the unit of measurement is in seconds.'] +- Land at the designated landing zone, then record a video.,[''];['0; The natural language command does not match any of the JSON information. The command suggests a landing action which is present in the JSON structures. However, it does not provide necessary parameters such as location. Moreover, the command includes "record a video" which is not provided for in the sample keys.'] +After landing at the specified landing area, proceed to film a video.,['The response is:'];["0; The natural language command mentions a 'landing' action which corresponds to the 'land' action in the JSON ontology. However, the 'film a video' action does not exist in the sample keys, therefore, this command cannot be converted to JSON according to this ontology sample."] +Upon arrival at the designated landing zone, commence recording a video.,[''];["0; The natural language command is about starting a video recording when arriving at a designated landing zone, however, none of the provided JSON structures present this action or parameters related to video recording. Therefore, there's no match between the command and the JSON structures."] +Touch down at the designated landing zone and proceed to capture a video.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The command indicates a "land" action which matches with JSON information, but it also includes an extra action, "capture a video" which is not covered in the sample JSON keys. Also, the exact location for landing is not specified in the natural language command.'] +Once you have safely landed at the assigned landing area, begin filming a video.,['The response is acceptable.'];["0; The natural language command does not match any of the given JSON structures. The action of filming or video recording isn't specified in the sample ontology."] +Ascend to an altitude of 500 feet.,['The response is 500.'];["0; The JSON structure does not provide any functionality related to ascending or changing altitude, and the units used in the command ('feet') do not match the units provided in the JSON structure ('meters')."] +Climb to a height of 500 feet.,['The response is 500.'];['0; The JSON structure does not contain any keys that match the natural language command.'] +Reach an elevation of 500 feet.,['The response is 500.'];["1; The natural language command talks about reaching an elevation of 500 feet, but there's no corresponding action in the provided JSON structures that pertains to adjusting elevation or altitude. The closest would be the 'fly' or the 'hover' action, but neither is explicitly mentioned in the command. Also, the unit of measurement used in the JSON templates is meters, not feet. The JSON response does not make sense."] +Achieve a position at an altitude of 500 feet.,['The response is:'];["0; The command refers to a change in altitude which can be seen in several of the actions in the JSON structures (navigate_to_point, fly, hover) but it's not clear which action it corresponds to. Additionally, the unit of measurement in the command is feet while the sample JSON structures use meters."] +Ascend to a height of 500 feet above ground level.,['The response is 500.'];["0; None of the JSON structures match the natural language command 'Ascend to a height of 500 feet above ground level'. The command seems to represent a 'fly' or 'hover' action but the units are different (feet instead of meters) and the specific parameter of 'above ground level' is not represented anywhere in the JSON structures."] +Fly forward for 1 mile at a speed of 40 mph.,['The response is ', 'Fly forward for 1 mile at a speed of 40 mph.'];['0; The JSON structure does not match with the natural language command. The action "fly" exists in the sample keys, but the required parameters like direction, speed, unit of speed, duration, altitude, unit of altitude are either not mentioned in the command or do not conform with the values given in the JSON structure. For example, the direction is not mentioned in the command and the unit of speed in the JSON structure is "m/s" whereas in the command it is "mph". Also, the command mentions a distance to fly which is not a parameter in the JSON structure.'] +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['The response is 1 mile.'];["0; The natural language command talks about moving straight ahead for a certain distance at a specific speed. However, none of the provided JSON structures correspond or match this action. Therefore, there's no conformity between the natural language command and the provided JSON structures."] +Move forward for a mile, traveling at a speed of 40 miles per hour.,['The response is 40.'];['1; The natural language command refers to an action of moving forward at a specific speed, which could be related to both the "navigate_to_point" and "fly" actions in the provided JSON structures. However, there are significant mismatches. The command specifies a distance ("a mile") which is not a parameter in any of the JSON actions. Also, the speed unit in the command ("miles per hour") doesn\'t match the "fly" action\'s speed unit ("m/s"). The lack of exact or close match in parameters and units leads to a low conformity score.'] +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour.,['The response is ', ''];["1; The command 'Fly in a straight line for a mile while maintaining a speed of 40 miles per hour' suggests the drone needs to fly. However, the JSON scripts do not detail the ability to interpret distance (a mile in this case), and also misses keys to interpret desired speed in miles per hour. Therefore, the match is very weak."] +Travel forward for a distance of 1 mile, with a velocity of 40 mph.,['The response is 1 mile.'];['0; The provided JSON structures include actions such as navigate_to_point, fly, hover, rotate and land none of which can represent the natural language command - "Travel forward for a distance of 1 mile, with a velocity of 40 mph". The natural language command implies motion but doesn\'t match any of the specific actions represented in the JSON structures.'] +Descend to an altitude of 200 meters.,['The response is ', ''];['0; The provided JSON structures do not support an action that matches the natural language command of descending to a specific altitude.'] +Reduce your altitude to 200 meters.,['A: Reduce your altitude to 200 meters.'];['0; The JSON structures do not include an action for altering altitude outside of a \'fly\' or \'hover\' command. Nor do they include a possible parameter for a drop in altitude on standalone basis. Therefore, there does not appear to be a corresponding JSON structure for the command "Reduce your altitude to 200 meters."'] +Lower down to an altitude of 200 meters.,['The response would be:'];['3; The natural language command does not completely match any of the JSON structures. None of the given JSON actions specifically indicate moving to a lower altitude. However, the "fly" action could imply changing altitude by setting a lower target. In the given command, there is only the altitude parameter mentioned which matches the \'altitude\' key in the \'fly\' and \'hover\' actions. As full correctness or an exact match in the JSON structures is not obtained, the score is only 3.'] +Move downwards until you reach an altitude of 200 meters.,['The response would be:'];["0; This command does not conform to any of the sample keys in the JSON. The JSON has keys for specific actions such as 'navigate_to_point', 'fly', 'hover', 'rotate', and 'land', however, the action to 'move downwards' is not among these keys."] +Descend until you are flying at 200 meters above ground level.,['The response is ', ''];["1; The command involves a 'fly' action with a specified 'altitude'. However, the direction of motion (descent) is not specified in the command or the JSON structure. Therefore, the conformity is partial."] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The JSON structure matches the command in terms of action ("hover") but it does not comply fully with the parameters. The duration in the natural language command (10 minutes) does not match with the duration in JSON (60 seconds). Also, the altitude value is 0 which has not been mentioned in natural language command.'] +Stay suspended in the air for a duration of 10 minutes.,['The response is 10.0.'];['0; The provided JSON structure is invalid and irrelevant to the given natural language command regarding hovering operation. There is no action or parameter in the JSON that matches with the command.'] +Maintain a hovering position for a period of 10 minutes.,['The response should be 10 * 60 = 600 seconds.'];['1; The JSON structure provided is missing the "action" key which should specify the action as "hover". Additionally, the parameters for duration (which is here in seconds and should be converted from the given 10 minutes to 600 seconds) and altitude (which is missing from the command) are not included.'] +Remained fixed in mid-air for a time span of 10 minutes.,['The response should be 10.0.'];['1; The command refers to the "hover" action, but the duration is given in minutes instead of the "seconds" units used in the JSON structure. Furthermore, the JSON structure is not provided, the assistant only provided a numerical response.'] +Suspend yourself without moving for the next 10 minutes.,['The answer is 10 minutes.'];['2; The given command refers to a hover action for a certain duration, which is somewhat matched in the JSON structure. However, the JSON parameters are not matching perfectly as there is "type" and "value" notations for "duration" and "altitude" which are non-existent in the natural language command. In addition, "unit_duration" and "unit_altitude" also missing in the command phrase.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'];['2; The command partially conforms to the JSON structure. The action "rotate" and parameter "is_clockwise" are correct, but the "angular_velocity" is described as degrees per second in the command, while it is represented as a simple float value in the JSON. Also, the command mentions an angle of 180 degrees, but the JSON has 90 degrees.'] +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second.,['The response is:'];['4; The natural language command closely matches with the "rotate" action JSON structure, but the angular velocity value in the natural language command (45 degrees per second) does not match the value in the provided JSON (0.5 degrees per second).'] +Turn clockwise by 180 degrees, at a rate of 45 degrees per second.,['The response is ', ''];['4; The JSON matches the action rotation with the clockwise parameter as well as the angle; however, the angular velocity in the command does not match the given velocity in the JSON structure.'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['The response is ', ''];['2; The command corresponds to the "rotate" action in the JSON structure, but the parameter values in the JSON structure do not match those in the command. The JSON structure specifies an angular velocity of 0.5 and an angle of 90, whereas the command specifies an angular velocity of 45 and an angle of 180.'] +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second.,['The response is ', ''];['1; The JSON structure does not match the natural language command fully. The action "rotate" is correct, the angle of 180 is also correct. However, the angular_velocity in the JSON structure is 0.5 which does not equate to the 45 degrees per second specified in the command. Moreover, the command structure does not account for angular_velocity in degrees per second.'] +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,['The response is ', ''];['0; The command instructs to fly in a zigzag pattern which has no matching action or parameters in the given JSON structures. The "fly" action does not include a parameter for the pattern of flight. Therefore, the command does not conform to any of the sample keys provided.'] +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying.,['The response would be something like this:'];["0; The provided command refers to a 'zigzag maneuver' which is not an available action in the given JSON templates. Furthermore, the 'fly' action does not contain a parameter for 'distance'. Thus, the command cannot be accurately represented using the provided JSON structures."] +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,['The response is:'];["0; The given command involves a complex flying pattern (serpentine) and distance measurement, both of which are not represented in the provided JSON structures. The 'fly' action does not include a parameter for distance or complex flight patterns."] +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers.,['The response would be something like this:'];['0; The natural language command is asking for a zigzag flying pattern with a specific speed which is not covered by the ontology provided. The commands in the ontology can navigate to a point, fly (in a specific direction, with a certain speed, altitude and duration), hover (for a designated duration and at certain altitude), rotate (at an angular velocity, by a certain degree, in a clockwise direction), and land (at a specific location). Zigzag flying patterns and total distance are not specified in the JSON Ontology.'] +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h.,['The response is ', ''];["0; The given JSON structures do not contain any commands and keys related to flying in a 'zigzag formation' or covering a certain 'distance'. Additionally, the speed value and units in the command are not available in the provided JSON structure sample keys."] +Ascend to an altitude of 1000 feet.,['The response is 1000.'];["0; The provided JSON structure does not have a matching command for 'ascend' nor does it support altitude in 'feet', thus the natural language command does not conform."] +Increase your altitude to 1000 feet.,['The response is 1000.'];['0; The provided JSON structure does not contain any sort of command to increase altitude, therefore no conformity exists between the natural language command and the JSON information.'] +Climb to a height of 1000 feet.,['The response is 1000.'];['0; The JSON information provided does not include any action or parameters matching with the given natural language command.'] +Reach an elevation of 1000 feet.,['The response is 1000.'];["0; The JSON structures do not contain any formats that would conform to the command of reaching a specific altitude as all the actions listed are either navigation, flying, hovering, rotating or landing. Reaching an elevation isn't covered in any of these actions."] +Move upward and maintain a height of 1000 feet.,['The response is:'];['0; The command does not match any provided JSON structure. The "navigate_to_point" action could potentially involve moving upward, but it requires coordinates which are not provided. Furthermore, the unit provided in the command ("feet") does not match the units in the JSON structures ("meters").'] +Fly forward for 5 miles at a speed of 30 mph.,['The response is ', 'Fly forward for 5 miles at a speed of 30 mph.'];["0; The given natural language command doesn't conform with the JSON structure(s) provided in the same line. The command is about flying at a certain speed for a specific distance, but the given JSON structure does not support such an action with its parameters. The existing JSON keys consider parameters like duration, direction, altitude, unit_speed, unit_duration, unit_altitude but not distance or speed in mph, hence it does not match with the command."] +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph.,['The response is 5 miles.'];["0; The command requires the 'fly' action with speed and direction parameters. However, relevant keys like distance or unit of speed in miles per hour (mph) are not present in the provided JSON structure. The JSON object provided also does not accept any value for a 'proceed straight' action."] +Travel in a straight line for 5 miles, moving at a speed of 30 mph.,['The response is 5 miles.'];['0; The JSON structures provided do not have a structure to represent the action and parameters provided in the natural language command. The command refers to an action (travel in a straight line for a certain distance at a certain speed) which is not included in the provided structures (navigate_to_point, fly, hover, rotate, land). Also, the measurement units in the command (miles, mph) are not referenced in the sample JSON structures.'] +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph.,['The response is 5 miles.'];["0; The provided JSON structure does not match the command. The command mentions an action of flying at a velocity of 30 mph for a certain distance, but the JSON structure doesn't contain keys for 'distance' or 'velocity'. Values for speed, altitude and direction are also required as per sample keys which are not mentioned in the command. Besides, the JSON expects the speed unit as 'm/s', but 'mph' is given in the command."] +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles.,['The answer is 5.'];["0; The JSON structure provided doesn't match with the natural language command. There are no keys for maintaining a specific speed or flying a certain distance in the sample ontology."] +Hover and take aerial photographs for 20 minutes.,['The response is:'];['0; The command to take aerial photographs is not represented in the sample ontology JSON keys. The "hover" command is included in the ontology, but there is no duration specified in the natural language command.'] +Capture aerial photographs by flying and hovering for a duration of 20 minutes.,['The response is ', ''];["0; The natural language command speaks about capturing aerial photographs which doesn't correspond with any given action in the JSON structures. Moreover, the command implies flying and hovering actions, however, the parameters aren't compatible with the provided JSON structures. No 'duration' of 20 minutes is in mentioned in the sample keys for 'fly' or 'hover', and the unit of duration is given in 'seconds', not 'minutes'."] +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,['The response is ', ''];['0; The natural language command doesn\'t match any of the provided JSON structures as it involves an action ("capturing images") which is not defined in the JSON ontology.'] +Take aerial photos by hovering in the air for a total of 20 minutes.,['The response is ', ''];["0; The provided JSON structures do not have an action for taking aerial photos. Similarly, the command's duration for hovering does not match any ontology's values."] +Fly and maintain a hover position for 20 minutes to capture aerial photographs.,['The response is:'];["1; The command indicates a 'fly' and 'hover' action, but the duration for the 'hover' is given in minutes instead of the standard 'seconds'. Also, the purpose of capturing photographs is not supported in the JSON structure."] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['The response is:'];['4; The command requests a rotation action, which matches the ontology. The command specifies that the rotation should be counter-clockwise and the "is_clockwise" key in the JSON structure matches this (though here the value should be false). The key "angle" also corresponds to the given rotation of 270 degrees. The key "angular_velocity" corresponds to the specified rotation speed. However, a point of non-conformity is that the specified rotation speed is "60 degrees per second", while the sample JSON assumes an angular velocity of 0.5, which is not clearly identified by any unit, but seems to be much slower than 60 degrees per second. Therefore, the command and JSON structure largely but not entirely match.'] +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second.,['The response is ', ''];['0; The provided JSON structure does not match the natural language command. The JSON is not representative of any command and the `` tag is inappropriate. The "rotate" action is present in the ontology, but the given parameters don\'t match, specifically angular velocity value ("60" instead of "0.5") and the rotation direction is not corresponding to "is_clockwise": true.'] +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second.,['The response is ', ''];['3; The JSON structure partially conforms to the natural language command. The action "rotate" and parameter "angle" match with the command however, the "angular_velocity" does not match with the command\'s rotation speed. Furthermore, the rotation direction specified in the command as counterclockwise does not match with the "is_clockwise" key in the JSON. The JSON structure needs modification to fully comply with the command given.'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['The answer is 270 degrees.'];["0; The given command is to 'rotate' in 'counter-clockwise' direction, which should be reflected in the 'action' and 'is_clockwise' parameters in the JSON structure. However, the provided JSON structure does not include the 'rotate' action, 'is_clockwise' parameter, the 'angle' parameter and no 'angular_velocity' parameter is provided, thus it does not match the command."] +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second.,['The response is:'];['2; The JSON structure partially matches with the natural language command. The action "rotate" and parameters "angular_velocity" and "angle" are correctly matched. However, the rotation direction described in the command is counterclockwise, which contradicts with the value of "is_clockwise" in the JSON structure. The angular speed provided in the command does not match the value in the JSON.'] +Descend to an altitude of 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'];['3; The action in the given natural language command corresponds to the action in the JSON structure (both refer to moving to a specific location), but the action name is different ("descend" and "navigate_to_point"). Also, the parameters in the natural language command are not entirely reflected in the JSON structure, as the expected altitude value is listed as a part of coordinates in JSON structure whereas it is mentioned separately in the command.'] +Lower down to an altitude of 100 meters.,['The response is ', '{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'];['2; The JSON structure corresponds to the "navigate_to_point" action. The "altitude" parameter is properly set to 100. However, the provided coordinates in the value are not mentioned in the command so it does not fully conform.'] +Reduce your altitude to 100 meters.,['A: Reduce your altitude to 100 meters.'];["1; There is no exact match in the given JSON structures for the command 'Reduce your altitude to 100 meters'. However, the 'altitude' key of the 'fly' and 'hover' actions might be used to encode this action, but there is no 'reduce' key expressed in the JSON structures."] +Move downward until you reach an altitude of 100 meters.,['The response would be:'];['1; The command indicates a change in altitude, but doesn\'t match with any of the given JSON structures as it doesn\'t specify an exact action like "fly", "hover", "navigate_to_point", "rotate" or "land". It can be interpreted as part of the "fly" action, but the direction is not specified. The action of moving downward until a certain altitude is reached is not clearly represented in the sample ontology.'] +Descend until you are at a height of 100 meters.,['The response is ', ''];['1; This command involves a change in altitude that could be associated with the "navigate_to_point" or "fly" actions in the ontology. However, it does not contain enough information to fully match either JSON structure, since it does not specify a direction (as required to "fly") or a complete set coordinates (as required to "navigate_to_point"). It also does not match the other actions ("hover", "rotate", "land") in the ontology.'] +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h.,['The response is:'];["0; The action 'fly in a circular path' or parameter 'radius' does not exist in the sample keys of the provided JSON structures."] +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters.,['The response is ', ''];['0; The JSON structure does not include any actions or parameters that are capable of representing a circular flight pattern with a specified speed and radius.'] +Circle at a speed of 20 km/h with a 500-meter radius.,['The answer is 500.'];['0; The provided natural language command doesn\'t match with any of the provided JSON structures. The command speaks about an action "circle" which is not present in the JSON structures. Also, the command mentions \'speed\' and \'radius\' parameters which are also not present in the sample ontology.'] +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius.,['The response is:'];['0; The JSON structures present do not support actions for flying at a specified speed in a circular path.'] +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h.,['The answer is 500 meters.'];['0; The JSON structures do not have any action or parameter for performing a circular flight with a specified radius. Additionally, the given speed unit "km/h" does not match with the unit in JSON structures "m/s".'] +Ascend to an altitude of 1500 feet.,['The response is 1500.'];["0; The provided JSON structure does not contain a key for the action 'ascend' or have a parameter for managing altitude in 'feet'. The natural language command does not correspond with the provided JSON structures."] +Increase your elevation to a height of 1500 feet.,['The response is 1500.'];["1; The natural language command talks about increasing the elevation (implying some sort of 'fly' or 'hover' action with a specific altitude), however the provided JSON structure doesn't clearly describe this action or parameter. It's only somewhat similar as the 'fly' and 'hover' actions in the JSON also deal with change in altitude."] +Climb to a 1500-foot altitude.,['The response is 1500.'];['0; The natural language command asks for a change in altitude, however, the provided JSON has nothing to do with the command. It just outputs a string, whereas an expected JSON would include an action such as "fly" or "hover" with corresponding altitude parameters.'] +Reach a height of 1500 feet.,['The response is 1500.'];['0; The provided JSON structure does not conform to the natural language command. In the command, the action is to reach a certain altitude while the provided JSON does not specify any such action or altitude parameter. Additionally, the JSON seems to be incomplete and unrelated to the command ("The response is 1500") and is not structured correctly, missing key elements like "action" and "params".'] +Ascend to a level that is 1500 feet above the ground.,['The answer is 1500.'];['0; The provided JSON does not match any of the given schemas, it is not even close to being a valid JSON format. The provided structure does not specify any action or parameters for any kind of altitude changing action mentioned in the command.'] +Fly forward and survey the area for 3 miles at a speed of 35 mph.,['The response is,'];['0; The JSON structure does not have an action for "survey" nor does it support distance as a parameter in the "fly" action. Also, the speed in the JSON structure is in "m/s", not "mph".'] +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour.,['The response is ', ''];['0; The natural language command does not match any of the action types provided in the sample JSON structures. It seems to require a new action type like "inspect_surroundings" which is not covered in the provided JSON format, and so it can\'t be properly represented.'] +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph.,['The answer is 35.'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph.,['The response is:'];['0; The command requests a specific action "move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph" which is not represented in the provided JSON structures. None of the JSON actions and parameters match the natural language command.'] +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph.,['The answer is 35 mph.'];['0; The natural language command is asking for a glide action with specific parameters like speed and distance, but none of the provided JSON structures support an action like that, nor do they provide parameters for velocity or distance in miles.'] +Hover and drop a package at the designated location.,['The response is:'];['0; The command mentions to "hover and drop a package at the designated location" but none of the JSON structures provided accommodate the action for dropping a package.'] +Carry a package and release it at the specified spot by slightly floating above it.,['The response is:'];['0; The natural language command involves the action of carrying and releasing a package which is not defined in the sample keys provided in the JSON structure. Therefore, there is no conformity.'] +Gently float and deposit a package at the predetermined destination.,['The response is:'];['0; There is no match between the natural language command and JSON structure. The natural language command implies an action of dropping a package which is not represented in the JSON samples provided.'] +Utilize aerial suspension to transport and release a package precisely where directed.,['The response is:'];['0; The natural language command does not conform to any of the provided JSON structures. The command makes reference to a package delivery action, which is not reflected in the sample keys for actions such as "navigate_to_point", "fly", "hover", "rotate", or "land".'] +Levitate above a designated area and carefully place a package down.,['Levitate above a designated area and carefully place a package down.'];['0; The provided natural language command does not correspond to any of the mentioned JSON structures. There is no action for "levitate" or "place a package down". The existing actions are "navigate_to_point", "fly", "hover", "rotate", and "land". Thus, the conformity score is 0.'] +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second.,['The response is:'];['2; The natural language command partially conforms to the JSON structure. The action "rotate" and "is_clockwise" match, but the "angle" and "angular_velocity" values do not match. Also, the "unit" key is missing in the command.'] +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second.,['The response is ', ''];['1; The natural language command calls for a rotation action which matches with the JSON key. However, the parameter values for "angle" and "angular_velocity" do not match with the sample ontology (The correct values should have been 90 and 0.5 respectively. Additionally, the "is_clockwise" parameter value is missing in the natural language command.). The JSON array does not have any relevant information.'] +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second.,['The response is ', ''];["2; The JSON structure provided partially matches the command. The 'rotate' action and 'angle' parameter is correctly translated to 45 degrees. However, the 'angular_velocity' does not correctly conform to the given speed of 15 degrees per second in the command. Additionally, 'is_clockwise' is present in the JSON but not specified in the command."] +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second.,['The response is ', ''];["3; The natural language command is only partially conforming with the JSON structure. The desired action of rotating and direction (clockwise) are matched but the command's angular velocity (speed of turn) and amount of rotation (45 degrees) only partially match with the JSON keys and no values are provided for those keys in the JSON structure. The JSON's angular_velocity and angle are unspecified in the command."] +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second.,['The response is:'];['3.5; The JSON structure matches the command but the "angular_velocity" value which is given as \'0.5\' does not match with the value \'15\' specified in the command. However, all other elements and parameters are exactly conforming.'] +Descend to an altitude of 50 meters.,['The response is ', ''];['2; The natural language command matches the "hover" JSON structure in terms of achieving an altitude of 50 meters. However, the command doesn\'t specify an action to "hover", it says "descend". This discrepancy results in a lower score.'] +Reduce your altitude to 50 meters.,['A: Reduce your altitude to 50 meters.'];["1; The natural language command 'Reduce your altitude to 50 meters' does not exactly correspond to any of the JSON structures. While it mentions altitude, the action 'reduce' isn't explicitly part of the ontologies provided. Thus, it's impossible to map it directly or make a clear inference to the available JSON structures."] +Go down to a height of 50 meters.,['The response is 50.0.'];["2; The natural language command indicates an action that involves changing altitude but doesn't specify any action matching exactly with 'navigate_to_point', 'fly', 'hover', 'rotate', 'land' present in the sample JSON keys. However, it loosely corresponds to 'hover' action as it involves maintaining a particular altitude ('hover' at 50m), but it's not a precise match as the 'hover' action also needs a duration value which is not provided in the command."] +Lower yourself to an altitude of 50 meters.,['The response is ', ''];['3; The command refers to changing the altitude, which could match with the "hover" action in the JSON structures. However, it lacks the duration parameter which is required in the given example. Therefore, it doesn\'t exactly conform.'] +Descend until you reach a height of 50 meters.,['The response is ', ''];["1; While the command involves changing altitude, it does not correspond exactly to any of the given JSON structures. The closest match would be the 'hover' action, but that implies staying at a certain altitude for a duration rather than descending to it."] +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h.,['The response is:'];['0; The natural language command requires a "fly" action in a "figure-eight" pattern. Neither this specific pattern nor the action parameters \'distance\' and \'unit_speed\' in km/h are represented in the JSON structures.'] +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h.,['The response is ', 'The response is ', ''];['0; The natural language command doesn\'t match with any existing JSON information or sample keys. The command "Perform a figure-eight flight" is not recognized in the JSON ontology provided, therefore it cannot be converted.'] +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h.,['The response is:'];["0; The given natural language command refers to flying in a figure-eight shape, which doesn't conform to any provided JSON structures (navigate_to_point, fly, hover, rotate, land) in the given sample ontology. There is no JSON structure available that would comprise the given command's action and parameters."] +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h.,['The response is ', ''];["0; The given command doesn't match with any of the actions in the sample ontology JSON structures, namely 'navigate_to_point', 'fly', 'hover', 'rotate', and 'land'. There's no command eligible for executing a figure-eight maneuver."] +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h.,['The response is ', ''];["0; The given natural language command is for a complex flight pattern, a figure-eight, with specific distance and speed. However, there isn't any existing conforming JSON structure or defined action in the ontology for executing a specific maneuver like a figure-eight pattern. Therefore, the command can't be converted to a JSON structure based on the given ontology."] +Ascend to an altitude of 2000 feet.,['The response is 2000.'];['0; The provided JSON structure does not match with the natural language command. The command talks about ascending to a specific altitude but there is no action key "ascend" exists in the sample ontology. Also, the altitude unit in ontology is given in meters, whereas in the command it\'s in feet. Hence, there\'s no conformity.'] +Reach a height of 2000 feet.,['The response is 2000.'];["0; The JSON structure does not match the command to reach a specific altitude, and the provided JSON structure doesn't contain relevant keys or actions."] +Climb to an elevation of 2000 feet.,['The response is 2000.'];['0; The natural language command refers to climbing to a certain altitude, but this action and parameter are not reflected in the provided JSON structures.'] +Increase your altitude to 2000 feet.,['The response is 2000.'];['0; The natural language command asks to change altitude but there exists no corresponding JSON structure for setting altitude.'] +Ascend to a level that is 2000 feet above ground.,['The response is 2000.'];["0; There's no matching JSON structure as none of the JSON snippets include the action of ascending to a specific altitude."] +Fly forward and inspect power lines for 4 miles at a speed of 25 mph.,['The response is,'];["0; The natural language command asks for an action and parameters that do not conform to the provided JSON structures. There is no 'inspect' action or 'power lines' parameter in the available JSON actions. There is also no action to 'fly forward'."] +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph.,['The response is ', ''];["0; The natural language command asks for an action where the device travels at a certain speed to inspect power lines over a certain distance. There's no corresponding JSON structure with an action of inspecting power lines or traveling for a certain distance at a certain speed. Therefore, there's no match between the command and the JSON structures and their keys."] +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph.,['The response would be something like this:'];['0; The natural language command doesn\'t match any of the actions or parameters in the provided JSON structures. It discusses an action ("Move forward while conducting an inspection of power lines") that does not exist in the current key set, which includes "navigate_to_point", "fly", "hover", "rotate", and "land". Additionally, there are no parameters mentioned in the command that match with the ones in the JSON structures.'] +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.,['The answer is 4 * 25 = 100 miles.'];['0; The provided JSON structure(s) does not contain any information or command that matches or conforms with the natural language command given. The command requests a specific action (visual assessment of power lines) that is not covered in the JSON structures.'] +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,['The response is ', ''];['0; The natural language command does not match any of the provided JSON structures. There is no action or parameters that describe going ahead, surveying power lines, traveling a certain distance, or moving at a specific speed in miles per hour.'] +Land at the designated landing zone, then take a nap.,['The response is:'];['0; The command does not conform to any of the JSON structures. The action "land" is present but there are no parameters for the location included. Also, the phrase "take a nap" is not recognizable within the sample keys, thus it cannot be translated to JSON.'] +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep.,['The response is:'];["0; The command requests a 'descent to landing area' and to find a 'spot to rest and sleep'. Neither of these actions or their parameters are found in the sample keys provided. Therefore, it can't be converted to JSON based on the current ontology."] +After successfully reaching the designated landing zone, feel free to relax and take a nap.,['The response is:'];["0; The natural language command does not match any of the JSON structures. The command is a placeholder and doesn't contain any executable instructions."] +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,['The response is:'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep.,['The response is:'];["0; The natural language command talks about landing at a specific location and then doing activities that are not part of any actions marked out in the sample keys. The JSON data does not contain information on the activities of unwinding and sleeping. Therefore, Since they don't match, the conformity score is 0."] +Fly forward for 1 kilometer at a speed of 40 km/h.,['The response is ', 'Fly forward for 1 kilometer at a speed of 40 km/h.'];['0; The provided JSON structure does not match with the natural language command. The JSON information provided does not relate to the action of flying forward for a certain distance and at a specific speed. The natural language command does not conform with the keys and values of the provided sample ontology.'] +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour.,['The response is 1 kilometer.'];["0; The natural language command gives an instruction that doesn't correspond to any of the actions and parameters in the provided JSON structures. Specifically, it includes 'proceed straight for a distance' and 'velocity', which are not present in the ontology."] +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour.,['The response is 1 kilometer.'];['0; The JSON structures do not contain any action or parameters that match or accommodate the natural language command of traveling straight ahead covering a distance at a particular speed.'] +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour.,['The response is ', 'The response is ', ''];["0; The natural language command does not match any of the provided JSON structure templates. There is no action key for moving forward and even the closest assumption 'fly' does not have a parameter for distance. Furthermore, the units in the command do not conform to the UOM in the 'fly' action (kilometers vs meters, kilometers/hour vs meters/second)."] +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,['The response is ', ''];["0; The provided JSON structure does not match the command given. The command asks for the action 'fly' with specific speed and distance parameters, but the JSON structure does not provide any information relevant to the command."] +Ascend to an altitude of 500 meters.,['The response is 500.'];['0; The provided JSON does not match with the command. There are no matching keys or parameters for ascending to a specific altitude in the sample ontology. The natural command asks for a change in altitude, but none of the JSON structures provide a command for this function.'] +Reach a height of 500 meters.,['The response is 500.'];["0; The JSON structure is not provided and the command doesn't match with any provided actions in the sample ontology."] +Climb up to an elevation of 500 meters.,['The response is 500.'];["0; The provided JSON structures do not support any actions related to climbing up or dealing with an elevation change. Thus, there's no conformity."] +Move upwards until you are at an altitude of 500 meters.,['The response would be:'];['1; The command indicates an action of a movement vertically or in an \'upward\' direction to a certain altitude which is not clearly mapped in the JSON structures. The command partially aligns with the "fly" and "hover" actions as they have parameters including \'altitude\' but does not specify direction. The correct action for this command doesn\'t exist in the sample keys.'] +Achieve a vertical position of 500 meters.,['The response is 500.'];["0; The natural language command is talking about adjusting altitude, but there are no corresponding actions in the JSON structures provided. The command does not match any of the JSON structure's action or parameters keys."] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The action "hover" matches with the natural language command but the "duration" value doesn\'t conform. The command asks to hover for 10 minutes which is equivalent to 600 seconds not 60. The altitude isn\'t specified in the command, thus, it\'s taken as a reasonable value.'] +Stay stationary for a duration of 10 minutes.,['The response is 10.0.'];["0; The JSON structure provided doesn't match with the natural language command. There is no correct action indicated and there is confusion between the 'duration' unit (minutes vs seconds)."] +Remain suspended in the air for a period of 10 minutes.,['The response is 10.0.'];['1; The command indicates the action of hovering, but the duration in the JSON structure is in seconds, not minutes, and there is no specific value mentioned in the command. The given JSON structure is not present.'] +Keep yourself hovering in one spot for a duration of 10 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 10.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The JSON structure has the correct action type 'hover' but the duration in the command is mismatched with the sample ontology. The command specifies 'minutes' while the JSON structure contains 'seconds'. Also, the default altitude value given is 0.0, but the command does not specify any altitude."] +Maintain a fixed position in the air for 10 minutes.,['The response is 10.'];['0; The provided JSON structure does not align with the the natural language command. The command refers to the "hover" action with a duration parameter but it\'s expected to be in seconds, not minutes, and the provided JSON structure is not related to any known action or parameter.'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,['The response is:'];['2; The natural language command corresponds to the "rotate" action in the JSON ontology. However, the angular_velocity value given in the command (20 degrees per second) is not reasonable considering the sample JSON\'s angular_velocity value (0.5 degrees per second). Additionally, the angle given in the command (180 degrees) is twice as much as the one provided in the sample ontology (90 degrees).'] +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees.,['The response below conforms to the request.', ''];['4.5; The JSON structure matches the natural language command fairly well. However, the angular_velocity supplied in the command (20 degrees per second) is not reflected in the JSON object ("angular_velocity": 0.5).'] +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["2; The angle mentioned in the natural language command is 180 degrees, but in the JSON structure, it's given as 90 degrees. The angular_velocity of rotation in the command is 20 degrees/sec, but in the JSON structure, it's 0.5. Thus, these major discrepancies lead to a low conformity score."] +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second.,['The response is ', ''];['4; The JSON structure mostly matches the command, specifying the rotation action along with an angle and angular_velocity, and that it should be clockwise. However, the angular velocity given in the command (20 degrees per second) does not match the one included in the JSON (0.5).'] +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation.,['The response is ', ''];['4; The natural language command partially conforms to the JSON. The JSON structure includes the "action": "rotate" and the "is_clockwise": true clauses, but it lacks the "angular_velocity" which is mentioned as "rate" in the command. The JSON structure also gives the "angle" as 90 degrees, while the command specifies a 180-degree rotation.'] +Fly forward for 500 meters at a speed of 50 km/h.,['The response is ', 'Fly forward for 500 meters at a speed of 50 km/h.'];['0; None of the JSON structures provided match the natural language command. The "fly" action does not have a parameter for distance, and the speed is denoted in meters per second, not kilometers per hour. Furthermore, the command to "fly forward for 500 meters" does not correspond to any of the given JSON schema, as there is no specified direction or option for flying a specific distance in the JSON structures.'] +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h.,['The response is 500 meters.'];["1; The natural language command talks about moving forward for a certain distance at a certain speed. However, in the JSON information, there is no such action that directly corresponds to this command. The 'navigate_to_point', 'fly', and 'land' actions could potentially be used to fulfill this command, but they require specific parameters like coordinates, direction, and altitude, which are not specified in the natural language command."] +Move straight ahead at 50 km/h for a distance of 500 meters.,['The response is 500 meters.'];["1; The JSON structures provided do not have an action for 'move straight ahead' or parameters for 'distance' or 'speed' in km/h. The natural language command does not fully conforms to the JSON structure."] +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h.,['The response is 500/50 = 10 meters.'];['0; The provided JSON structure does not match with the natural language command as it does not have keys for distance and forward direction. Furthermore, the JSON response given is not following a proper format and seems unrelated to the command.'] +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction.,['The response is 500 meters.'];['1; The natural language command does indicate some type of movement action with parameters such as speed, direction, and distance. However, there is no exact match in the sample ontology. The "fly" action in the ontology might be a close match but it uses parameters like speed, altitude, direction, duration, where units are specified as "m/s", "meters", "seconds" etc. The command \'Travel for 500 meters\' could be construed to refer to a duration, but it is not clear. Also the speed is mentioned in km/h in the command whereas the ontology expects the speed unit as \'m/s\'. Due to these mismatches, the conformity score is low.'] +Descend to an altitude of 200 meters.,['The response is ', ''];["1; The natural language command asks for a change in altitude, which might be interpreted as a type of 'navigate_to_point' action or 'fly' action. However, it is not explicitly covered by the types of actions given in the sample ontology, and hence, does not clearly conform."] +Lower your altitude to 200 meters.,['We lowered the altitude to 200 meters.'];["1; The natural language command indicates a change in altitude, but does not match exactly with any of the JSON structures provided. The closest would be the 'fly' action, but this includes multiple parameters not mentioned in the natural command such as speed, direction, and duration. Furthermore, the provided JSON structures do not contain a specific action for changing altitude only."] +Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'];['0; The command does not match with any of the provided JSON structures. There is no action for decreasing altitude in the sample keys.'] +Descend until you reach an altitude of 200 meters.,['The response is ', ''];["1; The JSON structures provided do not have any action that directly corresponds to descending to a specific altitude. The closest available action would be 'navigate_to_point' or 'fly' but none of these actions perfectly matches the natural language command given."] +Bring your altitude down to 200 meters.,['A: Bring your altitude down to 200 meters.'];['0; The command does not match any of the provided JSON structures. The command refers to changing altitude, but none of the JSON actions primarily address altitude change. While some JSON actions have altitude as a parameter (like "fly" and "hover"), the given natural language command does not provide sufficient information for these actions, like duration, speed, or direction for flying, or duration for hovering. Therefore, it\'s not possible to match the command to a specific JSON structure.'] +Hover in place for 2 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": 120,', ' "altitude": 0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['5; The command "Hover in place for 2 minutes" precisely matches the JSON structure, where "action" is "hover", "duration" is 120 seconds and "altitude" is 0, consistent with the command. The respective units for duration and altitude are also correct ("seconds" and "meters").'] +Stay still for a duration of 2 minutes.,['The response is 2.0.'];['0; The JSON structure provided doesn\'t match with the natural language command. The command indicates a hovering action for a certain duration, yet none of the provided JSON scripts show this. The only JSON structure that comes close is the "hover" script, but it can\'t be used because the specified duration in the natural language command is in minutes rather than seconds as required by the JSON.'] +Remain stationary for a period of 2 minutes.,['The response is 2.0.'];["0; The JSON structure doesn't match the natural language command. The command requests the object to 'remain stationary for 2 minutes' which is similar to a hover action but there is no specification for the duration in the JSON structure, it's mentioned as a random value of 2.0 without a key to represent what it stands for."] +Hold your position for a span of 2 minutes.,['The response is 2.0.'];["1; The command 'Hold your position for a span of 2 minutes' requires a 'hover' action with a duration of 2 minutes. However, the provided JSON structure doesn't match this exactly, as it doesn't specify any action or parameters."] +Do not move for a total of 2 minutes.,['The response is 2.'];["1; The natural language command implies a 'hover' action for a duration of 2 minutes. However, this is not exactly in conformity with the provided JSON structure which expects duration to be in seconds, not minutes."] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['The response is:'];['4; The JSON structure is almost perfectly conforming to the natural language command. The "action": "rotate" key-value pair is correct; however, the angular velocity given in the command is 10, not 0.5 as mentioned in the JSON. Similarly, the angle is correctly represented as 45, but the direction is mentioned as "counterclockwise" in the command, while "is_clockwise" in the JSON sample is marked as true. This opposite value brings down the score.'] +Turn to the left by 45 degrees at a rate of 10 degrees per second.,['The answer is 45 degrees.'];['2; The natural language command pertains to the "rotate" action, but the JSON structure does not exist in the examples provided. The parameter \'angular_velocity\', which should correlate with \'rate of 10 degrees per second\', is also not matching as the existing sample ontology shows it as a single number, not a unit of time.'] +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second.,['The response is:'];['3; The natural language command partially conforms to the JSON structure. It includes the "action": "rotate" and "angular_velocity", "angle" and "unit" keys from the JSON structure, but fails to specify the "is_clockwise" key as false for an anti-clockwise rotation.'] +Spin counterclockwise by 45 degrees, moving 10 degrees per second.,['The answer is 45.'];["1; The natural language command does refer to an action (rotate) and parameters (angular_velocity, angle, is_clockwise) from the sample keys, but the values in the JSON structure provided do not match the command. Specifically, the command indicates a counterclockwise rotation ('is_clockwise': false), but the JSON structure has 'is_clockwise': true. Also, the rotation mentioned in the command is 45 degrees, but in the JSON structure, it's 90 degrees. The angular_velocity is not given in the JSON."] +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second.,['The response is ', ''];['2; The natural language command refers to an action that can be related to the "rotate" action in the ontology. However, the parameters in the command don\'t match perfectly with the parameters in the JSON structure. The command specifies "speed" of rotation which does not exist in the JSON structure. It also lacks the "is_clockwise" parameter present in the JSON structure.'] +Fly forward for 3 kilometers at a speed of 70 km/h.,['The response is ', 'Fly forward for 3 kilometers at a speed of 70 km/h.'];['0; The natural language command indicates an action of flight with specific distance and speed parameters, however there is no matching JSON structure. The "fly" action in the provided JSON ontologies does not provide the option of mentioning a specific distance, making the command incompatible.'] +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h.,['The response is 3 kilometers.'];['0; The natural language command refers to a movement action with a certain distance and velocity while none of the JSON structures provided include an action with matching parameters for distance and velocity.'] +Travel straight ahead for 3 kilometers at a rate of 70 km/h.,['The response is 3 kilometers.'];['0; The command refers to traveling straight ahead which can be considered navigation, but the JSON structure provided does not have a parameter for distance or speed as described in the command.'] +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h.,['The response is 3 kilometers.'];['1; The JSON structure corresponding to the natural language command might be expected to involve an action such as "navigate" or "move" with parameters specifying distance and speed. However, none of the given JSON structures seem to directly accommodate this command. Therefore, the match is poor, and the score is low.'] +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers.,['The answer is 3.'];['0; The provided JSON does not match the natural language command. The action "maintain speed" does not exist in the command, and there is no parameter for "distance". Moreover, the JSON structure is completely unrelated to the command.'] +Ascend to an altitude of 800 meters.,['The response is 800.'];['0; There is no JSON structure that corresponds to the action of ascending to a specific altitude. The closest match would be the "fly" action, but it includes additional parameters such as speed, direction, duration and units, which are not specified in the natural language command.'] +Reach a height of 800 meters.,['The response is 800.'];["0; The provided JSON structure does not relate in any way with the natural language command. The command requires an action that changes or specifies altitude, but none of the actions in the JSON structures provided (navigate_to_point, fly, hover, rotate, land) include a parameter for changing to a specified 'height' or altitude independently."] +Climb to an elevation of 800 meters.,['The response is 800.'];["1; The natural language command talks about an action which seems like 'fly' or 'navigate_to_point' from the given JSON structures. However, there is no explicit match found for the action 'climb'. The value of the elevation '800' could match with 'altitude' parameter in 'fly' action but nothing can be said surely."] +Increase your altitude to 800 meters.,['The response is 800.'];['0; The provided JSON structures do not contain any action or parameters that relate to changing the altitude of the device without an associated action like "fly", "hover", or "navigate_to_point". The JSON structures also do not include any specific command for increasing altitude. The given natural language command does not fit the JSON structures.'] +Go up to a height of 800 meters.,['The response is 800.'];['1; The command refers to a change in altitude, which is detailed in multiple JSON structures (such as "navigate_to_point" and "fly"), but it does not fully match any of them or specify an action, so it is not clear which one is intended.'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The action type 'hover' in the JSON structure correctly matches the command 'Hover in place for 15 minutes', however the parameter values do not match. The command specifies a duration of 15 minutes, but the JSON structure has a duration value of 15.0 seconds. Further, while the command suggests that the drone should stay at the same altitude, the altitude value in the JSON structure is 0.0 meters which implies the drone is on the ground, not hovering. The unit of duration in the JSON structure is correct but not the unit of altitude."] +Stay still for a duration of 15 minutes.,['The response is 15.0.'];['1; The natural language command suggests that the action to be performed is "hovering" for 15 minutes. However, the provided JSON structure represents a string response rather than an action with parameters. The structure of the provided JSON does not conform with the sample ontology as it lacks the necessary keys such as "action" and "params". Therefore, the conformity score is low.'] +Maintain a hovering position for the next 15 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The duration value in the JSON is mismatched with natural language command. The command specifies 15 minutes but JSON has 15.0 seconds.'] +Remain in place without moving for a period of 15 minutes.,['The response is ', ''];['2; The command corresponds to the "hover" action, but the duration given (15 minutes) doesn\'t match the unit of duration specified in the JSON structure (seconds).'] +Suspend motion for a time period of 15 minutes.,['The response is 15.'];["0; The JSON structure does not match the natural language command. The command indicates an action to 'suspend motion' which does not fit any of the available actions in the sample ontology (navigate_to_point, fly, hover, rotate, land). Also, the JSON structure provided does not have relevance to the instruction given in the command."] +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second.,['The response is:'];['2; The JSON structure describes an action of "rotate" with parameters such as "angular_velocity", "angle", and "is_clockwise". The natural language command requests a clockwise rotation, which matches with "is_clockwise": true. The angle of 270 degrees is correctly represented. However, the JSON structure does not accept an angular speed in "degrees per second", and the given value of 40 degrees does not match the expected value of 0.5. The mismatch in both magnitude and unit for the angular velocity causes a lower score.'] +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second.,['The response would be:'];["4; The JSON command structurally matches with the given natural language command, as the 'action' is 'rotate' and there is 'angular_velocity' and 'angle'. However, 'angular_velocity' mentioned in the JSON does not match the value provided in the command, hence the score is 4, not 5."] +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second.,['The response is ', ''];['0; The JSON structure given does not contain any parameters for rotations at a specific rate (degrees per second), and also the angular velocity in the JSON is 0.5 while in the command is 40.'] +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees.,['The response is:'];['4; The JSON structure has all the required keys such as "action", "angular_velocity", "angle", and "is_clockwise" which matches the natural language command. However, the values don\'t align - the JSON structure indicates an angular velocity of 0.5 degrees per second and a rotation of 90 degrees, while the command specifies 40 degrees per second and a rotation of 270 degrees.'] +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,['The response is:'];["4; The natural language command is only partially conforming to the JSON structure. The command matches the 'rotate' action and it specifies the 'angle' (270 degrees) and the direction of rotation ('is_clockwise': true). However, the 'angular_velocity' in the command (40 degrees per second) does not match the velocity in the JSON structure (0.5). Additionally, the command does not specify the 'unit' which is necessary as per the JSON structure."] +Fly forward for 2.5 kilometers at a speed of 55 km/h.,['The response is ', 'Fly forward for 2.5 kilometers at a speed of 55 km/h.'];['2; There is a partial match with the "fly" action in terms of speed, but the natural language command mentions a distance ("2.5 kilometers") that does not have a corresponding key in the JSON structure. The given direction \'forward\' is also not seen in the JSON structure where only the \'type\' is given without a \'value\'.'] +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward.,['The response is 2.5 kilometers.'];['0; The JSON structure does not match the command. The command implies flying at a specified speed and distance, but the provided JSON structures do not have a parameter for distance. The speed is also not in the correct unit (km/h instead of m/s).'] +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction.,['The answer is 2.5 kilometers.'];['1; The natural language command instructs to maintain a flying speed and cover a certain distance, which could be assumed to relate to the "fly" action. However, the example JSON for the "fly" action does not include a parameter to specify distance. The command also mentions a specific speed, but the JSON information does not match as there\'s no specific value and the unit of measure is different. Therefore, the command and the JSON don\'t conform well.'] +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h.,['The response is ', ''];["0; The provided JSON structure doesn't include any information about flying straight ahead, flight distance in kilometers, or flight speed in km/h."] +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,['The response is 2.5 kilometers.'];['0; The JSON structure doesn\'t match with the natural language command, as neither the action "fly" nor any related parameters such as "distance" or "speed" are mentioned in the same format as the command.'] +Descend to an altitude of 300 meters.,['The response is ', ''];['1; The command involves a similar action of changing altitude that could be classified under "fly" or "navigate_to_point". However, there is no exact action for "descend" or a parameter for setting a specific altitude in the ontology. Additionally, there is no JSON structure provided to compare with the command.'] +Lower yourself to a height of 300 meters.,['The response is 300.'];['0; The JSON structure provided is not valid and does not match the provided ontology. The command "Lower yourself to a height of 300 meters." would likely involve an action such as "descend" or "adjust_altitude" with parameters involving a target height, but there is no such action provided in the ontology. Therefore, the provided JSON and command do not conform at all.'] +Reduce your altitude to 300 meters.,['A: Reduce your altitude to 300 meters.'];['1; The JSON structure doesn\'t provide an action that directly matches the natural language command of reducing or adjusting altitude. Despite mentioning altitude in different contexts, there\'s no specific "reduce altitude" action.'] +Move down to a height of 300 meters.,['The response is:'];['2; There are no corresponding actions in the sample JSON structures which represent moving down to a specific altitude. The closest actions are "fly" and "hover" but they lack a specific \'down\' direction and are not a perfect match for the command.'] +Descend until you reach an altitude of 300 meters.,['The response is ', ''];["1; The natural language command asks for a descend action until a certain altitude is reached, neither of this action nor the parameter 'descend' exist in the given JSON structures. Therefore, there is no clear conform with the JSON structure. However, the mention of 'altitude' slightly aligns with the 'altitude' keys in the JSON structures."] +Hover in place for 8 minutes.,['The response is 8.0.'];['1; The JSON structure provided does not match with the natural language command. It is expected to have an \'action\': \'hover\' and \'duration\' related keys under \'params\' for a correct match. The provided JSON structure does not possess these keys and hence it does not conform to the command. The correct JSON structure should have been something similar to: {"action": "hover", "params" : {"duration": {"type": "float", "value": 480.0},"unit_duration": "seconds"}}.'] +Stay still for a duration of 8 minutes.,['The response is 8.0.'];['1; The provided JSON does not match with the natural language command. The command seems to request a "hover" action, but the duration unit in the command is \'minutes\', while the one in the reference JSON structure is \'seconds\'.'] +Maintain a stationary position for a period of 8 minutes.,['The response is 8.'];['0; The JSON structure provided does not match with the natural language command. The command indicates a "hover" action with a duration in minutes, but its JSON equivalence is not given. The provided JSON suggests an incorrect value.'] +Suspend movement and remain in one spot for 8 minutes.,['The response is 8.'];['0; The provided JSON structure does not match with the natural language command. There is no key or action in the JSON structure related to suspending movement and remaining in one spot.'] +Keep hovering without moving for a total of 8 minutes.,['The response is 8.0.'];['1; The JSON structure does not match the natural language command as the "hover" action does not include the duration parameter in minutes, but in seconds. It is also not clear in the JSON structure what the duration of hovering is.'] +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second.,['The response is:'];['2; The command calls for a rotation "counterclockwise" but the JSON structure has "is_clockwise": true. The angular velocity in the JSON is 0.5 but the command specifies 25. The command\'s request for a rotational angle of 120 degrees is not distinguished in the JSON.'] +Turn left at a rate of 25 degrees per second for 120 degrees.,['The response is ', 'The response is ', ''];['2; The JSON structure partially matches the natural language command. The action "rotate" and parameters "angular_velocity", "angle", and "is_clockwise" in the JSON are similar to the command of turning left at a certain rate for a specific angle. However, the values provided do not match as the JSON has "angular_velocity" of 0.5 and "angle" of 90, but the command specifies a rate of 25 degrees per second and an angle of 120 degrees. Also, the command does not specify "is_clockwise". The provided JSON structures in the array are invalid/empty.'] +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees.,['The response is:'];['3; The command partially matches with the JSON structure for "rotate" action. However, the angular velocity in the command doesn\'t match the accepted value in the JSON. The rotation direction (anti-clockwise) is opposed to the JSON value (clockwise), thus not completely confirming to the provided JSON structure.'] +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second.,['The response is ', ''];['2; The natural language command describes a rotation action but some parameters do not match the JSON structure. The angle is specified as 120 in the command and 90 in the JSON. The angular velocity in the JSON is 0.5 whereas 25 in the command. Furthermore, the rotation is counterclockwise in the command while it is clockwise in the JSON.'] +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second.,['The response is:'];["1; The JSON structure partially conforms to the command. The action 'rotate' is correctly identified, and the 'angle' parameter matches. The command also specifies a rotation in the opposite direction of clockwise, which implies 'is_clockwise' is false. However, in the JSON structure 'is_clockwise' is set to true. Also, the command specifies an 'angular_velocity' of 25 degrees per second while it's not specified in the JSON.", ''] +Fly forward for 4 kilometers at a speed of 80 km/h.,['The response is ', 'Fly forward for 4 kilometers at a speed of 80 km/h.'];["0; The JSON structure provided does not match the natural language command since there is no defined action for moving a specific distance and the speed unit in the JSON structure is in m/s, not km/h as commanded. Moreover, the direction as 'forward' is not specified in the sample keys."] +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,['The response is 4 kilometers.'];['0; The JSON structures provide actions for navigation, flying, hover, rotating, and landing, but none of these actions correspond to the command "Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.". The command also does not provide any parameter values related to the given JSON structures.'] +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,['The response is 4 kilometers.'];['0; The provided JSON structure does not include a command for moving in a specific direction with a specified distance and speed.'] +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h.,['The response is 4 kilometers.'];['0; The provided JSON structures do not contain any key to handle the action of covering a specific distance nor the parameter to specify speed in km/h. Thus, the natural language command does not match with any of the JSON structures.'] +Travel at 80 km/h in a straight path for 4 kilometers.,['The answer is 4.'];["0; The provided JSON command only contains arbitrary text and does not correlate to any of the commands outlined in the ontology. Further, the natural language command doesn't directly map to any of the sample JSON structures. The command instructs to travel at a certain speed for a specific distance, while the JSON structures depict actions like navigating to a point, flying, hovering, rotating, and landing."] +Ascend to an altitude of 1000 meters.,['The response is 1000.'];['0; The natural language command mentions the action of ascending to a specific altitude, but does not conform to any of the provided JSON structures: "navigate_to_point", "fly", "hover", "rotate", and "land". Therefore, the command does not match any of the given JSON structures.'] +Increase your altitude to 1000 meters.,['A: Increase your altitude to 1000 meters.'];["0; The natural language command doesn't match any of the given JSON structures. The command suggests a change in altitude, but none of the JSON examples show a compatible action or parameter."] +Reach a height of 1000 meters.,['The response is 1000.'];["0; The natural language command is about reaching a certain altitude but the JSON structure doesn't have any action or parameter related to it. Therefore, they don't match each other."] +Climb up to an elevation of 1000 meters.,['The response is 1000.'];['0; The provided JSON structures do not match with the natural language command as there is no specific action or parameter linked to changing the elevation/altitude in the given sample ontology.'] +Scale up to an altitude of 1000 meters.,['A: Scale up to an altitude of 1000 meters.'];['0; The provided JSON structures do not have an action or parameter that corresponds to "scale up" to a specific altitude, therefore, the command doesn\'t match with any JSON structure.'] +Hover in place for 20 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 120.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; The JSON structure matches the command given, however, the duration does not perfectly match as the duration is in seconds in the JSON not minutes as stated in the command. This might be a minor discrepancy as it can be converted easily, but it's still a discrepancy. The altitude value seems to be arbitrary, and not mentioned in the command, but it is marked as acceptable if not specified in the command according to the rules."] +Remain suspended in one spot for a duration of 20 minutes.,['The response is 20.0.'];['1; The provided JSON structure does not correspond to the given command. The command talks about hovering for a certain duration but does not specify an altitude while the JSON refers to a float response instead of representing parameters of the hover action.'] +Stay airborne without moving for a period of 20 minutes.,['The response below conforms to the request.', ''];["2; The natural language command partially matches with the 'hover' action in JSON structure as it mentions hovering which implies staying airborne. However, the duration mentioned in the command i.e., 20 minutes does not match with the value in the JSON structure which is 15 seconds. Also, the units of duration in the command and JSON do not match (minutes vs seconds)."] +Keep stationary in mid-air for a period of 20 minutes.,['The response is 20.0.'];['2; The natural language command suggests the drone to hover for 20 minutes, however, the given JSON does not match this command entirely. The action of staying stationary implies the "hover" action, but the JSON structure does not specify duration nor its units explicitly. Besides, the duration specified in the JSON is not correct as per the natural language command. Therefore, the match is partial.'] +Suspend motion and hover in the same position for a duration of 20 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 20.0,', ' "altitude": 70.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; While the action to "hover" aligns between the natural language command and JSON, the duration of 20 minutes does not match with the JSON structure\'s unit of "seconds". Also, an "altitude" parameter is not mentioned in the command but it shows in the JSON response.'] +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['3; Partially conform. The action in the command is correctly matched to the "action" key in the JSON structure. The "angle", "is_clockwise", and "unit" keys also match with the command. However, the command specifies an "angular_velocity" of 50, while the JSON structure has a value of 0.5.'] +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second.,['The response is ', ''];["1; The natural language command specifies a rotation action, which is present in the JSON. However, the 'angular_velocity' in JSON is 0.5, which does not match the speed of 50 degrees per second specified in the natural language command. The natural language command also asks for a 360-degree rotation, which is not stated in the JSON."] +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second.,['The answer is 360 degrees.'];['0; The provided JSON structure does not conform to the natural language command. The JSON structure provided seems to be an incorrect translation of some text, possibly an automated response, and does not contain any actionable commands or parameters.'] +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second.,['The response is ', ''];['4; The natural language command mostly conforms to the JSON structure under the "rotate" action. All keys are well represented, but the angular velocity doesn\'t match. In the command, it\'s specified as "50 degrees per second" which may not be seen as a reasonable value relative to the JSON sample even though there\'s no strict rule against it. Hence, it\'s not a perfect match.'] +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,['The response is ', ''];["4; The command corresponds closely to the JSON structure for 'rotate'. However, the angular velocity in the JSON structure is 0.5, while the command specifies it to be 50 degrees per second. Further, only a 90-degree angle is mentioned in the JSON structure while the command mentions a 360-degree rotation. Thus, while the command is generally conforming, it does not match exactly with the details contained in the JSON structures."] +Fly forward for 2.7 kilometers at a speed of 60 km/h.,['The response is ', 'Fly forward for 2.7 kilometers at a speed of 60 km/h.'];['0; The provided JSON structures do not contain information or parameters that match the natural language command of flying forward for a specific distance at a certain speed. The "fly" action in JSON structures only includes parameters for speed, altitude, direction, duration but not for distance.'] +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,['The response is 2.7 kilometers.'];["0; The natural language command doesn't conform to any of the actions available in the provided JSON structures. The command seems to mention a navigate action with specific distance and speed, which isn't provided in given JSON structures."] +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h.,['The answer is 2.7.'];['0; The provided JSON structure does not match the natural language command. There are no actions or parameters related to travelling in a straight line for a specific distance with a constant speed.'] +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,['The response is 2.7 kilometers.'];["0; The JSON command provided is not related to the natural language command. The JSON data appears to be a response to a completely different command as it mentions a distance, while the natural language command discusses going forward for a distance at a certain speed, something not mentioned in the JSON command. Furthermore, the natural language command doesn't match with any commands in the provided ontology (navigate, fly, hover, rotate, land)."] +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h.,['The answer is 2.7.'];["0; The JSON structure does not match with the natural language command. The command is about covering a certain distance at a specific speed, but there's no corresponding action or parameters in the given JSON structures."] +Descend to an altitude of 400 meters.,['The response is 400.'];["0; The provided JSON structures do not have an action that matches the command 'descend to an altitude of 400 meters'. The available actions are navigate_to_point, fly, hover, rotate, and land. None of these represent a descending action."] +Reduce your altitude to 400 meters.,['A: Reduce your altitude to 400 meters.'];['0; The command does not correspond to any of the provided JSON structures. None of the actions ("navigate_to_point", "fly", "hover", "rotate", "land") in the JSON structures describe a change in altitude without involving additional parameters (such as speed or duration) or actions (such as flying or hovering).'] +Move down until you are at an altitude of 400 meters.,['The response would be:'];['0; The JSON structures provided do not include a command for changing altitude independently, so this command does not conform.'] +Descend until you reach a height of 400 meters.,['The response is ', ''];["0; The provided JSON structures do not contain an action to describe descending to a certain altitude. The closest action would be 'navigate_to_point' but it needs specific coordinates, not just an altitude. The command does not conform to the provided ontology keys."] +Lower your altitude to 400 meters.,['We lowered the altitude to 400 meters.'];['1; The command "Lower your altitude to 400 meters." suggests adjusting the altitude parameter but doesn\'t align with any specific action in the provided JSON structures. Although the "fly" and "hover" actions include an "altitude" parameter, a distinct "lower altitude" action isn\'t included.'] +Hover in place for 12 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 12.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The natural language command instructs to "Hover in place for 12 minutes." During conversion, this has been translated into JSON structure as hovering for 12 seconds not minutes which is incorrect as per natural language command. Moreover, the hover command does not specify any altitude in the natural language command, however, in the converted JSON, an altitude value is assigned, which is also not correct as there is no such information present in the original command. Therefore, conformity is low.'] +Stay in one spot for a duration of 12 minutes.,['The response is 12.'];["1; The natural command possibly corresponds to the 'hover' action in the JSON structures, however, the duration unit in the JSON is in seconds, not minutes as specified in the command. Also, no JSON command was given for comparison."] +Remain stationary for a period of 12 minutes.,['The response is 12.'];['1; The natural language command suggests the action "hover" for a duration, however, there is no matching JSON. There is also an unrelated JSON provided which doesn\'t match with the command.'] +Keep still for 12 minutes.,['The response is 12.'];['1; The command "Keep still for 12 minutes" may be interpreted as the "hover" action with a duration of 12 minutes, however, the provided JSON incorrectly interprets the command as a response of "12". The JSON structure does not match with the sample keys and hence receives a low conformity score.'] +Do not move for a total of 12 minutes.,['The response is 12.'];['1; The provided JSON structure doesn\'t match the natural language command. The command indicates a "hover" action for 12 minutes, however, the JSON command is not related to the hover action and rather showcases an irrelevant response. However, "hover" does exist in the sample keys.'] +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second.,['The response is:'];['2; The command does refer to the "rotate" action of the JSON structure, however, the "angular_velocity" value stated in the command is not reasonable as it exceeds the possible practical speed of rotation. Additionally, the command specifies to rotate counterclockwise, while the JSON parameter "is_clockwise" is true.'] +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second.,['The counterclockwise rotation of 150 degrees at a rate of 35 degrees per second would take 150/35 = 4 seconds. The response would be 4.'];['3; The natural language command specifies an action that matches the "rotate" action in the sample keys, however, "is_clockwise" parameter is missing and the "angular_velocity" does not match the speed at which the rotation should be performed as per the command. Therefore, the command partially matches the JSON structure.'] +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second.,['The response is:'];['1; The natural language command partially matches with the \'rotate\' JSON structure. However, the direction of rotation (\'is_clockwise\': true) and angular velocity (\'angular_velocity\': 0.5) in the JSON are not aligned with the command where it says "counterclockwise" and "35 degrees per second". Moreover, the angle in the command is 150 degrees which does not match with the angle in the JSON structure (90 degrees).'] +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second.,['The response is:'];['2; The JSON snippet provided is partially correct. The "action" key matches correctly to "rotate", and "angle" key also matches correctly to 150. However, the "is_clockwise" key should have been set to false to match the \'counterclockwise\' direction specified in the command, instead of true. The "angular_velocity" is mentioned as \'35 degrees per second\' in the command but no corresponding value is given in the JSON.'] +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached.,['The response is ', ''];['2; The natural language command partially conforms to the JSON structure for the "rotate" action. However, there are discrepancies in the values of the parameters. The angular_velocity and angle in the command are different from the ones in JSON, and the rotation direction is counterclockwise, whereas in JSON it is clockwise.'] +Fly forward for 5 kilometers at a speed of 90 km/h.,['The response is ', 'Fly forward for 5 kilometers at a speed of 90 km/h.'];['0; The natural language command instructs the drone to fly forward for a specific distance, at a specific speed, which does not conform to any of the provided JSON structures. There is a "fly" action in the sample ontology, however, it doesn\'t include parameters for distance or converting speed into km/h.'] +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,['The response is 5 kilometers.'];["1; The natural language command implies a navigation action with specific distance and speed values. However, the provided JSON structure(s) don't contain these particular keys (distance, speed, velocity, etc.). It vaguely matches the 'fly' action schema but lacks exact conformity hence a low score."] +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour.,['The answer is 5 kilometers.'];["0; The JSON structures provided do not show any actions or parameters that would match to the command of covering a distance at a specific speed. The parameters 'speed' and 'distance' are not present in any of the JSON structures. The action 'navigate_to_point' could be somewhat similar but it requires coordinates, not distance or speed."] +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour.,['The response is 5 kilometers.'];['0; The given command asks for an action to move forward for a certain distance at a particular speed. However, none of the given JSON structures contain this type of action or parameters (distance and speed). Therefore, there is no conformity between the command and the JSON structures.'] +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour.,['The response is 5 kilometers.'];["1; The given natural language command is about moving ahead for a certain distance at a specified velocity. However, there's no exact matching JSON structure in the provided sample ontology. The 'fly' action seems to be the closest representation but it's not an exact match because it uses a different set of parameters (speed, direction, duration) and units (m/s, seconds). Therefore, the conformity score is low."] +Ascend to an altitude of 1200 meters.,['The response is 1200.'];["0; The JSON structure is not provided, hence it's impossible to determine the conformity."] +Increase your elevation to 1200 meters.,['A: Increase your elevation to 1200 meters.'];['0; The natural language command does not correspond to any of the JSON structure samples provided. There is no action that corresponds to "increase your elevation".'] +Climb to a height of 1200 meters.,['The response is 1200.'];['0; The natural language command does not match with any of the JSON structure provided. The command is asking to climb to a certain height, however there is no corresponding action or parameters in JSON structures.'] +Reach an altitude of 1200 meters.,['The response is 1200.'];['0; The JSON structure does not correspond to the natural language command. The command suggests a change in altitude, but does not specify an action like "navigate_to_point" or "fly" which are present in the JSON keys. Thus, it can\'t be converted into JSON using the provided structures.'] +Move upwards to a position of 1200 meters above ground level.,['The response is 1200.'];["1; The command refers to moving to a certain altitude which is not directly represented in the JSON structures. However, it could be indirectly related to the 'fly' action with a specific 'altitude' parameter. The provided JSON is not matching the natural language command because it doesn't contain any action or parameter key."] +Hover in place for 25 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 125.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The action "hover" corresponds, but the reported duration in JSON is wrong (should be 1500 seconds) and undefined altitude shouldn\'t be assumed as 0 but can consider a missing value.'] +Stay still for a duration of 25 minutes.,['The response is 25.0.'];['0; The natural language command mentions a hover action for a duration of 25 minutes, but the JSON structure provided does not match this action, as it does not include any "hover" action or contain a duration param value that matches the time indicated in the command.'] +Maintain a hovering position for 25 minutes.,['The response should be 25.0.'];["1; The command given talks about 'hovering position for 25 minutes' but does not specify the altitude to hover at. The JSON provided does not match the command fully as it doesn't provide a duration in minutes and also does not include any altitude information. The JSON command is not fully compliant with the natural language given."] +Remain in place without moving for a period of 25 minutes.,['The response is 25.'];['1; The command requests hovering for a specific duration. However, the provided JSON structure does not match since it does not reflect the "hover" action or specify any duration. The "params" key and "duration" key are also completely missing. The action and corresponding keys of "hover" and "duration" are existing in the sample ontology but weren\'t utilized in this case. Therefore, they do not conform properly to the command given.'] +Hold your position in mid-air for a total of 25 minutes.,['The response is 25.'];['1; The natural language command implies a "hover" action, but with a duration specified in minutes rather than seconds. This does not align perfectly with the JSON structure provided.'] +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second.,['The response is:'];["1; The JSON structure does not match the natural language command in terms of the values. The 'angular_velocity' is not 55 and the 'angle' is not 450. However, the action 'rotate' and 'is_clockwise' matches the natural language command. Thus, it doesn't completely conform but does slightly due to similar keys."] +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second.,['The answer is 450 degrees.'];['0; The provided JSON structure does not match with the natural language command. The action is "rotate" which matches, but the parameters do not conform. The command specifies an "angular_velocity" of 55 which is not present in the JSON; the JSON expects an "angular_velocity" of 0.5. Moreover, the given angle in the command (450 degrees) exceeds the expected value in the sample JSON structure (90 degrees).'] +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['The response is:'];['2; The natural language command instructs a "rotate" action with "is_clockwise" as true and an "angle" of 450. However, the "angular_velocity" mentioned as 55 degrees per second in the command does not match with the "angular_velocity" of 0.5 in the JSON structure.'] +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,['The response is ', ''];["2; Although the natural language command requests a rotation, the JSON structure lacks the required angular velocity, and the angle provided exceeds the example's 90 degrees."] +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,['The response is ', ''];['4; The JSON structure provided largely corresponds to the natural language command. However, the "angular_velocity" in the JSON is set to 0.5, while the command specifies turning at a speed of "55 degrees per second". The "angle" parameter is completely corresponding with 450 degrees in the command. The "is_clockwise" parameter is true and perfectly matching as in the command.'] +Fly forward for 3.2 kilometers at a speed of 65 km/h.,['The response is ', 'Fly forward for 3.2 kilometers at a speed of 65 km/h.'];["1; The provided JSON structures do not match with the natural language command given. The JSON sample keys contain action 'fly' but it doesn't contain distance or unit of measurement 'kilometers' and 'km/h' for speed. Also, fly action does not indicate any direction or forward movement in JSON structure. Therefore, the command cannot be converted adequately to match any of the provided JSON structures."] +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour.,['The response is 3.2 kilometers.'];["0; The natural language command refers to a movement action with a specific distance and speed, but there is no equivalent action or parameters in the given JSON structures. The given JSON structures don't support parameters of distance or velocity in the specified units."] +Proceed straight for 3.2 kilometers at a pace of 65 km/h.,['The response is 3.2 kilometers.'];['0; The JSON structures provided do not support actions with parameters for distance and speed in km/h, so the given command cannot be represented accurately.'] +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h.,['The response is 3.2 kilometers.'];['1; While the command can be loosely interpreted as an action to "fly" possibly, the provided JSON structures do not have a direct key to measure or set the distance for traveling. Hence the command does not have a strong alignment with given JSON structures.'] +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h.,['The response is 3.2 kilometers.'];['0; The provided JSON structures do not include actions or parameters relating to moving forward a specified distance at a certain speed. The command cannot be converted to match the sample keys.'] +Descend to an altitude of 500 meters.,['The response is 500.'];["0; The provided JSON structures do not include an action for changing an object's altitude without engaging in another behavior such as hovering or flying. The JSON information given does not match the command to descend to a specific altitude."] +Lower your altitude to 500 meters.,['We lowered the altitude to 500 meters.'];['1; The JSON structure does not have a specific action for lowering the altitude. Although altitude is mentioned in the parameters, the action associated with it is not provided in the command.'] +Decrease your altitude to 500 meters.,['A: Decrease your altitude to 500 meters.'];['0; The command is asking to decrease the altitude, however none of the provided JSON structures provide a functionality to decrease altitude. Hence, there is no conformity with the JSON structures.'] +Descend until you reach an altitude of 500 meters.,['The response is ', ''];["1; The command is about altering the altitude, which closely relates to the 'action': 'fly' and 'action': 'hover' JSON structures as they both contain altitude parameters. However, the specific action of descending doesn't directly match any of the given JSON structures. No ontology or JSON structure for descending is provided."] +Bring yourself down to an altitude of 500 meters.,['The response is 500.'];['2; The command instructs an altitude adjustment, which could be related to the "fly" or "hover" action in the ontology. However, the value of 500 meters doesn\'t match directly with any mentioned altitude values. The JSON response given does not match any of the ontology structures.'] +Hover in place for 18 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 1800,', ' "altitude": 0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; While the action and the duration mostly conform with the command, the altitude does not. The command implies that the drone should hover in place at its current altitude, but does not specify what the altitude should be. A value of 0 for altitude, as in the given JSON, would most likely not be applicable in a real-world context.'] +Maintain a stationary hover for a duration of 18 minutes.,['The response is 18.0.'];['0; The provided JSON does not match the natural language command. The command specifies a "hover" action for a duration of 18 minutes, but the JSON does not represent this action nor does it provide a duration parameter.'] +Stay in one position for a period of 18 minutes.,['The response is 18.'];['1; The natural language command seems to imply an action of "hover" for a duration of 18 minutes, but the referenced JSON does not contain a suitable interpretation in terms of the action or the parameters. There is also no mention of units for the duration value in the natural language command, so it\'s not entirely clear how it would map to the ontology.'] +Remain suspended in the air for a total of 18 minutes.,['The response is 18.'];["2; The command is somewhat indicated in the 'hover' action in JSON structure's 'duration' key, but the JSON data given does not match the natural language command completely. The given JSON info seems to be incomplete and not matching the duration correctly."] +Do not move and stay at the same spot for the next 18 minutes.,['The response is 18 minutes.'];["1; The command requests the drone to hover (stay at the same spot), this action is present in sample ontology with an option to set a duration. However, the mentioned duration (18 minutes) doesn't align with any of the listed JSON commands, and critically, no complete, conforming JSON structure is given."] +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'];['4; The natural language command gives correct instructions for the \'rotate\' action. The only reason it does not perfectly conform to the JSON structure is it specifies a counterclockwise rotation when the "is_clockwise": true parameter would specify a clockwise rotation. The phrase "at an angular speed of 45 degrees per second" can be interpreted as the "angular_velocity" key, but the value is very high, which is another issue in not giving it a full score.'] +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise.,['The response is ', ''];["4; Partially conform. The natural language command does match with the 'rotate' action in the sample JSON keys, but is missing the 'is_clockwise' key which is mentioned as false in the command (i.e., 'counterclockwise'). The rotation speed ('angular_velocity') and rotation angle ('angle') in the command match with the JSON. The unit of 'angle' is mentioned in both the command and JSON. The JSON also specifies the unit of 'angular_velocity' as 'degrees', but this is not explicitly mentioned in the command. However, this is reasonable to infer from the context."] +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second.,['A 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second would take 180/45 = 4 seconds.'];["4; The JSON information displays a 'rotate' action and contains the fields 'angular_velocity' and 'angle' which matches to the command. However, the 'is_clockwise' field does not conform with the command as it suggests a counterclockwise rotation. Hence there is a partial match."] +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second.,['The response is:'];['4; The natural language command matches the "rotate" action in the JSON but the direction is not conforming as the commands states "counterclockwise" rotation whereas the JSON has the direction as "clockwise". Also, the \'angular_velocity\' in JSON is stated as \'0.5\' while the command states it as \'45 degrees per second\'.'] +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second.,['The response is ', ''];["1; The natural language command refers to a 'rotate' action with 'angle' and 'angular_velocity' parameters in line with the JSON structure, however, the commanded rotation is specified as counterclockwise while the JSON structure specifies a clockwise rotation ('is_clockwise': true). Also, the specified 'angular_velocity' in the natural language command doesn't match with given JSON example (0.5 vs 45 degrees per second)."] +Fly forward for 6 kilometers at a speed of 100 km/h.,['The response is 6000.'];['1; The command includes an action "fly" which is present in the JSON structure, but the parameters provided (distance and speed) don\'t match with the available parameters in the JSON (speed, altitude, direction, duration, unit_speed, unit_altitude, unit_duration).'] +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h.,['The response is 6 kilometers.'];['1; The provided JSON structures do not include an action or parameter that can completely accommodate the command\'s request to "proceed ahead for a distance." It could perhaps be somewhat mapped to the "navigate_to_point" or "fly" action, but neither of these actions explicitly cater to a specific distance parameter. The "speed" parameter is though available in the "fly" action.'] +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h.,['The response is 6 kilometers.'];['2; The given command instructs a certain action (fly) at certain parameters (distance and speed), however, the provided JSON structure does not include values for the provided parameters (distance or speed in km/h), and the structure primarily expects values for parameters such as direction, duration, altitude, and speed in m/s rather than a distance in kilometers and speed in km/h.'] +Move forward for 6 kilometers while flying at a velocity of 100 km/h.,['The response is 6000.'];['0; The provided JSON does not correspond to the natural language command. The key "speed" in the JSON structure has a different unit of speed ("m/s") than the one mentioned in the command ("km/h"), and the mentioned distance ("6 kilometers") in the command is not present in the JSON structure. Furthermore, the JSON structure doesn\'t contain a command related to moving "forward".'] +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers.,['The answer is 6.'];['0; The provided JSON structures do not include the ability to specify a distance for the "fly" action. Moreover, the speed unit in the JSON is \'m/s\' and not \'km/h\'. Therefore, the command does not conform with the sample keys.'] +Ascend to an altitude of 1400 meters.,['The response is 1400.'];['0; The provided JSON structures do not have a key that matches or corresponds to the action "ascend" in the command.'] +Climb to a height of 1400 meters.,['The response is 1400.'];['0; None of the provided JSON structures matches with the given command. There should have been an action with parameters that involve climbing to a specific altitude, but no such action exists in the ontology.'] +Reach an elevation of 1400 meters.,['The response is 1400.'];['0; The JSON structures provided do not contain any action that relates to adjusting elevation or altitude to a specific value directly, nor does the provided natural language command match with any of the sample keys in the JSON structures.'] +Scale to a height of 1400 meters.,['A: Scale to a height of 1400 meters.'];['0; The action mentioned in the natural language command ("scale") does not exist in the given JSON structures. Therefore, it cannot be converted and the score is 0.'] +Go up to an altitude of 1400 meters.,['The response is 1400.'];['2; The command calls for altitude adjustment, which matches the "altitude" keys present in the "fly" and "hover" actions. But it lacks clear direction on which action to employ, and it doesn\'t provide parameters like "speed", "direction", "duration" for "fly" action or "duration" for "hover" action. Nor does it match directly to any existing JSON structure.'] +Hover in place for 30 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; The natural language command instructs to "Hover in place for 30 minutes" but the JSON structure states a duration of 30.0 seconds, not 30 minutes. The altitude value is accepted because it isn\'t specified in the command. Changes in duration unit are necessary to get full conformity.'] +Stay suspended in one spot for a duration of 30 minutes.,['The response is 30.0.'];['1; The given JSON structure is incorrect. The command indicates the "hover" action with a duration parameter but doesn\'t specify the value correctly. It should be a JSON structure with the "hover" action and "duration" parameter in "minutes" instead of a string in an array.'] +Maintain a stationary position for the next half-hour.,['The half-hour is 30 minutes. So you need to maintain a stationary position for 30 minutes. The answer is 30.'];["1; The command calls for a hover action for a duration, but the JSON provided does not define the duration or correctly identify the unit of time ('half-hour' or '30 minutes')."] +Remain hovering without moving for a period of 30 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 70.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; Partially conform. The command specifies to hover for a period of 30 minutes. However, in the given JSON structure, the duration unit is in seconds not minutes and it also has a value of 15.0 which does not match with the command. Also, the command doesn't specify the altitude to hover at, but the JSON includes an altitude value of 70.0 meters, so it gets points for including an unspecfied valid value."] +Suspend yourself in the air for the next 30 minutes without any movement.,['The response is 30 minutes.'];['0; The provided JSON structure does not match the natural language command as it is not mentioned what action to be performed by the JSON.'] +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second.,['The response is:'];['4; The natural language command can be mapped to the "rotate" action in the provided JSON structure. However, the angular velocity value mentioned in the command (60 degrees per second) doesn\'t match with the given value in the JSON structure (0.5), which leads to a missing exact match.'] +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second.,['The response is 540 degrees.'];['4; The provided JSON structure matches with the command to "rotate". However, the "angular_velocity" value in the JSON is different from the command\'s "rate of 60 degrees per second."'] +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second.,['The answer is 540 degrees.'];['1; The JSON structure has some matching keys ("action": "rotate", "angular_velocity", "angle", "is_clockwise"), however, the value for "angular_velocity" in the JSON does not match the given command. In the command, the angular velocity is 60 degrees per second but this value is 0.5 in the JSON. The "angle" in the command also significantly exceeds the value in the JSON.'] +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second.,['The response is ', ''];["4; The command partially conforms to the 'rotate' JSON structure. Although the command specifies a clockwise rotation and gives an angle (540 degrees), it does not use the term 'angular_velocity' but instead mentions 'speed'. The JSON structure expects an 'angular_velocity' parameter, so while the intent is clear, it's not a perfect match with the given sample keys. Also, 'is_clockwise' is assumed to be true, but it is not explicitly stated."] +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second.,['The response would be:'];["4; The action of rotation and the direction (clockwise) are mentioned correctly in the JSON structure. However, the specific numbers for 'angular_velocity' and 'angle' in the natural language command do not match with the values in the JSON structure but are reasonable and possible values. Hence, a point is deducted."] +Fly forward for 3.7 kilometers at a speed of 70 km/h.,['The response is ', 'Fly forward for 3.7 kilometers at a speed of 70 km/h.'];['0; The JSON structures provided do not include action parameters for moving in a specific direction for a certain distance, or for moving at a specific speed in km/h. The provided natural language command cannot be mapped onto the given JSON ontology.'] +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['The response is 3.7 kilometers.'];['0; The JSON structure doesn\'t match the command. The commands define different actions like "navigate_to_point", "fly", "hover", "rotate" and "land" but there isn\'t an action for \'proceeding straight ahead\' or a parameter for \'distance.\''] +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h.,['The response is 3.7 kilometers.'];['1; The natural language command refers to moving in a specific direction for a certain distance at a particular speed. However, the JSON structure(s) next to it do not provide any clear match. The closest "fly" action misses key parameters such as distance and has different units for speed. The command does not fully match with the JSON keys in the ontology.'] +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h.,['The response is 3.7 kilometers.'];["1; The natural language command does specify an action that can relate to 'fly', however, the parameters ('speed' and 'distance' instead of 'duration') do not match since the unit is in kilometers and no altitude direction is specified. The JSON structure provided does not have any information on distance or unit specified in 'km/h'."] +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h.,['The answer is 3.7.'];['0; The provided JSON structures do not support actions for propelling forward a specified distance or for regulators of speed in terms of km/h.'] +Descend to an altitude of 600 meters.,['The response is 600.'];['0; None of the provided JSON structures represent an action to "descend" or change altitude. Therefore, the command does not conform to the sample keys.'] +Reduce your altitude to 600 meters.,['The response is 600.'];['0; The provided JSON structures do not contain a command for reducing altitude. The natural language command does not match any of the available JSON actions or parameters.'] +Move down to an altitude of 600 meters.,['The response is:'];['0; The natural language command requests to move to a specific altitude, however none of the JSON structures provided contain an action to change only altitude. The action "fly" and "hover" include altitude in their parameters, but they also involve other specifications and movements. The command does not conform to any of these.'] +Decrease your altitude until you reach 600 meters.,['The response is 600.'];["0; The provided command asks the drone to decrease its altitude, but there's no corresponding action in the sample keys for decreasing altitude. The given JSON is also unrelated as it seems to be a conversation from a chatbot. Therefore, there is no conformity."] +Descend until you are at 600 meters altitude.,['The response is ', ''];["1; The command invokes an action similar to a 'hover' (provided the drone is currently at an altitude above 600 meters), but there's a specified target altitude which doesn't conform to the 'hover' action in sample ontology. There's no JSON structure that handles altitude adjustment."] +Hover in place for 22 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 22.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3.5; The JSON data matches the natural language command only partially. The "hover" action and the "duration" parameter are correct. However, the provided value for the "altitude" parameter does not match the natural language command as it is noted as 0 in JSON structure while the command implies staying in the same position, not descending to the ground (\'altitude\': 0). Also, the "unit_duration" should be "minutes" instead of "seconds".'] +Stay still for a duration of 22 minutes.,['The response is 22.'];['1; The natural language command indicates a hovering action with a specific duration. However, the provided JSON structure does not adequately reflect this action. The action is not specified, and the duration parameter value does not match the natural language command (22 minutes vs 22). Additionally, the unit of duration (minutes) is not reflected in the JSON.'] +Hold your position for a period of 22 minutes.,['The response is 22.'];['0; The provided JSON structure does not match the ontology. It is expected to include "action" as "hover" with "duration" as \'22\', but instead just gives a missing or incorrect response.'] +Remain stationary for 22 minutes.,['The response is 22.'];['1; The command talks about hovering for a certain duration, however, neither the action "hover" nor the "duration" parameter with appropriate value is reflected in the JSON structure. The JSON presented doesn\'t match the given command hence the low score.'] +Do not move for the next 22 minutes.,['The response is 22.'];['0; The given JSON structures do not have an action for "do not move" or a parameter for "22 minutes". The provided JSON data in the command does not match any in the sample JSON structures.'] +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second.,['The response is:'];['3; The JSON structure is almost exactly equivalent to the command; the \'action\' is "rotate" which matches the command. However, the \'is_clockwise\' parameter is set to true, contrary to the "counterclockwise" specification in the command, and the \'angular_velocity\' is 0.5 instead of the requested 50, so it is not a perfect match.'] +Turn left by 210 degrees with a rotational velocity of 50 degrees per second.,['The response is ', ''];['1; The command matches with the "rotate" action in the sample JSON. However, the command specifies a counter clockwise rotation ("Turn left"), which does not conform with the "is_clockwise" field of the JSON structure (set to true). In addition, the angular velocity given is 50, which is significantly higher than the 0.5 in the sampled JSON. The given angle of 210 degrees is not an issue, as a specific value was not defined in the sampled JSON.'] +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second.,['The response is:'];['4; The JSON structure partially matches the command. The "action" of "rotate" corresponds correctly, and the "angular_velocity" parameter is correctly set. However, the "angle" is not matching as the command specified for 210 degrees while the JSON structure given is for 90 degrees. The "is_clockwise" in the JSON structure is incorrect as the command is for anti-clockwise rotation. Therefore, the conformity is not exact.'] +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second.,['The counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second would take 210/50 = 4.2 seconds.'];["2; The natural language command mentions a 'rotate' action with the angle and angular_velocity parameters. However, the is_clockwise parameter in the JSON is set to true, which contradicts the 'counterclockwise' direction in the command. Also, the angular_velocity value doesn't match, as there is no such key in the JSON structure. Lastly, the added extra information about the time it would take to complete this rotation in the natural language command is not represented in the JSON structure at all."] +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second.,['The response is ', ''];["4; The JSON structure corresponds to the turn command in the natural language command; however, the rate of the rotation is not represented in the JSON. Instead of rate (degrees per second), the JSON uses 'angular_velocity', 'angle' and 'is_clockwise'."] +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap.,['The response is, "Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap."'];["0; The command mentions the action 'fly' which is in the ontology, but the parameters mentioned (distance and speed) don't match the parameters in the ontology (speed, altitude, direction, duration, unit_speed, unit_altitude, unit_duration). The second action 'take a nap' is also not present in the ontology."] +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest.,['The response is,'];["0; The natural language command doesn't match any of the JSON structures in the ontology. Also, there is no 'proceed' or 'distance' action present in given ontology."] +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax.,['The response is ', ''];["0; The natural language command asks for a movement action but neither the speed nor the duration parameters match with the JSON structure. Additionally, the 'relax' command does not correspond to any action in the JSON keys."] +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest.,['The response is ', ''];['0; The given JSON structures do not contain keys for the actions and parameters described in the natural language command.'] +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break.,['The response is ', ''];["0; The natural language command gives instructions to move straight ahead at a certain speed for a specified distance and then take a break. However, neither the action nor the parameters mentioned in the command match any of the JSON structures provided. The ontology lacks the action 'move straight ahead', as well as parameters for 'rate' and 'distance'. Also, 'take a break' is not featured in any of the action sets. Therefore, the command cannot be converted to JSON based on the given ontology."] +Ascend to an altitude of 500 meters.,['The response is 500.'];['1; There are actions in the ontology that include the parameter "altitude", namely "fly" and "hover", but there is no explicit action for ascending, which is specified in the natural language command. Hence, there is slight conformity but not completely.'] +Increase your elevation to 500 meters.,['A: Increase your elevation to 500 meters.'];['1; The JSON structure(s) does not have a key where the action is to change or increase the altitude exclusively, which is needed for the "Increase your elevation to 500 meters" command. The only keys available which include altitude manipulation are tied to other actions such as \'fly\' or \'hover\'. Therefore, the command only partially conforms to the JSON structure(s).'] +Climb up to a height of 500 meters.,['The response is 500.'];['0; The provided JSON structures do not include a "climb" action or a parameter for specifying altitude in generic terms, which is required to correctly convert the command.'] +Reach an altitude of 500 meters.,['The response is 500.'];['1; The command instructs to reach a certain altitude. However, none of the provided JSON structures seem to cater to this specific command. The commands in the JSON structures cover actions such as navigate_to_point, fly, hover, rotate, and land. There is no command to directly reach a certain altitude. There is an "altitude" parameter in the "fly" and "hover" actions but they are not the main purpose of these actions. Therefore, the matching score is low.'] +Move upward to a height of 500 meters.,['The response is:'];['0; None of the JSON structures provided match the command of moving upward to a specific height. The "fly" action does not specify vertical movement, and while the "hover" action mentions an altitude, it does not suggest movement to reach the altitude.'] +Fly forward for 10 kilometers at a speed of 80 km/h.,['The response is 80.0.'];["1; The natural language command asks for a 'fly' action, which is in the JSON structures provided, but the parameters specific to distance and speed in the given units (kilometers and km/h) do not conform with the sample keys in the JSON 'fly' action structure which uses parameters for 'speed', 'altitude', 'direction', 'duration' and units in 'm/s', 'meters' and 'seconds'. Also, the provided JSON string is not valid or relevant to the command."] +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h.,['The response is 10 kilometers.'];['0; The JSON structure does not provide any action or parameters that match the "proceed straight ahead for a distance" or "maintaining a speed" part of the natural language command. The only available commands/actions in the JSON templates relate to "navigate_to_point", "fly", "hover", "rotate", and "land". There is no template for movement based on distance or maintaining a speed in km/h.'] +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h.,['The response is 10 kilometers.'];['2; The command involves navigation and speed which are attributes available in the JSON ontology provided. However, the JSON structures do not have a means to specify the distance for the travel or the unit of speed in km/h as requested in the natural language command. Hence, despite partial conformity to the given ontology, it does not fully conform to it.'] +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h.,['The response is 10 kilometers.'];['0; The JSON structure has no correlation with the given natural language command. The command requires flight information, but there are no parameters for the distance to be covered and the speed unit in the JSON structure is m/s, not km/h. Furthermore, the irrelevant JSON structure provided refers to a response rather than an action.'] +Move forward at a rate of 80 km/h for a total of 10 kilometers.,['The response is 10.'];['0; The natural language command describes a possible movement action, but there is no corresponding JSON structure mentioned in the ontology. Therefore, the command cannot be converted to JSON and does not match with any given ones.'] +Hover in place for 15 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 15.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["1; The natural language command is partially conforming to the JSON structure. The 'hover' action is correct, however, the duration value of 15 provided in JSON is in seconds while in the natural language command it implies minutes. Also, the altitude value in the command is not specified but it's set to 0.0 in the JSON structure."] +Stay suspended in one spot for a duration of 15 minutes.,['The response is 15.0.'];['1; The natural language command is partially conforming to the \'hover\' action in the JSON structure. However, the "duration" for hover action in the JSON structure is defined in \'seconds\', whereas the command specifies the duration in \'minutes\'. Therefore, there is a mismatch in the units of measurement.'] +Maintain a hovering position without movement for a period of 15 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 15.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["4; Partially conform. The action 'hover' matches perfectly. Although the 'duration' value is correct, its unit in the JSON structure is 'seconds' which doesn't match with 'minutes' in the command. Moreover, the 'altitude' value is not specified in the command but it is considered as 0.0."] +Keep floating in a fixed location for 15 minutes.,['The response is 15.0.'];['0; The JSON structure is not provided, and thus, there is no way to determine if the natural language command conforms to a JSON structure based on the given information.'] +Remain in mid-air without any displacement for a total of 15 minutes.,['The response is ', ''];['0; The JSON structure doesn\'t match with the command. The command refers to "hover" action for a duration but doesn\'t specify the unit in \'minutes\', whereas the JSON structure has duration in \'seconds\'. Additionally, there is no JSON structure provided for review.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'];['4; The JSON partially matches the natural language command. The action "rotate" and parameters "angular_velocity", "angle", and "is_clockwise" comply with the given command. However, the angular velocity value mentioned in the command (45 degrees per second) is much larger than the usual range (in the given JSON, it\'s 0.5), which typically describes a more conservative rotation speed.'] +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second.,['The response is ', ''];['2; The natural language command gives instruction that corresponds to the "action" key, "rotate" in the JSON structure. The commands "is_clockwise" and "angle" are properly indicated in the natural language command. However, "angular_velocity" is specified in the wrong unit (degrees per second) in the natural language command, relative to the sample keys, which only provide a rate and no specific units for this measurement. Furthermore, the natural language command does not provide information on all keys in the given JSON structure related to rotation such as the "unit" of the rotation.'] +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn.,['The response is ', ''];['3; The JSON structure partially matches the command. The "rotate" action is correctly identified, the "angular_velocity" is incorrectly stated as 45 instead of 0.5 in the given sample, the "angle" is correctly stated as 180, and the "is_clockwise" is also correctly stated as true. However, the "unit" of "angular_velocity" is not specified in the command which requires it to be per second and should be included in the key of the ontology.'] +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second.,['The response is ', ''];['5; The command correctly identifies the action as "rotate", and gives reasonable values for parameters such as "angular_velocity", "angle", and "is_clockwise". However, it does not specify a unit for the angular velocity, but since the example ontology provides "degrees" as a unit, this can be inferred. Therefore, the match is exact.'] +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation.,['The response is ', ''];['4; The natural language command is mostly conforming with the JSON structure. The action "rotate" is correctly identified and parameters "angular_velocity", "angle", and "is_clockwise" are correctly specified. However, the natural language command specifies that the rotation should be at a \'constant speed\' which is not represented in the JSON structure. Hence, there is a small non-conformity.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];["5; Exactly conform. The natural language command 'Land at the designated landing zone' calls for the 'land' action which is exactly what the provided JSON structure describes. The parameter for the landing location is not specified in the natural command but is presented in the JSON, this is acceptable."] +Please touch down at the specified landing area.,['The response is:'];['1; The natural language command is asking for a landing action which is present in the sample keys, but it does not provide specific coordinates (latitude, longitude) for the landing location as required by the ontology. Therefore, although the general action matches, the lack of specific parameters means it only partially conforms.'] +Make your descent and land on the assigned landing zone.,['The response is:'];['1; The natural language command calls for the drone to descend and land, but there are no specifics provided, such as location coordinates, which means the information given does not quite conform to the provided JSON structure for the "land" action. The JSON structure includes specific parameters such as "location" with type and value specifications. The command lacks this specific detail.'] +It is required for you to land at the designated area.,['The response is,'];['4; The natural language command is asking for the drone to land which matches the "land" action in the JSON structures. Although the JSON structure specifies a location parameter, the natural language command does not specify any location. However, it\'s reasonable to assume that the \'designated area\' in the command applies to the location specified in the JSON structure.'] +Ensure that you land precisely at the designated landing zone.,[''];["0; The natural language command is indicating an action to land at a specific zone but does not provide the coordinates nor does the JSON representation provide any information regarding the 'designated landing zone'."] +Descend to an altitude of 100 meters.,['{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'];['5; Exactly conform. The natural language command is asking to descend (navigate) to a specific altitude which is 100 meters. The JSON structure also describes the same action "navigate_to_point" with their altitude mentioned in the coordinates. The "coordinates" values are applied reasonably as exact values are not provided in the command.'] +Reduce your altitude to 100 meters.,['A: Reduce your altitude to 100 meters.'];['2; The command instructs to lower the altitude, however, none of the JSON structures provided specifically has a command to reduce or increase the altitude. However, the "fly" and "hover" actions do have "altitude" parameters which could potentially be used to follow this command, but it\'s not a direct match.'] +Decrease your altitude to 100 meters.,['A: Decrease your altitude to 100 meters.'];['1; The natural language command instructs to decrease the altitude but there is no exact match in the provided JSON structures. The closest structure could be the "fly" action where altitude is a parameter but the action doesn\'t imply decreasing of altitude. The "navigate_to_point" action might be used to navigate to a certain point with lower altitude but it\'s not clearly stated in the command.'] +Descend until you reach an altitude of 100 meters.,['The response is an empty array.'];["0; The JSON structure provided is empty, hence it doesn't match with the command 'descend until you reach an altitude of 100 meters', as the command implies an action (descending to a particular altitude) which needs to be represented in the JSON structure, but isn't."] +Bring yourself down to an altitude of 100 meters.,['The response is an empty array.'];['1; The natural language command refers to an action of changing altitude which could be related to a "fly" or "hover" action, but neither the "fly" nor "hover" JSON structures have been provided in the response. Therefore, the match is poor.'] +Fly backward for 5 kilometers at a speed of 40 km/h.,['The response is ', ''];['0; The natural language command does not match any of the given JSON structures. The \'fly\' action exists, however, "backward" is not a valid direction in the context of the given ontology, and speed is not measured in "km/h". Also, there is no distance parameter in given sample keys. So it can\'t be converted to JSON based on the given ontology.'] +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h.,['The response is 5 kilometers.'];['0; The natural language command does not match any of the provided JSON structures. A command about reversing course and travelling a specific distance and speed does not conform to any actions or parameters in the sample ontology.'] +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h.,['The answer is 5 kilometers in the opposite direction at a speed of 40 km/h.'];["0; The natural language command does not clearly state any specific action from the sample keys (like 'navigate_to_point', 'fly', 'hover', 'rotate', or 'land') and, thus, it cannot be converted to a corresponding JSON structure."] +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h.,['The response is 5 kilometers.'];["0; The JSON structures provided do not have an action that supports covering a specific distance in certain direction like 'backward' or a parameter for speed in 'km/h'. The natural language command does not conform to the JSON structure."] +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h.,['The response is, "Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h."'];['0; The given JSON structures do not support the action of flying in reverse.'] +Circle around a specific location for 20 minutes.,['The response is ', '{', ' "action": "navigate_to_point",', ' "params": {', ' "coordinates": {', ' "type": "tuple",', ' "value": "(37.7749, -122.4194, 100)"', ' }', ' }', '}'];['1; The natural language command gives an instruction to "circle around a specific location for 20 minutes", which expects some sort of rotation action, instead of simply navigating to a point as indicated in the provided JSON response. The JSON structure does not match the command requirement.'] +Perform a circular motion around a particular spot for a duration of 20 minutes.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['1; The JSON structure represents the "rotate" action, but the command in natural language expresses a different action, which is not simply rotation but motion around a certain spot. In addition, duration mentioned in the command is not reflected in the JSON.'] +Move in a circular pattern around a designated area for a period of 20 minutes.,['The response would be something like this:'];['0; The command does not match the provided JSON actions. The command suggests an action similar to a patrol or scan, but no such action exists in the JSON structure. Therefore, the JSON cannot fulfill this command.'] +Encircle a specific location for 20 minutes, continuously moving in a circular motion.,['The response is:'];["0; The command doesn't match any of the provided JSON structures as there's no action related to encircling or moving in a circular motion."] +Follow a circular path around a particular place for a duration of 20 minutes.,['The response would be something like this:'];['0; The provided command doesn\'t conform to any of the actions given in the JSON structures. The actions provided in the JSON structures are "navigate_to_point", "fly", "hover", "rotate", and "land", while the command involves following a circular path, which isn\'t represented in the JSON.'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second.,['The response is:'];['4; While most of the command matches the JSON structure, the command specifies a counterclockwise rotation, while the JSON specifies a clockwise rotation. Additionally, the angular velocity specified in the command does not match the one in the JSON structure.'] +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec.,['The response is:'];['4; The JSON structure mostly matches the natural language command, with the "action" being "rotate", the "angle" being 270, and "angular_velocity" which matches with "60 degrees/sec". However, the direction specified in the natural language command is counter-clockwise, while the JSON has "is_clockwise" as true. Therefore, they don\'t completely conform.'] +Turn left by 270 degrees at a rate of 60 degrees per second.,['The answer is 270 degrees.'];['1; The JSON structure does not match the natural language command. The command mentions of a rotation action to the left by 270 degrees at a certain angular velocity, however, the JSON structure shows a correction to an earlier statement with no related keys. There is no "action", "params" or "angular_velocity" indicated in the JSON structure.'] +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second.,['The answer is 270 degrees.'];["0; The command is related to a rotation but the provided JSON structure does not match the natural language command. The 'angular_velocity' value in the JSON structure is not corresponding with '60 degrees per second' in the command, the 'angle' is not 270 degrees, and the rotation is not 'counterclockwise' as mentioned in the command."] +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees.,['The response is:'];['4; The provided JSON is mostly accurate. The action "rotate" is correctly identified and the values for "angle" and "angular_velocity" are provided. However, the direction of rotation was specified as anticlockwise in the command, but the JSON "is_clockwise" field has a value of true.'] +Ascend to an altitude of 1000 meters.,['The response is 1000.'];['0; The provided JSON structures do not contain any action that matches the natural language command to "ascend to an altitude".'] +Reach a height of 1000 meters.,['The response is 1000.'];['0; The provided JSON does not match the natural language command. The command refers to a specific height, while the JSON states a response of 1000 without any key or action related to altitude or height.'] +Climb up to an elevation of 1000 meters.,['The response is 1000.'];['1; The provided natural language command does match with the "action" key in the given sample ontology as the action of climbing up could be interpreted as either "navigate_to_point" or "fly". However, the "params" key in the command is not completely matched with the JSON structure: the JSON object does not specify any parameter to set the altitude to 1000 meters.'] +Increase the altitude to 1000 meters.,['The response is the same.'];['0; The natural language command talks about an action that involves changing the altitude, which could potentially be related to the "fly" or "hover" actions in the JSON structures. However, in these structures, the altitude is just a parameter, not the main action performed, which makes it unclear which action the command corresponds to, leading to a non-conformity. Thus, JSON structures for these commands are not provided.'] +Achieve a vertical position of 1000 meters.,['The response is 1000.'];['0; The provided JSON structures do not contain any information related to "achieving vertical position" or something equivalent. This makes the natural language command non-conformant with the JSON structures.'] +Fly forward for 15 kilometers at a speed of 100 km/h.,['The response is ', 'Fly forward for 15 kilometers at a speed of 100 km/h.'];['1; The command asks to fly forward which corresponds to the "fly" action in the ontology, however, the parameters in the JSON structure doesn\'t match the command properly. Parameters like "speed" are present but the unit of speed (km/h) in the command doesn\'t match with the unit in the JSON (\'m/s\'). Parameters like distance (15 kilometers) is not represented in the JSON.'] +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction.,['The response is 100 + 15 = 115 km.'];['0; The natural language command does not match with any of the provided JSON structures. The command implies a driving action with specific speed and distance parameters that are not indicated in any of the provided JSON schemas.'] +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h.,['The response is 15 kilometers.'];['1; The command talks about travelling straight ahead for a specific distance at a specified speed which somewhat relates to the "fly" action in the ontology but does not match exactly with the JSON keys and values since unit of speed in JSON is in m/s, not km/h and distance is not a parameter in the JSON structure. Thus, it doesn\'t conform well.'] +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h.,['The response is 15 kilometers.'];["2; The command talks about flying in a straight direction, however, the direction or the mentioned distance is not captured in the given JSON structure. The speed can be correlated with the 'speed' key in the 'fly' action. Also, the units do not match as 'km/h' is given in the command and 'm/s' is used in the JSON."] +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers.,['The response is 100 + 15 = 115 kilometers.'];["0; The provided JSON structures do not contain any actions similar to 'move forward' nor do they have parameters like 'speed' or 'distance' in km/h or kilometers respectively. Therefore, the command does not match with any of the JSON structures."] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; The value of the duration in the JSON structure does not match the duration mentioned in the natural language command(10 minutes). Also, the altitude value in the JSON structure is not mentioned in the natural language command.'] +Stay suspended in midair for a duration of 10 minutes.,['The response is 10 minutes.'];['1; Even though the natural language command corresponds to the "hover" action in the ontology, the JSON structure given does not contain any relevant keys or actions. Instead, it contains a text string that is unrelated.'] +Maintain a hovering position for a period of 10 minutes.,['The response should be 10 * 60 = 600 seconds.'];["1; The natural language command gives a duration for the hover action, but it is expressed in minutes instead of the sample ontology's seconds. There is a mismatch in the unit of duration. The JSON does not provide a conversion from minutes to seconds."] +Remain airborne without moving for 10 minutes.,['The response below conforms to the request.', ''];['3; The natural language command to remain airborne without moving is closest to the "hover" action, however, the duration in the command is "10 minutes" while the duration in the JSON structure for hovering is in seconds. There are some matching points considering the "hover" action but there\'s also a discrepancy related to the time unit.'] +Suspend yourself in one spot for a duration of 10 minutes.,['The response is 10 minutes.'];["0; The provided JSON structure doesn't match with the natural language command. There is no 'hover' action with a duration parameter in minutes in the JSON structure. The duration parameter in the JSON is a float type and its unit is in seconds."] +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second.,['The response is:'];["3; The natural language command partially conforms to the JSON structure. The action 'rotate' and the parameter 'angle' match correctly and there is an agreed upon direction (clockwise). However, the 'angular_velocity' specified in the command (30 degrees per second) does not match the 'angular_velocity' in the JSON structure (0.5)."] +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second.,['The response is ', ''];['4; The command matches the "rotate" action in the JSON structure, including the "angle" and "is_clockwise" parameters. However, the "angular_velocity" value specified in the command (30 degrees per second) is not the same as the one in the JSON structure (0.5 degrees per second), and thus, not all information is accurately reflected in the JSON structure.'] +Rotate to the right by 90 degrees at a rate of 30 degrees every second.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['4; The command and JSON structure mostly match. Both include the \'rotate\' action, a \'90\' degree angle, and a clockwise direction. A discrepancy exists in the "angular_velocity" though, the command specifies \'30\' while the JSON has \'0.5\'. The command does not specify units but \'degrees\' from the JSON seems reasonable.'] +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second.,['The angular speed is 30 degrees per second, so the angular velocity is 30 degrees per second. The angle to rotate is 90 degrees, so the final angle is 90 - 30 = 60 degrees. The answer is 60 degrees.'];['2; The natural language command refers to a "90-degree clockwise rotation" which exists in the JSON structure under the "rotate" action. However, the specified angular speed of "30 degrees per second" does not match the JSON\'s instruction of "angular_velocity": 0.5. Therefore, while there is some level of conformity, there is also a notable difference.'] +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation.,['The response is ', ''];['3.5; The command partially conforms to the JSON structure. The "action" is "rotate" and "is_clockwise" is set to true which both corresponds to the command. However, "angular_velocity" in the JSON structure does not match with "speed" in the command and "angle" matches with "90-degree rotation". The unit of degree per second is not represented in the JSON structure.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['4.5; The command \'Land at the designated landing zone.\' corresponds to the \'land\' action in the JSON. However, the natural language command doesn\'t specify a location. The JSON represents this with a tuple for latitude and longitude, which could be indicative of a "designated landing zone". Therefore, the command doesn\'t entirely conform to the JSON structure, missing specific coordinates but is mostly aligned.'] +Please land at the specified landing area.,['The response is:'];['5; The command "Please land at the specified landing area" conforms exactly with the JSON structure of action "land". The parameters "location" values are unspecified in the command, which is acceptable.'] +Ensure you land at the indicated landing zone.,['A: Navigate to the indicated landing zone.'];['1; The natural language command is asking for a "land" action at a specific location, but the provided JSON structure is for a "navigate_to_point" action. Although the final goal of both commands is reaching a specific location, the methods to do this (landing vs navigating) are different. Therefore, the command doesn\'t exactly conform to the JSON.'] +It is important to touch down at the designated landing zone.,['The response is:'];['2; The command implies a "land" action but does not provide specific parameters (location coordinates) as required by the JSON structure. Hence, it is partially conforming.'] +Make sure to land precisely at the assigned landing area.,['The response is:'];['0; The given JSON structures do not have a specification for "assigned landing area", and the land action requires specific latitude and longitude coordinates which are not given in the command.'] +Descend to an altitude of 200 meters.,['The response is ', ''];['1; The given command is about changing the altitude, but it doesn\'t match with any of the provided JSON structure. An appropriate action key such as "descend" or "change_altitude" is not provided in the sample ontology. The nearest matching action could be "navigate_to_point" but it requires a tuple coordinate parameter, which is not provided in the command.'] +Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'];['0; The given command does not match any of the JSON structures provided in the sample ontology. The command indicates a change in altitude but does not specify an action such as "navigate_to_point", "fly", "hover", "rotate", or "land".'] +Lower yourself to an altitude of 200 meters.,['The response is 200.'];['1; The natural language command requests a change in altitude, likely implying a "fly" or "navigate_to_point" action. However, the JSON provided does not have an appropriate action that can achieve this. Even the "fly" action does not specify an exact altitude change, instead it provides speed, direction, duration, which doesn\'t fully match the given command. As a result, the score is 1.'] +Go down to a height of 200 meters.,['The response is 200.'];['1; The natural language command implies an action related to changing altitude, possibly via the "fly" or "hover" action. However, none of the provided JSON structures perfectly matches the command, and the command does not specify any other parameters such as speed or duration, therefore justifies a low score.'] +Descend until you reach an altitude of 200 meters.,['The response is ', ''];["0; The given natural language command doesn't match with any of the available actions in the JSON structures. While it refers to an altitude, it does not specify what action to take to reach that altitude."] +Fly backward for 3 kilometers at a speed of 50 km/h.,['The response is ', 'Fly backward for 3 kilometers at a speed of 50 km/h.'];["0; The natural language command asks for a 'fly' action with specific direction ('backward'), distance ('3 kilometers') and speed ('50 km/h') parameters. However, the provided JSON structure does not include the parameters for 'direction' and 'distance', and the speed unit does not match ('km/h' vs 'm/s'). Therefore, there is no conformity between the command and the JSON."] +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour.,['The response is ', ''];['0; There is no JSON information that matches the given natural language command. The command talks about flying with a specified distance and velocity for some time, but there is no corresponding JSON structure for this kind of command in the provided sample.'] +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour.,['The response is 3 kilometers.'];["0; The JSON structures provided do not contain any actions or parameters related to traveling a certain distance or traveling in an opposite direction. The natural language command also refers to a speed of 50 kilometers per hour, which does not match the unit of speed (m/s) used in the JSON structures. Therefore, there's no conformity between the command and the JSON structures."] +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour.,['The response is ', ''];['0; The provided JSON structures do not include an action for reversing direction or specify units in kilometers or kilometers per hour. Furthermore, the given natural language command does not translate to any of the existing sample key commands. The JSON payloads provide actions for navigating to a point via coordinate input, flying at a specific speed, altitude and direction for a duration in seconds, hovering at a specific altitude for a set duration, rotating a set angle at an angular speed, and landing at coordinates. However, none of these actions match the command given.'] +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour.,['The response is, "Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour."'];['0; The command does not have a corresponding action and parameters in the given JSON structures. "Fly in reverse" is not specified in the ontology and the distance of travel is not considered a parameter in the actions given. Also, the parameter for speed given in the JSON is specified in m/s while the command uses km/h. Therefore, the command cannot be converted to JSON using the sample keys.'] +Circle around a specific location for 30 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 30.0,', ' "altitude": 70.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['1; Although the "hover" action and the duration parameter are mentioned in both the command and JSON structure, the command\'s request for a specific location and circular motion does not conform with the simple hovering action described in the JSON. Also, the command specifies the duration in minutes, while the unit in the JSON is seconds.'] +Perform a 30-minute loop around a designated area.,['The 30-minute loop around a designated area would take 30 minutes. So, the answer is 30.'];['0; The given natural language command does not match with any of the provided JSON structures. The command suggests a looping action which is not mentioned in the sample keys.'] +Go in a circular route around a specific spot for half an hour.,['The response would be something like this:'];['0; The natural language command does not match or conform to any of the provided JSON structure templates. No "circular route" or "specific spot" actions or parameters exist in the JSON samples.'] +Complete a 30-minute circuit around a particular location.,['A: The 30-minute circuit is 30/60 = 0.5 miles. The location is 37.7749° N, 122.4194° W. So the total distance is 0.5 * 0.5 = 0.25 miles. The answer is 0.25 miles.'];['0; The provided JSON structures do not support a "circuit" or "location" action or parameter. The natural language command does not match with any action or parameters from the structures.'] +Traverse in a circular path around a specific point for a duration of 30 minutes.,['The response is ', ''];['0; The natural language command asks for a circular path around a specific point, however none of the given JSON structures accommodate navigation in a circular path. Also, there are no JSON structures that mention a specific point or duration in minutes. Therefore, the command does not conform with the JSON structures.'] +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second.,['The response is:'];["3.5; Although the JSON structure contains a 'rotate' action, the natural language command asks for a counterclockwise rotation, however, the 'is_clockwise' param in the JSON is set to true. The value in the JSON doesn't match with the natural language command. The 'angular_velocity' does not match with the command as well, as '90' would be fast for a 360-degree rotation, even though it is reasonable. However, the 'angle' param in the command matches in the JSON. So, there is partial conformity."] +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second.,['The response is:'];['4; The JSON structure corresponds to the "rotate" action but the "is_clockwise" parameter is set to true whereas the command specifies a counterclockwise direction. Furthermore, the "angular_velocity" value in the JSON is 0.5 not 90 as specified in the command.'] +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second.,['The response is ', ''];['3; The command describes an action of rotation which matches the "rotate" action in the JSON, but some details are not conforming. The rotation is counterclockwise while the JSON specifies a clockwise rotation ("is_clockwise": true). Additionally, the JSON contains "angular_velocity" which could be interpreted as rotation rate but the value doesn\'t match with the command\'s rate (90 degrees per second in the command vs. 0.5 in the JSON). The angle of 360 degrees in the command conforms with the possible value type in JSON (integer), but does not match the exact value given in the JSON structure (90 degrees).'] +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second.,['The response is ', ''];['3; While the direction ("counterclockwise") and "angle" (360 degrees) are correctly interpreted, the \'angular_velocity\' given in the command (90 degrees/second) does not match the angular_velocity provided in the JSON structure (0.5).'] +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second.,['The response is ', ''];["3; The command partially conforms to JSON structure for the action 'rotate'. However, the 'is_clockwise' parameter in the JSON is set to true, while the command specifies a counterclockwise rotation. Also, the 'angular_velocity' is stated as 90 in the command while it is 0.5 in the JSON."] +Ascend to an altitude of 700 meters and swin.,['The response would be, "Ascend to an altitude of 700 meters and swim."'];["0; The natural language command does not match with any of the JSON structures. The command requires an action 'ascend' and 'swim' which is not provided in the ontology, and 'swim' action is irrelevant for the given ontology."] +Gain an elevation of 700 meters and swim.,['Gain an elevation of 700 meters and swim.'];['0; Neither of the given actions ("gain an elevation" and "swim") exist in the JSON structures provided.'] +Reach a height of 700 meters and engage in swimming.,['The response is accepted.'];["0; The command doesn't match any of the provided JSON structures. The action 'engage in swimming' doesn't exist in the sample keys and reaching a certain altitude is not specified as an independent action in provided JSON structures."] +Ascend to a 700-meter altitude and partake in swimming.,['The response is accepted.'];['0; The command is not represented in the JSON structures provided as it mentions an action ("swimming") that is not a part of the given ontology. The "Ascend to a 700-meter altitude" portion can be somewhat matched to the \'fly\' or \'hover\' actions, but without specifications for other necessary parameters like \'speed\', \'direction\', \'duration\' in the case of \'fly\', this match is incomplete.'] +Increase your altitude to 700 meters and then swim.,['The response is, "Increase your altitude to 700 meters and then swim."'];['0; The command mentions increasing altitude which refers to an action that could be related to \'fly\' or \'hover\', however it also mentions "swim" which doesn\'t correspond to any action supported in this ontology. Therefore, the command doesn\'t match any of the JSON structures provided.'] +Fly forward for 8 kilometers at a speed of 70 km/h.,['The response is 8.0.'];["0; The provided JSON structure does not match with the natural language command. The action should be 'fly' whereas the JSON does not specify any action. In addition, the parameters 'direction', 'speed', and 'unit_speed' are missing in the provided JSON structure."] +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h.,['The response is 8 kilometers.'];['0; The JSON structures provided do not contain any fields related to distance or speed in km/h. The natural language command given does not correspond to any of the JSON structures.'] +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h.,['The response is 8 kilometers.'];['1; The command involves the action of flying which is present in the ontology, but there are discrepancies in the parameters. The speed parameters in the JSON ontology are represented in "m/s" while the command specifies it in "km/h". Additionally, the direction \'forward\' is not explicitly represented in the JSON and other required parameters like altitude and duration are completely unspecified in the command.'] +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h.,['The response is 8.'];['1; The natural language command mentions a action of moving forward at a certain speed for a specific distance. However, these specifics are not clearly reflected in the JSON structure. But generally the command can be related to the "fly" action in the JSON structure with specified speed and direction. The speed unit is not matching - command uses km/h while JSON uses m/s. Also, the direction and distance are not included in the JSON structure.'] +Fly straight for a total of 8 kilometers at a speed of 70 km/h.,['The response is 8.0.'];["1; The command refers to the 'fly' action, but the necessary parameters like speed, unit_speed, and direction aren't specified correctly in the JSON structure. The request in natural language refers to a distance of 8 kms, but the JSON structure does not contain a distance field. Furthermore, 'straight' is not a recognized value for direction."] +Hover in place for 20 minutes and watch TV.,['A: Hover in place for 20 minutes and watch TV.'];['2; The command \'Hover in place for 20 minutes\' matches with the "hover" action in the JSON structure, but it doesn\'t specify the altitude. Also, the action \'watch TV\' doesn\'t exist in the sample ontology.'] +Stay stationary for a duration of 20 minutes while watching television.,['The response is 20.0.'];["0; The natural language command doesn't match with any of the JSON structures provided. 'Stay stationary for a duration of 20 minutes while watching television' does not have any correlation with the available actions in the structures: 'navigate_to_point', 'fly', 'hover', 'rotate', 'land'. Furthermore, watching television isn't an action that correlates with any of the parameters in the given JSON structures."] +Maintain a hovering position and engage in television viewing for a period of 20 minutes.,['The response is ', ''];["0; The provided JSON structure(s) do not match or support the action described in the natural language command. The command suggests a scenario where the device is simultaneously performing 'hover' function and engaging in 'television viewing', none of which is catered for in the given JSON structures. Thus, there is no conformity."] +Hold a steady hover for 20 minutes while enjoying television watching.,['The response is:'];["0; The JSON structures provided do not support the action to 'hold a steady hover', especially with a duration specified in minutes or any actions related to watching television. There is a 'hover' action but its duration parameter is in seconds, not minutes."] +Remain in one place without moving for 20 minutes and entertain yourself by watching TV.,['The response is acceptable.'];["0; The command does not correlate to any of the action defined in the provided JSON structures. There is no action to 'remain in one place without moving' nor 'watch TV'."] +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second.,['The response is:'];["4; The natural language command mostly conforms to the JSON structure. The 'action' is 'rotate' and 'is_clockwise' is true, which matches with the command. However, 'angular_velocity' is given as 50 in the command, but the example JSON structure has 0.5. Also, the 'angle' is 270 degrees in the command while it is 90 in the example. The unit in both is 'degrees', conforming to the given JSON structure."] +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second.,['The answer is 270 degrees.'];['1; The given natural language command contains directives for a rotate action. However, the angular velocity is substantially different in the command than in the JSON structure, and the direction of rotation is not specified in the JSON structure.'] +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second.,['The response is ', ''];['4; The natural language command partially matches with the \'rotate\' JSON structure. The clockwise direction, angle of rotation match but the angular velocity given in the command does not conform with the JSON structure that expects a slower velocity (0.5 vs 50). Also, the command does not indicate any units, hence the "unit" parameter is not fully matched.'] +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second.,['The 270-degree clockwise rotation would take 270/3600 = 0.8 seconds. The angular velocity is 50/3600 = 0.015 seconds. So the total time would be 0.8 + 0.015 = 0.815 seconds.'];["1; The JSON structure provided does not match the command properly. The angular velocity is misinterpreted, as it's interpreted in the JSON as the duration, and it should be a float value such as 0.5 instead of 50. The angle of rotation should be 270 as stated in the command."] +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation.,['The response is ', ''];['3; Although the values and the direction of rotation in the natural language command match with the keys and concept of the JSON structure, the provided "angular_velocity" is not accurate as per the natural language command. In the JSON "angular_velocity" is 0.5 but in the natural language command it mentions rotating at a speed of 50 degrees per second. Also, the "angle" in JSON is 90 degrees but in the command it\'s 270 degrees.'] +Land at the designated landing zone, then sing loudly.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['1; The natural language command partially matches the JSON structure. However, "sing loudly" does not conform with any actions in the sample keys provided. Only the action "land" is represented in the JSON structure.'] +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume.,['The response is:'];["0; None of the commands and parameters in the natural language request correspond to the given JSON structures. The command is asking for a landing action but doesn't provide specific coordinates and the singing action doesn't exist in the JSON structures."] +After successfully landing at the designated landing zone, proceed to sing loudly.,['The response is accepted.'];['0; The natural language command does not match any of the provided JSON structures. The command instructs someone to sing after landing, which is not a command in the sample ontology.'] +Ascend to an altitude of 500 feet.,['The response is 500.'];['0; The given natural language command cannot be converted to a JSON structure since the sample ontology provided does not contain an action key that corresponds to ascending to a specific altitude.'] +Increase your altitude to 500 feet.,['The response is 500.'];['0; The given JSON structures do not support any actions or parameters related to changing altitude outside the context of other specific actions ("fly" or "hover"). Moreover, units used in the JSON structures are meters, while the natural language command specifies feet.'] +Climb to a height of 500 feet.,['The response is 500.'];['0; The given natural language command does not match any of the JSON structures provided in the sample ontology. The command mentions climbing to a certain altitude, but none of the JSON structures have an action key corresponding to "climb".'] +Reach an elevation of 500 feet.,['The response is 500.'];['0; The natural language command is about reaching a certain altitude, but there is no corresponding JSON structure provided. The altitude can be changed in the "fly" and "hover" actions, but the natural command is not exactly about these actions.'] +Rise to a position 500 feet above ground level.,['The response is 500.'];['0; The provided JSON structures do not include any instructions for rising to a specific altitude. Furthermore, the JSON information provided does not match the natural language command. For example, there is no correct action for rising and the measurement unit is in "feet" while the JSON uses "meters".'] +Fly forward for 1 mile at a speed of 30 mph.,['The response is ', 'Fly forward for 1 mile at a speed of 30 mph.'];['0; The given JSON does not match with the natural language command. The command talks about flying forward for 1 mile at a speed of 30 mph but this specific capability does not exist in the given JSON structures (the provided JSONs do not have keys related to "distance" nor "units" for distance like "miles", also no keys for speed units like "mph").'] +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph.,['The response is 1 mile.'];['0; The JSON structures provided do not have parameters or actions for maintaining velocity or moving ahead for a certain distance, so the natural language command cannot be matched with the provided JSON structures.'] +Travel straight ahead for 1 mile at a speed of 30 mph.,['The response is 1 mile.'];['0; The natural language command requests to travel straight at a certain speed, but the provided JSON structures do not contain any corresponding action or parameters (e.g., speed, distance). Therefore, the command does not conform to the sample keys.'] +Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,['The response is 1 mile.'];['0; The provided JSON structures do not support the action or parameters (moving, distance, speed) mentioned in the given natural language command.'] +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph.,['The response is 1 mile.'];['0; The natural language command is asking to fly a distance at a specific speed which does not conform to any of the JSON structures provided in the sample keys. The "fly" action in the given JSON structures only involves speed, altitude, direction, duration and their respective units, and doesn\'t accept a distance parameter. The natural language command\'s parameters can\'t be correctly mapped to this structure.'] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['2; Partially conform. The action "hover" matches and the duration key is correct, but the value of duration in the JSON structure is 60 seconds, which is 1 minute, not 10 minutes as stated in the command. The altitude is stated as 0 in the JSON but wasn\'t given in the command which would have been acceptable if the JSON hasn\'t assigned a specific value to it.'] +Stay suspended in one spot for a duration of 10 minutes.,['The response is 10.0.'];["0; The provided JSON structure doesn't match with the natural language command. The JSON given refers to an unspecified response value, not the action of hovering for a certain duration as indicated in the command."] +Maintain a hovering position without moving for a period of 10 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 10.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; The natural language command asks for the drone to hover for a period of 10 minutes, however the JSON structure represents the duration in seconds, not minutes. The command also does not specify the hovering altitude, so the assumed value of 0.0 in the JSON is not necessarily correct.'] +Stay suspended in mid-air without any motion for a time span of 10 minutes.,['The response is 10 minutes.'];['0; The given JSON structure doesn\'t match at all with the natural language command. The command suggests a "hover" action for a duration of 10 minutes. Yet, the given JSON structure doesn\'t represent the "hover" action nor the "duration" parameter. Also, the provided JSON structure doesn\'t make semantic sense, making it impossible to draw a meaningful comparison.'] +Hold a hover position for a duration of 10 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": 10.0,', ' "altitude": 0.0,', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["3; The action in the JSON structure matches the command but the units of duration are not correct. The command asks for 10 minutes but the JSON states seconds. The altitude is also not specified in the natural language command, but it's given a value of 0.0 in the JSON, which may not be reasonable depending on the context."] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'];['4; The natural language command partially conforms to the JSON structure for the "rotate" action. The degrees of rotation and angular_velocity are mentioned but the angular_velocity specified in the JSON structure is 0.5 while the natural language command has it as 45 degrees per second. It does not match perfectly.'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,['The response is ', ''];['3; Although the natural language command gives clear instructions for a "rotate" action with the parameters "is_clockwise", "angular_velocity", and "angle" specified, the provided JSON structure does not fully match the request. The "angular_velocity" is given as 0.5 in the JSON, which does not match the rate of 45 degrees per second in the command. The "angle" provided in the JSON is 90, which does not match the total of 180 degrees specified in the command.'] +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second.,['The response is ', ''];['4; The command partially conforms to the JSON structure. In the JSON sample keys, the "rotate" action has parameters that matches with the command such as "angle" and "is_clockwise". However, "angular_velocity" is in the key but it\'s not specified in the command. The command introduces a new speed unit ("degrees per second") which is not in the JSON keys.'] +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second.,['The answer is 180 degrees.'];['1; The provided JSON structure doesn\'t match perfectly with the command. The command talks about rotation (turning to the right) but the angular velocity mentioned isn\'t reflected in the JSON. The JSON structure, although related to "rotation", lacks parameters correlating to the given angular velocity, making the match imperfect.'] +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees.,['The response is ', ''];['1; The JSON structure does not match the command. While the command is about "rotate" action (which matches the JSON structure), parameters do not conform well. "Angular_velocity" is given in "degrees per second", but the JSON structure expects a float value without specifying the units. The is_clockwise is not mentioned in the natural language command and the angle parameter is not matching (180 degrees in command vs. 90 degrees in JSON)'] +Descend to an altitude of 200 meters.,['The response is ', ''];['0; There is no corresponding JSON structure for the action of descending in the provided ontology. The JSON structures provided only cover "navigate", "fly", "hover", "rotate", and "land" actions. Therefore, the natural language command does not conform to any of those.'] +Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'];['0; The given command does not match with any of the provided JSON structures as there is no action related to decreasing altitude in the sample ontology.'] +Lower your altitude to 200 meters.,['We lowered the altitude to 200 meters.'];['1; The command requires a change in altitude, which falls under the action "fly" and should modify the "altitude" parameter. However, the provided JSON structure does not show an action of descending or reducing the altitude, nor does it show a JSON action for altering the altitude.'] +Move down to an altitude of 200 meters.,['The response is:'];["1; The natural language command is asking to adjust the altitude, which could be carried out by the 'navigate_to_point' action in the ontology. However, the specific action of 'moving down' does not exist and isn't fully represented in the JSON structures."] +Descend until reaching an altitude of 200 meters.,['The response is ', ''];['0; The provided JSON structures do not include any action related to descending or altering altitude.'] +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h.,['The response is ', ''];['0; The natural language command does not match any of the JSON structures in the ontology. The action "fly" is present but the command specifics about flying in a zigzag pattern which does not exist in the ontology structure. Moreover, the parameters such as "speed" in the form of kilometers per hour are not compatible with the units in the JSON structure.'] +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h.,['The response is ', ''];['0; The command refers to a "zigzag maneuver" which is not included in the sample ontology. Therefore, there is no possible JSON structure to match this command.'] +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h.,['The response is:'];['0; The mentioned command does not match any of the provided JSON structures. There is no action to fly in a serpentine pattern and the parameters for distance and speed are not provided in the sample ontology.'] +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h.,['The response is ', ''];['0; The given command requires a specific trajectory and speed for the flight while the JSON structure does not provide any option related to trajectories or flight speed.'] +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,['The response is 3 kilometers.'];["0; The natural language command mentions an action of 'flying in a zigzag fashion' which is not represented in any of the sample JSON keys. Also, 'zigzag fashion' and '50 km/h' are parameters that don't exist in the provided JSON structures."] +Perform a barrel roll to the left.,["The barrel roll to the left would be an action of 'rotate' with the params of 'angular_velocity': 0.5, 'angle': 90, 'is_clockwise': true, 'unit': 'degrees'."];["2; The given command requests a 'barrel roll to the left', which could be interpreted as the 'rotate' action in our ontology. However, a barrel roll is not exactly a simple rotation, it's a more complex maneuver involving both rotation and forward motion. Moreover, the 'is_clockwise' parameter in the JSON is 'true', which would mean a rotation to the right, not left as specified in the command. The remainder of the parameters seems fine, if we could assume that a barrel roll is a 360 degrees action (not a 90 as specified in the JSON)."] +Execute a left barrel roll.,['{', ' "action": "left_barrel_roll",', ' "params": {}', '}'];['0; The natural language command asks for an action "left_barrel_roll" which doesn\'t exist in the sample ontology provided.'] +Rotate in a barrel roll towards the left.,['{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];['2; The natural language command asks for a rotation in a "barrel roll", which is a type of maneuver not covered by the available JSON structures. However, the concept of rotation is accurately captured in the JSON, but direction is not specified or correctly represented (it should be left, not defined as clockwise).'] +Perform a barrel roll in a counterclockwise direction.,['The response is ', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 90,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'];["1; 'Barrel roll' is not a recognised action in the sample ontology and the 'is_clockwise' key is set to true, conflicting with the 'counterclockwise' direction specified in the natural language command. However, the 'rotate' action is somewhat in line with the command intent."] +Initiate a leftward barrel roll.,['The response is an empty array.'];['0; The natural language command does not match any of the available JSON structures or actions in the ontology. The "barrel roll" action doesn\'t exist in the sample keys.'] +Ascend to an altitude of 1000 feet and maintain it for 20 minutes.,['The response is ', ''];["0; There's no JSON structure that matches the command. The command indicates both ascending to a certain altitude and maintaining it for a specific duration, which do not correspond to any single provided JSON sample. Also, the given altitudes units in the command are in feet but in the JSON structures it is in meters."] +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes.,['The response is ', ''];['1; The natural language command requests an action ("Climb to a height") that correlates to the "fly" action, and a "hover" action in the JSON structures. However, the units used in the command ("feet" and "minutes") differ from those in the JSON structure ("meters" and "seconds"). Also, the JSON structure doesn\'t have a particular action to "stay" at a certain altitude for a specific duration.'] +Increase your elevation to 1000 feet and sustain it for the next 20 minutes.,['The response would be something like this:'];["2; The natural command is about hovering at a specific altitude for a duration which generally matches the 'hover' action in the JSON structure. However, the units of altitude and duration in the JSON structure are 'meters' and 'seconds' respectively while the command specifies these in 'feet' and 'minutes'. Therefore, the units do not perfectly conform."] +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes.,['The response is ', 'Rise to an altitude of 1000 feet and uphold it for the next 20 minutes.'];["1; The JSON structure provided does not match with the natural language command. The command implies an action that would probably require an 'fly' to a certain 'altitude' and then 'hover', but the JSON structure provided does not contain parameters for these combined actions. The provided structure does not support 'minutes' as 'unit_duration', only 'seconds'. Also, it does not support 'feet' as 'unit_altitude', only 'meters'."] +Elevate to 1000 feet and retain that height for the next 20 minutes.,['The response would be something like this:'];['1; The command partially conforms to the JSON structure. It matches with the "hover" action as it involves maintaining a certain altitude for a duration. However, the units used in the command ("feet" and "minutes") do not conform with the units in the JSON structure ("meters" and "seconds").'] +Fly backward for 500 meters at a speed of 40 km/h.,['The response is:'];['0; The given natural language command requests to "fly backward for 500 meters at a speed of 40 km/h", however, the provided JSON structures do not have an action for flying backwards nor a parameter for distance. Thus, it doesn\'t conform to the sample keys.'] +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h.,['The answer is 500/40 = 12.5 meters.'];["0; The natural language command talks about navigating in reverse, which doesn't match any action in the provided JSON structures. Also, the provided JSON structure doesn't have any distances covered at a given velocity mentioned."] +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h.,['The response is 500 meters.'];['0; The natural language command instructs to move backwards with a specified distance and speed, but there is no matching JSON structure for this command in the given sample ontology.'] +Reverse your flight and go for 500 meters at a velocity of 40 km/h.,['The response is ', 'The response is ', ''];['0; The given command asks for a reverse flight and specifies a distance and velocity, but the provided JSON structures do not offer options for reversing flight or travelling a specific distance. Therefore, the JSON structures do not match the natural language command.'] +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h.,['The response is ', ''];['2; The command calls for the action "fly" and implies a direction, speed and distance, which can correlate to the existing ontology keys "action", "params.direction", "params.speed" and "params.duration" respectively. However, the direction ("opposite direction") isn\'t specific enough, and the ontology doesn\'t have a key for distance, only duration. Furthermore, the speed in the command is in "km/h", whereas the ontology uses "m/s" as the speed unit.'] +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second.,['The response is:'];['4; The natural language command partially matches the JSON structure. The "action" is "rotate" and the "params" includes "angular_velocity" and "angle". However, the "params" in the JSON structure includes a key for "is_clockwise" and the command specifies the rotation should be counterclockwise, meaning the value of this key should be false, not true as in the provided JSON. The "angular_velocity" is also different in the command and the JSON. Yet, not all parameters need to have identical values to the command, so this difference is acceptable.'] +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees.,['The response is:'];['3; Partly conform. The action "rotate" is specify correctly, as well as two parameters (\'angular_velocity\' and \'angle\'). However, the direction (\'is_clockwise\') is not matching - the JSON structure indicates true (clockwise) while the command specifies a counterclockwise rotation.'] +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second.,['The response is ', ''];['4; The command matches the "rotate" action in the ontology but the "angular_velocity" in the JSON is 0.5 and in the command it\'s specified as 15. The rotation is counterclockwise which is the opposite of "is_clockwise": true. The direction of rotation is not specified in the JSON so the command can still be executed, but it might not follow the exact instructions given in the natural language command.'] +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second.,['The response is:'];['3; The command is partially conform. The principal action of "rotate" is present but the direction isn\'t correct ("is_clockwise": true" whereas the command specified counterclockwise rotation), also the angular_velocity isn\'t matched (command specifies 15, JSON structure shows 0.5). The angle is also under-specified in the command when compared to the JSON structure going by value, but it\'s within a reasonable range (45 as compared to 90 in the JSON).'] +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change.,['The response would be:'];['3; The command corresponds to the "rotate" action in the JSON information, but the "angular_velocity" and "angle" values don\'t match the natural language command. The "is_clockwise" parameter is opposite to the command as well.'] +Descend to an altitude of 100 feet and hold for 5 minutes.,['The response is ', ''];["1; The command calls for an action similar to 'hover' since it's asking to descend to a specific altitude and hold. However, the unit for altitude in the ontology is 'meters' and the command is using 'feet'. The duration in the command is given in 'minutes' while the ontology's unit for duration is 'seconds'. Furthermore, it does not specify a speed for descending which exists in the ontology but not in the command. So, the command partially matches with the 'hover' action in the ontology but doesn't conform completely."] +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes.,['The response is:'];['0; None of the given JSON structures match with the command. The command talks about moving downward to a certain altitude and maintaining that position, which are instructions that are not included in the sample keys. Thus, it cannot be translated to a JSON structure using the given ontology.'] +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes.,['The response would be something like this:'];["0; The JSON structures provided do not contain an action that involves changing the altitude or maintaining it for a specific duration. The 'altitude' parameters are included in 'fly' and 'hover' actions, but these do not fully match with the command because there is no key in the ontology for changing altitude then maintaining it. Also, the units provided in the JSON structures are meters and seconds, not feet and minutes."] +Descend until you reach an altitude of 100 feet and remain there for 5 minutes.,['The response is ', ''];["0; The provided JSON doesn't have any structure that matches the natural language command. Here, drone is required to descend to certain altitude (which is not in the examples) and hover for a certain duration (the hover action is provided in the examples). However, 'hover' action doesn't have any provision to set the ALtitude."] +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes.,['The response is ', ''];["1; The natural language command is partially addressed in the given JSON structures such as the altitude parameter but 'keep steady for 5 minutes' could relate to the 'hover' action. However, the command does not conform to the structure as it uses 'feet' and 'minutes' as the units for altitude and duration, while the JSON structures specify 'meters' and 'seconds'."] +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h.,['The response is:'];['0; The natural language command cannot be converted to any of the JSON structures provided in the samples as none of the actions or parameters match with the command.'] +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,['The response is accepted.'];['0; The provided JSON structures do not support a "fly" action with the parameters specified in the natural language command, specifically, there\'s no parameter for flying in a circular pattern or defining a radius.'] +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h.,['The response is:'];['0; No matching JSON structure as there is no action command available for flying in circular motion with a specified radius in the given sample keys.'] +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h.,['The response is ', ''];['0; The natural language command does not match any of the JSON structures provided. It mentions a circular flight maneuver, which does not fit with the "navigate_to_point", "fly", "hover", "rotate", or "land" actions available in JSON structure. Furthermore, the command includes parameters such as "circular pattern" and "radius" that aren\'t found in the provided JSON keys.'] +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer.,['The response would be something like this:'];['0; The natural language command does not match with any of the provided JSON structures. The command refers to maintaining a constant speed and flying in a circular path, neither of which are actions described in the JSON examples. Therefore, the conformity score is 0.'] +Ascend to an altitude of 300 meters and maintain it for 30 minutes.,['The response would be:'];['4; The natural language command provided appears to be best suited to the "hover" action from the available JSON structures. The command "ascend to an altitude of 300 meters" loosely fits the "altitude" parameter and "maintain it for 30 minutes" loosely fits the "duration" parameter. However, the natural language command does not specify the duration\'s unit as "seconds", as it\'s asked in JSON structure. The duration "30 minutes" would need to be converted to seconds for a perfect match.'] +Climb to a height of 300 meters and stay there for a duration of 30 minutes.,['The response is:'];['1; The natural language command refers to an action of ascending to a certain altitude and hovering there for a specified duration. However, the provided JSON structures do not have a specific command to describe this entire action sequence. The "hover" action can potentially match the second part of the command (staying at a certain altitude for a duration), but there\'s no action structure that corresponds to the climbing to a specific height part of the command. Therefore, the command only partially matches the available structures and gets a score of 1.'] +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];["5; Exactly conform. The natural language command matches perfectly with the JSON structure where 'hover' action sets the drone to an altitude and holds it there for a specific period. The values for altitude '300' and duration '30' have been accurately depicted in the JSON."] +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes.,['The answer is 300.'];["0; The JSON structures provided with the natural command do not correspond. The JSON has no specific action for maintaining altitude, and the JSON snippet '[The answer is 300.]' does not match any of the given ontologies."] +Scale up to an altitude of 300 meters and sustain it for 30 minutes.,['The response is ', '{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 30.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 300.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['4; The JSON structure with the "hover" action matches the natural language command considering the altitude and duration. However, the "unit_duration" in JSON is represented in "seconds", whereas in natural command it\'s in "minutes".'] +Hover in place for 15 minutes and then proceed forward for 2 kilometers.,['The response is ', ''];['0; The JSON structures provided do not contain any parameters relative to time in minutes or distance in kilometers. The command does not match with any JSON structure.'] +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers.,['The response would be:'];['1; The natural command asks first to \'stay stationary\' which could be interpreted as action: "hover", but it indicates the duration in minutes whereas in the JSON it is in seconds. The second instruction \'continue moving ahead\' could be interpreted as the navigate_to_point or fly action, but it specifies distance instead of coordinates or direction, speed, and duration. Therefore, the match with the JSON is low.'] +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers.,['The response is ', ''];['0; None of the actions specified in the natural language command ("maintain your position" and "proceed ahead") correspond to the actions available in the JSON structures. The units for duration ("minutes") and distance ("kilometers") also do not match the units in the JSON structures ("seconds" and "meters").'] +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers.,['The response is ', ''];['0; The given natural language command does not match with any of the provided JSON structures. The command instructs to stay or hover for 15 minutes and then to move forward for a certain distance, but none of the JSON structures contain parameters for duration and distance combined in the same action. Thus, the command cannot be effectively converted into the JSON format based on the sample keys provided.'] +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers.,['The response is ', ''];['0; The provided JSON structures do not support actions and parameters that involve staying in a position for a duration (in minutes) and moving forward for a specified distance (in kilometers). Therefore, the natural language command does not conform to the provided JSON structures.'] +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second.,['The response is:'];["4; The JSON structure closely matches the natural language command, but the 'angular_velocity' parameter does not match with '20 degrees per second' mentioned in the command. It is '0.5' in the JSON. All other parameters (action, angle, is_clockwise, unit) are conforming."] +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second.,['The angular velocity is 20 degrees per second, so it will take 20 seconds to complete the rotation. The answer is 20.'];['1; The natural language command asks for a rotation, which matches with the action "rotate" in the provided JSON structures, however, the degree of the angle and the angular_velocity values in the JSON are not matching with the values provided in the natural language command. The provided JSON structure specifies angular velocity as 0.5, but the command specifies it as 20. Also, the provided JSON structure and command both contain the "is_clockwise": true parameter matching.'] +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second.,['The response would be:'];["4; The natural language command mostly conforms to the 'rotate' action in the JSON. The angle of rotation '90 degrees' and direction 'clockwise' or to 'the right' are correctly captured. However, the 'angular_velocity' in the JSON structure differs from the rotation speed mentioned in the command ('20 degrees per second'), hence it's not an exact match."] +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second.,['The response is ', ''];["3; The command correctly identifies the action 'rotate' and the rotation angle of 90 degrees, which match with the JSON structure. However, the 'angular_velocity' is given as 20 degrees per second in the command, which doesn't match the value 0.5 in the JSON. The direction 'clockwise' also matches with the 'is_clockwise' set to true in the JSON. The missing action key 'unit' can be assumed as degrees but it's not stated clearly in the command. Overall, the command partially matches with the JSON."] +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second.,['The response is:'];['4; The JSON structure mostly matches the command given, the action is "rotate" which matches and parameters such as "angle" (90) and "is_clockwise" (true) also match. However, the \'angular_velocity\' value provided in the command (20 degrees per second) doesn\'t match with the given value in JSON structure (0.5).'] +Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,['The response is, "Fly in a serpentine pattern for 1 mile at a speed of 25 mph."'];["0; The natural language command does not correspond to any of the JSON structure provided. There's no action in the ontology matching 'fly in a serpentine pattern'. Also, 'mile' and 'mph' units are not part of the given JSON structure."] +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph.,['The response is ', ''];["0; The natural language command does not match any of the available JSON structures as there's no 'serpentine flight maneuver' in the actions and no parameter for 'distance'."] +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph.,['The response is ', ''];['0; The natural language command does not conform with any of the available JSON structures. There is no provided action for executing a specific aerial trajectory. The "speed" parameter is mentioned in the command, but it is not used correctly according to the available actions.'] +Fly in a zigzag pattern for a mile at a speed of 25 mph.,['The response would be something like this:'];['0; The provided JSON structures do not contain an action or parameters that would allow a drone to "fly in a zigzag pattern". Additionally, the unit "mph" is not included in the units provided in the JSON structures.'] +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph.,['The response would be something like this:'];["0; The given natural language command does not match with any of the provided JSON structures in the sample ontology. The command's action and parameters cannot be mapped to any of the actions or their respective parameters present in the sample."] +Descend to an altitude of 100 meters and hover in place for 10 minutes.,['The response is ', ''];['0; The provided JSON structures do not match with the given natural language command. None of the JSON storage follow the action to descend to a certain altitude and the command to hover for a certain duration is also not properly reflected in the JSONs.'] +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes.,['The response is:'];["2; The given natural language command aligns with the 'hover' JSON structure, where the altitude and duration keys are specified. However, the given command mentions the duration in minutes, whereas the JSON structure specifies the unit duration in seconds. Due to this mismatch, the conformity score cannot be perfect."] +Lower your altitude to 100 meters and remain stationary for 10 minutes.,['The response is ', ''];["2; While the command does refer to an altitude modification which relates to the 'altitude' key in the 'params' dictionary of the sample ontology, it does not perfectly match any of the given actions. This command seems to combine the 'fly' action (could be used to change altitude) and 'hover' action (could be used to remain stationary), but there is no single JSON structure that represents the command in question. The duration and units also do not have an exact match in the JSON structures."] +Descend until reaching an altitude of 100 meters and then hover for 10 minutes.,['The response is ', ''];["2; The natural language command matches with the 'fly' and 'hover' actions in the JSON structures. However, the 'fly' action in the JSON structure does not support descending to a specific altitude, only flying at a set altitude. Additionally, the hover action in the JSON requires a duration in seconds, but the command specifies minutes, so the units do not match."] +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes.,['The response is ', ''];['2; The natural language command directs an action similar to the hover action in the ontology, specifying an altitude of 100 meters and a duration, but not in the correct unit (the JSON ontology specifies seconds, not minutes). However, the command\'s instruction to "Bring yourself down" suggests an action more akin to "land" or "descend" which do not exist in the sample ontology.'] +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone.,['The response is:'];['2; The natural language command seems to involve the "fly" and "land" actions from the JSON structure. However, the parameters mentioned do not match exactly. In the fly JSON structure, distance isn\'t a parameter and the unit of speed is m/s, not km/h. The land action does match but no specific landing coordinates are provided in the command.'] +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area.,['The response is:'];["1; The natural language command partially conforms to the JSON information keys. However, it refers to the action of 'moving straight' which can be loosely interpreted as 'navigate_to_point' or 'fly' from the JSON keys. In addition, the action of 'touch down at the designated landing area' could be interpreted as 'land'. The specified speed does not conform exactly to the provided JSON structure since it uses km/hour while the JSON uses meters/sec, and there is no clear parameter for distance. Thus the lack of direct one-to-one mapping justifies a low score."] +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone.,['The response is:'];["0; None of the JSON structures match the natural language command. The parameters mentioned in the command such as distance and velocity cannot be found in any of the JSON structures. Furthermore, there is no mention of a 'landing zone' in any of the JSON structures."] +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone.,['The response is:'];["2; The commands given 'fly' and 'land' exist in the sample keys but the specific parameters such as 'distance', 'speed' and 'landing zone' mentioned in the natural language command do not match or conform with the keys in the sample ontology, which includes parameters like 'duration', 'unit_speed', 'direction' for 'fly' and 'location' for 'land'."] +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area.,['The response is:'];['1; The command partially aligns with the "fly" and "land" actions. However, speed is denoted in km/h instead of m/s, and duration is implied in terms of distance (kilometers), not time (seconds). Thus, not all keys conform to sample ontology.'] +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second.,['The response is:'];["1; The natural language command specifies an anti-clockwise rotation of 180 degrees at an angular velocity of 25 degrees per second. Although the JSON structure 'rotate' has the keys 'angular_velocity', 'angle' and 'is_clockwise', the values do not match. The angular velocity in the JSON structure is 0.5, contrasting the command's 25 degrees per second and the rotation is clockwise in the JSON structure rather than counter-clockwise as stated in the command."] +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second.,['The response is ', ''];['3; The natural language command is partially conforming to the JSON structure. The "action": "rotate" is correctly recognized along with the "angle": 180 and "angular_velocity": 25. However, the "is_clockwise": true in the JSON does not match the counterclockwise command in the natural language command, thus the direction of rotation is incorrect.'] +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second.,['The response is ', ''];['4; The command matches the type of action and parameters in the last JSON structure, but the "angular_velocity" in the command is defined as 25 degrees per second instead of 0.5.'] +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation.,['The response is ', ''];['1; The JSON structure lacks the "angular_velocity" parameter and has the "is_clockwise" parameter set to true, contradicting the natural language command which specifies a counterclockwise rotation. The "angle" parameter matches the 180 degree rotation specified in the command. However, the JSON structure does not fully conform to the command.'] +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second.,['The answer is 180 degrees.'];['2; Although the JSON structure provided represents a rotation, the parameters value such as the angle and angular_velocity given in the natural language command are not conforming with the JSON structure. In the JSON the angle is 90 and the angular_velocity is 0.5 whereas in the command these are 180 and 25 respectively. Also, the direction of rotation specified in the command (counterclockwise) contradicts with the JSON info (is_clockwise is true).'] +Perform a loop-de-loop and then watch TV.,['The response is, "Perform a loop-de-loop and then watch TV."'];['0; The natural language command specifies an action (perform a loop-de-loop, watch TV), none of which are found in the JSON structures provided.'] +Execute a loop-de-loop and subsequently engage in watching TV.,['The response is accepted.'];['0; The natural language command does not conform to any of the JSON structures provided. Actions such as "Execute a loop-de-loop" and "engage in watching TV" are not covered in the given actions (navigate_to_point, fly, hover, rotate, and land).'] +Carry out a loop-de-loop and proceed to view television.,['The response is acceptable.'];['0; The natural language command includes actions that are not present in the sample keys. A "loop-de-loop" action and "proceed to view television" action do not exist in the sample ontology.'] +Conduct a loop-de-loop before indulging in some TV time.,['The response is:'];['0; The command mentions an action ("Conduct a loop-de-loop") and a seemingly irrelevant action ("indulging in some TV time") that do not appear in any of the provided JSON structures.'] +Maneuver a loop-de-loop and then enjoy some TV programming.,['The response is:'];['0; The command does not match any of the JSON structures provided. No action related to performing a "loop-de-loop" or engaging with "TV programming" is described in the sample ontology.'] +Ascend to an altitude of 500 feet.,['The response is 500.'];["0; The provided JSON structure does not match the command. There's no 'action' and 'params' key in the JSON response that corresponds to the ascending action and altitude parameter mentioned in the natural language command."] +Increase your height to 500 feet.,['A: Increase your height to 500 feet.'];['0; There is no correct match with the ontology commands, because the ontology has no action command to increase height or altitude.'] +Climb up to an elevation of 500 feet.,['The response is 500.'];['0; The provided JSON structure does not match or correspond to the natural language command. The JSON displays an improperly closed string and does not feature an action or parameters that aligns with the command of reaching a certain altitude.'] +Reach an altitude of 500 feet.,['The response is 500.'];['1; The command suggests an action of altitude adjustment however, none of the given JSON structures provide this exact action. It somewhat relates to the "navigate_to_point" or "fly" action but doesn\'t provide any coordinates or direction. Also, the units used in the command (feet) is not matching with JSON (meters).'] +Go up to a height of 500 feet.,['The response is 500.'];['0; Information in JSON like the action and parameters necessary to perform this task does not exist or is not specified.'] +Fly forward for 1 mile at a speed of 40 mph.,['The response is ', 'Fly forward for 1 mile at a speed of 40 mph.'];['0; The JSON structure does not match with the natural language command. The required keys for distance and speed in the provided unit (miles, mph) do not exist in the sample ontology. Also, "fly forward" does not match any action like \'navigate_to_point\' or \'fly\'.'] +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,['The response is ', 'The response is '];["0; The natural language command talks about moving ahead at a certain speed, but there is no JSON structure provided that matches this action. The action 'fly' in the JSON structures might be the closest, but it requires parameters such as altitude and direction, which are not mentioned in the command. Also, the units used (mile and mph) do not match with those in the JSON (m/s and meters)."] +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph.,['The response is 1 mile.'];["0; The JSON structures provided do not contain an action or parameters that match with the command to proceed straight with a specific speed and distance. The available actions are navigate_to_point, hover, rotate, and land, none of which applies to this command. The parameters also don’t include a 'distance' field. Thus, there's no matching in any JSON structure and the score is 0."] +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph.,['The response is 1 mile.'];['0; The natural language command describes a navigation action with specified distance and speed, but the provided JSON structures do not have a matching action or appropriate parameters for representing this information. Therefore, no meaningful conformity is observed.'] +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile.,['The response is:'];["1; The command instructs a flight action with a speed parameter and a probable duration, based on the distance to be covered. However, the JSON structure for 'fly' does not contain a 'distance' field, and the unit for 'speed' is 'm/s' in JSON, not 'mph' as mentioned in the command. Therefore, while there is partial conformity, it is not an exact match."] +Hover in place for 10 minutes.,['{', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "altitude": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_duration": "seconds",', ' "unit_altitude": "meters"', ' }', '}'];['3; Partial conformity. The command asks to \'hover in place for 10 minutes\', which matches with the action in the JSON structure ("action": "hover"). However, the \'duration\' value has been converted into seconds (600 seconds = 10 minutes). The altitude value seems to be missing from the command but has been added into the JSON structure.'] +Remain stationary for a duration of 10 minutes.,['The response is 10.0.'];["0; The provided JSON does not match any structure from the sample keys. The 'hover' action could be inferred from the command 'Remain stationary', however, the duration in the JSON is not specified and the units are incorrectly provided as ''. The action 'hover' needs the duration specified in the correct units (seconds in this case). Therefore, the command does not conform to the sample keys."] +Stay in one spot for a period of 10 minutes.,['The response is 10.'];["1; The command given can be related to the 'hover' action from the sample JSON structures, especially because it mentions staying stationary for a certain period. However, the duration mentioned in the command ('10 minutes') doesn't match with the duration value given in the JSON ('15.0', presumably in seconds). Also, the JSON structure for 'hover' includes an altitude parameter, which is not mentioned in the command. Overall, there is a mismatch between the command and the provided JSON structure."] +Float in the same position for 10 minutes.,['The response is 10.0.'];['0; The provided JSON does not match any command from the example ontology. The natural command suggests an action of hovering for a duration, but the JSON does not represent this. Instead, it contains an unrelated sentence "The response is 10.0.".'] +Suspend yourself in midair for a span of 10 minutes.,['The answer is 10 minutes.'];["1; The natural command is asking for the drone to hover in midair which matches with the 'hover' action in the JSON structures. However, the duration mentioned in the command is in terms of minutes while the 'unit_duration' specified in the hover action JSON is in seconds. Also, there is no exact structure that implements the 'hover' action for a specified duration in minutes. Hence, the conformity score is 1."] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'];["4; The JSON structure captures the 'rotate' action and 'angle' parameters well. However, the 'angular_velocity' in the JSON structure doesn't match with the natural language command indicating speed at 45 degrees per second. The 'is_clockwise' in the JSON structure also matches with the command's direction 'clockwise'."] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second.,['The response is ', ''];['4; The JSON structure matches the natural language command quite well. The "action" key matches with the "rotate" action requested in the command. The "angle" parameter in the command matches with the "angle" key in the JSON structure. The "angular_velocity" parameter in the command closely matches with the "angular_velocity" key in the JSON structure. However, the \'angular_velocity\' of 45 degrees per second as per the command doesn\'t match with the unit (0.5) given in the JSON structure. This is why the score is not a perfect 5.'] +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second.,['The response is:'];['4; The JSON structure partially conforms to the natural language command. The action "rotate" and parameter "is_clockwise" are clearly represented in the JSON. The "angle" is correctly specified as 180 degrees. However, the speed of rotation is not accurately reflected. Instead, the JSON indicates an "angular_velocity" of 0.5, which doesn\'t match the 45 degrees per second mentioned in the command. The "unit" of rotation is accurately represented as "degrees".'] +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees.,['The response is:'];['4; The JSON structure for the action "rotate" mostly aligns with the specifications mentioned in the natural language command, including the clockwise rotation and the total angle of rotation. However, the command mentions speed in "degrees per second", which does not conform to the JSON structure\'s "angular_velocity", making it unclear if the speed and angular velocity are representing the same information.'] +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation.,['The response is ', ''];['4; The JSON object for the command \'rotate\' {"action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees"}} closely matches the natural language command, albeit the \'angular_velocity\' isn\'t specified in the command, an acceptable value is given in JSON. However, the command does not specify the \'angular_velocity\' as 0.5 degrees per second but it asks for a different velocity which is 45 degrees per second.'] +Land at the designated landing zone.,['{', ' "action": "land",', ' "params": {', ' "location": {', ' "type": "tuple",', ' "value": "(latitude, longitude)"', ' }', ' }', '}'];['5; Exactly conform. The command "Land at the designated landing zone" perfectly matches with the given JSON structure which has the action "land" and "location" parameters. Even though the exact values of "latitude" and "longitude" are not mentioned in the command, it complies with the sample ontology which accepts any reasonable value if not specifically mentioned in the command.'] +Please land at the specified landing zone.,['The response is:'];['0; The JSON structure does not provide any information about a specified landing zone. Furthermore, the natural language command did not provide a specific latitude and longitude for the landing location. Therefore, the command does not conform to the JSON structure provided.'] +You are required to touch down at the designated landing zone.,['The response is,'];["2; The natural language command instructs a landing action but it does not provide the required 'location' parameter in the JSON structure."] +Make sure to land at the designated landing zone.,['The response is:'];['3; The natural language command refers to the action of "land", which is present in the sample keys. However, the JSON structure next to it is not provided, limiting the clarity on whether it aligns with the command given. However, "the designated landing zone" suggests that there\'s a location to land, which aligns with the "location" parameter in the "land" action in the sample keys.'] +It is important to secure a landing at the designated zone.,['The response is:'];['0; The natural language command given does not match any of the keys and structure in the given JSON ontology. Thus, the conformity score is 0.'] +Fly sideways for 500 meters.,['The response is,'];["0; The natural language command doesn't correspond to any of the JSON structures. The 'fly' structure doesn't have a parameter for moving in a sideways direction or for a specific distance in meters."] +Move horizontally for a distance of 500 meters while airborne.,['The answer is 500.'];["0; The JSON structures provided do not contain any action or parameter pertaining to moving horizontally while airborne. The provided natural language command doesn't match with any of the sample keys in the ontology given."] +Perform a lateral flight movement covering a distance of 500 meters.,['The answer is 500.'];['0; The natural language command refers to a specific action of lateral flight movement, however none of the provided JSON structures represents this specific command. Therefore, there is no conformity between the command and the JSON structures.'] +Traverse 500 meters in a sideways direction while in flight.,['The response is ', ''];['0; The natural language command does not correspond to any of the given JSON structures. The command implies a side motion which is not requested or specified in the JSON examples.'] +Travel parallel to the ground for a distance of 500 meters.,['The answer is 500.'];['0; There is no JSON structure that matches the natural language command. The command is to travel a certain distance, but the JSON structures provided are for actions such as flying at a specified speed, altitude, and direction for a duration, navigating to a point, hovering for a duration at an altitude, rotating at an angular velocity for an angle, and landing at a location. None of these match the command given.'] +Ascend to an altitude of 1000 feet.,['The response is 1000.'];['0; The provided JSON structures do not contain any information about ascending to a specific altitude. Nor do the structures handle measurement in feet.'] +Increase your elevation to 1000 feet.,['The response is 1000.'];['0; There is no JSON structure that matches with the command of increasing altitude or elevation to a certain value.'] +Climb to a height of 1000 feet.,['The response is 1000.'];['0; The natural language command doesn\'t match with any of the provided JSON structure actions or parameters. There\'s no corresponding action or parameter for "climb" or "feet" in the JSON structures.'] +Reach an altitude of 1000 feet.,['The response is 1000.'];['1; The natural language command refers to an action of reaching a certain altitude but doesn\'t specify the exact action ("fly" or "hover"), and also the units mentioned (feet) doesn\'t conform with the units in the JSON structure (meters). The JSON structure provided doesn\'t contain any information or command matching the given natural language command.'] +Move upwards to a level of 1000 feet.,['The response is 1000.'];['0; The given natural command does not match any of the JSON structures. The parameters "level" and "feet" are not included in the sample keys and the action "move upwards" does not exist within the given JSON structures.'] +Fly in a circular pattern with a radius of 500 meters for 20 minutes.,['The response is ', ''];['0; The natural language command is asking for a specific flight pattern (circular through a specified radius for a certain duration) that doesn\'t match any of the actions or parameters in the given JSON structures. The "fly" action in the JSON structures is not equipped to handle such specific maneuvers.'] +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes.,['The response is ', 'The response is ', ''];["0; The natural language command does not match any of the action or parameters provided in the sample JSON ontology. The specific action of performing a 'circular flight' with 'radius' as a parameter doesn't exist."] +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center.,['The response is:'];['0; The given command cannot be converted into the provided JSON structures because there is no action key that refers to flying in a circular motion or maintaining a certain distance from a center point.'] +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes.,['The response would be something like this:'];['0; The provided JSON structures do not have the data representative keys for a circular flight path or for any action that could mimic this behavior. The duration is the only parameter mentioned in the natural language command that matches with the JSON keys but it is not enough to give a higher score.'] +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters.,['The response is ', ''];['0; The command does not match any of the actions ("navigate_to_point", "fly", "hover", "rotate", "land") or parameters in the provided JSON structures. There are no corresponding fields in the samples for the execution of a specific flight time and following a circular trajectory.'] +Descend to an altitude of 200 meters.,['The response is ', ''];['1; The command specifies an "altitude" parameter for an implied "navigate_to_point" or "fly" action, but there\'s missing information within the request such as the required "coordinates" or "direction" parameters for "navigate_to_point" or "fly" action. Therefore, the command does not fully conform to the current JSON structure and ontology keys.'] +Go down to a height of 200 meters.,['The response is 200.'];['1; The command is related to adjusting altitude, but none of the sample JSON structures accurately represent this action. The most related one could be "fly" or "hover" but they require more parameters like direction and speed for "fly" or duration for "hover". Therefore, the command doesn\'t conform well with the given JSON structures.'] +Lower yourself to an elevation of 200 meters.,['The response is 200.'];["0; The JSON structures provided do not contain a command for changing elevation or altitude, so there's no way to match the natural language command to a JSON structure."] +Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'];['0; The given command does not correspond to any of the provided JSON structures. The command suggests a decrease in altitude, but none of the JSON structures provide an action for changing the altitude specifically or an action parameter that could reasonably infer the act of decreasing altitude.'] +Descend until you reach an altitude of 200 meters.,['The response is ', ''];["0; The provided JSON structures do not have a specific action for descending or changing altitude outside of the 'fly' or 'navigate_to_point' actions. The natural language command also does not specify a particular action like navigating, flying, or hovering, so it cannot be matched with any of the JSON structures."] diff --git a/evaluation/evaluations/UAV/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_UAV_SELECTED_5pct_for_manual_eval-HIST.png b/evaluation/evaluations/UAV/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_UAV_SELECTED_5pct_for_manual_eval-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..8b8c69f00e59d069a9dabe68a7a83851ee9e2f8e GIT binary patch literal 46984 zcmeFa2UL`2+bulN5EG3p7E}aGj9nlIN-xGjY!E9V2u9RF5r!r(QU*;?M8L#?NK;WU zf+C{yqLE^O0YpIsW(Zv=BaATA;p}VjzAuk?zw@4R*1!JspYtDBD@B>|Joj_o*L~f4 z?`vQF-wb=-hN`yeH;ZT4xw$#H>Z++Z{Obj(92d6Q(u8}l_>j+> zzO!&;u~cW%KOcEsHF9UMk~-I{T)xFKyrq)s_M$$byM6qck3av?Z(YvMij~dRFOJ-P zBWT19_Cm$|4{p9sd75Gw%y+v{lc4BzO*MM#x&7?8uFq8+R>f}CTKi&i+|db@a=*S9 zdnWhe5ubeP%PWY#`J&G2v=gV}JL`DY{*gvSK9NPaJfXmJEPg)11^x4~nH_N6h-bT4dUtAD1SQ%p$ 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zEcrTQ8b{<9bO0#T#dR0c-o`Q4IHZ9`DLDGBF3lJf1obn0>}C@q?j>v)1Ini?J1EF@q=tLO+w8(euiOzKkgSdN00xvM=bC@uG{4Qcs0M!5( zQYa`Y37JtX4^6uIIy)dh$50y7Uf0~BMPXzlVfBm8DRb6KGxaO4SAW<&(W{{41KThP z9pQ~ty;6u2`2sB@#g)p!3zscgG>9f47!?;T$81M>@WZ3>ob_PV#s_MN!*Ah+9_aak z#$lA#Do$hNM!y%L+m6_sVZq9Pn~F9~7~Zo5fWJZw_A(K5=PYf&u8#nAX8X){c}B%d zs<3K3FE77AsYz~IQazC3Zjev57d-B{^p}RkB-Q#F;7qg!L)MsWv=$fX|ItNWgVr3C zngg1E_3g$o(8XEz%&>FiGGR&39)AjJv9zs)NsX9`Mb z`gR9{f~dwAbQrkRp!h5GwxEia`QQ5k%^Q2YjF!?s%^MUuRnd|YX`6ir^%l-Fv2X!n z^(0IIU!1)+H(YNTOZPh9rG1;$)@N5jO-j0$2F?4|xJiLX4nUaDN2i>_8&!>NvNI%qR^e2%dIaY;M%kI@NW9d4#^36w#ORllJY+G7|%$; z?G!kxi)#AT{NjvIhDC&pu)}>f+v+1!cOrQBX9NP{lho*Hjf7OQz5k9jm>y^ zr&K|-%slzg{*iCUWP%AGQ_9z&5SB-CxEtVB&_i8VbVfCCFoH_zoA4``2GKm6g*iup z6+hzCM!%U7#tPLQVACQa&k&3Y% z&Gj{phG1h>Y&%4MbK{8oFtBckmTQ4ncueD>i6OR@RqlGmB;w)R$MSrcL6;yG&3_>zI?fAeKB0eiJn;fy3o2V_Gv(!Ni!QL*B&40p~_IqQ*Q8M zxC;VSC4hEn)U$Vx-vpWQ(6xC_!vEL;WakDTO@%u8b2B&6Z^poG9{Z8SaBXd&>pGs-?gUXqhyo5N)<1Gzwu$NTOve#yz8#a*Fj<@SBlll>b2uAqGPszQr0awKA)3gr8=Pc)za zUYXN5PeNk!L)KHxqeUB{BINwBSQI>Vg^A%(h)Gf>e)yYE)~86i@^$DCt)6%^0~T}y zS6?!BnHJjKvOi881;8*6r(s5E8qf{yfJ!$FZ7e~#pz(1;hym&T8e7cy86eeWi zO*uhN`o2N?I?AODEMfa6y(zyAT)pS3_?@U()$*Ly47*i&J@7!!w(WO7PL67VWZdaL zp{m%qdxfV}AVzy#8}@3mn#&4wR<&3txPc#1aASWl4l2rfpCh7-$wQ)6y0r?Db_>_L zJ0-c7=nKgW0D;ElYLHJYpIjMew|2f%5814zJ(eaqv0l_K&Jyp5%^b-BQ(hr0Vz@=- z+^)weKwJk=Lc3oYaNrL)LMT?L*G5Ia98X~jG%uG_TcIZ;;o#3E;D&!wQv%ih&DC!9fe6(-(>Z1?-qKtxEJ93ZD5;&T zkL~`(KN`{ocI(znlF~=?VR*qX9#>^q+_wPbBX+s+`{xUS{&~=3UbqQkystR@l;<-Yy(gc_h+JJ>nQ(}w2=jqU*K;V5m1 z;L<~F>noobTBHXMla@(LCmA@6WQt5!CXsLS4w1VA`}3g|I4$a>>{rOqH*r z0_leibO*2sLqkK9W|+#qKl{oOGheRSVlVFCrtv6hnFG1~39#)t@SKj`F}vChdLl_d zZE~X7?%^Lwqp+a%# z<@P0s<*ZU50iypy@)bHhondg9-?<JMPp})dWmrgIT#==9r36QRC`Cs|5<#=F zDx(#XWWfW1CT~=2Z5V;hpfYHu^tV>C4gdz>Rf+&PfX+aUxXIXWBrRqK>V82w8cl+F zP7=<_VVp$XwglAfSs4A`LD1jtDDb|!ufy4@)8!SY2PaE_t5rBq;i3=F(Q$7_Al|vo z_>eRZmHw}Z7FzH2zx}W3-SL(Fo9rz8PXI_7-;0W}!~Wlb-}VXAGqI7G;h9'];['4;0;" The JSON mostly conforms to the command. The ""action"" is ""rotate"", ""angular_velocity"" is 40, ""angle"" is 90 and ""is_clockwise"" is true, which matches the command. However, the unit for ""angular_velocity"" in the command is ""degrees per second"" which is not represented in the JSON structure. The ""unit"" field in the JSON only refers to the unit of the ""angle"" parameter, not the ""angular_velocity"" parameter.']" +41: Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,['The response is:'];['3;0;" The action ""rotate"" is correctly identified, and the angle matches. However, the ""is_clockwise"" parameter is mentioned in the command yet its value is opposite of what\'s in the JSON structure. The ""angular_velocity"" does not match (10 vs. 0.5 given).']" +587: Stay still for a duration of 15 minutes.,['The response is 15.0.'];['1;;" The natural language command suggests that the action to be performed is ""hovering"" for 15 minutes. However, the provided JSON structure represents a string response rather than an action with parameters. The structure of the provided JSON does not conform with the sample ontology as it lacks the necessary keys such as ""action"" and ""params"". Therefore, the conformity score is low.']" +363: Hold steady at a specific point for a duration of 15 minutes.,['The response is ', ''];['0;0;" The JSON structure does not match the natural language command. The command suggests a ""hover"" action, but no suitable JSON structure is provided. The provided JSON structures include closing XML tags which does not match the sample keys in the ontology.']" +529: Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,['The response is ', ''];['0;0; The natural language command does not match any of the provided JSON structures. There is no action or parameters that describe going ahead, surveying power lines, traveling a certain distance, or moving at a specific speed in miles per hour.'] +303: Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h.,['The response is ', ''];['0;0; The given command asks for a barrel roll maneuver which is not present in the available actions in the sample keys. Hence, it cannot be converted to JSON.'] +445: Stay suspended in the air for a duration of 10 minutes.,['The response is 10.0.'];['0;0; The provided JSON structure is invalid and irrelevant to the given natural language command regarding hovering operation. There is no action or parameter in the JSON that matches with the command.'] +294: Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour.,['The response is ', ''];['0;0; None of the provided JSON structures contain information for descending, conducting a search and rescue mission, or specific time duration in hours.'] +"929: Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,['The response is, ""Fly in a serpentine pattern for 1 mile at a speed of 25 mph.""']";"[""0";0;" The natural language command does not correspond to any of the JSON structure provided. There's no action in the ontology matching 'fly in a serpentine pattern'. Also, 'mile' and 'mph' units are not part of the given JSON structure.""]" +862: Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,['The response is 1 mile.'];['0;0; The provided JSON structures do not support the action or parameters (moving, distance, speed) mentioned in the given natural language command.'] +971: Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second.,['The response is:'];['4;0;" The JSON structure partially conforms to the natural language command. The action ""rotate"" and parameter ""is_clockwise"" are clearly represented in the JSON. The ""angle"" is correctly specified as 180 degrees. However, the speed of rotation is not accurately reflected. Instead, the JSON indicates an ""angular_velocity"" of 0.5, which doesn\'t match the 45 degrees per second mentioned in the command. The ""unit"" of rotation is accurately represented as ""degrees"".']" +639: Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,['The response is 2.7 kilometers.'];"[""0";0;" The JSON command provided is not related to the natural language command. The JSON data appears to be a response to a completely different command as it mentions a distance, while the natural language command discusses going forward for a distance at a certain speed, something not mentioned in the JSON command. Furthermore, the natural language command doesn't match with any commands in the provided ontology (navigate, fly, hover, rotate, land).""]" +869: Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second.,['The response is:'];['4;0;" The natural language command partially conforms to the JSON structure for the ""rotate"" action. The degrees of rotation and angular_velocity are mentioned but the angular_velocity specified in the JSON structure is 0.5 while the natural language command has it as 45 degrees per second. It does not match perfectly.']" +758: Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn.,['The response is ', ''];['3;0;" The JSON structure partially matches the command. The ""rotate"" action is correctly identified, the ""angular_velocity"" is incorrectly stated as 45 instead of 0.5 in the given sample, the ""angle"" is correctly stated as 180, and the ""is_clockwise"" is also correctly stated as true. However, the ""unit"" of ""angular_velocity"" is not specified in the command which requires it to be per second and should be included in the key of the ontology.']" +762: Please touch down at the specified landing area.,['The response is:'];['1;0; The natural language command is asking for a landing action which is present in the sample keys, but it does not provide specific coordinates (latitude, longitude) for the landing location as required by the ontology. Therefore, although the general action matches, the lack of specific parameters means it only partially conforms.'] +674: Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,['The response is ', ''];"[""2";0;" Although the natural language command requests a rotation, the JSON structure lacks the required angular velocity, and the angle provided exceeds the example's 90 degrees.""]" +10: Cover a distance of 1 mile by flying forward at a velocity of 40 mph.,['The response is 1 mile.'];['0;0;" The natural language command corresponds to an action of flying with a certain speed, but the provided JSON structures do not offer a parameter for distance, nor units matching the ""mile"" or ""mph"" units mentioned in the command. Therefore, there is no conformity.']" +269: Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes.,['The response is ', ''];['0;0;" The given command does not conform to any of the JSON structures provided in the sample ontology. The action ""ascend"" and ""conduct a surveillance mission"" are not available in the samples. Also, there is no mention of the time for the action in minutes in any of the JSON structure.']" +526: Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph.,['The response is ', ''];"[""0";0;" The natural language command asks for an action where the device travels at a certain speed to inspect power lines over a certain distance. There's no corresponding JSON structure with an action of inspecting power lines or traveling for a certain distance at a certain speed. Therefore, there's no match between the command and the JSON structures and their keys.""]" +236: Ascend to an altitude of 1000 feet and maintain position for 10 minutes.,['The response is ', ''];['0;0; The provided JSON structures do not match the natural language command, there is no action that combines both ascending (or changing altitude) and maintaining position (or hovering) in a single action or across different actions. Additionally, the unit of altitude in the command is feet, while in the sample structures it is meters.'] +830: Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second.,['The response is ', ''];"[""3";0;" The command partially conforms to JSON structure for the action 'rotate'. However, the 'is_clockwise' parameter in the JSON is set to true, while the command specifies a counterclockwise rotation. Also, the 'angular_velocity' is stated as 90 in the command while it is 0.5 in the JSON.""]" +559: Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h.,['The response is 500/50 = 10 meters.'];['0;0; The provided JSON structure does not match with the natural language command as it does not have keys for distance and forward direction. Furthermore, the JSON response given is not following a proper format and seems unrelated to the command.'] +253: Maintain a stationary position and capture aerial photographs of the surrounding area.,['The response is ', ''];['0;0; The command does not match with any of the JSON structures provided. An action relating to capturing photographs is not available in the ontology. Hence, it cannot be converted to JSON using the given examples.'] +211: Hover in place for 50 minutes.,['The response is 50.0.'];"[""2";0;" The command request 'hovering' which matches correctly with the available actions. But the duration unit applied in the command is 'minutes', not 'seconds' as outlined in the JSON structure - plus, the actual duration isn't specified properly.""]" +540: Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,['The response is ', ''];"[""0";0;" The provided JSON structure does not match the command given. The command asks for the action 'fly' with specific speed and distance parameters, but the JSON structure does not provide any information relevant to the command.""]" +314: Fly in a figure-eight pattern with a total distance of 2 kilometers.,['The response is ', ''];['0;0;" The natural language command does not match with any of the JSON structures provided. The ""fly in a figure-eight pattern"" action does not exist in the sample keys and the measurement of total distance is also not specified as a parameter in the JSON structures.']" +910: Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,['The response is accepted.'];['0;0;" The provided JSON structures do not support a ""fly"" action with the parameters specified in the natural language command, specifically, there\'s no parameter for flying in a circular pattern or defining a radius.']" +458: Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h.,['The response is ', ''];"[""0";0;" The given JSON structures do not contain any commands and keys related to flying in a 'zigzag formation' or covering a certain 'distance'. Additionally, the speed value and units in the command are not available in the provided JSON structure sample keys.""]" +"218: Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second.,['The response is ', '{', ' ""action"": ""rotate"",', ' ""params"": {', ' ""angular_velocity"": 0.5,', ' ""angle"": 135,', ' ""is_clockwise"": true,', ' ""unit"": ""degrees""', ' }', '}']";"[""4";4;" The command and JSON mostly conform. The angular velocity value does not match the command's specified speed, but the angle and direction are correct.""]" +178: Decrease your altitude to 500 meters.,['A: Decrease your altitude to 500 meters.'];['0;0; The provided natural language command does not match any of the provided JSON structures, as the sample keys do not include any action for decreasing altitude.'] +617: Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,['The response is 4 kilometers.'];['0;0;" The JSON structures provide actions for navigation, flying, hover, rotating, and landing, but none of these actions correspond to the command ""Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h."". The command also does not provide any parameter values related to the given JSON structures.']" +188: Remain airborne without moving for a period of 45 minutes.,['The response is ', ''];['3;0;" The command corresponds to the ""hover"" action, however, the duration in the JSON structure is given as 15 seconds, not 45 minutes as specified in the command. The unit of duration in the JSON is also in ""seconds"", not ""minutes"". There is a mismatch in both value and unit between the command and the JSON.']" +"796: Hover in place for 10 minutes.,['{', ' ""action"": ""hover"",', ' ""params"": {', ' ""duration"": {', ' ""type"": ""float"",', ' ""value"": 60.0', ' },', ' ""altitude"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit_duration"": ""seconds"",', ' ""unit_altitude"": ""meters""', ' }', '}']";['1;3; The value of the duration in the JSON structure does not match the duration mentioned in the natural language command(10 minutes). Also, the altitude value in the JSON structure is not mentioned in the natural language command.'] +509: Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second.,['The response is:'];['3.5;0;" The JSON structure matches the command but the ""angular_velocity"" value which is given as \'0.5\' does not match with the value \'15\' specified in the command. However, all other elements and parameters are exactly conforming.']" +575: Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second.,['The response is ', ''];['2;0;" The natural language command refers to an action that can be related to the ""rotate"" action in the ontology. However, the parameters in the command don\'t match perfectly with the parameters in the JSON structure. The command specifies ""speed"" of rotation which does not exist in the JSON structure. It also lacks the ""is_clockwise"" parameter present in the JSON structure.']" +34: Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,['The response is 3 kilometers.'];['1;;" The command asks for a movement with a specified distance and speed, which is partially covered in the ""fly"" action from the JSON structures. However, it does not align with the provided sample since the JSON does not have any ""distance"" parameter and the ""speed"" unit in the JSON structure is ""m/s"", not ""km/h"".']" +367: Move upwards until you reach a height of 500 meters above ground level.,['The response is 500.'];['1;0;" The provided JSON structures do not contain an action or parameters that correspond directly to the command of moving upwards to a certain altitude. The closest existing action could be ""fly"" with an ""altitude"" parameter, but this action seems more related to horizontal movement rather than vertical. Moreover, the provided JSON does not match at all with the given one.']" +456: Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,['The response is:'];"[""0";0;" The given command involves a complex flying pattern (serpentine) and distance measurement, both of which are not represented in the provided JSON structures. The 'fly' action does not include a parameter for distance or complex flight patterns.""]" +499: Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph.,['The answer is 35 mph.'];['0;0; The natural language command is asking for a glide action with specific parameters like speed and distance, but none of the provided JSON structures support an action like that, nor do they provide parameters for velocity or distance in miles.'] +997: Decrease your altitude to 200 meters.,['A: Decrease your altitude to 200 meters.'];['0;0; The given command does not correspond to any of the provided JSON structures. The command suggests a decrease in altitude, but none of the JSON structures provide an action for changing the altitude specifically or an action parameter that could reasonably infer the act of decreasing altitude.'] +234: Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters.,['The response is ', ''];['0;0; The JSON structures provided do not match the natural language command given. There is no information related to maintaining a straight flight for a certain distance, nor is there any JSON structure for a rotation command with a specified angle to the left.'] +274: Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,['The response is:'];['0;0; The command is asking to fly in a zigzag pattern at a specific velocity for a certain distance, but none of the JSON structures provided have options for a zigzag pattern or distance.'] +725: Descend until you are at 600 meters altitude.,['The response is ', ''];"[""1";0;" The command invokes an action similar to a 'hover' (provided the drone is currently at an altitude above 600 meters), but there's a specified target altitude which doesn't conform to the 'hover' action in sample ontology. There's no JSON structure that handles altitude adjustment.""]" +"146: Land at the designated landing zone.,['{', ' ""action"": ""land"",', ' ""params"": {', ' ""location"": {', ' ""type"": ""tuple"",', ' ""value"": ""(latitude, longitude)""', ' }', ' }', '}']";['4;5;" The command asks for a land action which is found in the JSON. But there is no reference to the ""location"" parameter in the command despite its existence in the JSON structure.']" +771: Fly backward for 5 kilometers at a speed of 40 km/h.,['The response is ', ''];['0;0;" The natural language command does not match any of the given JSON structures. The \'fly\' action exists, however, ""backward"" is not a valid direction in the context of the given ontology, and speed is not measured in ""km/h"". Also, there is no distance parameter in given sample keys. So it can\'t be converted to JSON based on the given ontology.']" +913: Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer.,['The response would be something like this:'];['0;0; The natural language command does not match with any of the provided JSON structures. The command refers to maintaining a constant speed and flying in a circular path, neither of which are actions described in the JSON examples. Therefore, the conformity score is 0.'] +592: Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second.,['The response would be:'];"[""4";0;" The JSON command structurally matches with the given natural language command, as the 'action' is 'rotate' and there is 'angular_velocity' and 'angle'. However, 'angular_velocity' mentioned in the JSON does not match the value provided in the command, hence the score is 4, not 5.""]" +863: Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph.,['The response is 1 mile.'];['0;0;" The natural language command is asking to fly a distance at a specific speed which does not conform to any of the JSON structures provided in the sample keys. The ""fly"" action in the given JSON structures only involves speed, altitude, direction, duration and their respective units, and doesn\'t accept a distance parameter. The natural language command\'s parameters can\'t be correctly mapped to this structure.']" +647: Stay in one spot for a duration of 12 minutes.,['The response is 12.'];"[""1";0;" The natural command possibly corresponds to the 'hover' action in the JSON structures, however, the duration unit in the JSON is in seconds, not minutes as specified in the command. Also, no JSON command was given for comparison.""]" +;;; +;;0.25531914893617; diff --git a/evaluation/evaluations/UAV/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_UAV-HIST.png b/evaluation/evaluations/UAV/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_UAV-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..4f8670580ee94113a2ff9399d665f813403eb0df GIT binary patch literal 48335 zcmeFacU;uh^F6%AsENj2P!upRih@EAq!&A}fd&;(N&+G(N|%+cCKkHJf*{2bMNvUS z1f*#~Q9u?fAhNKyR0Vd0rMLZ^*~GvmpKp0y&p%JW*DFP3ci(&O+_^Jz&YbbxY@k1W ztmIe*gE4;H_p5(kFvcY_7^B!(QPfpg1O+UFf9I$se zu+MU?tF@E!K6^W51$Bk*7SG-5;^N?}si=7H?;lXGcd}7j7N2+m#6NGiS0w};D8Y$N4r$495pF<)$jDGiz@qmFpeAX_s=g^>v%kJ zV%9U+DE4dHn(H>kihutV{zu$wr)+usdK{y9w)WwV`U8FRvZrU}rS6?Q_=-nApO-hz z`EA`0T@T7$o1tP}ss&xik#ae8?W_*-&Raur*E*war-~IV(`5OA< z7@I=}+hQuO)6;$W)u1wbu(1}y$8&fQ{yY-HmN0Ay!a58dgvjcA*EE+vta+;2N+tY52iA}`o`C65SO3jq^6kMFCW@qXt?BxX4NBQU~ ze;#~l@4kJ$^#8G`yhrqx0a9A3yo_F+!CUpD^`27)AFfFCs7GYRKzm&7qeG34+yhn9 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b/evaluation/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV.txt @@ -0,0 +1,1000 @@ +Ascend to an altitude of 500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The natural language command "ascend to an altitude of 500 feet" does not match any actions within the sample JSON keys provided, thus it cannot be converted to a JSON structure as per the command\'s request.'] +Increase the elevation to a height of 500 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };["0; The natural language command is prompting to change the altitude/elevation, while the JSON structure represents an 'rotate' action, which doesn't match with the command. Therefore the score is 0."] +Climb to a height of 500 feet above ground.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The natural language command refers to an action ("climb") that is not included in the sample JSON structures provided.'] +Reach an altitude of 500 feet above sea level.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["1; The requested altitude in the command is in feet but the JSON structure provides altitude in meters. Besides, there's no command for 'up' in the direction in the given sample ontology. Therefore, it's not a good match."] +Ascend to a height of 500 feet in the air.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The provided JSON command does not match with the sample keys provided in the ontology. The action "ascend" does not exist in the sample keys and hence cannot be converted to JSON.'] +Fly forward for 1 mile at a speed of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } };['2; The JSON structure checks off the "fly" action and "speed" parameter, but has inaccuracies. The direction parameter should be "north", "south", "west", or "east", as set in the ontology, not "forward". Also, the value provided for "duration" parameter doesn\'t match the command. Furthermore, "unit_duration" is incorrectly specified as "miles" whereas it should be "seconds". The "altitude" parameter is correct with a value of 0 but it wasn\'t specified in the command. Additionally, the unit_speed doesn\'t match the command; it should be "mph" not "m/s".'] +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile., Note: I will give you a hint, the ontology has an action called "proceed" but it does not have an action called "straight". So you should ignore that part of the prompt.;['0; The provided command does not conform with any action in the provided JSON structure ontology. There isn\'t any action like "proceed" or parameters such as "velocity" or "distance" in the sample ontology.'] +Travel in a straight line for 1 mile, maintaining a speed of 40 mph.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude)" } } };['1; The JSON structure corresponds to a "navigate_to_point" command but the natural language command talks about travelling in a straight line at a specific speed which should correspond to a "fly" action rather than "navigate_to_point". Also, the parameters in the natural language command do not match with the provided value of the JSON structure.'] +Move forward for a distance of 1 mile, traveling at a speed of 40 mph.,{ "action": "move", "params": {"distance": { "type": "float", "value": 1609.344 (miles) }, "speed": 40.0, "unit_distance": "miles", "unit_speed": "mph" } };["0; The JSON structure does not match the ontology in terms of action or params. The action 'move' does not exist in the ontology and the parameters 'distance' and 'speed' are not found under any of the given actions. The given JSON structure is completely out of conformity with the sample keys."] +Cover a distance of 1 mile by flying forward at a velocity of 40 mph., Note: I will give you a hint, the distance in meters is approximately 1609.34 meters.;["1; The given command refers to a 'fly' action, however the parameters specified in the command such as 'distance' and 'velocity' in 'mph' do not match with the parameters('speed', 'altitude', 'direction', 'duration', 'unit_speed', 'unit_altitude', 'unit_duration') in the 'fly' action JSON structure in the ontology. There is a mismatch in parameters and their units hence the low score."] +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['3; The action "hover" matches well, and the duration conversion from minutes to seconds is accurate. However, the altitude value given in the JSON is 0.0 which is not specified in the command.'] +Stay still for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["2; The 'action' and 'params' keys do match, and the 'duration' key with the value of '10.0' is given correctly. However, the 'unit_duration' given in the JSON is 'seconds' while the command specifies 10 minutes. The two are not the same duration of time. Additionally, an 'altitude' value is specified in the JSON, but not in the command."] +Maintain a hovering position for the next 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 70.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['5; The command is asking the drone to hover and the JSON response accurately carries out the hover action with a duration of 600 seconds which equals to 10 minutes. Although the altitude value in the JSON structure is not mentioned in the command, it is reasonable.'] +Remain suspended in one spot for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The natural language command does ask for hovering action which is matching with the action in JSON structure. However, the duration in the command is in minutes but the JSON has it in seconds which is technically incorrect. The command does not specify the altitude for hovering hence any value is acceptable in the JSON but a 0 value for altitude might not be appropriate for a hovering action. A non-zero value would have been more suitable.'] +Hold a stationary hover for the next 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The command asks for a hover of 10 minutes but the JSON structure indicates a duration of 10 seconds.'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The natural language command mostly matches with the "rotate" JSON structure. The "action" is correctly identified as "rotate". The direction ("is_clockwise": true) and "angle": 180 match in both command and JSON. However, the "angular_velocity" in the JSON structure does not match with the command where it is given as 20 (whereas it is 0.5 in JSON structure). Also, the unit of angular velocity is not mentioned in JSON.'] +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees., Note: I will give you a hint, the action is "rotate".;['4; The natural language command mentions rotation, angular velocity, and angle which exist in the JSON. The rotation direction is also specified as clockwise which is also consistent with the JSON. However, the angular velocity mentioned in the natural language command (20 degrees per second) is significantly higher than the value in the JSON (0.5).'] +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn., Note: I will give you a hint, the ontology has an action called "rotate".;['5; Exactly conform. The natural language command exactly corresponds to the "rotate" action in the JSON structure, where the angular_velocity, angle, and is_clockwise parameters are specifically mentioned and match perfectly with the command.'] +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['3; The command aligns with the "rotate" action in the JSON structure, but the angular velocity isn\'t correctly represented. The value of 20 degrees per second isn\'t consistent with the given velocity value (0.5). The angle in the command matches the "angle" key in the JSON structure. However, the \'is_clockwise\' parameter is correct.'] +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure matches mostly with the natural language command. The "action" is "rotate", and the parameters "angular_velocity", "angle", and "is_clockwise" are mentioned in the command. However, the value of "angular_velocity" in the JSON is 0.5, which doesn\'t match with the "20 degrees per second" mentioned in the command, resulting in a point deduction.'] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The command and JSON structure align as they both lay out the task of landing, however, the geographical coordinates in the JSON are not specifically given or referred to in the natural language command.'] +Please ensure you touch down safely at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["5; The natural language command instructs a landing action which perfectly corresponds to the JSON structure which also defines a 'land' action with a specified location. The parameters match the ontology."] +It is essential that you land at the designated land zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Make sure you reach the assigned landing zone for landing.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["4; The natural language command is asking to reach the assigned landing zone for landing which assumes a navigation movement towards a specific location which isn't specified in the JSON structure. However, the JSON structure is about the 'land' action which is also mentioned in the command but doesn't include the navigation part. It's a partial match."] +Ensure your landing takes place at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };["1; The action in the natural language command ('descend') doesn't match any action in the given sample ontology, hence couldn't be translated into the same JSON structure."] +Decrease your altitude to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['0; The JSON structure provided does not match with the command given. The command mentions decreasing altitude but none of the parameters in the JSON structure addressing change of altitude. It instead talks about a "rotate" action which is completely unrelated to the given command.'] +Lower yourself to an altitude of 200 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The natural language command does not adhere to the structure provided in the sample ontology. There is no matching action "lower" in the available actions such as "navigate_to_point", "fly", "hover", "rotate", "land".'] +Descend until you reach an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Bring your altitude down to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command is asking to adjust the altitude, but the JSON provided is for a rotation action. These do not match.'] +Fly forward for 3 kilometers at a speed of 80 km/h.,{ "action": "fly", "params": {"speed": 80.0, "altitude": 0, "duration": 3.0, "unit_speed": "km/h", "unit_duration": "kilometers" } };["4; Partially conform. The values and units of 'speed' and 'duration' and the 'action' field match correctly, however, the altitude value and unit parameters are missing in the command but present in the JSON structure. Furthermore, the JSON structure contains a 'direction' field which is not specified in the command."] +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h., Note: I will give you a hint, the distance and speed are in the "params" field of the "action" object.;['1; The natural language command requests to proceed in a direction for a distance at a specific speed. However, the JSON structures provided do not include a command that includes both direction and speed parameters within the "params" object. Therefore, the command cannot be accurately converted to a JSON structure using the provided models. The closest match is the "fly" action, but it does not include a distance parameter and measures speed in "m/s", not "km/h".'] +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 0)" } } };['1; The JSON structure pertains to the action of "navigation to a point" with coordinates provided, which is not specified in the natural language command. However, the command does mention moving ahead (a form of navigation) but does not provide specific coordinates, just a direction. The speed in the command (80 km/h) doesn\'t match the JSON at all. Therefore, the conformity is low.'] +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } };["1; The command indicates a movement with a specified distance and speed, however the JSON structure mentions a navigation action to a certain point with a set of coordinates. The command does not mention any coordinates for the navigation. Hence, there is partial conformity as the action 'navigate_to_point' could potentially be interpreted as moving ahead."] +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h.,{ "action": "fly", "params": {"speed": 80.0, "altitude": 0, "duration": { "type": "float", "value": 3.0 }, "unit_speed": "km/h", "unit_duration": "kilometers" } };["2; The JSON structure does represent a 'fly' action, however, the field values do not match the command exactly. 'Speed' is correct, but 'duration' is used in place of 'distance', and 'altitude' is assumed 0, which is not mentioned in the command. Also 'unit_duration' label should be 'unit_distance'."] +Hover in place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['0; The natural language command asks to hover for 15 minutes, yet the JSON structure specifies 15 seconds. The "altitude" parameter is implied in the phrase "hover in place," but it is not explicitly given, hence any reasonable altitude could be accepted, but 0 meters suggested in the JSON would mean the drone is on the ground, which is not reasonable in this case. Thus, this JSON does not match the natural language command.'] +Stay stationary for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["1; The command partially matches with the JSON structure. The action 'hover' is correctly identified. However, the duration in the command is in 'minutes', while the JSON structure has 'seconds' as the unit_duration. Also, the command does not specify an altitude whereas the JSON structure has a value for altitude."] +Maintain a hovering position for a period of 15 minutes., Note: Please provide the JSON response only, without any introduction, comments, or conclusion.;["0; The provided JSON structures do not have the capability to convert minutes into seconds for the 'duration' parameter in the 'hover' action. The command specifies a duration but it's in a different unit than the JSON structure allows for."] +Remain suspended in one place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["0; The natural language command doesn't match with the given JSON structure. It instructs the item to hover for 15 minutes while the JSON specifies a duration of 15 seconds, not minutes."] +Hold in mid-air without moving for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['0; The command specifies a duration of 15 minutes but the JSON structure represents a duration of 15 seconds (the unit being wrong is indicative of the time scale being wrong). The command also doesn\'t provide an altitude for the "hover" action while the JSON structure includes an altitude value of 50.0 meters.'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure indeed reflects a "rotate" action however, there is a mismatch in the "is_clockwise", and "angular_velocity" values. In the command "is_clockwise" would be false (as it\'s counterclockwise) and "angular_velocity" is 10, not 0.5 as in JSON. The "angle" value matches perfectly.'] +Turn left at a rate of 10 degrees per second for a duration of 45 degrees.,{ "action": "rotate", "params": {"angular_velocity": 10.0, "angle": 45.0, "is_clockwise": true, "unit": "degrees" } };['5; Exactly conform.'] +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure partially matches the natural language command. The "action" and "angular_velocity" are matched correctly, but instead of counterclockwise the JSON indicates a clockwise rotation and the "angle" is 90 instead of 45 as specified in the command.'] +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees., Note: I will give you a hint, the action is "rotate".;['4; The natural language command somewhat aligns with the JSON structure. The action "rotate" is present in both. However, there\'s lack of clarity concerning the direction in JSON structure as it only considers clockwise rotation ("is_clockwise": true). The command asks for anticlockwise rotation and while "angular_velocity" and "angle" in the JSON structure align with the command, there\'s no provision for "unit" of angular_velocity in the JSON structure, or it\'s just assumed to always be in "degrees."'] +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn.,{ "action": "rotate", "params": {"angular_velocity": 0.4, "angle": 45, "is_clockwise": false, "unit": "degrees" } };['4; Mostly conform. The command is asking for a rotation counterclockwise which matches with the "is_clockwise": false in the JSON structure. The angle of 45 degrees is also matched in both. However, in the natural language command it specifies a rate of 10-degree turn per second which implies an angular_velocity of 10, not 0.4 as specified in the JSON structure.'] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The natural language command matches the JSON structure in terms of the "land" action. However, the specific coordinates are not provided in the natural language command. It can be inferred the coordinates might refer to a \'designated landing zone\', but they are not explicitly mentioned.'] +Please arrive at the pre-assigned landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The natural language command is asking the drone to land at a specific location, which matches exactly with the "land" action in the JSON structure. The given coordinates values is also accepted as a reasonable value.'] +Make your way to the specified landing zone.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } };['5; Exactly conform. The natural language command instructs to navigate to a specific point which matches the action in the JSON command. The coordinate details are also provided as parameter in JSON structure.'] +Ensure you land at the designated landing spot.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Please touch down at the designated landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["4; The given command suggests a landing action which matches perfectly with the 'land' action in JSON. However, the 'location' parameters are not entirely specified by the user in the command, but a reasonable value accompanies the JSON."] +Ascend to an altitude of 1000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }} };['0; The natural language command specifies the action "ascend", which does not exist in the sample keys of the ontology, hence it cannot be converted to JSON.'] +Climb to a height of 1000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} };['0; The command does not conform with the JSON structures provided. The action "climb" and the parameter "altitude" are not present in the provided ontologies.'] +Reach an elevation of 1000 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The given natural language command is partially conforming to the JSON structure. Although the action "fly" is correctly used but the altitude value, unit of altitude and direction are not matching. The command specifies an altitude of 1000 feet, while in the JSON it is 100 meters. Also, the direction \'up\' isn\'t consistent with any direction as expressed in the ontology. The way up is not a valid cardinal direction in this case. Thus, the score is low.'] +Go up to an altitude of 1000 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["2; The command matches the action 'fly' and the altitude is correctly given; however, the unit of the altitude in the JSON structure is 'meters', whereas the command specifies 'feet'. Also, 'up' isn't a valid direction according to the JSON structure."] +Achieve a height of 1000 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The JSON structure only partially matches the natural language command. The command instructs to achieve a height of 1000 feet, while the JSON mentions an altitude of 1000 meters which is not equivalent. The direction "up" is not requested in the command. Also the units used in JSON for altitude is "meters", whereas the command uses "feet". The duration and speed are not mentioned in the command but present in the JSON.'] +Fly forward for 2 miles at a speed of 45 mph.,{ "action": "fly", "params": {"speed": 45.0, "altitude": 0, "duration": { "type": "float", "value": 2.0 }, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The natural language command does not completely match the JSON structure. The action "fly" is correctly identified, however, some of the parameters given in the command like \'speed\' and \'duration\' don\'t match with the parameters in the JSON structure. The \'speed\' in the command is in mph while in the JSON it\'s in "m/s". \'duration\' in JSON is seconds but in the command it is \'miles\'. Plus, the \'direction\' parameter is missing in the command or is vague ("forward"). The altitude is implicitly stated to be 0 in the JSON, but the user\'s command does not make this specification. Therefore it\'s a partial match.'] +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float".;['0; The given command does not match with any of the actions or parameters in the provided JSON structures. The ontology does not contain an action called "proceed" or a parameter "distance" as suggested in the note. Therefore, there is no matching between the natural language command and the JSON information.'] +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph., Note: You can assume that the user will always provide valid coordinates and speeds, and that the robot will always follow the instructions given.;['0; The natural language command does not match any of the sample JSON structures provided. The command asks the robot to "cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph", but the JSON structures do not have keys for \'distance\' or \'miles\', nor do they contain any \'action\' for \'flight_in_straight_line\'.'] +Fly ahead for 2 miles while moving at a speed of 45 mph.,{ "action": "fly", "params": {"speed": 45.0, "altitude": 0, "duration": { "type": "float", "value": 3210.46 }, "unit_speed": "m/s", "unit_duration": "meters" } };["2; The natural language command partially matches with the JSON structure. The action 'fly' and parameter for 'speed' are correct, however, the command value is in 'miles per hour' (mph) instead of 'meter per second' which is the unit given in the JSON. Also, the command asks for a straight flight for a certain distance '2 miles', which has been incorrectly interpreted as 'duration' in the JSON structure."] +Maintain a speed of 45 mph while flying forward for a distance of 2 miles., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration".;['1; The command mentions "maintain a speed of 45 mph while flying forward for a distance of 2 miles" which suggests the use of the "fly" action. However, the "fly" action requires "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration" parameters in the JSON structure. The provided command only specifies "speed", "direction", and possibly "duration" inferred through the distance, but it fails to provide an "altitude". Also, the units used in the command ("mph" and "miles") do not match the units in the sample ontology ("m/s" and "meters"). Therefore, the match between the natural language command and the JSON is partial.'] +Hover in place for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; The command requests for the drone to hover for a duration of 20 minutes but the JSON structure specifies that duration in seconds, resulting in the hover duration being translated as 1,200.0 to account for 20 minutes. The altitude value isn\'t mentioned in the command but a reasonable value of 50.0 is provided in the JSON. The unit of measurement for duration and altitude are accurately provided as "seconds" and "meters", respectively. It\'s not a perfect match due to the hover altitude details missing in the command but still largely accurate.'] +Remain stationary for a period of 20 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.1, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['0; The JSON command provided is for a rotating action which does not align with the natural language command of remaining stationary for a certain period of time.'] +Stay suspended in one spot for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The action "hover" is correctly identified but the duration in the natural command is "20 minutes" while in the JSON it is in seconds. The natural language command did not specify altitude, so the value in the JSON is accepted. However, it is not clearly mentioned in the command to stay suspended at a specific altitude, so this is an assumption. The unit of measurement is also not specified in the command. So, the units \'seconds\' and \'meters\' are assumed which may not be accurate because the command mentioned \'minutes\'.'] +Keep still for 20 minutes while floating in the air.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['3; The command and JSON do match in terms of the action being "hover", and duration being specified. However, the unit of duration in the command is "minutes", but in the JSON it is "seconds". Also, the altitude is specified in the JSON, but not in the command, which introduces ambiguity.'] +Hold position for 20 minutes without moving.,{ "action": "hold_position", "params": {"duration": { "type": "float", "value": 20.0 } } };['0; The natural language command suggests a "hold position" action, however, there is no JSON structure in the ontology with the action "hold_position".'] +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The action "rotate" and parameters "angle" and "angular_velocity" are in conformity with the JSON structure. However, "is_clockwise" parameter was not mentioned in the command, but its default value is true which matches with the command. Therefore, the score is not the maximum.'] +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['3; The natural language command partially conforms to the JSON information but contains additional information not present in the JSON structure i.e., the speed of rotation is not in the JSON. The action, angle, and direction of rotation all match up but the speed does not.'] +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 15.0, "angle": 270, "is_clockwise": true, "unit": "degrees" } };['5; Exactly conform.'] +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second., Note: I will give you a hint, the unit of angular velocity is in degrees per second.;['5; Exactly conform. The command exactly matches the JSON structure for the "rotate" action. All parameters including "angular_velocity", "angle" and "is_clockwise" match their corresponding values in the natural language command, and the unit of angular velocity is correctly identified as "degrees per second". The provided JSON structure is:', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 270,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure for the "rotate" action matches the natural language command, specifying the "angular_velocity", "angle", and "is_clockwise" params correctly with the correct logical equivalent. However, the natural language command specifies an angular velocity of 15 degrees per second, when in the sample ontology the velocity is 0.5.'] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The natural language command matches the JSON structure but exact coordinate values for landing are not specified in the command. However, the provided values in JSON are reasonable and likely acceptable.'] +Please make a landing at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The command is asking for a landing at a specified location which matches perfectly with the action in the given JSON structure. The tuple is also defined in the JSON as an input for the location, making it a perfect match.'] +Ensure that you land at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +It is necessary for you to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The natural language command asks to land at a specific location, which is perfectly reflected in the JSON structure. The "land" action is used, and the location parameter is correctly specified.'] +The instruction is to land specifically at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Descend to an altitude of 300 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["1; The action in the natural language command is to descend, which is related to changing altitude but there's no exact match in the JSON. The JSON structure represents the action 'land', which could involve descending but is not an exact match. The altitude is given in the command but not in the JSON."] +Lower your altitude to 300 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['1; The natural language command instructs to lower the altitude, however, the JSON structure represents a "land" action which might decrease altitude but is not strictly an "altitude reduction" and it also includes an unnecessary location parameter which is not null even though it isn\'t mentioned in the command. The altitude value of 300 meters is not represented anywhere in the JSON structure.'] +Move down to an altitude of 300 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["1; The natural language command is asking to move to a certain altitude which could involve various actions such as 'fly' or 'hover'. However, the JSON structure provided corresponds to the 'land' action which is not completely aligned with the natural language command. The correct altitude is also not provided in the JSON structure."] +Deescalate to a height of 300 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['1; The natural language command talks about decreasing altitude but not necessarily landing (as suggested by the JSON). The "land" action also should include location coordinates according to the JSON structure provided, which the natural language command does not specify.'] +Descend until you reach an altitude of 300 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["1; The command indicates a change in altitude but doesn't include enough specifics for the 'land' action as there is no location provided. The sample JSON doesn't provide method for adjusting altitude alone."] +Fly forward for 4 kilometers at a speed of 70 km/h.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["1; The command mentions the action 'fly' but the provided JSON action is 'land'. However, the JSON format follows the ontology structure which results in the verdict of a partially correct JSON structure."] +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command describes a scenario of navigating straight ahead with a particular speed which is not conforming with the provided JSON structure that defines a "land" action with specific location coordinates.'] +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The JSON structure does not match the command. The command is asking for travel in a particular direction at a certain speed whereas the JSON structure is implying a landing action at specific coordinates.'] +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["0; The natural language command instructs the entity to fly a certain distance at a specific speed, but the JSON structure represents a 'land' action, with its specific geographic location. Therefore, there is no conformity between the command and the JSON structure."] +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The given JSON structure represents an action command to land at a certain location, whereas the natural language command instructs to fly for a certain distance with a specific velocity which does not match with the provided JSON structure. Hence, there is no conformity.'] +Hover in place for 25 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command is asking for the drone to hover for a certain period of time, but the JSON information is about the action "land" in a specific location. There is no match between the command and the provided JSON.'] +Stay suspended in one spot for a duration of 25 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command instructs to "stay suspended in one spot for a duration of 25 minutes" which closely aligns to the "hover" action, not the "land" action as specified in the JSON structure. Also, parameters mentioned in the natural language command don\'t match with the JSON structure\'s parameters.'] +Remain airborne without moving for a period of 25 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command instructs the drone to hover, however the JSON structure references the action "land" which does not align with the command given.'] +Levitate motionlessly for 25 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The provided JSON structure corresponds to the "land" action, while the natural language command instructs to "hover" which is not matching.'] +Hold position without any movement for 25 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command refers to maintaining a stationary or hovering action which does not correspond to the JSON structure displaying a "land" action. Also, the duration parameter stated in the command is not represented in the JSON structure.'] +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["0; The JSON structure does not match the command at all. The command is asking for a 'rotate' action, but the given JSON structure holds instruction for a 'land' action."] +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["0; The provided JSON structure supports the 'land' action and is not related to the 'rotate' action mentioned in the natural language command."] +Turn left by 135 degrees with an angular speed of 25 degrees per second.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The command is expected to perform a "rotate" action and not a "land" action. So the provided JSON structure does not conform with the command at all.'] +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The JSON structure does not match the natural language command in terms of the action being performed or the parameters given. The command speaks about "rotate" action, but the JSON shows "land" action.'] +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command requests a rotation action, but the provided JSON structure represents a landing action. Therefore, the command and JSON do not conform.'] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The command "Land at the designated landing zone" matches perfectly with the provided JSON structure where "land" is the action and a tuple for latitude and longitude is given as the location parameter.'] +Please ensure you land at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Your objective is to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +You are required to land at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The command is instructing a landing action. In the JSON structure, the action key is set to "land" which aligns perfectly. A specific landing location has been provided in the JSON which aligns with the instruction to land at an "assigned landing zone".'] +Make sure you reach the designated landing area safely.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["5; The natural language command asks for a 'land' action, which correctly corresponds with the 'land' action in the JSON structure. The location values are also correctly formatted as a tuple."] +Ascend to an altitude of 1500 feet.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command is about ascending to a specific altitude, but the provided JSON structure corresponds to the action of landing at a specific location. They are not conforming to each other.'] +Increase your altitude to 1500 feet.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The command refers to increasing altitude which does not conform to the JSON command of landing, which implies a decrease in altitude. Additionally, the units are inconsistent with the feet in the original command while the JSON uses latitude and longitude.'] +Climb up to a height of 1500 feet.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The command doesn\'t match with the provided JSON structure. It seems like it would be related to adjusting altitude or flying, but the provided JSON structure is for the "land" action.'] +Reach an elevation of 1500 feet.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The command talks about reaching a certain elevation which does not match with the JSON action of landing at a specified location.'] +Scale to a height of 1500 feet.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command is about changing altitude which does not match with the JSON structure provided which is about landing at a specific location.'] +Fly forward for 5 miles at a speed of 50 mph.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["0; The provided JSON structure does not match with the natural language command. The command instructs to 'fly forward', while the JSON structure represents the action 'land'."] +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["0; The command is about navigating straight ahead at a certain speed for a certain distance, while the JSON structure executes a 'land' action with specific location parameters. There is no correspondence between the command and the JSON structure."] +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["0; The JSON structure provided does not match the natural language command at all. The command talks about moving forward with a specific speed for a specific distance, while the JSON refers to an action to 'land' at a specific set of coordinates."] +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The provided JSON structure corresponds to a "land" action with a location parameter defined. This does not match with the natural language command to move (presumably forward) for a certain distance at a given speed. Therefore, no conformity exists between the command and the JSON structure.'] +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command is giving instructions to fly a certain distance at a specific speed, but the JSON structure is relating to the action of landing at given coordinates, making the two unrelated.'] +Hover in place for 30 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command is about hovering for a duration but the provided JSON structure is related to a landing action. There is no matching between the command and the JSON information.'] +Stay in one spot for a duration of 30 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The JSON structure corresponds to a "land" action, while the natural language command indicates a "hover" action for a certain duration. Thus, they don\'t match.'] +Maintain a fixed position for the next half an hour.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; The given JSON structure correctly represents the natural language command of maintaining a fixed position (hover action). However, the duration specified in the command (half an hour) is not correctly reflected in the JSON (300 seconds). A correct conversion would be "1800.0" since half an hour equals 1800 seconds. Hence, the conformity score is 4.'] +Remain suspended in mid-air for the next 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2.5; Partial conformity. The natural language command requests the drone to "hover" for "30 minutes" which is correctly reflected in the JSON structure. However, the value of duration is incorrectly represented as "300.0" seconds which translates to 5 minutes not 30 minutes as specified in the command. The unit_duration should have been adjusted to "minutes" or the value should have been 1800 seconds (i.e. 30 minutes).'] +Hold still for a period of 30 minutes.,{ "action": "hold_still", "params": {"duration": { "type": "float", "value": 30.0 } } };['0; The action "hold_still" does not exist in the sample keys.'] +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second., Note: I will give you a hint, the action is "rotate".;['5; The command perfectly matches the "rotate" action in the sample keys. The direction of rotation ("is_clockwise": true), the angle to be rotated ("angle": 360), and the angular velocity ("angular_velocity": 30) are all specified in the command and correspond to the parameters in the JSON structure.'] +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second., Note: Please provide the JSON response only, without any introduction, comments, or conclusion.;['4; The JSON structure somewhat matches the command. However, there is no parameter for the rate of rotation ("angular_velocity") specified in the natural language command. The "angular_velocity" in the JSON is 0.5, not the 30 degrees per second specified in the command. The "angle" parameter in the JSON matches the "full circle" command (360 degrees). Here is the JSON:', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 0.5,', ' "angle": 360,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['3; The natural language command is partially conforming to the JSON structure. The "rotate" action and the clockwise direction are correctly mentioned. However, the natural language command includes an angular speed (30 degrees per second) which isn\'t represented in the JSON. Additionally, while the command references a full rotation, the JSON has a specific angle of 90 degrees.'] +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The command matches with the "rotate" action in the sample keys. It specifies direction (clockwise), degree (360 degrees), and speed (30 degrees per second) in the command which mostly fulfills the JSON parameters. However, it does not specify whether the angular velocity is in degrees per second because the ontology does not provide this information. Therefore, while there is a high level of matching, it is not an exact match.'] +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second., Note: I will give you the ontology again for reference.;['4; The command corresponds to the "rotate" action in the JSON structure, with a complete 360-degree rotation in a clockwise direction (which corresponds to the natural language command of "Spin to the right"), with an angular velocity of 30 degrees per second. However, the exact angle and angular velocity are not specified in the JSON structure hence the score of 4 instead of 5.'] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; The natural language command directly corresponds to the "land" action in the JSON structure. Although the exact coordinates are not specified in the natural language command, the JSON structure provided a reasonable value which is acceptable.'] +Please make your way to the designated landing zone and touch down.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The natural language command is implying to "land" at a specified location, which aligns perfectly with the "action" and "params" in the given JSON structure.'] +The designated landing zone is where you should aim to touch down.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The JSON structure matches the natural language command in terms of action (land), but the specific coordinates (latitude, longitude) are not mentioned in the command, but are assumed in the JSON. However, any reasonable value is accepted in this case, so it is mostly conform.'] +You are required to land at the specific landing zone as indicated.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Ensure that you come to a safe landing at the designated landing zone., Note: The ontology is provided for your reference, and you should be familiar with it before answering.;['4; The natural language command is asking for a "land" action which exists in the sample keys. However, the JSON does not specify the exact location (latitude, longitude) to land, something that is required in the "land" action parameters and hinted at in the command ("designated landing zone"). The lack of specificity in the command leads to a slight deduction in the score.'] +Descend to an altitude of 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The ontology does not include a "descend" action, so it cannot be matched based on this sample. The natural language command does not correlate with any of the provided JSON structures.'] +Decrease your altitude to 400 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['0; The JSON structure does reflect a valid action command, however, it does not match the natural language command given. The natural language command instructs to decrease altitude, while the JSON is set to execute a rotation.'] +Lower yourself to an altitude of 400 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };['1; The command talks about altitude change but is not accurately represented by the "land" action. No altitude parameter is included in the provided JSON.'] +Go down to an altitude of 400 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 400, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The action is not completely accurate as the command `go down to an altitude of 400 meters` more closely resembles reducing altitude rather than "flying". While the JSON indicates \'down\' as a direction, it is part of the \'fly\' action which is not completely stated in the natural language command. The specified altitude is correct, but the rest of the parameters, such as speed, direction and duration, are not mentioned in the command but they appear in JSON.'] +Descend until you reach an altitude of 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The JSON structure does not match any of the provided sample keys. The provided JSON structure references an action "descend" that is not present in the sample ontology, thus making it non-complaint. The correct action for a descent could be either \'land\' or \'fly\' depending on the situation, but \'descend\' is not listed as an action in the sample ontology.'] +Fly forward for 6 kilometers at a speed of 60 km/h.,{ "action": "fly", "params": {"speed": 60.0, "altitude": 0, "duration": { "type": "float", "value": 6000.0 }, "unit_speed": "km/h", "unit_duration": "kilometers" } };["3; There is a partial match between the command and the JSON structure. The duration is incorrectly mapped as the command does not explicitly mention a duration, it suggests a distance but the sample ontology doesn't include a distance parameter in the 'fly' action. The direction is also missing in the JSON structure, though it is inferred in the command with the word 'forward'. The speed and unit of speed conform properly. For a higher score, the command and the JSON should properly match with the parameters in the ontology."] +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float" and a "speed" parameter of type "float".;['0; The provided natural language command does not conform to any of the available action keys in the JSON structure as there is no "proceed" action or "distance" or "speed" parameters available. Therefore, the command cannot be converted to JSON based on the given sample ontology.'] +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration".;["2; The natural language command partially matches with the JSON structure. It correctly identifies the 'fly' action and mentions 'speed' and 'direction' parameters. However, the parameters 'altitude', 'duration', and the related units are missing. Furthermore, the command mentions 'distance' which does not conform with any parametric keys in the 'fly' action JSON."] +Fly straight ahead at 60 km/h for a distance of 6 kilometers.,{ "action": "fly", "params": {"speed": 60.0, "altitude": 0, "direction": { "type": "str", "value": "straight" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters" } };['2; The natural language command and the JSON structure have some correspondence: the action of flying is correctly identified and the speed is also correctly specified in the JSON. However, the direction in the JSON structure is "straight" while the natural language command says "straight ahead" which can be interpreted as "north". The JSON assigns 0 to altitude and duration, but the natural language command gives no such indication. Moreover, the natural language command mentions a "distance" which isn\'t reflected or captured in the JSON structure.'] +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers., Note: I will give you a hint, the distance and speed are in meters.;['2; The JSON structure for natural language command of "Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers" would require keys such as "action": "fly", "speed": 16.67, "unit_speed": "m/s", "direction", "distance" converted from km to m. Given such directives these keys are not part of the sample keys provided in the ontology, thus it does not fully conform. It\'s only partially conforming as it contains the \'fly\' action and the speed parameter in a transformed unit of measurement. The JSON does not support a \'distance\' parameter in the \'fly\' action nor a \'direction\' parameter with an unspecified "value".'] +Hover in place for 35 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 35.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The command to "Hover in place for 35 minutes" only partially matches the JSON structure. While the \'hover\' action and \'duration\' parameter are correct, the value of \'35.0\' does not match because the unit of duration in the JSON is in seconds, not minutes. Furthermore, the \'altitude\' value in the JSON of \'0.0\' doesn\'t match with the command as no specific altitude is provided in the command.'] +Stay suspended in mid-air for a duration of 35 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 35.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; There is a mismatch in the unit of duration from the command and the JSON structure. The command specifies minutes, but the JSON structure uses seconds.'] +Maintain a fixed position in the air for the next 35 minutes., Note: I will give you a hint, the ontology has an action called "maintain" which takes a "duration" parameter.;['1; Given ontology doesn\'t contain the "maintain" key and instead, it contains a "hover" action which might correspond to a similar command to maintain a fixed position in the air. The duration is specified correctly in natural language but can\'t be matched with JSON since "maintain" is not a present key.'] +Remain stationary in the same spot for a period of 35 minutes., Note: I will give you a hint, the ontology has an action called "stationary" which takes a single parameter "duration" of type "float" and value "35.0".;['0; The given JSON structures do not contain an action called "stationary" or its related parameter "duration". The closest matching action would be "hover", but it also needs an "altitude" parameter which is not specified in the natural language command. Therefore, the command does not conform to the provided sample ontology.'] +Keep yourself suspended without moving for the next 35 minutes., Note: I will give you a hint, the action is "hover".;['4.5; The given JSON structure is about the "hover" action for a certain duration. Although precise duration value in the natural language command is not exactly reflected in the JSON structure, the instruction explicitly mentions the "hover" action, ensuring high conformity. The missing duration parameter (35 minutes) in the JSON can be considered as a minor mismatch.'] +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure resembles the command but does not match exactly. The action matches as both indicate "rotate". For "params", "angular_velocity" aligns with "35 degrees per second" and "angle" matches "180 degrees". The "is_clockwise" key in JSON is somewhat represented in the command with "counterclockwise", but it is incorrect as counterclockwise would translate to "false", not "true".'] +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON.;['4; The JSON structure partially matches the natural language command with a few discrepancies. The "action" keys match, with both being "rotate". The "angular_velocity" parameter in the JSON corresponds to the rate of turning specified in the command. The "angle" parameter in the JSON and the total rotation in the command are also the same. However, the "is_clockwise" parameter in the JSON contradicts the command, as the rotation is stated to be counterclockwise in the command but true (which would imply clockwise) in the JSON. The unit of measure is accurately mirrored in both the JSON and the command as "degrees".'] +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['5; The command tells to perform a rotate action, and in the JSON structure "rotate" is represented. "Angular_velocity" parameter is considered as \'speed\' in the command and "angle" is mentioned as \'180-degree\'. Although "is_clockwise" parameter is not given directly, \'counterclockwise\' implies it would be false.'] +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees., Note: I will give you a hint, the action is "rotate".;["4; The command partially conforms to the JSON structure. The 'rotate' action is present. Also, 'angular_velocity' and 'angle' parameters are accurately defined. However, the 'is_clockwise' parameter in the command contradicts the JSON structure; 'is_clockwise' is set to true in JSON, while the command asks for a counterclockwise rotation (which would imply 'is_clockwise': false)."] +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 35.0, "angle": 180, "is_clockwise": false, "unit": "degrees" } };['5; Exactly conform.'] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["4; The JSON structure accurately represents the command to land. However, the exact landing coordinates are not specified in the command, but were included in the JSON, so it's not a perfect match."] +Please make a landing at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The natural language command is asking for a landing at a specific location looking at the JSON structure, that is exactly what is happening. The landing action has been commanded and a tuple coordinate has been specified for the location.'] +Ensure a safe landing at the assigned landing area., Note: Please provide the JSON response only, without any introduction, comments, or conclusion.;['5; The command corresponds well with the "land" action in the JSON structure, although specific coordinates for the landing area are not provided in the command. However, as the command stated to land at the "assigned landing area", it can be assumed these details would be predetermined in a real-world context. Therefore, even though the coordinates are not explicitly given, the command still aligns with the JSON structure.'] +You are instructed to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +It is requested that you land at the predetermined landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Ascend to an altitude of 2000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 2000.0 }} };['0; The natural language command refers to the action "ascend" which is not present in the sample JSON structures provided. Thus, there is no conformity with the keys in the sample ontology.'] +Increase your elevation to a height of 2000 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command is about changing the altitude (though the unit is not in the ontology) but the JSON structure refers to a rotation action, so they do not match at all.'] +Reach a height of 2000 feet above the ground level.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 2000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The JSON structure does not fully match with the command. The elevation units are mismatched - the command uses feet while the JSON uses meters. The direction "up" does not correspond with the command either; the command does not specify any direction.'] +Climb to an altitude of 2000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 2000.0 }} };["0; The command 'climb' does not exist in the sample keys hence it cannot be converted. The JSON structure does not match the natural language command."] +Ascend to a height of 2000 feet above sea level.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 2000.0 }} };["0; The natural language command does not conform with the JSON structures provided. The action 'ascend' and parameter 'altitude' is not present in any of the JSON structures."] +Fly forward for 7 miles at a speed of 55 mph.,{ "action": "fly", "params": {"speed": 55.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 7, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } };['2; The JSON structure contains most keys present in the natural language command, but there are mismatches. The speed unit in the JSON structure is "m/s" while the command mentioned "mph." The "duration" unit in the JSON structure is "miles" while "duration" typically pertains to time, not distance. The direction value in JSON is "forward" which does not fully convey the same meaning as "north, south, east, west".'] +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour., Note: I will give you a hint, the distance unit is "miles".;['1; The provided command instructs to proceed in a forward direction with a specific speed and distance, which is slightly related to the "fly" action in the JSON structures. However, the command does not provide values for many required keys such as altitude and direction, and the provided distance parameter doesn\'t exist in the JSON structure. Furthermore, the provided units "miles" doesn\'t match with the units in JSON structure "meters" and "m/s".'] +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph., Note: I will give you a hint, the distance is given in miles, and the speed is given in mph.;['1; The natural language command discusses travelling a certain distance at a constant speed, but none of the given JSON structures involve traveling a set distance or maintaining a specific speed. The value units mentioned (miles) are also not found in the sample JSON structures. The only minor connection is the reference to moving in the "fly" action, but it is not directly comparable.'] +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,{ "action": "move", "params": {"distance": { "type": "float", "value": 7.0 }, "speed": 55.0, "unit_speed": "m/s" } };['1; The natural language command instructs to move but the sample JSON structure named as "action": "move" is not present in the sample keys. However, it does mention parameters such as speed and distance which seem to match with parameters in the command, but their units don\'t match. The unit in the command is miles, while in the JSON it\'s meters/second. Therefore, it scores low on the conformity scale.'] +Ascend ahead for 7 miles, maintaining a velocity of 55 mph.,{ "action": "fly", "params": {"speed": 55.0, "altitude": 0, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; There are multiple discrepancies in the given JSON structure compared to the natural language command. Firstly, the direction is mentioned as "up" in the JSON but in the command it is "ahead". The unit of speed is provided as "mph" in the command while it\'s given as "m/s" in the JSON. The duration is not mentioned in the command but is marked with a 0 in the JSON. The command mentions "ascend" which implies increase in altitude, but the JSON marks altitude as 0.'] +Hover in place for 40 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 40.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["1; Although the action is correctly captured in the JSON, the unit of duration isn't correct according to the natural language command. The command says to hover for 40 minutes, but the JSON structure indicates the duration in seconds. The altitude also doesn't match well, as the command does not specify it and in the JSON, it is set to 0."] +Stay in one position for a duration of 40 minutes., Note: I will give you a hint, the action is "hover".;['4; The JSON structure for this command would look like this:', ' {', ' "action": "hover",', ' "params": {', ' "duration": {', ' "type": "float",', ' "value": 2400.0', ' },', ' "unit_duration": "seconds"', ' }', ' }', 'The reason I gave it a 4 rather than 5 is because the altitude parameter requested in the ontology was not specified in the natural language command.'] +Remain suspended in the air without moving for a total of 40 minutes., Note: I will give you a hint, the action is not "hover".;['0; The command requires a "hover" action which is available in the ontology, but the duration specific to "40 minutes" is not reflected in any JSON structure.'] +Maintain a hovering position for the next 40 minutes., Note: I will give you a hint, the answer should have an "action" field with a value of "hover".;['3; The natural language command partially conforms to the "hover" action in the sample keys. The "duration" parameter in minutes can be converted to seconds in the JSON structure. However, the command does not include information regarding the "altitude" parameter, which is essential within the provided structure.'] +Levitate and hold your position for a period of 40 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 40.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["1; The command is asking to hover but duration specified in the command doesn't match the duration specified in the JSON structure (40 minutes in command and seconds in JSON). Additionally, the altitude is not mentioned in the command.", ''] +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second., Note: I will give you a hint, the action is "rotate".;['2; While the action "rotate" matches the natural language command, the angular_velocity in the JSON structure is 0.5 but in the command it\'s specified as 40. Also the "angle" is correctly specified as 90 in both. The direction "is_clockwise" is also correctly mentioned.'] +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees., Note: I will give you a hint, the unit of measurement for the angle is in degrees.;['3; The natural language command only partially matches the JSON command. Navigation command type "rotate" is mentioned and the parameters "angle" and "is_clockwise" are included and correctly specified in both. However, the "angular_velocity" is set to 0.5 in the JSON, not 40 as per the command, and the unit of measure for angular_velocity is not defined in the JSON.'] +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second., Note: I will give you a hint, the action is "rotate".;['2; Although the action "rotate" matches, the "angular_velocity" value in the JSON structure is 0.5, which is significantly different from the 40 degrees per second specified in the command.'] +Turn right by 90 degrees with an angular speed of 40 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 40.0, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['4; Almost conform. The given natural language command corresponds well with the provided JSON structure for "rotate" action. However, the "angular_velocity" value mentioned in the natural language command was 40 degrees/second, whereas the same parameter value in the JSON structure was 0.5 which results in a non-perfect matching scenario.'] +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The JSON structure for rotation action is almost perfectly matched to the command except for \'angular_velocity\' which is provided in the command as 40 degrees per second. However, in the JSON structure the \'angular_velocity\' has a value of 0.5. The rest of the command ("rotate", "is_clockwise": true, "angle": 90, "unit": "degrees") perfectly matches with the JSON structure.'] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The natural language command asks for a landing, which is correctly matched in the JSON structure with the right action (\'land\'). However, the exact coordinates for the landing are not specified in the command, but are given in the JSON structure. The command mentioned a "designated landing zone" which could be a reasonable match for the specified location in the JSON structure, but without explicit coordinates in the command, it is not a perfect match.'] +Please touch down at the assigned landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Ensure that you arrive at the specified landing zone.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } };['4; The natural command refers to a navigation action which is correctly identified in the JSON structure. However, the natural language command mentions a \'landing zone\' which suggests the "land" action in response. Since in context the coordinates given are meant for navigation to a specific point before a potential landing, it still conforms but isn\'t an exact match since no explicit landing command is given.'] +Make sure to land at the designated touchdown point.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +It is required that you land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; Justification: The natural language command is mostly conformed to the JSON structure. The \'land\' action and the location parameter are correctly mapped. However, the exact coordinates are not provided in the sentence, so the value "(37.7749, -122.4194)" in the JSON structure is assumed and there\'s no way to verify its correctness from the natural language command.'] +Descend to an altitude of 500 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The JSON structure does not match any existing actions in the sample keys provided. There is no "descend" action and an associated altitude parameter in the ontology.'] +Lower yourself to a height of 500 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The command given is "lower" which is not listed in the sample ontology, hence it cannot be converted to the provided JSON structure.'] +Decrease your altitude to 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };["0; The JSON structure is for a 'rotate' action but the command given talks about reducing altitude, this does not conform to the example JSON."] +Go down to an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["2; There are slight matches such as the 'altitude' parameter and 'meters' unit. However, there's no direction 'down' in the 'fly' action according to the sample ontology. The not specified parameters 'speed', 'duration' and 'direction' are not reasonable in relation to the natural language command which only instructs to go down to a specific altitude. The 'fly' action seems to expect a more complex set of commands."] +Reduce your height to 500 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };['1; The given command is related to changing altitude, but not related to the "land" action in the provided JSON. The specific decrease in altitude (500 meters) is also not reflected in the JSON. The command could be better reflected in a hypothetical hover or fly action with an altitude param of 500 meters.'] +Fly forward for 8 kilometers at a speed of 65 km/h.,{ "action": "fly", "params": {"speed": 65.0, "altitude": 0, "duration": { "type": "float", "value": 8.0 }, "unit_speed": "km/h", "unit_duration": "kilometers" } };["2; While the action 'fly' matches and some parameters like 'speed' and the unit of speed 'km/h' are mentioned. The duration in the JSON is not correctly used according to the natural language command. Here it is used for a distance and not a time duration. Also, the direction of flight is not specified in the natural language command or JSON structure."] +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h., Note: I will give you a hint, the distance and speed are in the "params" field of the "action" object.;['0; There is no JSON structure that corresponds to moving to a specific distance at a certain speed in the given sample ontology.'] +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration".;['3; The natural language command partially conforms to the JSON structure. While the action "fly" is mentioned correctly, the provided parameters such as "speed" (velocity) and "direction" match, the parameters "altitude", "duration", "unit_speed", "unit_altitude", and "unit_duration" aren\'t specified in the command. Additionally, the unit of speed given in command is in km/h which differs from the example ontology presented in JSON structure which uses m/s. The command also includes "distance", which isn\'t reflected in the JSON structure.'] +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers., Note: I will give you a hint, the ontology has an action called "travel" which has a "speed" parameter, but it does not have a "distance" parameter.;["0; The given command and JSON structures do not match, as there is no 'travel' action or a 'distance' parameter mentioned in the provided sample keys. The 'speed' parameter does exist, but under the 'fly' action which is not mentioned in the natural language command."] +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration".;["2; Although the command and JSON are generally compatible (e.g., the action is 'fly', and 'speed' and 'direction' parameters are mentioned), the specified units in the command (kilometers and km/h) are not present in the JSON, which uses m/s for speed. The 'duration' and 'altitude' parameters are also not mentioned in the command."] +Hover in place for 45 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 45.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The natural language command specifies a duration in minutes, but the JSON contains a duration value given as a float in seconds. It does not also match the altitude value in the JSON.'] +Stay suspended in position for a duration of 45 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 45.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["2; The duration value matches but it's not specified in the correct unit as the command requests minutes and the JSON structure gives in seconds. The altitude is not specified in the command but it is given a value in the JSON structure, which does not exactly conform to the request made in the natural language command."] +Remain airborne without moving for a period of 45 minutes., Note: You can assume that all the values are valid and in the correct format.;['4; The command corresponds closely to the "hover" action in the JSON structure. However, the duration given in the natural language command is in \'minutes\', while the unit of duration in the JSON structure is "seconds". The JSON Structure is flexible in terms of the value to be considered for duration but it would still need some sort of conversion from minutes to seconds in the natural language command, thus the score is 4.'] +Keep yourself elevated without any movement for a span of 45 minutes., Note: You can assume that the agent has the necessary capabilities to perform the actions specified in the prompts.;['4.5; The command mostly matches the "hover" action in the JSON structure. The duration value in the command corresponds to the "duration" parameter, however the command does not specify the unit of duration or the altitude. The JSON structure for "hover" does require these parameters but as it\'s reasonably expected that the agent will be hovering at its current altitude or that its default programmed altitude will be used, the slight mismatch is negligible.'] +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position., Note: I will give you a hint, the action is not "hover".;['0; The natural language command instructs to "suspend in mid-air" which is not an action found in the sample ontology. Even though the command was given a hint that the action is not "hover", there are no other actions in the ontology that could match the command.'] +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['3; Although the JSON block for "rotate" action is present and the \'angular_velocity\' and \'angle\' keys align with the requested speed and size of the rotation in the command, the \'is_clockwise\' parameter contradicts the counterclockwise rotation requested.'] +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;["4; The natural language command mostly matches with the 'rotate' action in the JSON structure. However, 'angular_velocity' parameter in JSON is given as 0.5, but the command specifies it as 45. 'angle' parameter and 'is_clockwise' direction are also correctly specified in the command, but the values don't match exactly with the JSON. Although, it is stated that any reasonable value is accepted for parameters."] +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['5; The natural language command perfectly conforms with the JSON structure for the "rotate" action. All parameters such as "angular_velocity", "angle", and "is_clockwise" from the JSON structure are mentioned in the natural language command. The angular_velocity is suggested by the term "45 degrees per second", the angle by "270 degrees" and "is_clockwise" is inferred by the use of term "counterclockwise" (which would be false in the JSON).'] +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction., Note: I will give you a hint, the action in the ontology is "rotate".;['3; The JSON structure partially matches the command, but not exactly. The action "rotate" is correctly identified, but in the JSON ontology, there\'s no way to specify the rate of rotation ("45 degrees per second"). Also, the "angle" can be interpreted as 270 and "is_clockwise" as false (since it\'s counterclockwise), but these weren\'t specified as such in the JSON.'] +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second., Note: I will give you a hint, the unit of measurement for the angle is in degrees.;['4; The JSON command structure accurately represents a rotation action and includes the majority of the parameters cited in the natural language command, i.e., opposite direction ("anti-clockwise") and angle (270 degrees). The command structure, however, lacks the representation of speed as described in the natural language command (45 degrees per second) and the \'is_clockwise\' is set to true rather than false for anticlockwise. Also, the value of \'angular_velocity\' doesn\'t match the speed in the natural language command, but it can be considered as a reasonable value.'] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; The natural language command directly translates to the JSON structure, with the "action" set as "land" and "location" specified as a tuple of coordinates.'] +Please proceed to land at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Make your way to the indicated landing zone and prepare for landing.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } };['4; The natural language command corresponds to the "navigate_to_point" action, but there\'s no mention or hint in the command to decode the "coordinates" value. The command also implies a "land" action which is not represented in the JSON structure.'] +Follow the instructions and land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The command instructs to land at a specified location, which exactly matches with the provided JSON where the action is "land" and a location (coordinates) is given in parameters.'] +It is required that you land at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The natural language command corresponds mostly with the JSON command, but the JSON command contains specific coordinates that were not mentioned in the natural language command. However, the coordinates are a reasonable assumed value.'] +Ascend to an altitude of 2500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 2500.0 }} };["0; The natural language command 'Ascend to an altitude of 2500 feet' does not match any actions present in the provided JSON structures. The 'ascend' action does not exist in the sample ontology."] +Climb to a height of 2500 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 2500.0 }} };["0; The command 'climb' and its parameters are not included in the ontology presented."] +Reach an elevation of 2500 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 2500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The command does not specify the speed, direction, or duration of the flight, although all of these parameters are specified in the JSON structure. Furthermore, the unit of measurement for altitude does not align between the command and the JSON structure—the command specifies feet, while the JSON specifies meters.'] +Scale to an altitude of 2500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 2500)" } } };["4; The natural language command correctly specifies the action of changing altitude, which would fall under 'navigate_to_point'. However, the system given uses meters as unit of measurement for altitude, and the command specifies feet. This discrepancy adjusts the score. Furthermore, the coordinates in JSON structure sample did not match with the command."] +Increase your height to 2500 feet.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 2500.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The action "hover" in JSON partially aligns with the natural language command of increasing height but doesn\'t fully capture the intent. Also, there\'s a mismatch in the altitude units: the command specifies "feet" but the JSON uses "meters".'] +Fly forward for 9 miles at a speed of 50 mph.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 9, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } };['1; The natural language command does not fully conform to the JSON structure. The JSON structure uses meters per second for speed, but the command provides speed in miles per hour. The direction "forward" is not equivalent to compass directions that are expected in the JSON (e.g., "north"). The parameter "duration" is used incorrectly in the JSON structure presented, it\'s described in miles instead of seconds. The "altitude" parameter differs in JSON where it is not provided in the command.'] +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph., Note: I will give you a hint, the distance unit is "miles".;['0; The given command refers to a navigation action with specific distance and speed parameters. However, there is no corresponding action in the sample keys that matches this command. Therefore, it cannot be converted to a JSON structure.'] +Cover a distance of 9 miles by flying forward at a speed of 50 mph., Note: I will give you a hint, the distance in miles is 14.4 miles.;['1; The natural language command talks about flying a certain distance at a specified speed. However, the JSON structures provided do not have a parameter for distance in the action "fly". Therefore, the conformity is quite low.'] +Maintain a speed of 50 mph while traveling straight ahead for 9 miles., Note: I will give you a hint, the ontology has an action called "maintain_speed" which takes a "speed" parameter of type "float".;['0; The provided JSON structures do not contain an action called "maintain_speed" with a "speed" parameter, therefore the command does not match any of the given JSON structures. The "fly" action is the closest match, but it still does not exactly conform due to different parameters and missing values such as direction, duration and unit_speed.'] +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 0, "unit_speed": "mph", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The JSON structure provides the action "fly" and the direction "forward" which matches with the natural language command. However, the unit of speed in the command is "mph" which does not conform with the "m/s" in the JSON structure. Additionally, the distance to be covered mentioned in the command is not represented in the JSON structure.'] +Hover in place for 50 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 50.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The JSON structure correctly represents the "hover" action but the duration in the JSON is incorrectly in seconds instead of minutes as specified in the command. Additionally, the altitude is specified as 0 in the JSON while it\'s not mentioned in the command, so it\'s incorrect to infer it.'] +Stay still for a duration of 50 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 50.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["1; The action of 'hover' is correctly called out but the duration specified in the natural language command is '50 minutes' which is not in conformity with the 'seconds' unit indicated in the JSON. Moreover, the altitude value is assumed to be 0.0 in the JSON but it was not indicated in the natural language command, hence it does not comply rightly with the command."] +Maintain a stationary position for 50 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 50.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; Partial match. The "action" in JSON structure correctly matches "hover" which suggests maintaining a stationary position. However, the unit of "duration" in JSON is "seconds", but the command specifies "minutes". Furthermore, there\'s no specification of altitude in the command while it’s included in the JSON.'] +Remain in one spot for a period of 50 minutes., Note: I will give you a hint, the ontology has an action called "stay" which takes a "duration" parameter of type "float".;['1; The command does correspond to an action in the ontology ("hover") which can be interpreted as staying in one place for a specific duration. However, the conformance is low as the provided JSON structure does not have a "stay" action and the "duration" unit in the ontology is measured in seconds, not minutes.'] +Hold steady for 50 minutes without moving.,{ "action": "hold_steady", "params": {"duration": { "type": "float", "value": 50.0 } } };['0; The provided JSON does not conform to the given ontology. The action "hold_steady" does not exist in the sample keys and therefore cannot be rated for conformity. The natural language command would have been represented in this ontology by the "hover" action with a duration of 3000 seconds, since it implies hovering without moving for a particular duration.'] +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The natural language command almost exactly conforms to the JSON structure. The action "rotate" is correctly identified. However, the angular_velocity provided in the natural language command does not quite match it in the JSON structure. While the angular_velocity is provided as 50 degrees per second in the command, it\'s 0.5 in the JSON sample.'] +Turn 135 degrees to the right at a rate of 50 degrees per second., { "action": "rotate", "params": {"angular_velocity": 50.0, "angle": 135.0, "is_clockwise": true, "unit": "degrees" } };['5; Exactly conform.'] +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The JSON structure is very close to the natural language command, it includes the "rotate" action, the "angle" parameter (135 degrees), and the "is_clockwise" parameter (true). However, the "angular_velocity" parameter (50 degrees per second) in the command isn\'t represented correctly in the provided JSON structure, the "angular_velocity" is only indicated to be 0.5 without a specified unit.'] +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The natural language command mostly conforms to the JSON structure for a "rotate" action. The angular velocity present in the command is different from the value in the JSON structure, but it is reasonably acceptable. However, there is no parameter in the JSON structure to specify units for "angular_velocity", which is indicated in the command as degrees per second.'] +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;["4; The natural language command conforms to the 'rotate' action in the sample keys. The direction (clockwise), angle (135 degrees), and speed (angular_velocity: 50) are all mentioned. However, the speed is significantly higher than the given sample JSON structure (0.5 compared to 50), although this could be considered as a reasonable value."] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The natural language command matches the JSON in the action of "land", but the exact tuple for location in the JSON is arbitrary and does not match a specific \'designated landing zone\' mentioned in the command.'] +Please touch down at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The natural language command ("land") corresponds perfectly with the JSON structure. The "land" action and "location" details provided also fit the context.'] +Descend and touch base at the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; The command is asking to land (action key) and the JSON structure specifies a particular location (location key in params) which conforms to the sample ontology. Although the specific coordinate values are not mentioned in the command, the JSON values are acceptable as they are plausible.'] +Make your approach and touch ground at the designated landing site.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Please bring the aircraft to a stop at the approved landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };['4; The command instructs the aircraft to land, which matches with the "action": "land" key in the JSON structure. However, the exact location coordinates aren\'t specified in the command but are implied to be an "approved landing zone". While this could hypothetically map to the "location" tuple in the JSON structure, it\'s not a directly explicit match.'] +Descend to an altitude of 600 meters and swin.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; The JSON structure corresponds to the "fly" action with an altitude of 600 meters, as mentioned in the natural language command. However, the direction value ("down") does not exactly match the "swim" action mentioned in the natural language command. Also, remaining parameters such as speed, duration, unit_speed, unit_altitude, unit_duration were not specified in the natural language command but are present in the JSON.'] +Swim after descending to an altitude of 600 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The natural language command does not fully match the JSON information. The "action" does not match as the "swim" action does not exist in the ontology, the command said to "descend", but the direction is not mentioned in the JSON. The "altitude" is the only parameter that correctly matches.'] +Dive down to a depth of 600 meters and start swimming.,{ "action": "dive", "params": {"depth": { "type": "float", "value": 600.0 } } };['0; The provided JSON structure does not match with the available actions in the given sample ontology. The "dive" action and "depth" parameter are not present in the sample keys.'] +Lower yourself to an altitude of 600 meters and begin swimming.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 600.0 }} };['0; The natural language command mentions two actions "lower" and "begin swimming". Neither of these actions exist in the sample keys of the JSON structures provided. Also, no structures were provided for the "begin swimming" action.'] +Drop down to a height of 600 meters and begin your swim.,{ "action": "drop", "params": {"altitude": { "type": "float", "value": 600.0 } } };['0; The command does not match any of the JSON structures provided. "Drop" and "swim" actions do not exist in the sample keys. Moreover, the "altitude" parameter is being used in a context (drop) that doesn\'t conform with the examples provided.'] +Turn left at a 45-degree angle and fly straight for 500 meters., Note: I will give you a hint, the action is "rotate" and the "angle" field should be 45 degrees.;['2; The JSON structure for the "rotate" command is offered as a hint but the required "angular_velocity" and "is_clockwise" parameters are not specified in the command. Additionally, the "fly" action mentioned in the command is not tied with any parameters in the JSON structure.'] +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters., Note: I will give you the prompt as a string, and you must return the corresponding JSON.;['0; The natural language command contains events of "rotate" and "fly" but the direction of rotation (clockwise or anti-clockwise) is not clear in terms of the command and the ontology given. And the distance for "fly" action is not defined in the ontology structure. So, no JSON structure can be generated adhering to the sample ontology provided.'] +Take a left turn at a 45-degree angle and proceed straight for 500 meters., Note: I will give you a hint, the action in the prompt is "rotate".;['1; The natural language command does imply an action of rotation (i.e., "Take a left turn at a 45-degree angle"), but it does not match the JSON structure for the "rotate" action in the given sample ontology. Additionally, the second part of the command ("proceed straight for 500 meters") does not match any of the given actions in the sample ontology. Therefore, while there is some partial conformity with a single action in the ontology, the overall conformity is low.'] +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters., Note: You can assume that all the values are valid and in the correct range.;["2; Partial conformity. The command involves rotation and flight, but while the JSON structure does have keys for 'rotate' and 'fly', it doesn't correctly represent the specifications given in the natural language command. The rotate action in the JSON structure is mentioned to be clockwise, which doesn't conform with the 'rotate to the left' command and the 'fly' action in the JSON structure doesn't encompass a distance parameter."] +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters., { "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 45, "is_clockwise": true, "unit": "degrees" } };["4; The command matches with the JSON structure in terms of action and it specifies the parameters for the action 'rotate'. However, the command also mentions 'Head in a leftward direction, and keep flying straight for a distance of 500 meters' which does not correspond to any JSON structure provided."] +Ascend to an altitude of 1000 feet and maintain position for 10 minutes., { "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } };['1; The action in the JSON structure is "navigate_to_point", while the command suggests a combination of ascending and hovering, which do not match with the JSON structure. Parameters like \'altitude\' and \'duration\' in the command don\'t match with the key \'coordinates\'.'] +Climb to a height of 1000 feet and stay in that position for 10 minutes., Note: I will give you a hint, the ontology has an action called "climb" which takes a "height" parameter of type "float".;['0; There is no match as there does not exist any "climb" action or "height" parameter in the provided JSON structures. The commands in the natural language don\'t conform with the keys of sample ontology.'] +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes., Note: I will give you a hint, the action is "fly".;['4; The command is asking for the drone to "fly" to a specific altitude and hold its position which aligns with the "fly" and "hover" keys respectively. The "altitude" parameter in the "fly" key and "duration" in "hover" key also exist. However, the units used in the command (feet for altitude, minutes for duration) are not the same as in the JSON structure (meters for altitude, seconds for duration).'] +Increase your altitude to 1000 feet and remain at that level for 10 minutes., Note: I will give you a hint, the altitude unit is in meters.;['2; The command asks to increase the altitude and hover, which corresponds to the "fly" and "hover" actions in the JSON. However, the units do not match. In the command, the units are feet and minutes, whereas the ontology has meters and seconds. Also, the duration of the hover is asked to be 10 minutes, which is not specified in the JSON structure.'] +Go up to a height of 1000 feet and keep your position steady for 10 minutes., Note: I will give you a hint, the ontology has an action called "climb" which can be used to increase the altitude.;['0; The natural language command does not match the provided JSON information well. None of the JSON structures given support a "climb" action, not do they support a parameter for altitude in feet or duration in minutes. The command could have been partially interpreted with a combination of "fly" and "hover", but the unit measures do not match with those specified in the natural language command.'] +Perform a vertical climb to 200 meters at a speed of 10 meters per second., Note: I will give you a hint, the ontology has an action called "climb".;['0; The provided JSON structures do not include an "climb" action hence the command cannot get converted to JSON using the provided ontology.'] +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters., Note: I will give you a hint, the action is "ascend".;['0; The JSON structures provided do not have an "ascend" action or parameters for rate of ascent, hence the natural language command does not conform with the sample ontology.'] +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters., Note: I will give you a hint, the action is "ascend".;["0; The provided command involves an ascent, but no JSON structure provided in the samples has an 'ascend' action, and therefore, there is no available template or ontology in which to fit the requirements of the command."] +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters., Note: I will give you a hint, the action in the ontology is "climb".;["0; The provided natural language command does not match any of the given JSON structures as there is no 'climb' action represented in the given JSON ontology."] +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters., Note: I will give you a hint, the ontology is the same as the previous examples.;["4; The command talks about a vertical ascent which implies action as fly with provided speed and altitude. However, there are missing parameters such as direction and duration in the command which are present in JSON. Therefore, it doesn't exactly conform."] +Fly around in a circular pattern with a radius of 100 meters for 15 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "circular" }, "duration": 900, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The natural language command specifies a circular pattern flight, but the JSON structure shows a northward flight. The "radius" parameter from the command is also not represented in the JSON structure, however the duration in the JSON structure matches with the command, considering unit conversion from minutes to seconds.'] +Circle around with a 100-meter radius for a duration of 15 minutes., { "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['1; The JSON structure has the correct action "rotate" and parameters like "angle" and "is_clockwise" that can be inferred from the command. However, crucial information from the command such as "100-meter radius" and "15 minutes" duration is not reflected in the JSON at all. Moreover, the command suggests a circular movement while rotation may not necessarily imply a change in the drone’s location.'] +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "circular" }, "duration": 900, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; This JSON structure linked to the command has the right action "fly" but has values that are not specified in the original command. Specifically, the speed is not mentioned in the command but listed as 10.5 m/s in the JSON. The direction value in the JSON is "circular", which doesn’t really match with the sample ontology. The duration does not match the command "15-minute" as it\'s in seconds in the JSON structure.'] +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes., Note: I will give you a hint, the radius of the circle is in meters.;['0; The given command requests a specific type of flight (circular with a given radius and duration) that does not conform to any of the actions available in the provided JSON structures or in the sample ontology keys, as neither the action "circle" nor the parameter "radius" is available.'] +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 900, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The JSON structure contains an action "fly", which matches with the command but doesn\'t contain information on how to fly in a circular trajectory. The duration value in the JSON structure does not match the command\'s duration of 15 minutes. Hence, it only partially conforms.'] +Hover in place and capture aerial photographs of the surrounding area.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['3; Partial conformity. The JSON structure corresponds to the hovering aspect of the command. However, the command "capture aerial photographs of the surrounding area" does not have an equivalent action in the provided JSON structures.'] +Stay suspended and take aerial photographs of the nearby area.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["2; The JSON structure aligns with the 'hover' action from the sample keys, which corresponds with the command to 'stay suspended'. However, there is no information in the JSON structure related to 'taking aerial photographs of the nearby area', which is a significant part of the natural language command. Therefore, it only partially conforms."] +Maintain a stationary position and capture aerial photographs of the surrounding area., Note: Please provide the JSON response only, without any introduction, comments, or conclusion.;["0; The given command doesn't match any of the JSON structures provided in the sample ontology. Although the command implies hovering (with the 'maintain a stationary position' part), it doesn't give enough information to be interpreted as the 'hover' action in the ontology, and the 'capture aerial photographs' part isn't represented at all in the sample."] +Levitate and snap aerial photographs of the surrounding area.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 45, "is_clockwise": true, "unit": "degrees" }, "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "snap_aerial_photographs", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };["1; The commands 'levitate' and 'snap aerial photographs' don't exist in the sample keys. While it includes hover and rotate actions, the 'snap_aerial_photographs' action is not present in the JSON sample keys. Therefore, it's not totally conform, the score would be 1 considering the partial match for hovering and rotation."] +Remain still and capture overhead photographs of the nearby area.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command refers to a hovering activity and capturing photographs, neither of which is represented in the provided JSON structure which is about rotation.'] +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes., Note: I will give you the prompts one at a time, and you must answer each one individually. Please make sure to read the ontology carefully before answering each prompt.;['2; The natural language command includes elements of both the "fly" and "hover" actions in the JSON structures. The command to "descend to an altitude of 50 meters" aligns with the "altitude" parameter in both actions. However, the request to "fly at a speed of 80 km/h for 20 minutes" fits the "fly" action more closely, since it includes specifications for "speed" and "duration". However, the units given in the natural language command (km/h and minutes) do not conform to the units in the JSON structure ("m/s" and "seconds"), bringing down the score.'] +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes., Note: I will give you a hint, the altitude field in the ontology is of type float.;['2; The JSON structure has no matching for the command given as it doesn\'t clearly map to any specific drone action. While the speed and altitude changes could be part of the "fly" action, the command\'s specifics do not align with the JSON\'s parameters and their types. The command also doesn\'t specify a direction for flying, and there isn\'t a time parameter for the "fly" action in the given JSON template. The JSON structure allows for a duration in seconds while the command speaks about minutes which also shows a lack of conformity.'] +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes., Note: I will give you the prompts one at a time, and you must respond with the corresponding JSON.;["1; The command refers to an action that includes descending to a certain altitude and maintaining a certain speed for a specific duration. However, none of the provided JSON structures include all these parameters together. The 'fly' action includes parameters for speed, altitude and duration, but it does not specifically refer to descending."] +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes., Note: I will give you a hint, the altitude unit is in meters.;['5; The command exactly conforms with the sample ontology. The command "Adjust your altitude to 50 meters" matches with the "altitude" in the params of the "fly" action in the JSON. The command "maintain a speed of 80 km/h" matches with the "speed" in the params of the "fly" action in JSON (note: even though the JSON speed unit is m/s, km/h is also a reasonable speed unit). Finally, "for the next 20 minutes" matches with the "duration" in the params of the "fly" action in JSON.'] +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes., Note: I will give you the ontology and the prompts, and you must return the corresponding JSON.;['4; The natural language command mostly corresponds to two JSON structures: "fly" (where duration, speed, and altitude are defined) and "hover" (where altitude is also defined). However, the unit of speed in the command is different from the one defined in the JSON structure ("km/h" vs "m/s"). This slight discrepancy is what brings down the conformity score from 5 to 4.'] +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes., Note: I will give you a hint, the maneuvers should be performed at an altitude of 100 meters.;["0; The command involves the drone to perform rapid maneuvers, including rolls and loops. However, these actions and parameters are not represented within the sample ontology, so we can't match it to any JSON structure."] +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes.,{ "action": "sequence", "params": { "actions": [ { "action": "roll", "params": { "angle": 30, "is_clockwise": true, "duration": 10 }, "next": { "action": "roll", "params": { "angle": 60, "is_clockwise": true, "duration": 10 } }, { "action": "loop", "params": { "radius": 100, "angle": 360, "duration": 10 }, "next": { "action": "loop", "params": { "radius": 150, "angle": 360, "duration": 10 } } ] };['0; The natural language command refers to a sequence of actions including rolling and looping but there is no such action as "sequence", "roll" or "loop" specified in the provided JSON structures. The command also specifies a duration for the sequence, but the related parameter does not exist in the provided JSON structures. Thus, the command does not conform to the sample keys.'] +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['1; The JSON command only includes a rotation action with specific parameters that are not included in the natural language command. The natural language command mentions a set of quick maneuver, including rolls and loops, that is not included or resembled in the JSON command. The duration of 5 minutes mentioned in the natural language command is also not represented in the JSON.'] +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes.,{ "action": "rotate", "params": {"angular_velocity": 3.0, "angle": 45, "is_clockwise": true, "unit": "degrees" } };["1; The natural language command indicates some sort of complex, fast motion for a specified duration - specifically mentioning rolls and loops which are not clearly defined within the JSON. The JSON structure outlines a simple rotation action, which is only part of the command's indication. The duration of the action is also missing from the JSON parameters."] +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes., Note: The ontology provided is a simplified version of the one used in the original task, and it does not include all the possible actions and parameters that can be used in the task.;['0; The command includes actions (rolls and loops) which do not exist in the provided JSON structures. Also, it mentions a duration in minutes while the ontology only supports duration in seconds.'] +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop., Note: I will give you a hint, the answer should have an "action" field with a value of "fly" and a "params" field with a value of a dictionary containing the speed, altitude, and duration of the flight.;['1; The natural language command requires the use of the "fly" action and also specifies a speed, but the required altitude is missing, and the described action of stopping quickly is not represented in the JSON structure or the sample ontology. The distance is also not included in the "fly" action\'s parameters.'] +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt., Note: I will give you a hint, the answer should have an action of "move" and a "params" field with a "distance" and "velocity" field.;['0; The natural language command given doesn\'t match with any of the JSON structures provided in the sample ontology. None of the actions (navigate_to_point, fly, hover, rotate, and land) or their respective parameters specified in the JSON structures match with the action ("move") and parameters ("distance" and "velocity") mentioned in the command.'] +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,{ "action": "move", "params": {"speed": 40.0, "distance": { "type": "float", "value": 1000.0 } } };['0; The provided JSON structure doesn\'t match the sample ontology. The action "move" and parameters "speed" and "distance" are not included in the sample ontology. Moreover, the natural language command specifies a subsequent action ("come to a rapid stop") which is not represented in the JSON at all.'] +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes., Note: I will give you a hint, the ontology has an action called "surveillance_mission" which takes a "duration" parameter of type "float".;['0; The natural language command does not match with any available JSON structures. Specifically, there\'s no action called "ascend" or "surveillance_mission" in the JSON samples provided. Therefore, the command cannot be mapped directly to available actions or parameters.'] +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation., Note: You can assume that all the actions are valid and that the parameters are valid values for the respective fields.;["2; There's no direct match for 'surveillance operation' in the given ontology. However, the altitude adjustment could be argued to be a part of 'fly' or 'hover' action. The duration of 30 minutes could also be seen in the context of 'hover' action but it's not a clear match. The JSON structures offered do not fully support the entirety of the command, therefore a perfect score is not possible here."] +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes., Note: I will give you a hint, the ontology has an action called "surveillance_mission" which has a "duration" field of type "float" with a default value of 30.0.;['0; There is no provided JSON structure for a "surveillance_mission" action. Moreover, the tasks of "rising to a height" cannot be matched to any of the provided JSON structures.'] +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor., Note: I will give you the prompts one at a time, and you must respond with the corresponding JSON. Please make sure to follow the ontology and ignore any actions not mentioned in the ontology.;['4; The natural language command is somewhat conforming to the JSON structures. However, there isn\'t a direct equivalent JSON action for the "surveillance endeavor" in the sample provided. The drone can "hover" at a specified altitude for a duration, which could theoretically be used for surveillance, but the notion of "surveillance" itself isn\'t represented as an action in the ontology. Also, the command does not provide an exact duration for hovering. Given these factors, the natural language command partially conforms to the ontology, albeit not completely.'] +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes., Note: I will give you a hint, the ontology has an action called "surveillance" with a parameter "duration".;["0; Neither 'climb' nor 'surveillance' actions exist in the given sample ontology. Thus, they can't be converted to JSON structure based on available keys in the sample ontology."] +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers.,{ "action": "fly", "params": {"speed": 20.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_distance": "kilometers" } };['1; The JSON structure partially matches the mentioned action "fly" and unit "m/s" for speed in the natural language command. However, it does not account for the "zigzag" pattern or the "distance" indicated in the natural language command. Further, the direction is not specified in the natural language command but is stated as "north" in the JSON structure. The duration in the JSON structure is set to 0, which does not match the natural language command.'] +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s., Note: You can assume that all the actions are valid and that the parameters are valid for the respective actions.;['0; The command requires a "zigzag flight pattern" while all JSON structures do not have provisions for specific flight patterns. Even though the speed parameter matches with the JSON structure, the specification of a distance also has no matching field in the ontology.'] +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s., Note: You can assume that all the values are valid and in the correct range.;["0; The JSON structures don't support the action of flying in a zigzag pattern or covering a specified distance. The 'fly' action supports speed, altitude, direction, duration, and units but not a distance or flight pattern."] +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner., Note: I will give you a hint, the ontology has an action called "fly" but it does not have an action called "fly at velocity". So you should ignore that part of the prompt.;['1; The command to fly matches with the action "fly" in the JSON structure, however, the parameters provided in the command (\'velocity\' and \'distance\') do not properly align with the parameters in the JSON structure. Furthermore, the direction of \'zigzag\' mentioned in the command is not represented in the JSON structure.'] +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers., Note: I will give you a hint, the ontology has an action called "fly" which has a "velocity" field, and an action called "zigzag" which has a "direction" field.;['0; The natural language command does not match any of the JSON information. The ontology does not support the "zigzag" action and does not include a "velocity" field. The "fly" action exists but uses "speed" instead of "velocity". Also, there is no capacity to define specific patterns such as "zigzag".'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The natural language command command partially conforms to the JSON structure. The "action" and "is_clockwise" keys match perfectly. However, the "angle" in the command is 180 degrees while in the JSON it\'s 90 and the "angular_velocity" in the command is 45 degrees per second while in the JSON it\'s 0.5 degrees per second. Similarly, the "unit" in the command is not specified but "degrees" is a reasonable assumption, which matches the JSON.'] +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The command matches well with the JSON structure given for the "rotate" action. The rotation angle and direction are correct. However, the angular velocity doesn\'t conform exactly. The ontology states an angular velocity of 0.5, but no units are specified. Thus, we can\'t know for sure if this value should be degrees/second, as the command suggests.'] +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The natural language command includes the action "rotate" and specifies the parameters "angle" and "angular_velocity". However, the direction ("is_clockwise": true) and unit ("unit": "degrees") are implicit in the command, but the JSON structure does not include the specific angular velocity of 45 degrees per second.'] +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second., { "action": "rotate", "params": {"angular_velocity": 45.0, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['5; Exactly conform.'] +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; Despite the correct action and parameters (`angular_velocity`, `angle`, `is_clockwise`) being included, the `angular_velocity` value in the natural language command doesn\'t match with the one in the JSON structure, which is 0.5, not 45 as stated in the command. However, the unspecified `unit` parameter was correctly assumed to be "degrees".'] +Land at the designated landing zone and conduct a visual inspection of the UAV.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["2; The command correctly identifies the 'land' action but there is no reference to the 'location' parameter given by the user, and the mention of a visual inspection of the UAV cannot be derived from the JSON command."] +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection., Note: Please provide the JSON response only, without any introduction, comments, or conclusion.;['0; The natural language command talks about landing the UAV and proceeding with a visual inspection, but the JSON structure(s) does not include any action related to visual inspection, hence, the command cannot be converted accurately to JSON based on the given structure(s).'] +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The command requires the UAV to "land", which corresponds directly to the "land" action in JSON. Moreover, the location expressed as a tuple (latitude, longitude) also matches the JSON structure, even though the specific coordinates are not given in the command.'] +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The JSON structure matches with the action of landing which is mentioned in the natural language command. However, the command to visually inspect the UAV which is mentioned in the natural language command is not represented in the JSON structure.'] +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components., Note: The ontology provided is just an example, you may have a different ontology for your UAV actions.;['3; The command involves landing the UAV which matches with the "land" action in the JSON. However, there\'s no mention of a \'comprehensive visual inspection\' in the given sample keys.'] +Hover in place and release a payload at a specified drop zone.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The JSON structure partially matches the natural language command since it only reflects the "hover" part but it doesn\'t account for the action of releasing a payload at a specified drop zone.'] +Maintain a hovering position and deploy a payload at a designated release zone., Note: The ontology is not exhaustive, and you may encounter actions or parameters not listed here. In such cases, you should ignore them or return a default value as appropriate.;['0; The command mentions the action "deploy a payload" which does not exist in the given ontology. Neither does the "designated release zone" has any matching parameter in any of the actions given in the ontology. The action "hover" is found in ontology but no parameters are mentioned in the command to conform with the JSON structure.'] +Stay suspended in one spot and discharge a payload at a predefined drop area.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The natural language command partially matches the JSON structure. The command instructs to "Stay suspended in one spot", which corresponds to the hover action. However, the rest of the command about discharging a payload at a predefined drop area does not exist in the given JSON structures.'] +Remain in a stationary hover and release a payload at a specified dropzone., Note: You can assume that the ontology is fixed and will not change during the course of the exercise.;['0; The given command involves hovering and releasing a payload at a specified location which doesn\'t match with any of the given JSON structures as there are no keys related to "release payload" or "dropzone" in the sample ontology.'] +Hold position in mid-air and deliver a payload at a designated drop zone.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The JSON structure provides instructions for a rotation action, which does not match the natural language command for the drone to hold a position and drop payload. The required action and parameters specified in the natural language command (such as holding position, delivering payload) are not represented at all in the given JSON structure.'] +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour., Note: I will give you a hint, the altitude unit is "feet" in this case.;['0; There are no matching actions or parameters about descending to a specific altitude, conducting a search and rescue mission or duration in hours within the given JSON structures.'] +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet., Note: You can assume that all the actions are valid and that the ontology is consistent.;["0; The given natural language command does not conform to any of the provided JSON structures. No keys relating to a 'search and rescue mission' or 'descending' are present in the sample ontology."] +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour., { "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } }, { "action": "search_and_rescue", "params": {"duration": { "type": "float", "value": 60.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The JSON structure contains unmatched key "search_and_rescue" and missing "unit_altitude" value "feet". Also, the command of "engage in a search and rescue operation for 1 hour" doesn\'t exist in the sample keys.'] +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet.,{ "action": "search_and_rescue", "params": {"duration": { "type": "float", "value": 60.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "feet" } };['0; The natural language command does not conform to any of the JSON templates provided in the sample ontology. The action "search_and_rescue" and unit "feet" do not exist in the ontology. The parameters \'duration\' and \'altitude\' do exist but in different actions (not combined in one).'] +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet.,{ "action": "search_and_rescue", "params": {"duration": { "type": "float", "value": 60.0 }, "altitude": { "type": "float", "value": 100.0 } } };['0; The natural language command asks for a "search and rescue" operation, which is not represented anywhere in the JSON structures provided. The sample keys do not have an action for "search_and_rescue", so the JSON does not conform to the command.'] +Perform a barrel roll maneuver at a high velocity of 100 km/h., Note: I will give you a hint, the ontology includes an action called "rotate".;['0; The natural language command does not conform to the JSON structure(s) since the "rotate" action does not have parameters for performing a "barrel roll" or specifying a velocity. The parameters available in the ontology for a "rotate" action are "angular_velocity", "angle", "is_clockwise", and "unit".'] +Execute a barrel roll maneuver at a rapid speed of 100 km/h.,{ "action": "rotate", "params": {"angular_velocity": 100, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['1; The natural language command refers to performing a "barrel roll maneuver" which suggests a 360 rotation along the longitudinal axis. Although the JSON structure has a "rotate" action, it only covers a 90 degree rotation rather than a 360 degree one, and the angular_velocity value in JSON doesn\'t match the \'rapid speed\' in the command. Also, the unit in the JSON structure is in degrees, not km/hr.'] +Carry out a barrel roll maneuver at a high rate of 100 km/h.,{ "action": "rotate", "params": {"angular_velocity": 100, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['1; The JSON structure relates to a "rotate" action which could potentially represent a barrel roll maneuver. However, the natural language command specifically mentions a speed of 100 km/h, which is not represented in the JSON structure.'] +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h., Note: I will give you a hint, the ontology includes an action called "barrel_roll".;['0; The natural language command refers to a "barrel roll" maneuver, but there is no corresponding "barrel_roll" action in the provided JSON structures. The command also specifies a velocity of 100 km/h, but none of the provided JSON structures contain a parameter for velocity in km/h.'] +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h.,{ "action": "rotate", "params": {"angular_velocity": 100.0, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['1; The JSON structure refers to a "rotate" action with specified parameters such as "angular velocity", "angle", "is clockwise", and "unit". However, the natural language command mentions a "barrel roll maneuver", which is not specifically defined in the sample keys of this ontology. Furthermore, the command mentions velocity in \'km/h\', which isn\'t a compatible unit with the \'degrees\' expected in the JSON. These mismatches result in a low conformity score.'] +Fly forward for 500 meters and then execute a sharp turn to the right., Note: I will give you a hint, the action is "fly".;['1; The natural language command starts to match the "fly" action of the sample ontology, but there is no provided \'distance\' parameter for the \'fly\' action. Also, the second part of the command referring to a sharp turn to the right doesn\'t match with any of the provided action keys like \'rotate\'.'] +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn., Note: I will give you a hint, the distance and turn radius are in the same field.;['0; The provided JSON structures do not contain a field to accommodate moving a specific distance straight and then making a precise right turn. The parameters "distance" or "turn radius" are not present in the provided ontology.'] +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "forward" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "turn", "params": {"angle": 90, "is_clockwise": true, "unit": "degrees" } };['1; The natural language command talks about flying, which matches with the "fly" action of the JSON structure, but then it also talks about a right turn which doesn\'t match with any of the sample ontology keys. There\'s also no mention of speed, altitude, or unit values in the command. The direction value is also not "north" as specified in the JSON but is "forward".'] +Move ahead for 500 meters and perform a quick right turn.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 500)" } } };["1; The command is talking about moving ahead and perform a right turn which implies two actions: 'navigate_to_point' and 'rotate'. However, the JSON data provided only represents the action 'navigate_to_point' and the coordinate value does not align with the 'move ahead for 500 meters' command. Also, 'right turn' is not represented at all in the JSON."] +Travel straight for a distance of 500 meters before making a sharp right turn., Note: I will give you a hint, the distance and turn parameters are in the "params" field of the "action" object.;['0; The JSON structures provided do not support actions for traveling a specific distance or making turns.'] +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data., { "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } };['1; The JSON structure does not align well with the command. The "navigate_to_point" activity could possibly be interpreted as the command to ascend to a specific altitude, but it lacks parameters for maintaining a position or collecting data.'] +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data., Note: You can assume that all the actions are valid and that the ontology is consistent.;["4; The command is quite conforming to the ontology, but no explicit actions for data gathering and climbing are defined. The 'fly' action with specified altitude and duration parameters could implement 'climb and stay' actions, but there's no details about 'data gathering' in the ontology. However, overall command parameters 'altitude' and 'duration' well matched with 'fly' or 'hover' actions in the ontology."] +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data., Note: You can assume that all the values are valid and in the correct format.;['3.5; The natural language command matches partially with the "hover" command in JSON where \'altitude\' parameter could be treated as "rise to an elevation" and \'duration\' could be interpret as "remain stationary for 5 minutes". But, the command lacks direct information for data collection.'] +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data., Note: You can assume that all the values are valid and in the correct format.;['3.5; The natural language command partially corresponds to multiple JSON structures. The request to increase altitude could be related to the "fly" action, but the specific instruction to "increase altitude" doesn\'t exactly conform to any action. The command to hold the position could correspond to the "hover" action which also includes holding an altitude and duration. When it comes to the part of gathering data, there is no matching action in the given JSON structures.'] +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data., Note: I will give you a hint, the action is "fly".;['1; While the command does exist within the provided sample keys, "fly" or "hover", it does not provide a direction, speed, unit_speed, unit_duration, duration, angular_velocity, angle, or is_clockwise which are required parameters within the sample keys for action "fly" and "hover". The command only matches with "altitude" and "unit_altitude" keys.'] +Fly in a figure-eight pattern with a total distance of 2 kilometers.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 60, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The JSON structure has a "fly" action and parameters such as speed, altitude, direction, duration, unit_speed, unit_altitude, and unit_duration, but it is missing a parameter that would denote the specific shape of the path (in this case, figure-eight) and total distance to be covered. The natural language command is thus not represented accurately in the JSON.'] +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers., Note: You can assume that the drone is in the air and has enough battery life to perform the maneuver.;['0; The natural language command cannot be converted into JSON as it does not match with any actions available in the sample ontology. There are no actions that pertain to flying in a specific shape or covering a defined total distance.'] +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total.,{ "action": "fly", "params": {"speed": 10.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 60, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['0; The natural language command requests a specific flight pattern (a figure-eight) and a total distance, which are not reflected in the given JSON structure. The direction in the JSON is not specified in the command, and the duration and speed in the JSON do not provide enough information to cover a 2-kilometer distance. There is no matching between the command and the JSON structure.'] +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 60, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "next_action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } };['1; There is no mention of a figure-eight trajectory in the JSON structure. Also, "fly" action shouldn\'t have a "next_action". They are two separate instructions and should be independent JSONs.'] +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 20, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["1; The JSON structure involves an action of flying for a specified duration, speed, and altitude. However, the natural language command does not specify these parameters and additionally mentions a specific unmentioned pattern('number eight') and total distance to be travelled, which is not accounted for in the JSON structure."] +Hover in place and initiate a search for a lost object on the ground.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["1; The JSON structure includes the 'hover' action which matches with the natural language command. However, the command includes an action 'initiate a search for a lost object' that is not present in the JSON structure."] +Stay stationary and begin a search for a missing item on the ground., Note: You can assume that all the actions are valid and that the ontology is consistent.;['0; The command does not align with any of the given JSON structures. The command mentions "stay stationary and search for a missing item," which is not included in the ontology\'s actions such as "navigate_to_point," "fly," "hover," "rotate," and "land".'] +Keep still and start looking for a lost object on the surface.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['1; The command is asking for the drone to "keep still" and look for something, but the corresponding JSON structure is not matching as it indicates a "rotate" action. The parameters such as "angular_velocity", "angle", etc., in the JSON are also not mentioned or implied in the natural language command.'] +Maintain a hovering position and commence a search for a misplaced item on the ground.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["4; The JSON structure matches the command 'hover' from the sentence. The values for 'duration' and 'altitude' are appropriate but not specifically indicated in the natural language command. Additionally, the action of searching for a misplaced item is not reflected in the JSON, therefore not a full match.", ''] +Suspend movement and initiate a search for a lost object on the floor.,{ "action": "suspend_movement", "params": {"duration": { "type": "float", "value": 10.0 }, "unit_duration": "seconds" } };["0; The natural language command 'Suspend movement and initiate a search for a lost object on the floor' does not match with any of the JSON structures provided. 'suspend_movement' and 'initiate_search' actions are not mentioned in the sample keys."] +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot., { "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } }, "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "down" }, "duration": 5, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };['0; JSON structure provided is invalid because more than one "action" is given. The JSON does not match the structure indicated by the natural language command, which implies a sequence of actions rather than simultaneous ones. The provided JSON tries to depict multiple actions (navigate_to_point, fly, land) in a single structure which is not allowed.'] +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot., Note: I will give you a hint, the designated spot is located at (37.7749° N, 122.4194° W) at an altitude of 100 meters.;["0; The natural language command seems to suggest multiple actions (touch-and-go, landing) and the designated landing spot is given which corresponds with the 'land' action in JSON structure. However, it doesn't fit exactly into any of the existing JSON structures shown. 'Navigate_to_point' action would be closest but the coordinate tuple in provided example ontology doesn't include altitude. Furthermore, 'touch-and-go' maneuver doesn't exist in the sample keys and hence cannot be converted to JSON."] +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The JSON structure refers to a rotation action which is not mentioned in the natural language command. The command talks about landing which is not represented in the JSON structure provided.'] +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot., { "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };['1; The provided JSON structure contains two action values ("fly" and "land") which is incorrect as per the sample keys - only one action should be defined in an action command. Additionally, the direction "down" is not defined in the action "fly". Also, there is a missing command of "touch-and-go" maneuver which is not provided in the JSON structure.'] +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot., { "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude)" } }, "action": "fly", "params": {"speed": 1.0, "altitude": 0.0, "direction": { "type": "str", "value": "down" }, "duration": 5.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };['0; The JSON provided corresponds to multiple actions, i.e. "navigate_to_point", "fly", and "land", which the natural language command also suggests doing. However, the concurrent actions in the JSON structure do not match with the given ontology structure. The ontology suggests that each individual command should have its own JSON structure. Thus, the provided JSON does not follow the correct format, hence the score of 0.'] +- Fly to waypoint A at a distance of 1 kilometer.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['0; The natural language command talks about navigating to a point, which is present in the sample ontology but not used in the provided JSON. The provided JSON represents a "fly" action but there is no mention of such an action in the command. Thus, this is a total mismatch.'] +Proceed to waypoint A, located at a distance of 1 kilometer, by flying., Note: I will give you a hint, the waypoint A is located at (37.7749° N, 122.4194° W).;["5; The command matches the 'navigate_to_point' action from the ontology, with latitude and longitude parameters being specified. The distance and method of action (by flying) are not explicitly reflected in the JSON structure, but are inferred from the action 'navigate_to_point'."] +Utilize flight to reach waypoint A, which is situated 1 kilometer away.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The command speaks about flying to a certain point but the JSON structure does not give information about such a destination. Also, the command does not provide enough details that match with the parameters in the JSON structure e.g. direction of flight, duration, speed, and altitude.'] +Cover a distance of 1 kilometer by flying towards waypoint A.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["2; The given JSON structure represents a 'fly' action but it doesn't conform well to natural language command as there is no mention of the waypoint A in the JSON. Also parameters like speed, altitude, direction and duration given in JSON don't match with the details in the command. The command specifies a role for 'distance' that is not represented in the JSON."] +Fly towards waypoint A, which is precisely 1 kilometer away.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The natural language command instructs to fly towards a certain waypoint ("waypoint A"), however, the JSON structure does not include a parameter for a destination (like "waypoint A"). Also, the JSON structure includes more specific parameters (speed, altitude, direction, duration) that are not specified in the command.'] +- Descend to an altitude of 200 meters above ground level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" }, "altitude": { "type": "float", "value": 200 } } };["3; The natural language command is partially similar to the JSON structure. The provided 'altitude' parameter is successfully matched to the command's instruction to descend to an altitude of 200 meters. However, the command doesn't specify any coordinates (latitude or longitude) as expected by the 'navigate_to_point' action in the JSON structure."] +Reduce your altitude to 200 meters above the ground.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The command\'s action "reduce_altitude" does not exist in the JSON ontology. Also, there is no "reduce_altitude" in the sample keys.'] +Go down until you reach an altitude of 200 meters above the ground., Note: I will give you a hint, the altitude is in meters.;["1; The natural language command implies an action of descending or lowering altitude, which doesn't directly conform to any of the actions (navigate_to_point, fly, hover, rotate, land) provided in the JSON structures. While it vaguely relates to the 'fly' or 'hover' actions both from the altitude aspect, it doesn't specify other necessary parameters like direction, speed, or duration for 'fly', and duration for 'hover'. Thus, this command doesn't directly match any JSON structure, leading to a low score."] +Lower your altitude to 200 meters above the ground level.,{ "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The action "lower_altitude" does not exist in the sample keys, so should not be converted to JSON.'] +Descend until you are flying at an altitude of 200 meters above the ground.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['4; The JSON structure determined the action as "fly" which could be correct in a sense. But the direction value of "down" does not conform with the natural language command that just mentions altitude. Other parameters such as speed, duration, and their units doesn\'t mentioned in the natural command as well.'] +- Perform a vertical climb at a rate of 5 meters per second.,{ "action": "climb", "params": {"rate": 5.0, "altitude": { "type": "float", "value": 0.0 } } };['0; The natural language command doesn\'t match any of the JSON structures from the sample ontology. The "action" climb and the parameter "rate" aren\'t included in the JSON information provided.'] +Ascend vertically, maintaining a speed of 5 meters per second.,{ "action": "fly", "params": {"speed": 5.0, "altitude": 0.0, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["2; The natural language command suggests a vertical ascent, but the JSON structure indicates a simple flight action without specifying the direction of 'up'. In addition, the altitude is set as 0.0 which contradicts ascending vertically. However, the speed matches with the 'fly' operation."] +Execute a vertical ascent, moving at a pace of 5 meters per second.,{ "action": "ascend", "params": {"speed": 5.0, "altitude": { "type": "float", "value": 0.0 }, "unit_speed": "m/s", "unit_altitude": "meters" } };['0; The given command asks for an "ascend" action which does not exist in the sample ontology provided which only includes "navigate_to_point", "fly", "hover", "rotate", and "land" actions. Therefore, the command does not conform.'] +Scale upwards in a straight line, advancing at a rate of 5 meters per second.,{ "action": "fly", "params": {"speed": 5.0, "altitude": 0.0, "direction": { "type": "str", "value": "upwards" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["4; The JSON structure accurately represents the required action mentioned in the command i.e., the action of flying upwards at a speed of 5 m/s, with a slight discrepancy in its altitude and duration values, which aren't specified in the command. Thus, it's supposed to be in conformity with the command unless these parameters were explicitly mentioned."] +Carry out a vertical climb, sustaining a speed of 5 meters per second.,{ "action": "fly", "params": {"speed": 5.0, "altitude": 0.0, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The JSON structure does not fully match the command. The \'fly\' action in the ontology does not include a \'direction\' parameter that would allow for a vertical climb (the direction is expected to be a string, likely indicating a cardinal direction, rather than "up"). The value for "altitude" in the JSON also seems incorrect, as a vertical climb would imply an increase in altitude. Therefore, the command and the JSON structure only partially match.'] +- Fly in a zigzag pattern for 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "zigzag" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } };['1; The command asks for a zigzag flight pattern which is not reflected in the provided JSON structure as the JSON only supports a simple direction value, not complex patterns. However, the duration value and units do match. The speed, altitude, and direction values in the JSON are ignored since they are not specified in the natural language command.'] +Perform a zigzag flight pattern for a duration of 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["0; The natural language command is asking for a specific flight pattern - zigzag, which is not represented in the provided JSON structure. Also, the duration in the command is in 'minutes' while in the JSON structure it's in 'seconds'."] +Fly in a serpentine motion for a period of 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "serpentine" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } };["2; While the action of 'fly' is present in the JSON, and the parameters such as 'duration' and 'unit_duration' match, the 'direction' parameter does not match. In the JSON, the direction is 'north', however in the natural language command it is 'serpentine'. Additionally, 'serpentine', which could indicate a specific path, is not conforming with the ontology that only includes basic directions (ex: north)."] +Execute a back-and-forth flying motion for a duration of 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "back_and_forth" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } };['1; The command asks for a "back-and-forth" motion which is not included in the direction values of the JSON structure. Furthermore, the duration in the JSON structure is in seconds and not minutes as specified in the natural language command. Although, "fly" action and other parameters like speed, altitude are correct but direction and unit of duration do not match with the command.'] +Soar in a crisscross pattern for a total of 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "crisscross" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } };['1; The parameters provided in the JSON object do not exactly match the natural language command. While the "action" set as "fly" and "duration" with "value: 10" matches, "unit_duration" is correctly set to "minutes", but the "direction" with "value: crisscross" doesn\'t conform with the defined ontology as it\'s specified as a string type and expected to be a cardinal point like "north", "south", etc. Speed and altitude values are added without being specified in the command.'] +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON command specifies the action as "rotate", matching the natural language command. However, the angular velocity provided in the natural language command ("45 degrees per second") does not match the JSON structure ("0.5"). The specified angle in the natural language command ("180 degrees") is not present in the JSON command. Despite these discrepancies in specific details, the overall action and concept of rotation is present in both commands.'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure on a high-level reflects what the command is asking to do. It correctly identifies "rotate" as the action and sets "is_clockwise" as true. However, the "angular_velocity" is provided in the command (45 degrees per second), which isn\'t reflected in the JSON structure. The "angle" is accurate though.'] +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4.5; The natural language command matches with the "rotate" action in the JSON structure. The angle needed for rotation is mentioned and it matches the JSON key "angle". However, the speed of rotation mentioned as "45 degrees per second" cannot be directly correlated with the "angular_velocity" parameter in the JSON structure. The direction of rotation is also mentioned and it matches the JSON key "is_clockwise". Overall, a direct correlation exists between almost all details provided in the natural language command and the keys in the JSON structure for the action "rotate". A 0.5 point deduction due to slight ambiguity in mapping "speed of rotation" to "angular_velocity".'] +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 45.0, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['5; Exactly conform.'] +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The command partially conforms to the JSON structure. The command requires rotation at a specific angular velocity, in a specified direction, and for a certain angle. However, the natural language command doesn\'t distinguish the concept of \'speed\' in \'degrees per second\' - only angle that should be covered in the complete action. The \'rotate\' action in JSON takes "angular_velocity" as 0.5, and the angle as 90, however in the command, angular velocity is not directly mentioned instead a desired angle of 180 degrees is specified, not the 90 as in JSON. So, there\'s slight mismatch in the way the rotation action is described. '] +- Fly forward at a speed of 30 km/h for 500 meters., Note: I will give you a hint, the ontology has an action called "fly" with parameters "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration".;["2; The JSON structure has a 'fly' action with various parameters including 'speed', 'altitude', 'direction', 'duration', 'unit_speed', 'unit_altitude', and 'unit_duration'. The command 'Fly forward at a speed of 30 km/h for 500 meters' partially matches with this structure, particularly in terms of the speed parameter. However, it does not specify direction, altitude and duration. Also the command asks for a certain distance (500 meters) to be flown, which cannot be accommodated in the current structure."] +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour.,{ "action": "move", "params": {"distance": { "type": "float", "value": 500.0 }, "velocity": { "type": "float", "value": 30.0 } } };["0; The command doesn't exist in the sample keys. It should not have been converted to JSON."] +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour., Note: I will give you a hint, the ontology has an action called "travel" that takes a "distance" parameter of type "float" and a "speed" parameter of type "float".;['0; The provided command requires an action called "travel", which does not conform to any of the actions ("navigate_to_point", "fly", "hover", "rotate", "land") found in the JSON structure.'] +Glide forward at a rate of 30 km/h, covering a distance of 500 meters., Note: I will give you a hint, the ontology has an action called "glide" which takes two parameters, "speed" and "distance".;['0; The command does not conform to any of the provided JSON structures. The mentioned action "glide" and its parameters "speed" and "distance" are not found in the available ontology.'] +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters., Note: I will give you the ontology in case you need it again.;['2; The provided natural language command includes action and parameters that closely match with the "fly" action in the sample ontology, such as "speed" and "direction". However, the direction is not specified in the command and the required distance travel is not a parameter in the "fly" action, these mismatches lead to a lower conformity score.'] +- Hover at a specific location for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["2; Although the action 'hover' matches, the duration value in the natural language command is not the same as in the JSON structure (minutes vs seconds). Furthermore, there are no parameters for specifying a particular location in the JSON structure."] +Remain stationary at a designated spot for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The JSON structure matches the action of hovering, but the duration is described in the JSON as 15.0 seconds, not minutes as stated in the natural language command. Also, there is an altitude mentioned in the JSON which is not specified in the natural language command.'] +Stay in one place for a period of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; Partially conforms. While the action "hover" matches, the duration value in the natural language command implies minutes, whereas the duration in the JSON structure measures seconds (900 seconds would be the equivalent), and there is no altitude value provided in the natural language command to match with the JSON structure.'] +Maintain a fixed position for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The JSON structure generally matches the command to maintain a hover action. However, the duration unit in the JSON structure is "seconds", but the command specifies "minutes", causing a mismatch. Also, the command doesn\'t specify an altitude, yet it is included in the JSON structure.'] +Hold steady at a specific point for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['3; The action "hover" does match, and the duration matches as well but the units are wrong. In the command, it\'s minutes and in the JSON it\'s seconds. Also, there\'s no mention of altitude in the command, while it\'s mentioned in the JSON.'] +- Ascend to an altitude of 500 meters above ground level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; The JSON partially conforms to the natural language command. The "fly" action and the "altitude" parameter match the command. However, the "direction" value does not match the "altitude above ground level" mentioned in the command and there\'s no duration for the action in the original command, so it\'s not fully matching.'] +Increase your height until you reach an altitude of 500 meters above ground level., Note: I will give you a hint, the action is "fly".;['4; The JSON structure does not fully match the command, although it is partially correct. The "action" key corresponds with "fly", and the "params" key contains a "unit_altitude" key with the value of "meters", which matches the command. However, the specific altitude of 500 meters is not stated in the JSON structure.'] +Climb up until you are at an altitude of 500 meters above ground level., Note: I will give you a hint, the altitude is in meters.;['4; The command closely matches the "fly" action in the JSON structure as it describes a change in altitude, which is a parameter for the "fly" action. However, the exact speed and direction are not specified in the command nor does it perfectly align with the sample ontology provided as there\'s no "fly" command specified solely for changing altitude, hence not a 5.'] +Move upwards until you reach a height of 500 meters above ground level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; Partially conforms. The natural language command instructs the drone to "move upwards until you reach a height of 500 meters above ground level", which translates into a upward flying action with an altitude target of 500 meters. This matches the JSON structure, except the direction in JSON is "north" which doesn\'t match with the command of moving "upwards". This is why the score is 3. The duration and speed mentioned in the JSON aren\'t given in the command and thus can be considered a reasonable value.'] +Reach an altitude that is 500 meters above ground level., Note: I will give you a hint, the altitude is in the "params" field of the "fly" action.;['4; The command partially conforms to the JSON structure for the "fly" action. The altitude is correctly mentioned and placed in the "params" field, however, the command does not specify other parameters such as speed, direction, and duration. For a perfect match, all parameters in the ontology should be addressed.'] +- Perform a horizontal slide to the left for 200 meters.,{ "action": "slide", "params": {"direction": { "type": "str", "value": "left" }, "distance": { "type": "float", "value": 200.0 }, "unit_distance": "meters" } };["0; The natural language command specifies a 'slide' action which doesn't exist in the given JSON structures. Besides, there is no match for the keys mentioned in JSON like 'distance', 'direction' and 'unit_distance'."] +Slide 200 meters horizontally to the left.,{ "action": "slide", "params": {"distance": { "type": "float", "value": 200.0 }, "direction": { "type": "str", "value": "left" } } };["0; The command 'Slide 200 meters horizontally to the left.' does not conform to any of the actions in the provided JSON structures. The action 'slide' does not exist in the sample keys."] +Move to the left in a horizontal slide for a distance of 200 meters.,{ "action": "slide", "params": {"distance": { "type": "float", "value": 200.0 }, "direction": { "type": "str", "value": "left" } } };['0; The natural language command does not match with the sample ontology. There is no "slide" action in the JSON structures.'] +Execute a horizontal leftward slide spanning 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 270, "is_clockwise": true, "unit": "degrees" } };['1; The natural language command specifies a horizontal sliding movement, which is not completely matched by the "rotate" action in the JSON. The rotation action can describe a change in heading but does not cover movement or displacement. Also, the direction (leftward) does not match ("angle": 270 usually means rightward). Thus, it only partially conforms the actions and parameters.'] +Take a 200 meter horizontal slide towards the left., Note: I will give you a hint, the action is not "navigate_to_point".;['0; The natural language command does not match with any of the JSON structures provided in the sample ontology.'] +- Circle around a fixed point at a radius of 100 meters for 5 minutes., Note: I will give you a hint, the radius of the circle is a float value.;['0; The given natural language command does not match any of the JSON structures provided. The action to "circle around a point at a specific radius" is not included in the sample ontology, and there\'s no corresponding parameter values in the JSON commands such as "radius" and "circle around".'] +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['1; The natural language command asks for movement in a circular path with a specific distance from a central point and a duration. This is different than a simple rotation on a point as implied in the JSON structure. The parameters for radius or distance from a central point and duration are also not present in the JSON. The only matching aspect is a rotating/circular motion.'] +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes., Note: I will give you a hint, the center point is (0,0);['0; The provided natural language command does not match any of the JSON structures because the command refers to rotation around a central point for a specific duration, which is not represented in any of these JSON structures.'] +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } };['0; The JSON structure does not correspond to the natural language command. The command involves traversing a circular trajectory for a certain duration, but the JSON instructs to navigate to a specific point. The specific parameters for the circular trajectory and duration are also not represented in the JSON.'] +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes., Note: You can assume that all the values are valid and in the correct format.;['0; The provided natural language command involves an action of "orbiting", which doesn\'t match with any of the actions in the provided JSON structures (navigate_to_point, fly, hover, rotate, land). Therefore, it cannot be converted to JSON according to the given information.'] +- Fly backward at a speed of 40 km/h for 1 kilometer.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "backward" }, "duration": 1000, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers" } };['1; The direction value "backward" does not conform with the sample keys. The unit_duration "kilometers" is also not acceptable since in the sample keys, duration is expressed in "seconds". Moreover, the natural language command implies flying a certain distance, not for a certain duration, which doesn\'t match with JSON structure.'] +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer., Note: I will give you a hint, the action is not "navigate_to_point".;['1; The natural language command instructs to reverse the flight direction and travel at a certain speed for a specific distance. This seems to correspond closely to the "fly" action in the JSON structures. However, the "fly" action in the JSON structures involves flying in a specific direction for a specific duration, rather than for a specific distance. Furthermore, there is no "speed" parameter provided in the command, and the unit of speed in the JSON is "m/s", not "kilometers per hour". Additionally, the "reverse" part of the command cannot be directly mapped to any fields in the given JSON structure. Therefore, the command only partially conforms to the provided JSON structures.'] +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "-direction" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The direction of travel is not clearly specified as "opposite direction" is ambiguous and it does not match with the value "-direction" in the JSON. "Duration" in the JSON is set to 0 even though it should be somewhat equivalent to the provided distance of 1 kilometer. The altitude is set to 0 which is not specified in the command. Hence, there\'s a partial match but with many discrepancies.'] +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "backward" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } };['4; Nearly conform. The JSON matches the action of flying and includes the intended direction and speed as described in the natural language command. However, the command suggests a specific distance to cover while the JSON uses duration to specify the duration of the flight, which does not exactly conform with the command given. The altitude and duration in JSON are also given as 0, while the command does not specify these parameters.'] +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer., Note: I will give you a hint, the ontology includes an action called "fly".;["1; The command is asking for a flight action in reverse, but the JSON structure does not include a 'reverse' direction or a 'distance' parameter in the 'fly' action. The speed unit used in the command is also 'km/h' which is different from the unit 'm/s' in the JSON structure."] +- Descend rapidly at a rate of 10 meters per second.,{ "action": " descend", "params": {"rate": 10.0, "altitude": { "type": "float", "value": 100.0 } } };['0; The natural language command does not match with any of the given JSON structures. The command "descend" and parameter "rate" are not found in the sample ontology.'] +Quickly descend at a speed of 10 meters per second.,{ "action": " descend", "params": {"speed": 10.0, "altitude": 100, "duration": 5.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The natural language command refers to the action of descending quickly at a certain speed. However, there is no corresponding action in the JSON structures provided. The closest is the "fly" action but it doesn\'t specifically mention descending or ascending. Additionally, the values provided in the JSON structure do not match with the command either.'] +Drop down rapidly, maintaining a rate of 10 meters per second.,{ "action": "drop", "params": {"rate": 10.0, "altitude": 100, "duration": 5 } };["0; The natural language command does not match the provided JSON structures. The 'drop' action and its parameters are not included in the ontology."] +Perform a swift descent, descending at a speed of 10 meters per second., { "action": "descent", "params": {"speed": 10.0, "altitude": 100, "duration": 10 } };['0; The natural language command is referring to a "descent" action which does not exist in the given JSON structure(s). None of the parameters mentioned in the command match with the keys of the sample ontology.'] +Go down at a rapid pace, descending at a rate of 10 meters per second., { "action": " descend", "params": {"rate": 10.0, "altitude": { "type": "float", "value": 50.0 }, "unit_rate": "m/s", "unit_altitude": "meters" } };['0; The action "descend" as well as parameters such as "rate" and "unit_rate" are not mentioned in the sample keys of the ontology. Therefore, the command does not conform to the ontology.'] +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 90, "is_clockwise": true, "unit": "degrees" } };["2; The natural language command is similar to the JSON information but not exact. The command asked for a barrel roll maneuver which includes more acrobatics and is not the same as simple rotation. The angular velocity value in the command is 60 which doesn't match the value in the JSON (0.5). The command also did not specify the angle."] +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['2; The angular velocity in the natural command matches the JSON structure, however, the action specified in the command, a "rightward barrel roll", does not explicitly match "rotate". Furthermore, the angle in the JSON structure (90 degrees) is not explicitly mentioned in the command, which could lead to discrepancies in understanding the intended action.'] +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['4.5; The JSON structure generally matches the command, with appropriate keys and values like "rotate" as action, and "angular_velocity", "angle", "is_clockwise", "unit" in parameters. However, the "angle" value isn\'t mentioned in the command, the JSON value 90 is acceptable but cannot be verified from the command.'] +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second., Note: I will give you a hint, the action in the ontology is "rotate".;["1; The natural language command asks for a barrel roll, which isn't specified at all in the JSON. It wants the rotation to happen at 60 degrees per second, but the JSON only specifies total angle and angular velocity, not rate. It only matches partially."] +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second., Note: I will give you a hint, the action in the ontology is "rotate".;["3; Although the action rotate is available in the sample ontology, the natural language command mentions the 'angular_velocity' as 60 which does not match with the given JSON structure where 'angular_velocity' is 0.5. Moreover, 'barrel roll maneuver' doesn't have equivalent structure in the sample keys. However, the direction 'right' can be interpreted as 'is_clockwise' to be true which is correct as per the JSON structure."] +- Fly in a figure-eight pattern for 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "figure_eight" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } };['0; The natural language command doesn\'t match the JSON structure because there\'s no "figure_eight" setting in the direction value in the sample keys, nor is there a unit duration of minutes that matches the command. The command also lacks conformity because no figure-eight flying pattern exists in the provided ontology.'] +Perform a figure-eight flight maneuver for a duration of 10 minutes., Note: The ontology provided is a simplified version of the one used in the original task, and it does not include all the possible actions and parameters that can be used in the task.;["0; The command 'Perform a figure-eight flight maneuver for a duration of 10 minutes' does not match any of the provided JSON structures. The JSON structures represent actions like navigating, flying, hovering, rotating and landing, while the command is asking to perform a specific maneuver that isn't represented in the JSON."] +Fly in a pattern resembling the shape of an eight for a total of 10 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } };['1; The command mentions flying in a specific pattern (resembling the shape of an eight) which is not represented or supported by the given JSON structure. The mention of a total time of 10 minutes is correctly represented though. Hence, there is a partial conformity.'] +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes.,{ "action": "fly", "params": {"speed": 10.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 600, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The given JSON structure represents a simple direction such as "fly to the north" and not a complex path like "figure-eight configuration". Thus, it doesn\'t completely match the natural language command. However, there is a mild resemblance as the "fly" action and "duration" parameter are correctly captured in the JSON.'] +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes., Note: The ontology provided is just an example, you can have different ontologies for different applications.;['0; The natural language command instructs to perform complex aerial maneuvers like a \'figure-eight\' for a certain duration. The sample ontology does not have any action or parameters that match this requirement. Methods such as "navigate_to_point", "fly", "hover", "rotate" or "land" do not correspond.'] +- Ascend to an altitude of 800 meters above sea level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['Score: 3.5; Justification: The JSON structure provided matches the natural language command to a reasonable extent. It correctly translates the command to ascend to a specific altitude. However, the "direction" parameter has a value "up" that might not be suitable as per the sample ontology which suggests a compass direction like "north". The exact speed and duration aren\'t mentioned in the natural language command, therefore, any reasonable value in JSON is acceptable, but the command doesn\'t imply any movement in a specific direction, just the change in altitude, so the "direction" key doesn\'t ideally apply.'] +Achieve an elevation of 800 meters above sea level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The JSON partially matches the command. However, there isn\'t any mention of a direction in the command and the value of "direction" is set to "up" in the JSON. Also, the command does not specify a duration or speed for the action, while the JSON assigns a fixed value for both parameters.'] +Reach a height of 800 meters above sea level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["3; Even though 'fly' action is correctly recognized and also altitude is accurately depicted as '800', neither the direction or duration parameters specified in the natural language command match their JSON counterparts. The claimed speed of '10.5' is also absent from the natural language command."] +Climb to an altitude of 800 meters above sea level.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 800.0 }} };['0; The provided JSON structure does not match any of the sample keys provided in the ontology. The action "climb" and the parameter structure under "params" are not present in the sample ontology. Therefore, this results in a non-conformity score of 0.'] +Move up to a height of 800 meters above sea level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; Partially conform. The JSON structure matches the command as it indicates the "fly" action with the right altitude. However, the "direction" value as "up" does not exist in the possible direction values ("north") in the example ontology and speed or duration are not specified in the command but are present in the JSON.'] +- Hover in place while capturing photos for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; The natural language command is correctly reflected in the JSON instruction, specifically the action of "hovering" and duration. However, the command also involves "capturing photos", which isn\'t defined in the JSON structure, hence it does not fully conform.'] +Maintain a stationary hover for a duration of 20 minutes, taking photos., Note: You can assume that the agent has the necessary capabilities and resources to perform the actions specified in the prompts.;["1; There is no JSON structure for taking photos. The hover command is present, but the duration doesn't match the units (seconds-not minutes) in the JSON structure."] +Hold position and take photographs for a period of 20 minutes.,{ "action": "hold_position", "params": {"duration": { "type": "float", "value": 20.0 } } };['0; The natural language command requests for a "hold position and take photographs" action which is not present in the sample keys of available json structure. The duration of the action is mentioned but the action itself ("hold_position") is not in the ontology. The action of taking photographs is not represented in the JSON at all.'] +Stay in one spot and capture photos continuously for 20 minutes., Note: You can assume that all the actions are valid and that the parameters are valid for the respective actions.;['0; The given command asks to "stay in one spot and capture photos continuously for 20 minutes". This does not match with any of the JSON structures provided, as none have parameters or actions related to "capturing photos" or performing an action for a specific amount of "minutes".'] +Remain suspended in the air and photograph for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The JSON structure corresponds to the "hover" action in the command, however, the "duration" is incorrect as it should be in minutes, not seconds according to the natural language command. Furthermore, the command mentions photographing which is not represented in the JSON structure at all.'] +- Fly forward at a speed of 50 km/h for 2 kilometers.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 2, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers" } };['2; The command asks for a flight action which is correctly identified in the JSON. However, the direction value "forward" is not specifically conforming to the ontology as it is expected to be either of the cardinal points (north, south, east, west). Also, unit_duration is measured in kilometers in the JSON which is not a unit of time (expected \'seconds\' or similar).'] +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,{ "action": "move", "params": {"velocity": 50.0, "distance": 2.0, "unit_velocity": "km/h", "unit_distance": "meters" } };['0; The natural language command does not match with any of the JSON structures. The command is calling for a "move" action with velocity and distance parameters, but none of the JSON structures provided have the "move" action or have parameters for velocity and distance.'] +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,{ "action": "navigate_to_distance", "params": {"distance": { "type": "float", "value": 2.0 }, "speed": 50.0 } };['0; The JSON structure does not match the given command. The action key in the JSON structure is "navigate_to_distance" whereas the sample ontology does not contain this action. Additionally, the params key in the JSON structure includes a speed key which is also not represented in the sample ontology. Thus, there is no conformity. There is no similar action or parameters in the sample ontology to relate this command to.'] +Propel forward for 2 kilometers at a rate of 50 kilometers per hour., Note: I will give you a hint, the answer should have an "action" field with a value of "propel", and a "params" field with a value of a json object containing the specified parameters.;['0; The given command does not conform to any of the provided JSON structures. There is no "propel" action available in the JSON keys provided. Further, parameters such as distance and rate as mentioned in the command do not exist in the JSON structures provided.'] +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration".;['3; The JSON structure partially conforms to the command. While the action "fly" is correctly identified, not all necessary parameters are given in the natural language command. Specifically, there is no information about "altitude", "direction" and "duration". Furthermore, the unit in the data for speed in the natural language command does not match with the unit in the JSON ontology. The JSON ontology uses "m/s" while the command uses "km/h".'] +- Descend to a low altitude of 50 meters above ground level.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } };["2; There is partial match as the action in the natural language command refers to changing the altitude which is a parameter in the JSON. However, the natural language command is not completely conformed to the JSON. The 'action' in JSON is 'navigate_to_point' while from the command it seems to be more of a 'hover' or 'fly'. Furthermore, the coordinates are not mentioned in the natural language command but are required in the JSON structure."] +Lower your altitude to 50 meters above the ground.,{ "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 50.0 }} };['1; The action in the JSON structure does not match the sample keys from ontology. It uses the action "lower_altitude", whereas the available actions in the ontology are "navigate_to_point", "fly", "hover", "rotate" and "land". Only the value of altitude is matched correctly.'] +Move down to an altitude of 50 meters above the ground.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 50, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; The JSON structure matches the command partially. However, the "value" key under "direction" has a value "down" which doesn\'t exist in the natural language command. The command only specifies moving to an altitude of 50 meters, not necessarily moving "down." The speed and duration are also not mentioned in the command but are included in the JSON.'] +Decrease your altitude until you are only 50 meters above the ground., Note: I will give you the prompt as a string, and you must return the corresponding JSON.;['5; The natural language command is fully consistent with the JSON structure of the action "hover". The JSON might be: ', '```', '{', ' "action": "hover",', ' "params": {', ' "altitude": {', ' "type": "float",', ' "value": 50.0', ' },', ' "unit_altitude": "meters"', ' }', '}', '```'] +Descend to a height of 50 meters above the ground level.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 50.0 }} };["0; The given JSON structure does not conform to any action available in the sample ontology. The 'descend' action is not found in the sample ontology, and also no keys related to 'altitude' are present in the structure."] +- Perform a sudden stop and hover for 2 minutes.,{ "action": "rotate", "params": {"angular_velocity": 5.0, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command asks for a hover action, but the provided JSON structure describes a rotate action. The two are not matching.'] +Execute an abrupt halt and remain stationary for a duration of 2 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };["0; The natural language command corresponds to the 'hover' action in the sample keys, but the provided JSON structure corresponds to the 'land' action. Thus, there is no conformity between the natural language command and the provided JSON structure."] +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };['0; The natural language command is asking for the action to "hover" for a duration of 2 minutes but the provided JSON structure represents the action to "land" at a certain location, which does not match the command.'] +Achieve an instant stop and remain suspended in the air for a period of 2 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['0; The JSON structure does not match the natural language command. The command is asking for the drone to hover, however, the provided JSON structure is for the rotate action.'] +Implement a sudden pause and hover motionless for a timeframe of 2 minutes.,{ "action": "pause", "params": {"duration": { "type": "float", "value": 2.0 }, "unit_duration": "seconds" } };["0; The JSON structure doesn't conform to the sample keys in the ontology, there is no 'pause' action in the sample ontology and the corresponding action for the natural language command is 'hover'. The given command is 'Implement a sudden pause and hover motionless for a timeframe of 2 minutes' which should translate to hover action in the ontology not pause action."] +- Land at the designated landing zone, then record a video.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['2; The command "land at the designated landing zone" matches with the "land" action in the JSON structure. However, the command to "record a video" does not exist in the provided JSON structures.'] +After landing at the specified landing area, proceed to film a video.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The JSON structure does not match the natural language command. Landing is mentioned in the command but not represented in the JSON. Additionally, filming a video is not represented in the JSON, nor does it exist in the sample keys. The JSON represents a rotation action, which is not requested in the command.'] +Upon arrival at the designated landing zone, commence recording a video.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['1; The JSON instruction matches to an extent with the command as it includes the action to "land" at a specific location (although the exact coordinates aren\'t specified by the command). However, the command also mentions recording a video upon landing, which is not referenced at all in the provided JSON structure and doesn\'t exist in the sample keys.'] +Touch down at the designated landing zone and proceed to capture a video.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["2; Only the landing action in the natural language command is somewhat reflected in the JSON structure. The location in the JSON is specified but the natural language command doesn't mention any specific location. The action of capturing a video is not present in the JSON structure at all, and this function doesn't exist in the provided sample keys."] +Once you have safely landed at the assigned landing area, begin filming a video.,{ "action": "film", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };['0; The command to film a video does not conform with any of the available actions in the sample keys.'] +Ascend to an altitude of 500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The JSON structure does not match with the sample ontology keys. There isn\'t an "ascend" action present in the sample keys. Furthermore, the altitude value is not specified in the same unit as in the natural language command, which is "feet" rather than the "meters" given in the sample ontology.'] +Climb to a height of 500 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The command "climb" does not exist in the sample keys and the altitude value is given in feet while the JSON structure uses meters.'] +Reach an elevation of 500 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The natural language command only slightly matches the JSON structure. The "fly" action and altitude parameter is correctly interpreted but the altitude unit is incorrect (requested feet, but JSON provides meters). The direction has been wrongly assumed as "up" and other parameters like speed and duration have been added without being mentioned in the command.'] +Achieve a position at an altitude of 500 feet.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } };['2; The natural language command refers to navigating to a point with a specific altitude (500 feet). While the JSON structure does represent a navigation action, it does not specify an altitude in the parameters. Additionally, the unit is also different - the command uses feet, the JSON structure suggests meters.'] +Ascend to a height of 500 feet above ground level.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The natural language command mentioned an "ascend" action, which does not exist in the JSON structure\'s keys.'] +Fly forward for 1 mile at a speed of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } };['2; The JSON structure correctly identifies the action to "fly" with a speed given as 40.0, but the direction is given as "forward" which doesn\'t match the sample key\'s "north". Also, the duration, unit_speed, and unit_duration values don\'t match. The "unit_duration" should be in seconds and not miles. Furthermore, the "unit_speed" should be mph to match the natural language command and not m/s.'] +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float".;['0; The provided natural language command does not match with any of the actions and their parameters given in the sample JSON structures. The "proceed" action and "distance" parameter mentioned in the note do not exist in the sample ontology.'] +Move forward for a mile, traveling at a speed of 40 miles per hour.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The natural language command does mention moving forward at a certain speed, which is somewhat represented in the JSON. However, the direction "forward" is not clear and may not be appropriately represented by the JSON structure. Furthermore, the units in the JSON and the command don\'t match: the speed is listed in miles/hour in the command and in meters/second in the JSON, and the duration is implied to be in hours in the command but is in seconds in the JSON.'] +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour.,{ "action": "fly", "params": {"speed": 40.0, "duration": 1.0, "altitude": 0.0, "direction": { "type": "str", "value": "straight" }, "unit_speed": "m/s", "unit_duration": "seconds", "unit_altitude": "meters" } };["2; Partially conform. Though the JSON information captures that the action is to 'fly' and provides a speed, duration and direction, it doesn't correspond appropriately with parameters provided in the natural language command. The command has a speed in 'miles per hour' while the JSON information shows 'm/s'. Also, 'straight line for a mile' is not the same as 'duration: 1.0, unit_duration: seconds'."] +Travel forward for a distance of 1 mile, with a velocity of 40 mph., Note: I will give you a hint, the distance unit is "miles".;["0; None of the JSON structure provided matches the natural language command. There is no 'travel' or 'move forward' action, and 'speed' parameter is not measured in 'miles per hour', but 'meters per second'. Plus, there is no parameter for 'distance' in the provided JSON structures."] +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The provided JSON does not conform to the sample keys in the ontology. The "descend" action and corresponding parameters do not exist in the sample ontology.'] +Reduce your altitude to 200 meters.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 200.0 }} };["0; The JSON structure does not match the command. The sample keys do not have an action for 'reduce_altitude', therefore the command cannot be converted to the provided JSON format."] +Lower down to an altitude of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['4.5; The JSON structure mostly matches the command. The altitude is correctly 200 meters as mentioned in the command. However, the speed, direction and duration do not exactly match the command as they are not mentioned in it.'] +Move downwards until you reach an altitude of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; The natural language command mostly matches the JSON structure. The action "fly" is correct and the altitude parameter is also correctly captured. However, the direction "down" is not clearly mentioned in the command and the duration is explicitly mentioned neither in the command nor in the JSON making its correctness ambiguous.'] +Descend until you are flying at 200 meters above ground level.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["2; The natural language command specifies only the change in altitude ('flying at 200 meters'). However, values for other parameters (speed, direction, duration) in the JSON structure are also specified. The direction value 'down' doesn't completely match with the command as well."] +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; Almost conform. The action type "hover" is correct. The "unit_duration" is correct as it is in seconds. However, the altitude specified in the JSON structure is 0.0 which was not mentioned in the natural language command. Therefore, the command \'Hover in place for 10 minutes\' is not strictly specifying to hover at an altitude of 0.0 meters. In actuality, a drone cannot hover at 0.0 meters as it is equivalent to landing. Therefore, the JSON structure is slightly off.', ''] +Stay suspended in the air for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; While the "hover" action matches the command, the "duration" and its unit in the JSON structure do not conform to the natural language command. The command specifies "minutes" but the JSON uses "seconds". There\'s also no altitude specification in the command.'] +Maintain a hovering position for a period of 10 minutes., Note: Please provide the JSON response only, without any introduction, comments, or conclusion.;["1; The command refers to a 'hover' action for a duration but the given duration is in minutes which contradicts with the unit in JSON structure where the duration is given in 'seconds' also the altitude is not specified in the command but it is required in the JSON structure."] +Remained fixed in mid-air for a time span of 10 minutes., Note: I will give you the prompts one by one, and you have to answer them accordingly. Please make sure to read the ontology carefully before answering each prompt.;['3; The structure and parameters fit the JSON of the "hover" action. However, the provided duration in the command ("10 minutes") should be converted to seconds to match the "unit_duration" in the JSON structure (600 seconds).'] +Suspend yourself without moving for the next 10 minutes., Note: I will give you a hint, the action is not "suspend".;['0; The natural language command doesn\'t match any of the JSON structures. The command tells the device to "suspend itself" which doesn\'t have a corresponding action in the provided JSON structures.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The action "rotate" matches perfectly with the natural language command. However, the keys of the JSON structure partially matches with the command. The \'angular_velocity\' given in the command (45) does not match with the one in JSON (0.5) and the \'angle\' in the command is 180 which is not exactly equal to the one in JSON (90). The \'is_clockwise\' given in the command matches with the JSON. The \'unit\' \'degrees\' is also a match. Thus, it is a partial match.'] +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4.5; The JSON information provided has missing elements. Although the JSON structure corresponds to the "rotate" action, and specifies an angular velocity and clockwise rotation as in the command, the JSON\'s angular_velocity doesn\'t match the command\'s "45 degrees per second". Also, the JSON structure specifies an "angle" of 90, which is mismatched with the command\'s instruction to rotate by "180 degrees".'] +Turn clockwise by 180 degrees, at a rate of 45 degrees per second., { "action": "rotate", "params": {"angular_velocity": 45.0, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['5; Exactly conform.'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['5; Exactly conform. The command asks to perform a rotation which is specified by the key "action". The additional parameters such as "angular_velocity", "angle" and "is_clockwise" align with the keys and values in the JSON structure.'] +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second., Note: I will give you a hint, the action in the ontology is "rotate".;['4; The natural language command matches with the "rotate" action in the JSON structure but the "angular_velocity" is not specified correctly. The natural language command indicates a speed of 45 degrees per second, while the JSON structure shows an angular_velocity of 0.5. Other parameters, such as "angle" and "is_clockwise", match perfectly.'] +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "north" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The JSON structure partially matches the natural language command. However, while the speed and unit of speed are correctly mapped with the command, the flying direction and pattern (zigzag) are not accurately reflected in the JSON structure. Furthermore, the duration and altitude are present in the JSON but are not given in the command. The "north" direction in the JSON doesn\'t match with any direction in the zigzag pattern.'] +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying., Note: I will give you a hint, the zigzag maneuver should be specified as a sequence of 4 turns, each turn consisting of a change in direction of 90 degrees.;['0; The natural language command does not match any of the JSON structures provided. The command talks about a "zigzag maneuver" which comprises of a series of turns, but the ontology does not have a corresponding action or parameter. Therefore, the command cannot be converted into any of the given JSON structures.'] +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "serpentine" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The natural language command specifies an action ("fly") and a direction ("serpentine") that is somewhat matched in the JSON structure. However, the unit of speed given in the command ("km/h") does not match the unit specified in the JSON ("m/s"), and there\'s a mismatch in value representation for distance as it\'s not supported by the JSON as per the ontology. Also, the "altitude" and "duration" parameters are set to zero, which is not specified or suggested in the command.'] +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers., Note: I will give you a hint, the ontology has an action called "fly" which has a "speed" field, but it does not have an action called "zigzag". So you should ignore that part of the prompt.;['1; The given command "Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers" partially fits the example JSON structure since we have a \'speed\' parameter under the action \'fly\'. However, there\'s no support for the zigzag action, or a total distance parameter in the given ontology. Hence the conformity score is low.'] +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h., Note: I will give you a hint, the ontology has an action called "fly" which has a "speed" field, but it does not have an action called "cover_distance".;['1; The JSON structure includes "fly" action and "speed" parameter which aligns with the part of command specifying "flying at a constant speed of 50 km/h". However, the command\'s rest components such as "cover a distance", "2 kilometers", "zigzag formation" have no direct match in the JSON structures.'] +Ascend to an altitude of 1000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }} };['0; The command refers to an "ascend" action which does not exist in the sample ontology\'s keys. Additionally, the altitude is referenced in feet whereas the ontology uses "meters" as unit of altitude. Therefore, there is no conformity between the command and the JSON structure.'] +Increase your altitude to 1000 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };["0; The natural language command refers to increasing altitude, which doesn't match with the provided JSON structure that refers to a rotate action."] +Climb to a height of 1000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} };["0; The action type 'climb' and the 'altitude' parameter do not exist in the sample JSON structures."] +Reach an elevation of 1000 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The command is about the action of achieving a certain altitude level, which would be most relevant to the "fly" action. However, the altitude in the JSON doesn\'t match the one specified in the natural language command (1000 feet vs 100 meters). Furthermore, the direction value in the JSON is given as "up", but there\'s no mention of a direction in the natural language command. Therefore, the match is very low.'] +Move upward and maintain a height of 1000 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The given command asks for an upward movement with a specific height requirement which does not conform with the JSON structure provided which describes a rotation action with specified parameters of angular_velocity, angle, is_clockwise and unit. Therefore, there is no match.'] +Fly forward for 5 miles at a speed of 30 mph.,{ "action": "fly", "params": {"speed": 30.0, "altitude": 0, "duration": { "type": "float", "value": 5.0 }, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } };['2; Although the JSON structure involves appropriate keys of the fly action from the ontology (like speed, altitude, etc.), the values for these keys mentioned in the command do not accurately match with those in the JSON. Especially, the direction of flying is not mentioned in the text command and the unit of duration is set to "miles" in the JSON which doesn\'t make sense.'] +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float".;['0; The provided JSON structures do not have an action called "proceed" or a "distance" parameter. The command does not match any of the provided JSON structures.'] +Travel in a straight line for 5 miles, moving at a speed of 30 mph.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } };["1; The natural language command talks about travelling in a particular direction for a certain distance and at a certain speed. However, the provided JSON is about simple navigation to a particular point which doesn't include any speed or distance information. Therefore, the match is minimal."] +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph., Note: I will give you a hint, the distance in miles is 8.05 kilometers.;['0; The JSON structures provided do not support the action of flying a certain distance, nor support velocity in mph or distance in miles or kilometers.'] +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration".;['1; The command does involve the action "fly", but there is mismatch in parameters. In the command, the speed is mentioned in "mph" and distance in "miles" is mentioned instead of duration. However, the JSON structure expects speed in "m/s", altitude which is not mentioned in the command, direction which is also not clearly mentioned, and duration instead of distance. The command also does not specify the altitude.'] +Hover and take aerial photographs for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "take_aerial_photographs", "params": {"frequency": { "type": "float", "value": 1.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_frequency": "seconds", "unit_altitude": "meters" } };['1; The JSON structure is partially conform. The "hover" action matches with the command and its duration parameter is correctly represented. However, the action "take_aerial_photographs" does not exist in the sample keys and some keys like "frequency" and "unit_frequency" are not part of the ontology.'] +Capture aerial photographs by flying and hovering for a duration of 20 minutes.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 20, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 70.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['0; The JSON structures do not match the command. First, the given JSON structures cannot have two "action" keys at the same root level. Second, the JSON structures do not support the "Capture aerial photographs" part of the command. Third, the "duration" parameter under "hover" action does not match with the command. The duration value should be 20 but it\'s 120.0 in the JSON structure. Therefore, there\'s no conformity.'] +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; Partial match. The JSON structure corresponds to the \'hover\' action mentioned in the natural language command. However, the duration value in the command ("20 minutes") does not match with the unit in the JSON structure ("seconds"). Also, the command mentions \'capturing images\' which is not reflected in the JSON at all.'] +Take aerial photos by hovering in the air for a total of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['3; The JSON structure correctly identifies the action (hover) and includes the correct duration specified in the natural language command. However, there\'s no equivalent or mapped command in the JSON for "Take aerial photos". The unit for duration in the JSON structure is "seconds," while the command specifies "minutes". Therefore, the conversion isn\'t fully accurate.'] +Fly and maintain a hover position for 20 minutes to capture aerial photographs., Note: The ontology provided is just an example, you can have different ontologies for different applications.;['2; The command instructs two actions, flying and hovering, but the JSON structure only shows the "hover" action. There is a mismatch with the parameters details as well, the command mentions "20 minutes" but this specific duration doesn\'t appear in the JSON. The purpose "to capture aerial photographs" has no corresponding action in the JSON structures.'] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second., Note: I will give you a hint, the action is "rotate".;['3; The command corresponds to the "rotate" action in the JSON ontology, but there are some mismatches. For instance, the required rotation direction is counterclockwise, while in JSON it\'s set to clockwise (the value for "is_clockwise" is true). Also, the angular speed in the command (60 degrees per second) is not the same as that in the JSON (0.5 degrees per movement). The rotation angle in the command and JSON (270 and 90 degrees, respectively) also mismatch.'] +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure follows the command quite closely, however, there\'s a discrepancy in parameter value for "is_clockwise" which is mentioned as "true" in the JSON but the command specifies "counterclockwise" which means the "is_clockwise" should be "false". Also, the "angular_velocity" value does not match. In the JSON, it\'s 0.5 but in the command it\'s 60.'] +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The natural language command almost entirely matches the "rotate" action in terms of its JSON structure. However, it includes the "angular_velocity" parameter that is not present in the sample ontology, hence the lower score.'] +Turn left by 270 degrees at a rate of 60 degrees per second., { "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 270, "is_clockwise": true, "unit": "degrees" } };['5; Exactly conform.'] +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 270.0, "is_clockwise": false, "unit": "degrees" } };['5; Exactly conform.'] +Descend to an altitude of 100 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }} };['0; The provided JSON structure does not match with any of the available sample ontologies. The action "descend" does not exist in the sample keys, and therefore it should not be converted to JSON.'] +Lower down to an altitude of 100 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 100.0 }} };['0; The "lower" action mentioned in the natural language command does not exist in the sample ontology.'] +Reduce your altitude to 100 meters.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 100.0 }} };["1; The natural language command talks about reducing altitude which somewhat matches with the JSON commands but there's no specific 'reduce_altitude' action in the sample ontology. The 'altitude' parameter is correctly interpreted however. The action that matches the closest in the given JSON commands is 'fly' or 'hover' with a specific altitude."] +Move downward until you reach an altitude of 100 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } };['1; The JSON structure indicates a navigation action to a specific point with latitude, longitude, and altitude coordinates. However, the natural language command only specifies an action of moving downward to a certain altitude, not a full set of coordinates for a specific point. The two only partially correlate, thus the low score.'] +Descend until you are at a height of 100 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }} };["0; The JSON structure does not match any of the sample keys provided in the ontology. There is no 'descend' action and 'altitude' parameter does not exist independently, it is always associated with a certain action (fly, hover)."] +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h.,{ "action": "fly", "params": {"speed": 20.0, "altitude": 0, "direction": { "type": "str", "value": "circular" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; Partial conformity. The "fly" action matches but the parameters do not perfectly match. The given JSON introduces new directions (circular) that are not present in the sample ontology. The "radius" for the circular path is also missing in the JSON. The unit of speed is correctly converted to km/h. However, the "altitude" and "duration" values in JSON are defaulted to 0 which is not mentioned in the command.'] +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters., Note: I will give you a hint, the radius of the circle is 500 meters.;["0; The natural language command mentions a specific action of 'flying in a circular path' along with certain parameters ('speed', 'radius of the circle') which is not mentioned or covered in any of the JSON structures provided. This particular action and the associated parameters do not conform to the options in the sample keys."] +Circle at a speed of 20 km/h with a 500-meter radius., Note: I will give you a hint, the ontology has an action called "circle" which takes a single parameter "radius".;['0; The provided natural language command does not match any of the JSON information structures provided. The ontology doesn\'t have a "circle" action key, and it doesn\'t have a "radius" parameter key.'] +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius., Note: I will give you a hint, the ontology has an action called "fly" but it does not have an action called "fly at". So you should ignore that part of the prompt.;['0; The JSON structures do not provide actions or parameters that would allow for flying in a circular path or specifying a flight radius. It is also worth noting that the speed unit in natural language command is km/hr which is not matching with the unit mentioned in JSON structure: "m/s".'] +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h., Note: I will give you a hint, the ontology has an action called "circular_flight".;['0; The given command can\'t be matched with any JSON structure because the ontology doesn\'t contain the action "circular_flight".'] +Ascend to an altitude of 1500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1500.0 }} };['0; The natural language command\'s action "ascend" and corresponding parameter "altitude" is not represented in nor conformant with any of the actions or parameters in the provided JSON structures.'] +Increase your elevation to a height of 1500 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command is about changing altitude/elevation, but the JSON structure is about rotation not related to altitude change. They do not match.'] +Climb to a 1500-foot altitude.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1500.0 }} };['1; The natural language command refers to the action of "climbing", which doesn\'t exist in the provided JSON structures. However, climbing involves changing altitude, which a dataset does recognize, but not in the correct action context. This makes only a partial match.'] +Reach a height of 1500 feet.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 1500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The provided JSON does not match the command well. Even though the "fly" action is appropriate, the unit of altitude is specifically stated as "feet" in the command, while the JSON uses "meters". Furthermore, direction "up" is not fully conforming since the command does not specify any direction. The speed and duration parameters are not mentioned in the command and thus their values in JSON are not pertinent.'] +Ascend to a level that is 1500 feet above the ground.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1500.0 }} };["0; The given JSON structure does not match with the sample keys provided. The 'ascend' action is not defined in the ontology, and thus the command cannot be correctly represented."] +Fly forward and survey the area for 3 miles at a speed of 35 mph.,{ "action": "fly", "params": {"speed": 35.0, "altitude": 100, "direction": { "type": "str", "value": "forward" }, "duration": 3, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The natural language command uses "fly", "speed" and "duration" but the speed value is in "mph" not "m/s". "Direction" is mentioned using "forward" which is not a correct direction value compared to "north" mentioned in the sample. Also, there are extra commands like "survey the area" which doesn\'t exist in the ontology. The duration is used in the context of distance not the time it should take. An ideal JSON would require the conversion of speed units to "m/s" and making sure that only parameters within the ontology are used. The direction isn\'t a cardinal point and isn\'t compatible with the JSON structure sample. Lastly, survey the area doesn\'t exist in the sample.'] +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour., Note: I will give you the prompts one by one, and you have to give the corresponding JSON response for each prompt.;["0; The given command requires a 'visual inspection' action which is not present in any of the JSON structures provided. Also, 'traveling at a velocity' parameter is not in conformity with the sample keys of JSON structures which usually have 'speed' as a parameter, not 'velocity'."] +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph., Note: You can assume that the drone is in a neutral position (i.e., not moving) when you start observing the vicinity.;['0; The natural language command makes a general request for the drone to advance and observe the vicinity while maintaining a certain speed. None of the provided JSON structures match this command as no "observe" action or "radius" parameter (for the \'vicinity\' part of the request) exist in the sample ontology.'] +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph.,{ "action": "navigate", "params": {"speed": 35.0, "radius": 3.0, "unit_speed": "mph" } };['0; The natural language command talks about moving forward and surveying an area which is not reflected in any of the action keys in the sample JSON. Also, the action "navigate" and "radius" parameter in the given JSON do not exist in the sample ontology.'] +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph., Note: I will give you a hint, the ontology has an action called "glide" which takes a "distance" parameter.;['0; The given natural language command does not conform to any of the actions in the provided JSON structures. The command mentions an action called "glide" which is not present in the ontology. Additionally, the parameters mentioned (distance, velocity) do not match with the parameter keys in the ontology either.', ''] +Hover and drop a package at the designated location.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, "action": "drop", "params": {"package": { "type": "str", "value": "package.zip" }, "location": { "type": "tuple", "value": "(37.7749, -122.4194, 50)" } } };['2; The hover action and parameters match perfectly, and the JSON structure provided pairs appropriately with the hovering aspect of the natural language command. However, the "drop" action does not exist in the provided sample of ontology, hence the JSON representation of it does not conform.'] +Carry a package and release it at the specified spot by slightly floating above it.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } }, { "action": "fly", "params": {"speed": 12.0, "altitude": 120, "direction": { "type": "str", "value": "north" }, "duration": 20, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" }, { "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 70.0 }, "unit_duration": "seconds", "unit_altitude": "meters" }, { "action":;["2; The JSON structure contains a sequence of actions including navigate, fly and hover. However, it doesn't comprise the action of carrying a package and releasing it which are required in the command. Therefore, the structure somewhat matches but lacks essential details."] +Gently float and deposit a package at the predetermined destination.,{ "action": "fly", "params": {"speed": 1.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["1; The JSON structure represents the action of flying but does not include any details about depositing a package which is mentioned in the natural language command. Also, the direction is stated as north in the JSON which doesn't align with the command's mention of a 'predetermined destination'."] +Utilize aerial suspension to transport and release a package precisely where directed.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['1; The natural language command talks about aerial suspension, transport and release of a package, but the JSON structure is only for the action to land at specific coordinates which is not explicitly mentioned in the command.'] +Levitate above a designated area and carefully place a package down.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The command is asking for a package to be placed down, however, the provided JSON structure represents a "rotate" action, which doesn\'t align with the command.'] +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second., Note: I will give you a hint, the action is "rotate".;['3; The natural language command partially matches with the JSON structure of the "rotate" action. However, the angular_velocity specified in the natural language command (15 degrees per second) is not corresponding to the value in the JSON structure (0.5). The rotation angle in the command (45 degrees) is not present in the JSON structure either (90 degrees).'] +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 15.0, "angle": 45.0, "is_clockwise": true, "unit": "degrees" } };['5; Exactly conform.'] +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The natural language command corresponds to the "rotate" action in the JSON structure. The "angle" parameter matches with 45, "angular_velocity" can be inferred as 15, and "is_clockwise" is inferred as true implying rotation to the right. However, the unit of "angular_velocity" was not specified in the JSON, making it not an exact match.'] +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON.;['4; The given command somewhat matches the JSON structure for the "rotate" action. However, the "angular_velocity" in the JSON is set at 0.5 which doesn\'t match the speed of 15 degrees per second specified in the command. The "angle" is correctly specified as 90 degrees and the rotation is correctly stated as clockwise. Here is the corresponding JSON structure:', '', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 15,', ' "angle": 45,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second., Note: I will give you a hint, the action is "rotate".;['2; The command sort of aligns with the "rotate" action, but there is discrepancy in values of "angular_velocity" and "angle". The angular_velocity mentioned in the command is 15 while the JSON shows 0.5. Also, the command instructs a rotation of 45 degrees while the JSON structure has a 90 degree rotation. The direction "right" from the command can be mapped to the "is_clockwise" in the JSON structure as true, but this is not specified directly.'] +Descend to an altitude of 50 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 50.0 }} };['0; The given JSON structure does not conform with the sample ontology. The action "descend" doesn\'t have a corresponding equivalent in the ontology.'] +Reduce your altitude to 50 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The command is asking for a change in altitude, which is not related to the "rotate" action provided in the JSON structure. The parameters and their values in the JSON structure do not match with the given command.'] +Go down to a height of 50 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 50.0, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["1; The natural language command is partially matched to the JSON structure. The 'fly' action and 'altitude' parameter are correctly identified, however the 'direction' parameter should not be 'down' , and the speed and duration parameters are not mentioned in the command."] +Lower yourself to an altitude of 50 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 50.0 }} };["1; The natural language command corresponds to reducing altitude but the provided JSON structure has the action 'lower' which does not exist in the sample ontology."] +Descend until you reach a height of 50 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 50.0 }} };['0; The provided JSON structure does not match any of the given sample keys in the ontology. The action "descend" is not listed among the sample keys and hence cannot be represented in JSON based on the given ontology. The command also mentions altitude which is found in the ontology but is not correctly used in this context.'] +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h.,{ "action": "fly", "params": {"speed": 45.0, "altitude": 100, "direction": { "type": "str", "value": "figure_eight" }, "duration": 1000, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers" } };['1; The natural language command indicates the action "fly" which is correctly identified in the JSON structure. However, the parameters given in the natural language command are not entirely correctly mapped to the JSON structure. For instance, "figure-eight pattern" is incorrectly mapped to the "direction" key, and duration has a value assigned but it\'s not mentioned in the command. The "unit_duration": "kilometers" in the JSON is also not a valid mapping as the unit_duration should be time-based.'] +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h., Note: I will give you a hint, the distance and velocity are in the same unit.;['0; The provided natural language command does not match with any of the provided JSON structures. There is no action related to performing a figure-eight flight in the sample ontology. Additionally, distance and velocity are not parameters included in the sample ontology.'] +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h.,{ "action": "fly", "params": {"speed": 45.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The natural language command contains the action "fly" with a speed parameter, which matches with the JSON structure. However, the specific pattern of movement ("figure-eight") and the distance are not represented in the JSON. Additionally, the speed value and the unit in the JSON are not matching (45 km/h vs. 10.5 m/s) which is approximately equals to 125 m/s.'] +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The JSON instruction is to rotate with specific parameters while the natural language command is to execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h. The two commands do not match.'] +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h., Note: I will give you a hint, the ontology has an action called "fly" which can be used to perform this task.;['0; The given natural language command does not match or conform to any of the JSON structures provided in the sample ontology. While the "fly" action could potentially be used, it does not have parameters for pattern (like figure-eight) or distance covered, thus making the command impossible to translate as per the given JSON structure.'] +Ascend to an altitude of 2000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 2000.0 }} };['0; The natural language command refers to an action ("ascend") and a parameter ("altitude") that do not exist in the provided sample keys of the JSON structures. Hence, the command cannot be converted into any of the given JSON structures.'] +Reach a height of 2000 feet.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 2000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["1; The natural language command is about reaching a certain altitude which is similar to the 'fly' action in the JSON structure. However, the directions given in the 'fly' action are cardinals (north, south, east, west), not vertical (up, down) and also the altitude unit in JSON structure is meters, not feet as in the command."] +Climb to an elevation of 2000 feet.,{ "action": "climb", "params": {"elevation": { "type": "float", "value": 2000.0 }} };["0; The natural language command does not match any of the actions provided in the JSON structures. The action 'climb' and parameter 'elevation' do not exist in the sample keys."] +Increase your altitude to 2000 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The JSON structure provided does not correspond to the natural language command - it specifies a rotation action, not a change in altitude.'] +Ascend to a level that is 2000 feet above ground.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 2000.0 }} };['0; The natural language command contains the action "ascend" which doesn\'t exist in the sample keys. The JSON also uses "altitude" and "type" keys which aren\'t part of the sample ontology provided.'] +Fly forward and inspect power lines for 4 miles at a speed of 25 mph.,{ "action": "fly", "params": {"speed": 25.0, "altitude": 100, "direction": { "type": "str", "value": "forward" }, "duration": 4, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The action "fly" matches but the "direction" value "forward" does not conform to the expected "north." The units used for "speed," "altitude," and "duration" don\'t conform to mph, miles, and seconds respectively as in the command. Furthermore, the command to inspect power lines is not present in the JSON structure.'] +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph., Note: I will give you a hint, the ontology has an action called "examine" which is a subaction of "fly".;['0; The JSON structures provided do not include any action of "examine" or a subaction of "fly". Also, the unit of speed in the ontology is "m/s" (meters per second) and not mph (miles per hour) that is stated in the natural language command. Thus, the command cannot be converted to a valid JSON format according to the given ontology.'] +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } };['1; The JSON structure doesn\'t match the command completely. The command is describing a specific action of moving forward to conduct an inspection over a certain distance with a particular speed. However, the JSON structure describes a "navigate_to_point" action, providing only the coordinates for the point to navigate to, and lacks the data about inspection, speed and duration.'] +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } } };["1; The natural language command talks about moving in a specific way to visually assess power lines but doesn't directly refer to any navigational coordinates. The given JSON structure is about navigation to a particular point. The command and the JSON structure are only partially matched, hence the low conformity score."] +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph.,{ "action": "navigate", "params": {"direction": { "type": "str", "value": "ahead" }, "distance": { "type": "float", "value": 4.0 }, "speed": { "type": "float", "value": 25.0 } } };["1; The JSON structure does not match the sample ontology keys given. The 'action' and 'params' key values such as 'direction', 'distance', and 'speed' do not exist within the provided sample ontology. A minimal match is considered as there is some recognition of action and movement parameters, but this is a weak match."] +Land at the designated landing zone, then take a nap.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['1; The JSON structure only partially matches the natural language command. The "land" action is captured correctly in JSON, but the phrase "then take a nap" does not correspond to any ontology keys, and hence it can\'t be converted.'] +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep., { "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['1; The natural language command partially conforms to the JSON structure. The "land" action is mentioned in the command, however, the JSON structure has specific coordinates which were not mentioned in the command. The second part of the command which includes resting and sleeping does not conform to any action in the JSON structures.'] +After successfully reaching the designated landing zone, feel free to relax and take a nap.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['3; Only the action \'land\' is correctly represented in the JSON structure. However, the parameters \'location\' data is arbitrary and the command "relax and take a nap" does not conform with any keys in the sample ontology.'] +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['1; The natural language command loosely refers to the location, but the action of landing is significantly altered by the addition of taking a nap. The JSON also defines a fixed location, but the command does not specify any coordinates.'] +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep., Note: You can assume that the user will always provide a valid coordinate for the landing zone.;['1; JSON structure does not match the command. The command describes landing at a given location, but no specific coordinate is provided. The command also mentions additional actions (finding a spot to unwind and sleep) that do not have corresponding keys in the provided JSON structures.'] +Fly forward for 1 kilometer at a speed of 40 km/h.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "duration": 1000.0, "unit_speed": "km/h", "unit_duration": "seconds" } };['2; While the JSON structure correctly identifies the action (fly) and speed, it does not correctly identify the direction ("forward"), and the "duration" field is also incorrect. The natural language command did not specify duration, but it mentioned a specific distance (1 kilometer) to fly which is not captured in the JSON structure. The "altitude" and "direction" are also not present in the natural language command, but are included in the JSON structure with incorrect values.'] +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour., Note: I will give you a hint, the distance and velocity are in meters.;['0; The provided JSON structures do not contain any action or parameters that correspond to the command of proceeding straight for a certain distance at a certain speed. The "fly" action includes parameters for speed, direction, and duration, but not for distance. Additionally, no other actions available in the ontology can fulfill this command.'] +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour.,{ "action": "navigate", "params": {"distance": { "type": "float", "value": 1000.0 }, "speed": 40.0, "unit_speed": "km/h" } };['1; The natural language command asks for a navigation action which would match more closely with "navigate_to_point" but the JSON structure given references the action as "navigate". Additionally, the JSON structure includes parameters that aren\'t referenced in the natural language command ("distance") and are therefore not entirely conforming. However, it does correctly identify the speed and unit of speed in the command.'] +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "duration": { "type": "float", "value": 1000.0 }, "unit_speed": "m/s", "unit_duration": "seconds" } };["2; The JSON structure reflects the action 'fly' correctly, however various parameters do not conform with the natural language command or the provided sample ontology. Specifically: speed is represented in kilometers per hour rather than m/s as specified in the sample ontology; altitude is not mentioned in the natural language command but is included in the JSON; 'duration' in the JSON structure does not match with any specific part of the command, and the 'value' seems to be arbitrarily set as 1000.0. The command does not mention anything about duration, hence the parameter should not be included in the JSON script or it should be null."] +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,{ "action": "fly", "params": {"speed": 40.0, "duration": 1000.0, "unit_speed": "km/h", "unit_duration": "km" } };['2; The natural language command specifies an action ("fly") and a speed ("40 kilometers per hour") which are correctly included in the JSON structure. However, the command also specifies a distance ("1 kilometer") which is incorrectly represented as a duration in the JSON. The "unit_duration" is also incorrect ("km" instead of "seconds" or "minutes"), and no direction is specified which is necessary for the "fly" action according to the ontology.'] +Ascend to an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; Partial match. The natural language command states an action to ascend to a specific altitude which matches the "fly" action in JSON. However, it does not provide information on speed, direction, or duration. The specific JSON structure for "fly" includes this data, so it\'s a partial match.'] +Reach a height of 500 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 500.0, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["4.5; The command instructs to reach a height which corresponds to 'altitude' key in 'fly' action. However, the value of 'direction' key should be 'up' as inferred but it is not explicitly provided in the command. Also, values like 'speed' and 'duration' are provided as 0 which is not specified in the command but can be inferred as it's not about flying in a direction, but merely reaching a certain altitude."] +Climb up to an elevation of 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The command is asking for an action to climb up to a certain altitude, however, the given JSON structure represents a rotation action, with no parameters matching the requirements from the command. Therefore, the command does not match the provided JSON structure.'] +Move upwards until you are at an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The JSON structure has the correct action which is to "fly" but the direction value in the natural language command doesn\'t match with the JSON information as it\'s mentioned "up" instead of "north". The altitude parameter matches with the NL command but the other parameters like speed, duration, unit_speed, unit_duration don\'t match as they are not specified in the NL command.'] +Achieve a vertical position of 500 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 500.0, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["4; Although the hover action is correctly referenced in the JSON object and the conversion of 10 minutes to 600 seconds is correct, the altitude parameter is not specified in the natural language command. While it's acceptable that it was included in the JSON structure among other parameters, the value should not have been arbitrarily assigned as 0 meters. Instead it could be any value accepted."] +Stay stationary for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['3; Partially conform. The "action" "hover" and "unit_duration" "seconds" are conforming. However, the duration value does not match because the command indicates "10 minutes" not "10 seconds". The altitude also is not specified in the natural language command, but a 0.0 value is accepted.'] +Remain suspended in the air for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The natural language command partially matches with the JSON structure. The "hover" action is correctly identified but the "duration" is incorrectly given in the JSON structure. The command specifies 10 minutes but the JSON structure mentions seconds as the "unit_duration". The altitude value in the JSON is acceptable because it wasn\'t specified in the natural language command.'] +Keep yourself hovering in one spot for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["2; The JSON structure doesn't conform perfectly with the natural language command. The duration value in the JSON is accepted as reasonable but its unit is not in alignment with the command. The command specifies the duration in minutes, but the JSON structure shows it in seconds. Additionally, the command does not specify an altitude value, although the JSON does which is acceptable, but hovering at an altitude of 0.0 meters wouldn't signify 'hovering' correctly."] +Maintain a fixed position in the air for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; There is a mismatch in the time units. The user command specifies "minutes" but the JSON structure interprets this as "seconds". The drone will be hovering for a lot less time than specified in the natural language command.'] +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second., Note: I will give you a hint, the action is "rotate".;["4; The JSON structure approximately matches the command. The action type 'rotate' and the parameters 'angular_velocity' and 'angle' match. However, the 'angular_velocity' value given in the command (20) doesn't match the JSON 'angular_velocity' value (0.5), and the 'is_clockwise' parameter in the JSON is not directly referred to in the command - although it is inferred by the term 'clockwise'."] +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees., Note: I will give you a hint, the ontology has an action called "rotate".;['5; Exactly conform. The rotation action in the provided ontology precisely matches the details provided in the command. All parameters fit well with the ontology, including rotation direction (clockwise), angular velocity, and total angle.'] +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['2; The command matches the "rotate" action in the ontology, however the value of \'angular_velocity\' (20 degrees per second) in the command does not match the sample value (0.5) in the JSON. Moreover, the command requests a 180-degree rotation, but the sample value in the JSON is 90 degrees. Also, the \'is_clockwise\' value matches correctly.'] +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The natural language command roughly matches the "rotate" action in the JSON structure. However, the given angular velocity in the command ("20 degrees per second") does not match with the angular velocity in the JSON structure ("0.5"). Furthermore, the command requires a 180-degree turn which is twice as much as the angle in the JSON structure ("90"). However, the clockwise direction and the unit of measurement ("degrees") are in conformity with the JSON.'] +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation., Note: I will give you a hint, the action is "rotate".;['4; The natural language command asks for a \'rate of 20 degrees per second\', which is not present in the given JSON structure. However, the properties \'rotate\', \'angle\', \'is_clockwise\' in the JSON, match with the command "Rotate...in a clockwise direction, completing a 180-degree rotation".'] +Fly forward for 500 meters at a speed of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 0.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; The natural language command is partially conforming to the JSON. The action "fly" and keys such as "speed", "altitude", "direction" are present in the JSON structure. However, the command stated \'Fly forward for 500 meters\' which includes a specific distance that is not captured in the JSON. Further, there is discrepancy between units of speed as the command uses "km/h" while the JSON uses "m/s". The \'duration\' key is not specified in the command hence any reasonable value in JSON is accepted. Due to these discrepancies, the match is not exact.'] +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float".;['0; The provided JSON structure(s) do not include an "action" called "proceed" or "distance" and "velocity" parameters. So the given natural language command cannot be converted into the given JSON format.'] +Move straight ahead at 50 km/h for a distance of 500 meters.,{ "action": "move", "params": {"speed": 50.0, "distance": { "type": "float", "value": 500.0 } } };['0; The command refers to an "move" action which does not exist in the provided JSON structures. Therefore there is no match between the natural language command and the JSON structure.'] +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration".;['1; The natural language command talks about flying a certain distance at a specified speed. However, the JSON structure for the "fly" action in the ontology does not have a parameter for specifying distance, and no conversion for km/h to the ontology expected "m/s". Also, "forward" does not exactly match the direction parameter, as it is more descriptive of a motion rather than a cardinal direction.'] +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction., Note: I will give you a hint, the ontology has an action called "travel" which has a "speed" field, but it doesn't have a "direction" field. So you should ignore the "direction" field in the prompt.;['0; The provided JSON structures don\'t contain an action called "travel", nor do they allow for specifying distance in meters or speed in km/h. The direction is explicitly stated to be ignored. This is not in conformity with the given JSON structures.'] +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The JSON command structure does not match with any of the provided ontologies, it seems like a new instruction that is not covered in the given examples.'] +Lower your altitude to 200 meters.,{ "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The natural language command corresponds to an action ("lower_altitude") that does not exist in the sample keys of the ontology.'] +Decrease your altitude to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command instructs to decrease the altitude which is not related to the provided JSON structure which contains instructions for a rotation action. There is no matching between the command and JSON information.'] +Descend until you reach an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The JSON structure does not match any of the provided sample keys. The action "descend" in JSON structure is not in the sample ontology.'] +Bring your altitude down to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command talks about decreasing altitude but the provided JSON structure is about rotation. The two are not at all matching.'] +Hover in place for 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['5; The command aligns perfectly with the "hover" action JSON structure. It specifies the "duration" parameter, which is correctly converted to seconds as per the ontology (2 minutes = 120 seconds). The "altitude" parameter isn\'t mentioned in the original command, hence any reasonable value, such as the 50.0 meters present in the JSON, is accepted.'] +Stay still for a duration of 2 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 120.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; The command and the JSON are almost perfectly aligned; the drone is commanded to stay still, which corresponds to the "hover" action. The duration is specified correctly. However, the altitude is not specified in the command, while it is in the JSON structure. The scoring is not 5 only because of this small discrepancy.'] +Remain stationary for a period of 2 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command asks for the system to remain stationary, which does not conform to the JSON command for rotation.'] +Hold your position for a span of 2 minutes.,{ "action": "hold_position", "params": {"duration": { "type": "float", "value": 120.0 } } };["0; The JSON command structure does not match with the provided natural language command. The natural language command is talking about holding a position, however, there is no 'hold_position' action available in the given ontology."] +Do not move for a total of 2 minutes., Note: I will give you a hint, the answer should have an "action" field with a value of "idle".;['0; The provided JSON does not include an action "idle".'] +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second., Note: I will give you a hint, the action is "rotate".;['4.5; The action "rotate" is correctly matched, and the parameters for "angle" and "angular_velocity" are properly specified. However, the "is_clockwise" parameter is not correctly matched as it has a value of false in the command but true in the JSON structure.'] +Turn to the left by 45 degrees at a rate of 10 degrees per second., { "action": "rotate", "params": {"angular_velocity": 10.0, "angle": 45.0, "is_clockwise": true, "unit": "degrees" } };['3; The commanded action, rotation, and the angle are correctly matched in the JSON structure. However, the direction of rotation (left) specified in the command does not conform to the direction in JSON (clockwise). Furthermore, the rate of rotation specified in the command does not explicitly match the "angular_velocity" key in the JSON.'] +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; Although the natural language command matches with the JSON structure for the "rotate" action, there are slight differences that affect the conformity score. The natural language command specifies a rotation of 45 degrees anti-clockwise with an angular velocity of 10 degrees per second. But the JSON structure for rotation action indicates a clockwise rotation of 90 degrees at an angular velocity of 0.5.'] +Spin counterclockwise by 45 degrees, moving 10 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON parameters that match with the command are \'action\': \'rotate\', \'angular_velocity\': 10 (degrees per second) and \'angle\': 45 degrees. The direction of rotation (counterclockwise) isn\'t represented in the JSON, as the provided sample ontology only contains a field for clockwise ("is_clockwise": true). Therefore, it doesn\'t fully conform.'] +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second., Note: I will give you a hint, the action is "rotate".;['2; The JSON structure contains the action "rotate", and it\'s correct as per the natural language command. However, there is no parameter for the direction of rotation (left or right) in the JSON structure. Also, there\'s a mismatch with the provided "angular_velocity" in the JSON structure and the "speed of 10 degrees per second" specified in the command. The angle of rotation (45 degrees) matches with the JSON structure.'] +Fly forward for 3 kilometers at a speed of 70 km/h.,{ "action": "fly", "params": {"speed": 70.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 3.0, "unit_speed": "km/h", "unit_altitude": "meters" } };['4; The JSON information mostly matches the natural language command, with the correct action ("fly") and parameters such as speed ("70") and direction ("forward"). However, the duration is mentioned in the JSON as 3.0, which may not accurately represent the command to fly for 3 kilometers (distance), not 3 seconds (time). The unit_speed is also changed to "km/h" from the sample ontology key "m/s", but this is a reasonable change based on the command.'] +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h.,{ "action": "move", "params": {"distance": { "type": "float", "value": 3000.0 }, "velocity": { "type": "float", "value": 70.0 } } };["0; The natural language command described the 'move' action with distance and velocity parameters which is not conforming with any of the provided JSON Action formats. Moreover, the actions and parameters 'move', 'distance' and 'velocity' don't exist in the sample JSON structures."] +Travel straight ahead for 3 kilometers at a rate of 70 km/h.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(0, 0, 0)" } } };['0; The command doesn\'t match the JSON. The command specifies a movement, but the movement type ("navigate_to_point") in the JSON doesn\'t use units like "kilometers" or "km/h", as it\'s based on coordinates. Furthermore, speed isn\'t a parameter in the given JSON structure.'] +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h., Note: I will give you a hint, the distance and speed are in the "params" field of the "action" field.;['0; The provided JSON structures do not have a matching action or parameters to execute the command to "Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h". While "fly" might be considered similar, it doesn\'t match well, nor does it consider all the parameters mentioned in the command. There are no keys for distance or conversion of speed from km/h to m/s either. The hint provided is also not helpful as it doesn\'t accurately direct to an applicable JSON structure.'] +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers., Note: I will give you a hint, the ontology has an action called "move" which has a "speed" parameter, and a "distance" parameter.;['0; There is no JSON structure corresponding to the provided natural language command. The ontology doesn\'t have an action called "move", "speed" or "distance" parameters.'] +Ascend to an altitude of 800 meters.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 800.0 }} };['1; The action "ascend" is not provided in the sample ontology. Also, the parameter "altitude" is found in multiple JSON structures but not with the action "ascend". Therefore, the match is very low.'] +Reach a height of 800 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['4; The JSON structure successfully represents the "fly" action and correctly identifies the height (altitude) to reach at 800 meters. However, it doesn\'t exactly conform because "speed" and "duration" are specified as 0.0 which makes no realistic sense- it would take an infinite amount of time to reach the desired height. Furthermore, "up" isn\'t a traditional direction of travel like north, south, east, or west. Hence it\'s not totally in conformity with the provided ontology.'] +Climb to an elevation of 800 meters.,{ "action": "climb", "params": {"elevation": { "type": "float", "value": 800.0 } } };['0; The natural language command refers to "climb" and "elevation" keys, neither of which exist in the JSON structures provided.'] +Increase your altitude to 800 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } };['1; The command is slightly conforming with the JSON structure. The "action" in the command refers to changing altitude which can be related to the "navigate_to_point" action in the JSON structure. However, in the JSON structure the altitude is part of a tuple with latitude and longitude, which are not mentioned in the command. Furthermore, there isn\'t a specified altitude value for the JSON representation.'] +Go up to a height of 800 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 800, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; The "fly" action is matched correctly and the altitude is also accurately specified as 800 meters. However, the direction is given as "up" which doesn\'t conform to conventional geographical directions in the sample ontology. The values for speed and duration are also not mentioned in the natural language command but are presented in the JSON, which doesn\'t fully conform to the command.'] +Hover in place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The command matches the "hover" action but the duration value is mismatched, 15 minutes in the command should be translated to 900.0 seconds in JSON. Also, altitude value is unspecified in the natural language command, so it cannot be assumed as 0.0 in the JSON.'] +Stay still for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["2; The duration in the command is given in minutes while in the JSON structure it's in seconds. The altitute value is also not mentioned in the command."] +Maintain a hovering position for the next 15 minutes., Note: I will give you a hint, the answer should have an "action" field with a value of "hover".;['3.5; The command matches with the "hover" action, but the time unit given in the command (minutes) does not align with the expected unit according to the ontology (seconds). Also, exact numerical value for the altitude is not specified in the command.'] +Remain in place without moving for a period of 15 minutes., Note: I will give you a hint, the action in this case is "hover".;['2; The natural language command\'s action matches the "hover" action in the JSON structure. However, the duration parameter in the command is specified in minutes, while the duration in the JSON structure is specified in seconds, which is a mismatch. Also, the altitude parameter isn\'t mentioned in the command.'] +Suspend motion for a time period of 15 minutes.,{ "action": "suspend_motion", "params": {"duration": { "type": "float", "value": 15.0 } } };['0; The JSON does not match with the provided ontology. The \'suspend_motion\' action does not exist in the sample keys. Furthermore, the unit of time is different in the natural language command and JSON, "minutes" vs "float" unspecified unit.'] +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The command is mostly correct and the action "rotate" perfectly matches however the angular velocity in the JSON structure is 0.5 but in the command it\'s 40, hence it\'s not a perfect match.'] +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['5; Exactly conform. The natural command provides the action "rotate" with the parameters "angular_velocity" and "angle". Additionally, the "is_clockwise" direction is specified, even though the actual numerical value for the angular velocity doesn\'t match the JSON example, it still conforms to it since it is within a reasonable value range.'] +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The command matches most of the JSON object, with the action "rotate". There are, however, differences in the params. The given command specifies an angular velocity of 40 (which is not given in the JSON template) and an angle of 270 (not 90 as in the JSON). The direction ("is_clockwise": true) matches perfectly. The "unit" is not specified in the natural language command, but it matches the JSON template.'] +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees., Note: I will give you a hint, the ontology has an action called "rotate".;["3; While the action 'rotate' and 'is_clockwise' parameters are properly mentioned, the angular velocity parameter value from the command does not match the JSON structure's angular_velocity value. Also, 'angle' parameter in command and JSON are different."] +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 40.0, "angle": 270, "is_clockwise": true, "unit": "degrees" } };['5; Exactly conform.'] +Fly forward for 2.5 kilometers at a speed of 55 km/h.,{ "action": "fly", "params": {"speed": 55.0, "altitude": 0, "duration": { "type": "float", "value": 2.5 }, "unit_speed": "km/h", "unit_duration": "kilometers" } };['4; Mostly conform. The action "fly" matches the JSON structure perfectly, and the parameter "speed" with its value and unit ("55.0", "km/h") are reflected correctly. However, the parameter "duration" in mentioned context is representing distance ("2.5 kilometers") not time duration, which does not conform with given JSON structure. Altitude is not mentioned in the command but a zero value in JSON is acceptable.'] +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration".;['3; The issued command does align with the "fly" action specified in the ontology. It directly addresses the "speed" and "direction" parameters. However, aspects of the JSON such as "altitude", "duration", "unit_speed", "unit_altitude", and "unit_duration" were not specified in the command.'] +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction., Note: I will give you a hint, the ontology has an action called "cover_distance" which takes a "distance" parameter of type "float".;['0; The provided JSON ontology does not have an action called "cover_distance" or a "distance" parameter, thus the natural language command does not conform to it.'] +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h.,{ "action": "fly", "params": {"speed": 55.0, "altitude": 0, "direction": { "type": "str", "value": "straight" }, "duration": 2.5, "unit_speed": "km/h", "unit_altitude": "meters" } };['3; Mostly conform. The action "fly" matches. However, the direction "straight" isn\'t fully clear, it would be better to specify a compass direction such as "north." The speed is correct with "55 km/h," but duration isn\'t correct, it\'s mentioned as distance in the command but present as time in the JSON. It would require a distance parameter instead of the time duration. The altitude parameter conform, as it is not specified in the command and accordingly left as "0" in the JSON. Unit speed, altitude and duration match with the command.'] +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h.,{ "action": "fly", "params": {"speed": 55.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The JSON structure matches the "fly" action from the command, and it provides correct parameters like "speed" and "direction". However, the speed unit in the JSON is "m/s" while in the command it\'s "km/h", and the command does not specify any "duration", "altitude", and "direction" (forward is not a cardinal direction) like the JSON structure has.'] +Descend to an altitude of 300 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 300.0 }} };["1; The action in the JSON structure 'descend' does not exist in the sample keys of the ontology. The ontology only includes the actions 'navigate_to_point', 'fly', 'hover', 'rotate' and 'land'. Additionally, there exists no 'altitude' parameter for the 'descend' action within the given sample keys. This suggests a poor match. However, the concept of adjusting altitude relates to the sample keys adjusts the score slightly."] +Lower yourself to a height of 300 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 300.0 }} };['0; The natural language command doesn\'t match any of the JSON commands in the sample ontology. The key "lower" does not exist in the sample ontology\'s action keys.'] +Reduce your altitude to 300 meters.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 300.0 }} };['0; The action "reduce_altitude" does not exist in the sample keys.'] +Move down to a height of 300 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 300, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["0; The JSON action and parameters do not conform to the natural language command. The natural language command requests movement down to a certain altitude, but the JSON describes a generic 'fly' action. There is no conformity between the command and the JSON."] +Descend until you reach an altitude of 300 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 300.0 }} };['0; The JSON structure does not match any from the sample keys. The action "descend" does not exist and the format of the parameters is incorrect.'] +Hover in place for 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 8.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["3; The command does match the 'hover' action however the 'duration' in the JSON structure is represented in seconds, whereas the natural language command specifies '8 minutes'. The 'altitude' is not specified in the natural language command. In this case, we don't know the current altitude or whether it should change, assigning 0 as the 'altitude' value is not a reasonable assumption."] +Stay still for a duration of 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 8.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['3; The natural language command and the JSON structure have the same action, which is to "hover". However, there is a mismatch in the units of the duration. The command asks for the action to be performed for "8 minutes", while the JSON structure\'s unit for duration is in "seconds".'] +Maintain a stationary position for a period of 8 minutes., Note: I will give you a hint, the ontology has an action called "stationary".;['0; The provided JSON structures do not have an action termed "stationary". The command does not conform to the available structures.'] +Suspend movement and remain in one spot for 8 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 8.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The command asks for the drone to hover for 8 minutes, whereas the provided JSON only hovers for 8 seconds, making it a partial mismatch. Moreover, no altitude value is provided in the command, while the JSON specifies an altitude of 50 meters.'] +Keep hovering without moving for a total of 8 minutes., Note: I will give you a hint, the answer should have an 8 in the "duration" field.;['4; The command is asking for the device to "hover", which aligns with the hover action in the ontology. However, the command asks to hover for "8 minutes", while the duration in the JSON is written in "seconds" not in "minutes". The \'altitude\' parameter is missing in the command but was accepted as any reasonable value in the JSON is accepted.'] +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second., Note: I will give you a hint, the action is "rotate".;['3; The JSON structure matches the \'rotate\' action described in the command. Although the rotation direction is counterclockwise while in JSON it is clockwise, the angular velocity and angle are unspecified in the JSON, therefore it\'s acceptable. However, the angle specified in the command (120 degrees) doesn\'t match the angle in the JSON (90 degrees), and the JSON lacks the "unit_angular_velocity" key for the "degrees per second" mentioned in the command.'] +Turn left at a rate of 25 degrees per second for 120 degrees.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };['4; The action and parameters in the command match the JSON with few exceptions. The command specifies a left turn while the JSON structure indicates a clockwise rotation which usually corresponds to a right turn. Also, the command specifies the angular velocity in degrees per second while the JSON structure does not specify its unit.', ''] +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };["1; The JSON structure generally matches the command, but the command specifies to rotate anti-clockwise while the 'is_clockwise' value in the JSON structure is true, which is a reversal in direction. The 'angular_velocity' is also not specified in the given ontology."] +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };['2; The keys almost perfectly match, however the direction of rotation specified in the natural language command ("counterclockwise") does not match with the JSON structure ("is_clockwise": true indicates a clockwise rotation).'] +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };['2; The natural language command is asking to rotate in the opposite direction of the clockwise, however, the JSON structure is showing "is_clockwise" as true which contrary to the given command. The rest of the information like "angular_velocity", "angle", and "unit" are conforming perfectly.'] +Fly forward for 4 kilometers at a speed of 80 km/h.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };["0; The JSON corresponds to a 'rotate' action while the command is about a 'fly' action. The parameters also do not match with the command."] +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command talks about moving forward with a certain speed while the JSON structure represents a rotation action, which is not related.'] +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };["0; The given JSON structure is for a 'rotate' action but the natural language command specifies a different action which involves navigating or moving in a forward direction. Thus, there is no conformity between the command and the JSON structure."] +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command talks about flying, referencing distance and speed while the JSON structure represents a rotate action which does not match with the command.'] +Travel at 80 km/h in a straight path for 4 kilometers.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };['0; The JSON structure corresponds to a "rotate" action, not a "travel at a certain speed for a certain distance" command as mentioned in the natural language command. Thus, there is no matching between the command and the JSON structure.'] +Ascend to an altitude of 1000 meters.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };['0; The JSON structure does not match the natural language command. The command is asking for an action to ascend to a certain altitude, however the JSON structure represents a "rotate" action, not an ascent/altitude action.'] +Increase your altitude to 1000 meters.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };["0; The command is asking for an increase in altitude but the JSON structure associated corresponds to a 'rotate' action instead of a change in altitude. Therefore, they do not match."] +Reach a height of 1000 meters.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command talks about a action not represented in the JSON structure. The command suggest an action to "Reach a height of 1000 meters" which can be related to a request to change altitude but no such command is in the JSON structures. Additionally, the provided JSON structure describes a \'rotate\' action, which doesn\'t match with the natural language command.'] +Climb up to an elevation of 1000 meters.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };['0; The provided JSON structure corresponds to a "rotate" action which is not related to the natural language command for climbing to a certain elevation.'] +Scale up to an altitude of 1000 meters.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 120.0, "is_clockwise": true, "unit": "degrees" } };["0; The natural language command asks to increase altitude, however the JSON structure represents a 'rotate' action, not a 'fly' or 'navigate_to_point' action as would be expected. Therefore, no information in the command matches with the JSON structure."] +Hover in place for 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['5; Exactly conform.'] +Remain suspended in one spot for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['5; The command exactly conforms to the JSON structure. The command is asking the device to hover for a specific duration. This matches to the "hover" action in the JSON, and the duration of the hover matches the specified duration (converted from minutes to seconds). The altitude value is not specified in the command but is considered a reasonable value.'] +Stay airborne without moving for a period of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['5; Exactly conform.'] +Keep stationary in mid-air for a period of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; The natural language command and JSON mostly conform. The "unit_duration" parameter in the JSON is in seconds while the command specifies the duration in minutes. However, the conversion from minutes to seconds is correctly reflected in the "value" of the "duration" parameter in the JSON structure. The altitude parameter value is not specified in the natural language command, but it\'s accepted since any reasonable value is allowed when the value is not specified.'] +Suspend motion and hover in the same position for a duration of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['5; Exactly conform. The natural language command corresponds to the action "hover" with a specific duration value, which matches the JSON structure appropriately. The duration was converted from minutes to seconds to match the unit in JSON. The altitude parameter is not specified in the natural language command, but its value in JSON is accepted since it\'s reasonable.'] +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['0; The JSON structure is for an "hover" action with duration and altitude parameters while the natural language command is asking for a "rotate" action with angular velocity and angle parameters. There is no match.'] +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['0; The JSON structure does not match the natural language command. The command is about rotating clockwise at a specific angular speed (which is not accurately mentioned in JSON), but the JSON structure represents command to hover with specifics about duration and altitude.'] +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The natural language command instructs to perform a full clockwise rotation with a specific angular velocity. However, the provided JSON structure defines parameters for the hover action instead of rotation. Therefore, the command and the JSON don\'t match except for the "unit_duration" and "unit_altitude" keywords.'] +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The command given does not match the JSON content completely, the action is different (Rotate vs Hover), and some parameters, such as angular_velocity, are also inconsistent. However, the format of the JSON is appropriate with the given ontology.'] +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['0; The command is about executing a rotation action while the JSON structure represents a hovering action. There is no match here.'] +Fly forward for 2.7 kilometers at a speed of 60 km/h.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The natural language command gives an instruction to fly, but is matched to the \'hover\' action in the JSON structure. The duration and altitude values do not match either. The command is more appropriate for the "fly" action with parameters like speed, direction and possibly duration - none of these are matched correctly in the JSON.'] +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The natural language command implies an action that should be related to "fly" instead of "hover". Also, there are no parameters in the JSON structure, such as "distance" or "velocity". The mentioned parameters in the command don\'t match with any of the sample keys.'] +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The natural language command speaks about maintaining a certain speed and travelling a certain distance, which would ideally correspond to the "fly" action. However, the JSON structure corresponds to the "hover" action which does not conform to the natural language command. Even though the "duration" in the JSON could be perceived as the time taken to travel at the speed of 60km/h for a total 2.7 kilometers, there is a misalignment in terms of the \'action\' being described.'] +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['0; The command requested a forward movement with a given speed and distance, but the JSON structure provided corresponds to a drone hovering action, with a duration, and altitude specified, which is not related to the initial command. The JSON structure does not match the command provided.'] +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["0; The natural language command is about navigating a certain distance at a particular speed which is not covered by the provided 'hover' JSON structure. The 'hover' action does not involve any movement or speed, it's about maintaining stationary at a certain altitude for a duration."] +Descend to an altitude of 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };["0; The JSON structure provided is not consistent with any of the defined actions in the ontology. There is no 'descend' action and altitude parameter is not formatted correctly according to the sample ontology. The 'altitude' action parameter is only seen with 'fly', and 'hover' actions in the given ontology and the parameter 'altitude' is not nested under 'type' and 'value'. It's provided as a float directly."] +Reduce your altitude to 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };["0; The JSON structure does not match with the given natural language command. The 'action' in JSON is 'descend' while in the command it is about reducing altitude, also 'descend' action is not listed in sample keys. Additionally, the 'params' object structure doesn't conform with ontology."] +Move down until you are at an altitude of 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The JSON structure does not match with any of the sample keys in the ontology provided. The command "descend" and the altitude specification does not have a corresponding action or parameter in the ontology.'] +Descend until you reach a height of 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The provided JSON structure doesn\'t match with the sample ontology keys. There is no "descend" action in the sample ontology. Moreover, the parameter "altitude" is not used correctly.'] +Lower your altitude to 400 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The natural language command asks to "lower the altitude". However, the provided JSON structure corresponds to a nonexistent action "descend", which isn\'t included in the actions specified in the given ontology ("navigate_to_point", "fly", "hover", "rotate", "land").'] +Hover in place for 12 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };["1; The natural language command is instructing a hover action for a certain duration. However, the provided JSON structure shows an action of 'descend' and an altitude change, which doesn't match with the natural language command. The action should have been 'hover' and there should be a duration parameter instead of altitude."] +Stay in one spot for a duration of 12 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['1; The natural language command asks for the action to "hover" for a specific duration but the provided JSON structure represents a "descend" action which is not included in the command. The parameters in the JSON structure also do not match with those in the command.'] +Remain stationary for a period of 12 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['1; The natural language command asks for the drone to hover or remain stationary for a certain period, but the JSON structure refers to a descend action.'] +Keep still for 12 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };["1; The JSON structure is about 'descend' action not 'hover' action. The duration is not provided in JSON but mentioned in natural language command."] +Do not move for a total of 12 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; There is no match between the command and the JSON structure. While the command specifies that the device should remain static for a specified duration, the JSON structure refers to descending action with a certain altitude. The "hover" action would have been a closer match to the given command, but still wouldn\'t fully capture the command\'s intent because the JSON structure doesn\'t specify a "do not move" action.'] +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The action in the JSON is "descend" whereas the action in the natural language command is "rotate". The parameters do not match either, as the JSON describes an altitude while the command specifies the angle and angular velocity.'] +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The JSON structure does not match the natural language command. The command refers to rotation, while the JSON refers to descending. The parameters mentioned in the natural language command are also absent in the JSON.'] +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The command asks for a rotation action with given parameters but the provided JSON structure refers to a descending action with different parameters, completely mismatching the natural language command.'] +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The natural language command instructs a rotation action but the JSON structure represents a descend action which is not mentioned in the command. Also, the JSON structure does not contain all the relevant parameters for a rotation action.'] +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The natural language command is initiating an action to rotate, but the corresponding JSON structure represents a descend action. Thus, the command does not conform to the JSON information.'] +Fly forward for 5 kilometers at a speed of 90 km/h.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The natural language command mentions about flying forward which corresponds to "action": "fly" in JSON structure instead of "action": "descend". Besides, parameters like speed and distance mentioned in the command are not properly reflected in the provided JSON structure.'] +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };["0; The given command talks about moving straight ahead at a certain speed, but the provided JSON structure indicates a 'descend' action which does not match the command."] +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };["0; The natural language command instructs to travel in a straight line with specified distance and speed, which doesn't correspond to any of the sample JSON structures provided. Moreover, the JSON structure given describes an action of descending with a certain altitude, which doesn't match the command at all."] +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The JSON structure describes an action of "descend" with an altitude as a parameter, whereas the natural language command describes a forward motion at a certain speed for a distance. The command and the JSON structure are not at all similar.'] +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The natural language command involves moving ahead, which correlates to a navigation/fly action rather than descending. The commanded speed and distance are also not given in the JSON structure. As such, the command does not conform to the provided JSON.'] +Ascend to an altitude of 1200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };["0; The natural language command instructs an ascending action to a specific altitude which doesn't match with the provided JSON structure that shows a descending action to a different altitude."] +Increase your elevation to 1200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };["0; The natural language command asks for an increase in elevation (altitude), which would translate to a 'fly' action, not a 'descend' action. Additionally, the specified altitude in the command ('1200 meters') does not match the altitude in the JSON structure ('400 meters'). The command and the JSON structure do not conform."] +Climb to a height of 1200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The JSON does not match the command because the command is about climbing to a height while the JSON is about descending. The altitude value also differs.'] +Reach an altitude of 1200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The natural language command is asking to reach a certain altitude while the JSON structure is describing a "descend" action which is not specified in the command. Moreover, the values for altitude do not match.'] +Move upwards to a position of 1200 meters above ground level.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };["0; The natural language command is about moving upwards to a certain altitude, whereas the JSON structure is about descending to a certain altitude. The actions and the altitude value don't match."] +Hover in place for 25 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 400.0 }} };['0; The JSON structure does not match the natural language command. The command is about hovering for a certain duration, but the JSON is about descending to a certain altitude.'] +Stay still for a duration of 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 25.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The natural language command is somewhat matching with the JSON structure. The action "hover" is correctly identified. However, the "duration" in the natural language command is given in minutes, while in the JSON structure it is specified in seconds.'] +Maintain a hovering position for 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 25.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The command and the JSON have partial matching: the "hover" action matches correctly. However, the duration in the natural language command (25 minutes) does not match with the duration in the JSON structure (25 seconds). Also, the altitude is not provided in the command while it\'s present in the JSON.'] +Remain in place without moving for a period of 25 minutes., Note: I will give you a hint, the action is "hover".;["4; The natural language command matches with the 'hover' action in the JSON, the 'duration' parameter is also included. However, the unit of duration in the command ('minutes') differs from the unit in the JSON structure ('seconds'). Although the exact duration value is not specified in the JSON, it accepts any reasonable value, but the units should match."] +Hold your position in mid-air for a total of 25 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 25.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The given command adheres to the "hover" action. However, the \'duration\' value does not conform as it is specified in minutes in the command and in seconds in the JSON. The \'altitude\' value is also not mentioned in the command but it is in the JSON.'] +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure generally conforms to the command, with the action correctly identified as "rotate". The angular velocity is too high and doesn\'t match the JSON structure which expects 0.5 in the value field, but the angle to be rotated (450 degrees) and direction of rotation (clockwise) are correctly expressed. However, there is no justification for precisely 55 degrees per second as angular velocity.'] +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;["4; The command mostly conform to the JSON structure for the rotation action, but the angular velocity in the command is 55 while in the JSON it's 0.5. If the score should reflect structural conformity only (and not value-level matchings) then it should be a 5."] +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['5; The command asks for a rotation in a clockwise direction with a certain amount of degrees and speed. All these parameters exist in the "rotate" action structure in the the sample ontology with the parameters "angle", "is_clockwise", and "angular_velocity". The values provided in the command also match the format of the values in the JSON structure. The only parameter not mentioned directly in the command is "unit" but the request implied it is in "degrees" which is also the default unit mentioned in the ontology, so the command exactly conforms.'] +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 55.0, "angle": 450.0, "is_clockwise": true, "unit": "degrees" } };['4; The overall action and parameters matches with the natural language command. However, the "angular_velocity" value in the JSON structure is a bit off as it is not usually expected for something to rotate at a speed of 55 degrees per second.'] +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON.;['5; The natural language command perfectly matches with the JSON action "rotate" and its parameters including "angular_velocity", "angle", and "is_clockwise". The action is to rotate, the angle is 450 degrees, and the direction is clockwise which are all included in the JSON structure. Furthermore, the speed at 55 degrees per second is represented as "angular_velocity" in the JSON structure. Hence, the command conforms to the JSON structure perfectly.'] +Fly forward for 3.2 kilometers at a speed of 65 km/h.,{ "action": "fly", "params": {"speed": 65.0, "altitude": 0, "duration": { "type": "float", "value": 3.2 }, "unit_speed": "km/h", "unit_duration": "kilometers" } };['4; Partial conformity. The JSON structure corresponds to the "fly" action, the speed is correctly set to 65.0 km/h. The duration value however is set as 3.2, which seems to be implying distance traveled rather than time and the unit_duration given as "kilometers" is inconsistent with the sample ontology. The altitude is also added as a parameter with a value of zero, which is not mentioned in the natural language command, but is reasonable.'] +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour.,{ "action": "move", "params": {"distance": { "type": "float", "value": 3.2 }, "velocity": { "type": "float", "value": 65 } } };['0; The natural language command mentions an action ("move") and parameters ("distance" and "velocity") that don\'t exist in the sample keys of the provided JSON structures. The provided JSON does not have a corresponding structure for an action of "move" with parameters of "distance" and "velocity".'] +Proceed straight for 3.2 kilometers at a pace of 65 km/h., Note: I will give you a hint, the answer should have an "action" field with a value of "proceed", and a "params" field with a value of a dictionary containing the "distance" and "speed" fields.;["0; The provided JSON structure does not have any conformity with the given natural language command. There is no 'proceed' action or relevant parameters such as 'distance' and 'speed' in the provided JSON structure."] +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h.,{ "action": "fly", "params": {"speed": 65.0, "altitude": 100, "direction": { "type": "str", "value": "forward" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The action in the JSON structure matches the command, but there are discrepancies in the parameters. The value of "direction" is correct but there\'s no mention of "distance" in JSON. The command specifies "speed" in km/h while the JSON uses m/s. The command does not mention "altitude", "duration" compared to the JSON.'] +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h., Note: I will give you a hint, the coordinates are in the format (latitude, longitude);['0; The natural language command does not match any of the JSON structures provided, it instructs to move at a certain speed and a certain distance but neither of them is specified in the provided samples ontology. Therefore, the conformity score is 0.'] +Descend to an altitude of 500 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The provided JSON structure does not conform at all to the sample ontology. There is no "descend" action or a "altitude" parameter in the ontology.'] +Lower your altitude to 500 meters.,{ "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The provided JSON structure doesn\'t conform to the sample ontology. The "action" "lower_altitude" is not present in the sample keys.'] +Decrease your altitude to 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command is asking to decrease altitude but the corresponding JSON structure is showing an action of rotation. There is no matching between the natural language command and the JSON information.'] +Descend until you reach an altitude of 500 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The JSON structure does not match with the sample keys from the provided ontology. The "descend" action and altitude parameter are not found in the samples.'] +Bring yourself down to an altitude of 500 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };['1; The natural language command instructs to lower the altitude but does not specify a landing. The "land" action in the JSON doesn\'t match correctly as it involves a location parameter not specified in the natural language command.'] +Hover in place for 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 18.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['3; The action \'hover\' and parameter \'duration\' correctly conform to the natural language command. However, the \'duration\' value is incorrectly converted to seconds (it should be minutes) and a \'altitude\' of 0.0 meters does not reflect "hovering in place", which suggests maintaining current altitude. The \'altitude\' parameter is also not specified in the command.'] +Maintain a stationary hover for a duration of 18 minutes., Note: I will give you a hint, the answer should have an "action" field with a value of "hover".;['4; The natural language command matches with the "hover" action in the JSON structure. However, the duration mentioned in the natural language command is in minutes while the unit in the JSON is in seconds. There is no direct conversion evident in the command or the JSON. Thus, the match is not exact.'] +Stay in one position for a period of 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 18.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; Mostly conform. The "action" and "params" keys match well and the duration value matches, but the altitude is not specified in the natural language command while it is specified in the JSON. Also, the units are mismatched. The command specifies duration in minutes while the JSON specifies it in seconds.'] +Remain suspended in the air for a total of 18 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 18.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The JSON structure and the command match on the "hover" action and "duration" parameter, but the "duration" value in the JSON is specified in seconds, while the command uses minutes. Furthermore, the command does not specify an altitude whereas the JSON does.'] +Do not move and stay at the same spot for the next 18 minutes., Note: I will give you a hint, the answer should have an "action" field with a value of "stay".;['0; The command does not conform to any JSON structure provided. The hints suggest a "stay" action, which is not contained in any of the JSON structures. The JSON structure with action "hover", which is the closest in meaning, has not been implemented in the natural language command, as the duration does not match and the altitude field is missing.'] +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The natural language command correctly identifies the "rotate" action, with the \'angle\' parameter correctly corresponding to \'180\'. However, the \'angular_velocity\' parameter in the JSON structure is given as \'45\', while the natural language command mentions a speed of \'45 degrees per second\'. This does not exactly conform to the given sample as the \'angular_velocity\' in the JSON is 0.5. Additionally, the direction of rotation specified (\'counterclockwise\') does not align with the \'is_clockwise\' key in the provided JSON structure, where it\'s set to \'true\'.'] +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise., Note: I will give you the ontology again for reference.;['4; The command matches mostly with the "rotate" action, but the "angular_velocity" is not exactly conform with the natural language command. The natural command specifies a rotation speed in degrees per second and the JSON structure uses a general numeric value for \'angular_velocity\'. Additionally, the natural command specifies a counterclockwise rotation which contradicts with the \'is_clockwise\' key in the JSON having a value of \'true\'. Other parameters such as \'angle\' match well.'] +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4.7; The command and JSON structure match almost perfectly. The action "rotate" is correctly identified and the angular_velocity is specified as 45 (per second). The only discrepancy is with the "is_clockwise" parameter in the JSON, which is specified as false in the natural language command ("counterclockwise rotation") but is represented as true in the JSON. In the ontology definition, there is no absolute correct value; the value would depend on the specific implementation of the command.'] +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure captures the action "rotate" with an angular velocity which is presumably the movement rate. However, the rotation angle differs from the natural language command (180 degrees vs 90 degrees in JSON) and the clockwise direction doesn\'t match the counterclockwise one in the natural language command.'] +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The command mostly conforms to the \'rotate\' JSON structure. The instructions to rotate and the angle of rotation are present, but the rotation direction is counterclockwise, while the JSON specifies "is_clockwise": true. Also, the \'rotate\' structure doesn\'t have a field for speed in degrees per second, only \'angular_velocity\' in an unspecified unit.'] +Fly forward for 6 kilometers at a speed of 100 km/h.,{ "action": "fly", "params": {"speed": 100.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 6000.0, "unit_speed": "km/h", "unit_altitude": "meters" };['3; Partial match. The action "fly" is correct and the speed of 100.0 km/h is also correct. However, duration should be calculated differently (assuming the drone flies directly towards the target without deviation). The calculation should be the distance divided by the speed (3600 seconds), not the distance multiplied by the speed (6000 seconds). The direction is also given as "forward", which is not a valid value according to the sample ontology. Altitude is also assumed to be 0, which is not mentioned in the command.'] +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h., Note: I will give you a hint, the distance and speed are in the "params" field of the "action" object.;["0; There are no JSON structures provided that match with the command. The command talks about proceeding a certain distance at a certain speed, but none of the JSON structures available ('navigate_to_point', 'fly', 'hover', 'rotate', 'land') correctly represent this action."] +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h., Note: You can assume that all the actions are valid and that the parameters are valid for the respective actions.;['2; The natural language command corresponds to the "fly" action in the JSON structure, alluding to parameters like "speed". However, the command includes a distance value, not mentioned in the ontology. The "direction" parameter defined as "straight" in the command does not match the structure "type":"str", "value":"north" in the JSON. Finally, the units of speed ("km/h") in the command do not correspond to the "unit_speed":"m/s" in the JSON.'] +Move forward for 6 kilometers while flying at a velocity of 100 km/h.,{ "action": "fly", "params": {"speed": 100.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 6, "unit_speed": "km/h", "unit_altitude": "meters" } };['2; The JSON structure partially matches the natural language command. The action of moving or flying is correct, and the speed and unit of speed are also correctly given. However, the command mentions moving forward for a distance (6 kilometers), not a duration. The "duration" key should be replaced with something like "distance". The direction "forward" is also not fully aligned with the ontology which specifies direction as terms like "north". Additionally, the altitude is given as a 0 in the JSON but was not mentioned in the command.'] +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers., Note: I will give you a hint, the ontology has an action called "fly" which has a "speed" field, but it does not have a "distance" field.;['2; The command does match with the action "fly" in the JSON structure but the speed is not in accordance (JSON uses m/s but the command mentions km/h). Furthermore, the parameter specified in the command as "distance" is not even present in JSON structure. The direction also isn\'t specified in the command, which the JSON requires.'] +Ascend to an altitude of 1400 meters.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1400.0 }} };['0; The JSON structure does not match the sample keys in the ontology. The "ascend" action and related parameters do not exist.'] +Climb to a height of 1400 meters.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1400.0 }} };['0; The JSON structure doesn\'t conform to the sample ontology. The action "climb" and its respective parameters don\'t exist in the given ontology.'] +Reach an elevation of 1400 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1400, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['4; The natural language command is mostly matching the JSON structure, but not exactly. The term "elevation" doesn\'t match with "altitude" in the JSON parameters. However, the meaning is similar. Also, the direction "up" is assumed but not explicitly stated in the command.'] +Scale to a height of 1400 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1400, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3.5; Although the action "fly" exists in the ontology, the direction "up" isn\'t defined in the sample keys. Using the command "Scale to a height of 1400 meters" also doesn\'t imply a speed, direction, or duration which are part of the "fly" action parameters in the sample keys. The altitude is correctly defined.'] +Go up to an altitude of 1400 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 1400, "direction": { "type": "str", "value": "up" }, "duration": 30, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; The natural language command is partially matching with JSON. The direction "up" isn\'t part of the given ontology, and additionally, the duration isn\'t specified in the command.', ''] +Hover in place for 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The natural language command matches the action "hover" correctly but the duration value does not match -- 30 minutes should be 1800 seconds, not 300. Moreover, the command does not specify an altitude, so the value of 0.0 does not necessarily comply with the command.'] +Stay suspended in one spot for a duration of 30 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 300.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; The JSON structure almost entirely matches the command. The action and parameters align with the command to hover for a duration. The only discrepancy is the duration value. In the command, it is specified in minutes, whereas in the JSON, it\'s assumed to be in seconds, as indicated in the "unit_duration". Therefore, the value in the command (30 minutes) should be converted to seconds (1800 seconds), but the JSON indicates 300 seconds.'] +Maintain a stationary position for the next half-hour.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 30.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; The command mostly matches with the JSON structure in terms of action and unit of duration "seconds" but the time specified "30.0" does not convert correctly to "half-hour" indicated in the command and there is no altitude information in the command as well.'] +Remain hovering without moving for a period of 30 minutes., Note: I will give you a hint, the action is "hover".;['5; Exactly conform.', '', 'The natural language command specifies the action as "hover" and provides the duration in minutes. In the JSON structure, that action is executed with "hover" and the duration could be any reasonable value, and the time unit is seconds, but minutes can be converted to seconds, still keeping it relevant and matching.'] +Suspend yourself in the air for the next 30 minutes without any movement., Note: I will give you a hint, the action is not "hover".;['0; The natural language command does not correspond to any action in the sample JSON structure. Hover action could be potentially acceptable action, however, the command explicitly mentioned not to use it. Thus, no matching action could be found.'] +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The natural language command matches with the JSON structure action "rotate". However, the given angular velocity in the command (60 degrees per second) does not match the sample JSON where angular velocity is 0.5. The degree of rotation (540 degrees) and the direction (clockwise) are correct.'] +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second., Note: I will give you a hint, the action is "rotate".;['3; While the action and the direction ("is_clockwise": true) match perfectly, the \'angle\' in the command is 540 degrees, but only 90 degrees in the JSON. The \'angular velocity\' specified in the command (60 degrees per second) is not represented in the JSON structure at all. Therefore, not all parameters in the command are reflected in the JSON structure.'] +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['5; Exactly conform. ', 'The natural language command requires a rotation action which is present in the JSON ontology. Also, information about angular velocity, angle and direction (clockwise) are stated correctly in the command as per the keys in the JSON structure. However, the values (540 for angle and 60 for angular_velocity) do not match, which is acceptable as the example in the structure is merely showing the type and not a required specific value.'] +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON.;['4; The JSON structure is given however, the natural language command is asking to complete a 540-degree rotation whereas the given JSON structure has a 90-degree rotation. Also, the angular_velocity in the JSON structure is 0.5, while the command specifies a speed of 60 degrees per second. Since these are only small discrepancies, a score of 4 is given instead of 5. The JSON structure should be:', '', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 60,', ' "angle": 540,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', '}'] +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 6.0, "angle": 540, "is_clockwise": true, "unit": "degrees" } };ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Fly forward for 3.7 kilometers at a speed of 70 km/h.,{ "action": "fly", "params": {"speed": 70.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 3.7, "unit_speed": "km/h", "unit_altitude": "meters" } };['4; The JSON conforms to the natural language command, however, the duration is not expected to be represented in kilometers. The duration value was incorrectly classified, it should represent time value or not be present at all since the distance was not given in the sample ontology. The direction also is slightly off, even though "forward" can be generally considered as a direction but it\'s not completely specific (like north, south, etc).'] +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h., Note: I will give you a hint, the ontology has an action called "cover_distance" which takes a "distance" parameter of type "float".;["0; The provided natural language command does not conform to any of the given JSON structures. None of the actions in the available structures match with the 'cover_distance' action referred to in the command and there is no parameter for 'distance'."] +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h., Note: I will give you the prompts one by one, and you have to answer them accordingly. Please make sure to answer only in JSON format, without any introduction, comments, or conclusion.;['0; The natural language command given is related to navigation, but none of the JSON structures provided cover this specific situation of traveling at a specific speed for a certain distance. The duration key in the JSON structures is in units of time (seconds), not distance (kilometers). The command also includes a term "velocity," which is not part of the sample ontology. Therefore, it does not conform to any of the JSON structures provided.'] +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 0)" } } };['0; The natural language command does not match the JSON structure. The command instructs to "move ahead" which indicates an action similar to \'fly\'. But the provided JSON structure represents \'navigate_to_point\'. Moreover, the coordinates in the JSON structure has no relevance to the command. Speed is mentioned in the command but it\'s not in the JSON structure.'] +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h., Note: I will give you a hint, the ontology has an action called "propel" which takes a "distance" parameter of type "float" and a "speed" parameter of type "float".;['0; The provided natural language command refers to an action "propel" and parameters "distance" and "speed". But in the provided ontology sample, there is no "propel" action or "distance" and "speed" parameters.'] +Descend to an altitude of 600 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 600.0 }} };["1; The JSON structure does not match with the given command. There is no action 'descend' or altitude parameter in the sample ontology."] +Reduce your altitude to 600 meters.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 600.0 }} };["0; The natural language command does not match with any of the JSON structures provided in the sample ontology. The action 'reduce_altitude' and its corresponding JSON structure are not in the sample ontology. Therefore, it cannot be converted to JSON."] +Move down to an altitude of 600 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['4; The natural language command partially conforms with the JSON structure. The action is "fly", the altitude is correctly mentioned as 600 meters. However, there\'s no mention of direction in the natural language command, and it\'s not certain if \'downwards\' or \'descend\' would be the correct term for direction when lowering altitude.'] +Decrease your altitude until you reach 600 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 600, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["1; The JSON structure contains an additional, not requested parameter - 'speed', 'direction', and 'duration'. Also, 'direction' set as 'down' does not conform to the natural language command."] +Descend until you are at 600 meters altitude.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 600.0 }} };['0; The JSON structure does not match any of the provided action keys in the ontology. There is no "descend" action key in the sample and also, the keys for altitude are not used in this context in the given sample ontology.'] +Hover in place for 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 22.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The JSON structure matches the "hover" action as stated in the command and includes the duration as mentioned. However, the unit for time is mismatched. The command specifies minutes, while the JSON uses seconds. Furthermore, the command doesn\'t specify the altitude for the hover action, but it is included in the JSON.'] +Stay still for a duration of 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 22.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Hold your position for a period of 22 minutes.,{ "action": "hold_position", "params": {"duration": { "type": "float", "value": 22.0 } } };['0; The JSON structure does not match the given command. The action "hold_position" does not exist in the provided ontology. In addition, the ontology specifies "hover" as the action for maintaining position, not "hold_position".'] +Remain stationary for 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 22.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; Although the action "hover" is correctly matched in the natural language command and the JSON structure, the duration is incorrect. The natural language command states "22 minutes" while the JSON structure represents this as 22.0 seconds.'] +Do not move for the next 22 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 22.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; The given command closely matches the JSON structure as it successfully identifies the action to be "hover" and correctly gives a "duration" of 22 minutes. However, the "unit_duration" in the JSON structure is given in "seconds", while the natural language command specifies the "duration" in minutes. Therefore, this conversion is not exactly accurate. As for the altitude parameter, although not provided in the command, the value given in JSON is accepted as reasonable.'] +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second., Note: I will give you a hint, the action is "rotate".;['3; The action "rotate" and parameter "angular_velocity" match but the "angle" is mentioned as 210 in the command whereas in JSON it is 90, and "is_clockwise" in the command is false (as it\'s counterclockwise) but in JSON it\'s true.'] +Turn left by 210 degrees with a rotational velocity of 50 degrees per second., { "action": "rotate", "params": {"angular_velocity": 50.0, "angle": 210.0, "is_clockwise": true, "unit": "degrees" } };['4; The command and the JSON structure match in the \'action\' (rotate) and most of the \'params\' (angular_velocity and angle), but the direction of rotation (is_clockwise) does not comply with the command. The command specifies to turn left which corresponds to a counter-clockwise rotation, not clockwise. The unit is correctly specified as "degrees".'] +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure is almost conform to the natural language command, the action is "rotate" which matches, "angular_velocity" is given and conforms, but the "angle" is not 90 degrees as in JSON, it\'s 210 degrees as in the command given. "is_clockwise"? is false according to command, instead of true as in the JSON. The "unit" is degrees, which matches.'] +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The JSON structure matches the action "rotate" from the sample ontology and includes the correct parameters but its \'angular_velocity\' value doesn\'t match the command\'s. The natural language command specifies a counterclockwise rotation, but the JSON structure defaults to a clockwise rotation. The \'angle\' parameter matches the command\'s specification of a 210 degree rotation. The \'angular velocity\' is indicated as "50 degrees per second" in the command but doesn\'t have a specified value in the JSON.'] +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The command partially matches with the JSON structure of the action "rotate". However, the provided JSON doesn\'t allow for differentiating between clockwise and counterclockwise rotation and doesn\'t have a field for specifying rate of rotation. The provided command specifies a counterclockwise rotation at a certain rate (degrees per second), which cannot be exactly represented in the given JSON structure.'] +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap.,{ "action": "fly", "params": {"speed": 110.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 7, "unit_speed": "km/h", "unit_altitude": "meters" } };['2; The command and the JSON structure do share some similarities such as the action "fly" and the parameter "speed". However, the command talks about flying forward for a certain distance (7 kilometers) whereas the JSON structure mentions a duration, not a distance. Furthermore, the unit of speed mentioned in the command is not present in the JSON structure. The instruction to "nap" in the command does not match any action in the JSON.'] +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest., Note: I will give you a hint, the distance and speed are in the "params" field of the "action" object.;["0; The command provided does not match any of the available actions in the sample ontology (navigate_to_point, fly, hover, rotate, land). There's no specific attributes provided that matches the keys 'speed' and 'distance'. Also the units used in the command(km/h, kilometers) are not mentioned in the JSON structures."] +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON.;['0; The natural language command does not match any of the actions in the provided JSON structures. The "travel forwards" action does not exist within the sample ontology, and speed or duration are defined in wrong units (km/h and kilometers instead of the meters/second and seconds respectively), which makes it incompatible with ontology keys.'] +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest., Note: I will give you the prompt as a string, and you must return the corresponding JSON.;['1; The natural language command involves an action ("fly") matching one in the JSON structure. However, the command\'s parameters, including distance and speed, do not conform to the provided ontology which contains \'altitude\', \'direction\', \'duration\', and \'unit_speed\' under \'fly\'. The JSON structure also lacks an action for the \'rest\' mentioned in the Command.'] +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break.,{ "action": "move", "params": {"speed": 110.0, "distance": { "type": "float", "value": 7.0 } } };['0; The natural language command implies moving at a certain speed for a specific distance, and then stopping, but there is no correspondent JSON structure action for \'move\' and \'stop\' in the ontology. The "speed" and "distance" keys also don\'t exist in the given ontology.'] +Ascend to an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['4; The JSON correctly represents the action "fly" and the parameter "altitude" to the value of 500 meters as specified in the command. However, the direction "up" isn\'t specified in the command and should ideally be removed from the JSON. The remaining parameters like "speed" or "duration" are not explicitly mentioned in the command but offer reasonable defaults.'] +Increase your elevation to 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The given command specifies an increase in elevation, however the provided JSON structure denotes a "rotate" action. There is no match between the command and the JSON structure, therefore the score is 0.'] +Climb up to a height of 500 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The provided command does not match with the JSON structure. The command instructs to climb to a certain altitude, but the JSON represents a "rotate" action.'] +Reach an altitude of 500 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; The JSON structure correctly identifies the action as \'fly\' and the altitude as 500 meters in line with the natural language command. However, the command does not specify a direction, speed or duration, so they should not contain any value in the JSON structure. Also, it is typically not common to refer to flying vertically as "up", "rise" would be more appropriate. Hence, the JSON structure doesn\'t perfectly match the command.'] +Move upward to a height of 500 meters.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" } } };['2; The natural language command instructs to move upward to a certain altitude but the action in the JSON structure is "navigate_to_point", which requires specific coordinates. Therefore, the conformity is weak. It cannot be identified in the command if the drone is supposed to navigate to a specific point or just ascend vertically.'] +Fly forward for 10 kilometers at a speed of 80 km/h.,{ "action": "fly", "params": {"speed": 80.0, "altitude": 0, "duration": 10000, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "kilometers" } };['2; The JSON partially matches the command. The "fly" action is correct and the "speed" parameter is correctly set to 80. However, the command does not specify duration, altitude, or direction which are present in the JSON. Additionally, the "unit_duration" does not match as the command specifies the drone should fly a distance of 10 kilometers, not for a duration of 10,000 kilometers. Finally, a direction parameter is also required, but is not provided in the command.'] +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float" and a "speed" parameter of type "float".;['0; There\'s no matching action "proceed" in the ontology. The parameters "distance" and "speed" are also not present in the provided JSON structures.'] +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h.,{ "action": "fly", "params": {"speed": 80.0, "altitude": 0, "duration": 10, "unit_speed": "km/h", "unit_duration": "kilometers" } };['2; Although the general action of the command matches that of the JSON structure ("fly"), many non-conforming aspects exist. In the JSON structure, the direction is not specified, and "altitude" is set, inconsistent with the command. Furthermore, the command\'s specified time duration in kilometers is not relevant to the JSON\'s "unit_duration" in seconds. Finally, the JSON structure\'s speed is in "m/s", while the command specifies "km/h".'] +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes several parameters, including "speed", "altitude", "direction", "duration", "unit_speed", "unit_altitude", and "unit_duration".;['1; The natural language command requests for a specific distance to be covered, which isn\'t a parameter in the "fly" action of the JSON structure. The "fly" action in the JSON structure focuses on speed, altitude, direction, duration, and units of these measurements, but doesn\'t take into account specific distances to be covered. Although the JSON command contains a "fly" action and mentions speed which could be factored in, the other parameters specified in the natural language command like the distance and direction ("straight ahead") are not included or supported in the JSON structure.'] +Move forward at a rate of 80 km/h for a total of 10 kilometers.,{ "action": "move", "params": {"speed": 80.0, "distance": { "type": "float", "value": 10.0 } } };["0; The natural language command does not match the provided JSON structure. The action 'move' and parameter 'distance' are not represented in the given JSON schema. Moreover, the unit of speed in the natural language command is km/h while the JSON example uses m/s."] +Hover in place for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["1; The command suggests the drone to hover for 15 minutes but the JSON structure suggests it hovers for 15 seconds, hence a big mismatch. Additionally, the altitude value in the JSON is 0.0 but the command doesn't provide any specified altitude."] +Stay suspended in one spot for a duration of 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The command asks to hover for a duration of 15 minutes but the JSON structure specifies the duration as 15 seconds. Altitude is unspecified in the command but the JSON suggests that the drone will be at 0 altitude which is likely not what the command intended.'] +Maintain a hovering position without movement for a period of 15 minutes., Note: Please provide the JSON response only, without any introduction, comments, or conclusion.;["1; The command asks for the drone to hover for 15 minutes, but the equivalent JSON structure's unit_duration is in seconds, not minutes. Therefore, it does not match perfectly."] +Keep floating in a fixed location for 15 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 15.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The JSON structure partially matches the natural language command. The \'hover\' action corresponds to "floating in a fixed location", but the "15 minutes" duration in the command is not reflected correctly in the JSON. It\'s value is set to 15.0 seconds, when it should be 900.0 (minutes converted to seconds). The altitude value is arbitrary, which is acceptable since it\'s not specified in the command.'] +Remain in mid-air without any displacement for a total of 15 minutes., Note: I will give you a hint, the action is not "hover".;['0; The natural language command implies hover action for 15 minutes. However, the provided JSON structures do not contain any action that meets this criteria. The "hover" action in the JSON structures is measured in seconds, not minutes. The instruction also explicitly states that the action is not "hover". Therefore, there\'s no matching JSON structure.'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;["4.5; The natural language command aligns with the sample ontology perfectly in terms of action, as well as 'angle' and 'is_clockwise' parameters under 'params'. The 'angular_velocity' is mentioned, however, the value provided differs from the one in the sample JSON structure, hence the deduction of 0.5 in conformity score. The unit is 'degrees' as in the given sample ontology."] +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second., Note: I will give you the ontology again for reference.;['5; Exactly conform. ', '', '{', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 45,', ' "angle": 180,', ' "is_clockwise": true,', ' "unit": "degrees"', ' }', ' }'] +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn., Note: I will give you a hint, the action is "rotate".;['4; The command is mostly conforming with the JSON structure. The action "rotate" and parameter "is_clockwise: true" are directly mentioned in the command. However, the command also refers to an "angular_speed" of 45 degrees per second, but in the JSON `angular_velocity` is 0.5, not 45. Similarly, the command asks for a 180-degree turn, while in the JSON "angle" is 90, not 180.'] +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The natural command mostly conforms to the "rotate" action in the JSON. The angular velocity, angle, and clockwise direction are specified. However, the angular velocity in the JSON example is given as 0.5, while the command requests 45 degrees per second. This discrepancy affects the conformity.'] +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON.;['4; The JSON structure mostly matches the natural language command. It follows the "rotate" action with the "angular_velocity" and "angle" parameters accurately captured. However, the "is_clockwise" parameter is missing in the natural language command, which leads to the deduction of a point since it isn\'t fully explicit.'] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The natural language command maps perfectly to the provided JSON structure. "Land" matches with "action": "land", and the given coordinates in JSON align with the "designated landing zone" mentioned in the command, assuming those are the correct coordinates for the zone.'] +Please touch down at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The command is asking for a landing at a specific set of coordinates, which is perfectly mirrored in the JSON structure - the action is "land" and the parameters specify a location with a tuple for coordinates.'] +Make your descent and land on the assigned landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The natural language command instructs to land which clearly matches with the "land" action in the JSON structure. However, it does not explicitly specify the landing coordinates, but the JSON structure has filled in specific coordinates, so it is not an exact conform.'] +It is required for you to land at the designated area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Ensure that you land precisely at the designated landing zone., Note: I will give you a hint, the designated landing zone is located at (37.7749° N, 122.4194° W) at an altitude of 100 meters.;['5; The natural language command instructs to "land at a specific location". This exactly conforms to the JSON structure provided for the \'land\' action, where the location parameter accepts a tuple of coordinates (latitude, longitude). The values provided, "(37.7749° N, 122.4194° W)" and "100 meters", aren\'t referenced as explicit parameters but can be reasonably accepted within the confines of this command and JSON structure. The command adheres to the sample keys for action and parameters.'] +Descend to an altitude of 100 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }} };['1; The action "descend" does not exist in the sample keys. However, the parameter "altitude" is specified correctly.'] +Reduce your altitude to 100 meters.,{ "action": "reduce_altitude", "params": {"altitude": { "type": "float", "value": 100.0 }} };['0; The command isn\'t represented in the JSON structures. There is no "reduce_altitude" action in the provided sample keys.'] +Decrease your altitude to 100 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };["0; The natural language command is about changing the altitude, which doesn't match the provided JSON that represents a rotation action."] +Descend until you reach an altitude of 100 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }} };["0; The JSON structure provided does not match any structures in the sample ontology. There is no 'descend' action in the ontology, so this command and its parameters are not captured in the ontology"] +Bring yourself down to an altitude of 100 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['1; The natural language command is requesting for the drone to lower its altitude to 100 meters which is likely part of the "fly" or "hover" action, not the "land" action. However, the JSON structure represents a "land" action which includes a "location" parameter with specific coordinates, which is not specified in the natural language command. Hence, the command does not accurately conform to the JSON structure.'] +Fly backward for 5 kilometers at a speed of 40 km/h.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "backward" }, "duration": 5, "unit_speed": "km/h", "unit_altitude": "meters" } };['4; Almost all keys match perfectly, but the "params: duration" in the JSON structure should represent the duration, not the distance flown.'] +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h., Note: I will give you a hint, the ontology has an action called "reverse_course";['0; The provided JSON structures do not contain an action key for "reverse_course" nor parameters for distance or speed in km/h. The given natural language command does not match any of the available JSON structures.'] +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h., Note: I will give you a hint, the ontology has an action called "travel" that takes a "distance" parameter of type "float" and a "speed" parameter of type "float".;['0; The provided JSON structures do not contain an "action": "travel" key or "distance" and "speed" parameters. There is no conformity as the ontology keys do not match with the natural language command.'] +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h., Note: I will give you a hint, the ontology has an action called "fly" but it does not have an action called "backward". So you should ignore that part of the prompt.;["2; The command issues a 'fly' action, which is present in the ontology, and specifies a speed which could be interpreted into m/s. However, the ontology does not support commanding in a 'backward' direction, thus the command and the JSON don’t match effectively. Moreover, a distance is mentioned, which the JSON structure does not incorporate."] +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h., { "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "reverse" }, "duration": 5, "unit_speed": "km/h", "unit_altitude": "meters" } };["3; The natural language command mostly matches the JSON structure but with few discrepancies. The 'direction' value in the JSON is specified as 'reverse', while the natural language command instructs to 'Fly in reverse', which doesn't necessarily correspond to the expected values for direction (e.g., north, south, etc.). The 'duration' key in the JSON has a value of 5, but this should be perhaps 'distance', since the command specifies a distance of '5 kilometers', not a duration. The altitude is specified as 0 in the JSON which is not provided in the natural language command."] +Circle around a specific location for 20 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };["2; The natural language command asks for a 'circling' action around a specific location (not specified in NLC) for a duration of 20 minutes, but the given JSON structure points to a 'rotate' action with specific parameters (angular velocity, angle, direction, unit) which partially matches the rotate part of the command but not entirely. Moreover, there is no link between the location and duration from the command to the JSON action."] +Perform a circular motion around a particular spot for a duration of 20 minutes., Note: I will give you a hint, the spot is located at (37.7749° N, 122.4194° W) at an altitude of 100 meters.;['0; The given natural language command doesn\'t conform to any of the provided JSON structures. There is no \'action\' key corresponding to "Perform a circular motion around a particular spot" or parameters that would allow for circular navigation around specific coordinates. Therefore, conversion to one of the given JSON structures is not possible.'] +Move in a circular pattern around a designated area for a period of 20 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['2; The natural language command asks for a circular movement around a designated area over a set period of time, which is not fully supported by the provided JSON. While the rotation could potentially simulate a circular movement, there is no ability to specify a designated area or the duration of the movement. The "rotate" action in the JSON only allows rotation in place and for a set angle, not for a set period of time.'] +Encircle a specific location for 20 minutes, continuously moving in a circular motion., Note: I will give you a hint, the location is in the format of (latitude, longitude).;['0; The provided natural language command does not match any of the given JSON structures. The actions described in the command (encircle or move in circular motion) do not conform to the available actions in the JSON structures ("navigate_to_point", "fly", "hover", "rotate", "land"). Therefore, there is no matching action between them.'] +Follow a circular path around a particular place for a duration of 20 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };["1; The natural language command asks for navigation of a circular path, which seems more related to a complex navigation action rather than a simple rotation, as the 'rotate' action in JSON would just change the direction of the drone without necessarily moving it along a path. Furthermore, there is no correlation between 'duration of 20 minutes' in the command and any duration or unit_duration in JSON. Displayed JSON does not provide all information conveyed in the command."] +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure matches with the command but the \'is_clockwise\' key should be "false" according to the command, and the angular velocity is far from the specified value in the command.'] +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec., Note: I will give you a hint, the action is "rotate".;['4; The natural language command matches with the "rotate" action and the "angular_velocity", "angle" and "is_clockwise" keys in the JSON structure. However, the counterclockwise direction specified in the command does not match with the "true" value for the "is_clockwise" key in the JSON structure and the angular velocity value is not matching.'] +Turn left by 270 degrees at a rate of 60 degrees per second., { "action": "rotate", "params": {"angular_velocity": 60.0, "angle": 270, "is_clockwise": true, "unit": "degrees" } };['5; Exactly conform. The command requests a rotation (turn), and the action in the JSON structure is "rotate". The specified angle of rotation (270 degrees) and rate (60 degrees per second) are mapped to "angle" and "angular_velocity" in the JSON params. Moreover, the specified direction of rotation ("left") is correctly understood as anticlockwise rotation, which - in the JSON structure - is represented by "is_clockwise": false. The "unit" in the JSON structure also matches the units used in the command ("degrees" and "degrees per second").'] +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['3; The natural language command does somewhat conform to the JSON ontology, however it does not completely conform. The "rotate" action in JSON ontology is present but the "angular_velocity" given in the command doesn\'t match with the JSON structure\'s value of 0.5. Moreover, the command suggests a counterclockwise rotation, whereas the JSON structure shows a clockwise rotation indicated by "is_clockwise": true. The angle, however, does have a reasonable value.'] +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees., Note: I will give you a hint, the action is "rotate".;["4; The action 'rotate' and 'angle' of 270 degrees are correctly identified and the is_clockwise is correctly listed as false to match 'anticlockwise'. However the 'angular_velocity' given as 60 degrees is not matched in the JSON structure, which lists 'angular_velocity' as 0.5. The unit of 'degrees' is correctly identified."] +Ascend to an altitude of 1000 meters.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }} };["0; The provided JSON structure does not match with the sample keys. The command 'ascend' does not exist in the sample keys. Also, the concept of altitude is only associated with 'fly' and 'hover' actions in the sample ontology."] +Reach a height of 1000 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The action "fly" is correct, but the direction value "up" does not match with the sample keys. The natural language command does not specify the speed, direction, and duration, therefore any reasonable value for those parameters would be accepted. However, the direction should be a cardinal point such as "north", "south", "east", or "west" as per the JSON structure, and "up" is not conform to it. Furthermore, the duration of 0 seconds does not seem reasonable for achieving an altitude of 1000 meters.'] +Climb up to an elevation of 1000 meters.,{ "action": "climb", "params": {"elevation": { "type": "float", "value": 1000.0 }} };['0; The natural language command doesn\'t match any of the JSON structures. The action "climb" and the parameter "elevation" aren\'t present in the sample keys.'] +Increase the altitude to 1000 meters.,{ "action": "fly", "params": {"speed": 12.0, "altitude": 1000, "direction": { "type": "str", "value": "north" }, "duration": 20, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['3; Partial match. The altitude parameter to 1000 meters matches in JSON. But speed, direction, and duration parameters which are not mentioned in natural language command are included in JSON.'] +Achieve a vertical position of 1000 meters.,{ "action": "fly", "params": {"speed": 0.0, "altitude": 1000, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["4; The JSON structure correctly captures the action ('fly') and desired altitude ('1000') from the natural language command. However, the direction 'up' is not explicitly stated in the command. While this direction can be inferred, the command itself does not specify it. Also, the duration and speed are stated as 0 in the JSON structure, which are technically correct but wasn't explicitly stated in the command."] +Fly forward for 15 kilometers at a speed of 100 km/h.,{ "action": "fly", "params": {"speed": 100.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters" } };['4; The JSON structure generally conforms to the natural language command. However, the value for duration and altitude are set to 0 which is not specified in the command, hence the substracted point. The "forward" direction is also not in the original JSON but can be considered an acceptable direction value.'] +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction., Note: I will give you a hint, the ontology has an action called "drive" which has a "speed" field, but it doesn't have a "velocity" field.;['0; The JSON structures provided do not have a "drive" action or a "speed" or "distance" parameter which are referred to in the natural language command. The command doesn\'t match any of the given JSON structures.'] +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h., Note: I will give you a hint, the ontology has an action called "travel" but it does not have a specific action called "travel straight ahead". So you should ignore that part of the prompt.;["0; The given natural language command does not match with any of the provided JSON structures. The action 'travel straight ahead' or parameters such as 'kilometers' or 'km/h' are not included in the sample JSON keys."] +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h., Note: I will give you a hint, the ontology has an action called "fly" which takes the speed and altitude as parameters.;["2; The command partially matches with the 'fly' action in the sample JSON structure, although it includes commands for speed, it lacks information for altitude and direction. The command mentions the speed in km/h but the sample JSON requires speed in m/s. The command does not provide information about duration which is a required parameter in the sample JSON structure."] +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers.,{ "action": "move", "params": {"speed": 100.0, "distance": { "type": "float", "value": 15.0 } } };['0; The natural language command mentions a "move" action at a certain speed and distance, but none of the JSON structures provide keys for a "move" action or parameters for speed and distance. The closest action is "fly", but it includes different parameters and does not match with the command. Therefore, the command doesn\'t conform to the sample ontology keys.'] +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; The command partially matches the JSON structure. The action "hover" is correct and the duration is translated correctly from 10 minutes to 600 seconds. However, the altitude was set to 0 while it was not specified in the command.'] +Stay suspended in midair for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The action "hover" is correct, and the duration type "float" is also correct, as a duration could be represented with a floating point number. However, the value of duration in the natural language command is 10 minutes, while it is 10 seconds in the JSON representation (unit_duration mismatch). Also, the command doesn\'t specify the altitude so the altitude value and unit in the JSON shouldn\'t be considered conforming.'] +Maintain a hovering position for a period of 10 minutes., Note: Please provide the JSON response only, without any introduction, comments, or conclusion.;['2; The natural language command represents the \'hover\' action but the duration value is not well defined in a way that corresponds with the "unit_duration" key in the JSON structure where it is defined in seconds not minutes.'] +Remain airborne without moving for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4.5; The command matches very well with the JSON structure in terms of action and parameters with correct type such as duration and unit_duration. However, the value of altitude is not specified in the command, thus it may not perfectly match.'] +Suspend yourself in one spot for a duration of 10 minutes., Note: I will give you a hint, the action is "hover".;["4; While the natural language command asks for hovering action, the given duration is in 'minutes' but in the JSON structure it is in 'seconds'. Conversion between units is not specified in instructions so points are reduced for the units mismatch."] +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON action is "rotate", as well as shows a clockwise rotation of 90 degrees, which aligns well with the natural language command. However, the value of \'angular_velocity\' specified in the JSON (0.5) does not match the angular speed mentioned in the command (30 degrees per second), hence not a perfect match.'] +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second., Note: I will give you the prompt as a string, and you must return the corresponding JSON.;['5; Exactly conform.', '', 'The command asks for a rotation in a clockwise direction by 90 degrees with a specific angular velocity. The corresponding JSON structure specifies the same \'action\' (rotate) and \'params\' such as \'angle\' (90), \'is_clockwise\' (true), and \'angular_velocity\' (0.5). While the angular velocities are different (30 in the command vs. 0.5 in the structure), as per the instruction "if a parameter\'s value is not specified in the natural language command, any reasonable value in the JSON is accepted", the values in the JSON can differ from the command, and it still conforms.'] +Rotate to the right by 90 degrees at a rate of 30 degrees every second., Note: I will give you a hint, the action is "rotate".;['4; The command partially conforms to the JSON structure. The natural language command corresponds to the \'rotate\' action. However, the rate of rotation"angular_velocity" doesn\'t match with the provided value of 0.5 in the JSON structure. And there is no key to denote the time for the rotation action in the JSON structure.'] +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second., Note: I will give you a hint, the action is "rotate".;['3; The action "rotate" matches however the "angular_velocity" in the JSON structure is 0.5 but in the command it\'s 30 degrees per second. Also the angle of rotation in the command and the JSON match. The direction of rotation also matches.'] +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation., Note: I will give you a hint, the ontology has an action called "rotate".;["4; The JSON structure for 'rotate' action is correctly interpreted but the 'angular_velocity' in the JSON structure is 0.5 while the command specifies an angular_velocity of 30."] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["5; Exactly conform. The command specifically identifies an action 'land', which correctly aligns with the similar JSON structure. Although specific coordinates are not mentioned in the command, the JSON structure fulfills this requirement with a specific set of coordinates in the location parameter."] +Please land at the specified landing area.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The natural language command asked for the action of landing and provided a specific location. The JSON structure correspondingly describes a "land" action and provides a specific tuple (latitude, longitude) for the location.'] +Ensure you land at the indicated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +It is important to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The command translates exactly into the designated landing action in the JSON structure. The latitude and longitude parameters provided in the JSON structure are reasonable values for the landing zone, even if they were not specifically stated in the command.'] +Make sure to land precisely at the assigned landing area.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 100)" } }, "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['3; The natural language command is largely converted correctly, there is the correct "land" action in the JSON. However, the "navigate_to_point" action key is also there, which seems unnecessary or improper as the natural language command does not specify any navigation before landing. It only emphasizes landing at a precise location. Also the value of coordinates in the params are not mentioned in the command but these are assumed reasonable.'] +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The given JSON structure doesn\'t match with any of the sample ontologies. There is no "descend" action in the sample keys. The action should be one of ["navigate_to_point", "fly", "hover", "rotate", "land"], but it is "descend". Also, the parameter "altitude" mentioned in JSON is not under the correct action category in the ontology. Therefore, the conformity is 0.'] +Decrease your altitude to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command instructs to decrease the altitude which implies a flying action. However, the JSON structure defines a rotation action which does not match the instruction. Therefore, they are not conforming.'] +Lower yourself to an altitude of 200 meters.,{ "action": "lower", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The action "lower" does not exist in the sample keys, so the JSON cannot be converted.'] +Go down to a height of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The command "Go down to a height of 200 meters" should map to an action of change in altitude rather than "fly". The "direction" value in the JSON structure is mismatched as "down" is not a direction. Sequencing and action parameters not in line with the natural language command.'] +Descend until you reach an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The provided JSON structure doesn\'t conform to the sample ontology provided. There is no "descend" action available in the sample ontology. Therefore, the structure cannot be matched to the natural language command.'] +Fly backward for 3 kilometers at a speed of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "backward" }, "duration": 3, "unit_speed": "km/h", "unit_altitude": "meters" } };['2; The given JSON partially matches with the natural language command. The direction value \'backward\' doesn\'t align with the sample keys and there\'s a confusion on duration\'s value as it\'s mentioned as 3 (presumably hours), yet in the command it represents distance, not time. Also, \'unit_altitude\' is given as "meters;" however, altitude isn\'t mentioned in the command.'] +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour., Note: I will give you a hint, the ontology has an action called "fly" but it does not have an action called "reverse_direction". So you should ignore that part of the prompt.;['2; The command partially matches with the "fly" action in the JSON ontology, but there is no direct match for "reverse your direction". The ontology also uses different units ("m/s" for speed and "seconds" for duration) and does not include distance as a parameter for the "fly" action.'] +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour., Note: I will give you a hint, the ontology has an action called "cover_distance" which takes two parameters, "distance" and "speed".;["0; The given natural language command does not match any of the provided JSON information as there is no 'cover_distance' action in the JSON structures. Furthermore, there is no provision for parameters like 'distance' and 'speed' in the provided JSON structures."] +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour., Note: I will give you a hint, the ontology has an action called "fly" which has a "speed" field, and an action called "navigate_to_point" which has a "coordinates" field.;['2; The natural language command corresponds partially to the "fly" action in the sample JSON structures, particularly with the specification of "speed". However, there\'s a mention of distance (3 kilometers) which the JSON structures does not account for. Also, the direction is not explicitly mentioned in JSON and "the opposite direction" from natural language command is unclear in this context.'] +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour., Note: I will give you a hint, the ontology has an action called "fly_in_reverse".;['0; The provided natural language command does not conform to any of the given JSON structures because there is no action called "fly_in_reverse" in the sample ontology.'] +Circle around a specific location for 30 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['1; Although the action "rotate" is found in both the command and JSON, the duration for which the rotation is to be done (30 minutes) has not been specified in the JSON structure. Moreover, circling around a specific location is different from just rotating in place, which means the natural language command doesn\'t perfectly map onto the given JSON.'] +Perform a 30-minute loop around a designated area.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 300, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "minutes" } };['1; The natural language command mentions a 30-minute loop around a designated area, which likely involves multiple actions including navigation and possibly rotation. However, the provided JSON structure only covers the "fly" action and does not account for the looping or the specific area. Furthermore, the details within the JSON like speed, altitude, and direction do not match with the command.'] +Go in a circular route around a specific spot for half an hour.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['2; The JSON structure contains the action "rotate", which can be interpreted as going in a circular route. However, the duration of the rotation, mentioned as "half an hour" in the command, is not represented in the JSON structure. Furthermore, the command refers to rotating around a "specific spot", which is not captured in the JSON structure as it lacks any parameters related to a point of reference for the rotation.'] +Complete a 30-minute circuit around a particular location.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 300, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The given natural language command instructs for a circuit (or round) activity of 30 mins around a specific location, but the provided JSON structure has the "fly" action with a direction specified as "north" for a "duration" of 300 seconds (5 mins) and no such parameter or action in the ontology is associated with a looping or rounding movement around a specific location. Thus, the instruction mismatches almost completely with the provided JSON structure.'] +Traverse in a circular path around a specific point for a duration of 30 minutes.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };["1; The natural language command is asking to traverse (move) in a circular path around a specific point for a duration of 30 minutes. This implies a complex action of moving and rotating that's not fully captured in the JSON structure. The given JSON only has the rotating action and no exact time duration is specified. Also, there's no information about moving around a specific point, hence the low conformity score."] +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second., Note: I will give you a hint, the action is "rotate".;['3; The natural language command partially conforms to the JSON. While the action "rotate" is present in the JSON, the parameter for "angular_velocity" is provided. However, the command asks for a counterclockwise rotation while the JSON has "is_clockwise" set to true. The "angle" parameter matches with the 360 degrees specified in the command, but the given angular speed of 90 degrees per second does not match the JSON\'s 0.5.'] +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second., Note: I will give you a hint, the action is "rotate".;["4; The JSON structure has the fields for the action 'rotate' and includes the parameters for angular velocity and angle. However, the direction of rotation is given as 'counterclockwise' in the command, while in the JSON structure the rotation is 'clockwise'. This minor mismatch results in a score of 4."] +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second., Note: I will give you a hint, the action is "rotate".;["4; The command translates to the 'rotate' action correctly with 'angle' parameter as 360 degree and 'angular_velocity' as 90. However, 'is_clockwise' parameter is given as true in the JSON structure, while the command says to rotate counterclockwise. Due to this contradiction, it isn't a perfect match."] +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON.;['4; The command partially matches with this JSON: {', ' "action": "rotate",', ' "params": {', ' "angular_velocity": 90,', ' "angle": 360,', ' "is_clockwise": false,', ' "unit": "degrees"', ' }', "}. The orientation is expected to be 'clockwise' based on the ontology, but the command specifies to turn in a 'counterclockwise' direction. This small discrepancy lowers the conformity score from a perfect 5 to 4."] +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 90.0, "angle": 360.0, "is_clockwise": true, "unit": "degrees" } };['2; The command and the structure both specify an action of rotating with a specific angular velocity and an angle of 360 degrees. However, the command specifies a counterclockwise rotation while the JSON structure specifies a clockwise rotation (is_clockwise: true). So the rotation directivity does not match.'] +Ascend to an altitude of 700 meters and swin.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 700.0 } } };['0; The natural language command is about ascending to a certain altitude which does not match with any of the actions provided in the JSON structures (navigate_to_point, fly, hover, rotate, land). Therefore, it does not conform.'] +Gain an elevation of 700 meters and swim.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; There is no correlation between the natural language command and the provided JSON structure. The command suggests an augmentation of altitude, which is not represented in the JSON structure. The term "swim" does not correspond to any activity stated in the JSON structure either.'] +Reach a height of 700 meters and engage in swimming.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 700, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The JSON structure partially matches the command. While it corresponds correctly to the "altitude" of 700 meters and the "fly" action, swimming is not a valid action in the given sample keys. Also, the direction is not defined as "up" in the command.'] +Ascend to a 700-meter altitude and partake in swimming.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 700.0 } } };['0; There are no matching actions or parameters in the JSON structures for the commands "ascend" and "partake in swimming".'] +Increase your altitude to 700 meters and then swim.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 700)" } } };['1; The command refers to actions of increasing altitude and swimming. While the JSON structure related to navigating to a point with specific coordinates is correctly specified, this doesn\'t completely match the command. Furthermore, "swimming" action does not exist in the sample keys and is not applicable for this ontology.'] +Fly forward for 8 kilometers at a speed of 70 km/h.,{ "action": "fly", "params": {"speed": 70.0, "altitude": 0.0, "direction": { "type": "str", "value": "forward" }, "duration": 0.0, "unit_speed": "km/h", "unit_altitude": "meters" } };['4; The direction value in the JSON structure is "forward" whereas the ontology example suggests it should be a compass direction such as "north". Also, the duration isn\'t specified in the command however it\'s 0 in the JSON structure. The command conforms for the most part but not perfectly.'] +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h., Note: I will give you a hint, the ontology has an action called "proceed" which takes a "distance" parameter of type "float" and a "speed" parameter of type "float".;['0; The provided JSON structures do not have an action named "proceed" or any parameters related to "distance" or "speed".'] +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h., Note: I will give you the prompts one at a time, and you must respond with the corresponding JSON.;["0; The natural language command does not align with any JSON structure provided since there is no parameter available for distance in the 'fly' action nor is there a unit for speed in km/h in the JSON structures."] +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h., Note: I will give you a hint, the ontology has an action called "travel" that takes a "distance" parameter of type "float" and a "speed" parameter of type "float".;['0; The provided JSON structures don\'t contain an action called "travel" and also there are no "distance" and "speed" as parameters according to the provided ontology in the JSON. The natural language command therefore does not match with any JSON structure.'] +Fly straight for a total of 8 kilometers at a speed of 70 km/h., Note: I will give you a hint, the answer should have a "distance" field.;["0; The given natural language command requests for 'fly' action with parameters of 'distance' and 'speed'. However, the provided JSON structures do not contain any 'distance' field in their 'params' which is necessary for a complete matching. Therefore, due to the missing 'distance' field, the command does not conform to the existing JSON structures."] +Hover in place for 20 minutes and watch TV.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 1200.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The action "hover" matches but the duration value given in the command does not match the ontology. Additionally, the command includes watching TV which cannot be translated using this ontology as no such action exists.'] +Stay stationary for a duration of 20 minutes while watching television., Note: I will give you a hint, the ontology has an action called "watch_television" which has a "duration" field of type "float".;['0; The command does not match with any of the JSON structures provided. The JSON does not have an action field that involves "watch_television" and the "hover" action that could possibly be used in this context for staying stationary does not include parameters involving television.'] +Maintain a hovering position and engage in television viewing for a period of 20 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["3.5; The JSON partially matches the command. It correctly identifies the 'hover' action with the duration appropriately defined. However, it's not clear what altitude to maintain as per the command, although the altitude is assumably correctly inferred as 50.0 meters in the JSON. The part of the command related to 'engage in television viewing' cannot be mapped to any action or parameter in the provided JSON structure. Hence, the score overall might be lower."] +Hold a steady hover for 20 minutes while enjoying television watching.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 20.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['1; The JSON structure corresponds to the "hover" action, but it lacks conformity in several aspects. While the command specifies duration in "minutes", the JSON structure gives it in "seconds". The altitude value is arbitrarily put at 100.0 meters in the JSON, while it is not mentioned in the initial command. Furthermore, the command\'s reference to "television watching" is entirely disregarded in the JSON structure.'] +Remain in one place without moving for 20 minutes and entertain yourself by watching TV., Note: You can assume that the user has already given the necessary permissions and authorizations to perform the actions.;['0; None of the actions specified in the natural language command match any of the actions in the JSON structures. The action to "remain in one place without moving" could be loosely interpreted as "hover," but the time unit given is in minutes, not seconds, and there is no parameter for watching TV. Additionally, the note about permissions and authorizations does not fit into any of the JSON structures.'] +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The command translates well into JSON but the value for "angular_velocity" does not match. It\'s specified as 0.5 in the JSON where as the command states an angular speed of 50. Other than that the "action" translates to "rotate", the "angle" translates to 270, and "is_clockwise" is inferred to be true from the "clockwise" in the command.'] +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second., Note: I will give you a hint, the action is "rotate".;['4.7; The JSON structure matches the action "rotate" and has the "angle" value set correctly to 270. However, "angular_velocity" is set to 0.5 which doesn\'t align with the speed defined in the command. A score of 5 is not given due to this mismatch.'] +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['3; The natural language command corresponds to the "rotate" action in the JSON structure and the direction of rotation is specified correctly as clockwise. However, the degree of rotation in the command (270 degrees) doesn\'t match the JSON structure (90 degrees) and the rate of rotation (50 degrees per second) is not represented correctly given the "angular_velocity" parameter. The correct value should be 0.5 based on the JSON structure.'] +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The natural language command fits the "rotate" action. However, the JSON structure given for angular velocity (0.5) does not match with the natural language command that states "50 degrees per second". This is because even though the unit of measure in the JSON and the natural language command is the same (degrees), the angular velocity values do not match. The natural language command specifies a rotation of "270-degree clockwise" which matches with the "angle" and "is_clockwise" parameters, but the angle in the JSON structure given is 90, not 270. Therefore, except for the angle and angular_velocity, other keys match perfectly well.'] +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation., Note: I will give you a hint, the ontology has an action called "rotate".;['3; The command includes an action that corresponds with the rotation action from the JSON objects. However, the action parameter values in the command such as angle (270 degrees) and angular velocity (50 degrees per second) are not included in the JSON. Moreover, the direction (clockwise) is correctly mentioned though.'] +Land at the designated landing zone, then sing loudly.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['1; The natural language command includes a command to land which is correctly represented in the given JSON structure. However, there is also a command to sing loudly which is not represented in the JSON nor is it part of the provided sample keys.'] +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } }, "action": "sing", "params": {"volume": 10.0} };['0; The command of "singing" does not exist in the sample keys and therefore should not be converted to JSON. Additionally, the conformity of the "land" action JSON structure is incorrect as there are two "action" keys in the same JSON object, which is not allowed.'] +After successfully landing at the designated landing zone, proceed to sing loudly.,{ "action": "rotate", "params": {"angular_velocity": 10.0, "angle": 180, "is_clockwise": true, "unit": "degrees" } };["0; The given natural language command talks about a specific action that is not related to the JSON structure provided. The JSON instruction, on the other hand, involves a 'rotate' action which doesn't match the command."] +Ascend to an altitude of 500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} };["0; The natural language command 'ascend' does not exist in the sample keys, therefore it cannot be converted to JSON."] +Increase your altitude to 500 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };["0; The natural language command is instructing to increase the altitude, which isn't reflected at all in the provided JSON structure. The JSON structure describes a 'rotate' action instead."] +Climb to a height of 500 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The natural language command refers to an action ("climb") which doesn\'t exist in the sample keys. The action and parameters given in the JSON structure are not conform to the sample ontology.'] +Reach an elevation of 500 feet.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["0; The natural language command specifies an action of reaching an altitude of 500 feet, but the JSON structure has the action of 'fly' with parameters speed, direction, duration, which are not specified in the natural language command. The altitude is given in meters in the JSON and feet in the command. Additionally, the direction 'up' does not match any direction provided in the command. None of the parameters in the natural language command align with the information in the JSON. The units 'feet' and 'meters' are not inter-changeable without conversion."] +Rise to a position 500 feet above ground level.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The provided JSON structure does not match the natural language command. The command talks about rising (which could correspond to the "fly" or "hover" actions, not the "rotate" action), and specifies an altitude not covered in the given JSON structure. The JSON structure is for a completely different action (rotation), so it doesn\'t conform to the command.'] +Fly forward for 1 mile at a speed of 30 mph.,{ "action": "fly", "params": {"speed": 30.0, "altitude": 0, "duration": 1.0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The natural language command to fly forward for 1 mile does not match the JSON structure as the "direction" parameter is missing in the JSON. Also, the speed unit is mentioned incorrectly as "m/s" in the JSON while "mph" is mentioned in the natural language command. Moreover, the duration is mentioned as 1.0 second in JSON which does not make sense as it is mentioning to fly 1 mile at 30 mph, which definitely takes more than 1 second.'] +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph., Note: I will give you a hint, the distance in miles is 1609.34 meters.;['0; The provided command wants the drone to move ahead for a specific distance at some velocity, neither "navigate_to_point" nor "fly" actions in the sample ontology has a parameter for distance or speed. Thus, there is no JSON that can properly describe this task.'] +Travel straight ahead for 1 mile at a speed of 30 mph.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(37.7749, -122.4194, 0)" } } };['1; The JSON structure given defines an action to navigate to specific coordinates, which is somewhat represented in the natural language command as "Travel straight ahead for 1 mile". However, the speed parameter specified in the command ("at a speed of 30 mph") is not represented in the JSON structure, and the specified coordinates in the JSON do not match with the natural language command.'] +Move forward for a distance of 1 mile, maintaining a speed of 30 mph.,{ "action": "move", "params": {"distance": { "type": "float", "value": 1609.344 }, "speed": 30.0, "unit_distance": "meters" } };['0; The given JSON structure does not match the sample ontology. The action "move" and parameters like "distance", "speed", and "unit_distance" are not included in the sample keys. Additionally, "mph" units are not provided in the ontology.'] +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph., Note: I will give you a hint, the distance in meters is approximately 1609.34 meters.;["1; The natural language command instructs to fly a certain distance at a given speed, but the provided JSON structure doesn't have corresponding keys or structure for these instructions. While there is a 'fly' action, it works with different parameters such as speed, altitude, and direction, but not with distance."] +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["4; The command matches the action and parameters provided in the JSON structure. However, the duration value is converted from minutes to seconds, and the command doesn't specify the altitude in the natural language command but zero altitude does not correspond to the command of hovering in place."] +Stay suspended in one spot for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The natural language command correctly matches the "hover" action in the JSON structure. However, the duration value is incorrect as the command states "10 minutes", but the JSON has a value of "10 seconds". Furthermore, the altitude parameter is not mentioned in the command, but it is included in the JSON with a value of 0. Notably, if the duration in seconds is converted to minutes, the conformity score would be higher.'] +Maintain a hovering position without moving for a period of 10 minutes., Note: Please provide the JSON response only, without any introduction, comments, or conclusion.;["1; The JSON structure for the action 'hover' does exist in the sample keys, but the duration specified in the natural language command is in 'minutes' and not in 'seconds' (unit_duration). We should consider unit conversion for conformity. Furthermore, there is no value for the key 'altitude'. Thus, it's a partial match."] +Stay suspended in mid-air without any motion for a time span of 10 minutes., Note: I will give you a hint, the action in this case is "hover".;['4; The natural language command corresponds with the "hover" action in the JSON structure, including the "duration" parameter. However, the provided unit of time in the command ("minutes") doesn\'t match with the sample ontology’s unit ("seconds"). Therefore some conversion is required, hence a perfect match is not achieved.'] +Hold a hover position for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 50.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["4; Mostly conform. The command requires to hover, which is correctly represented in the action. However, the duration in the command is indicated as 10 minutes, which has been converted to 600 seconds in the JSON structure. This is correct in terms of value, but not strictly what was specified in the command. The unit_duration in the JSON structure doesn't match the unit (minutes) mentioned in the command. All other parameters are conform even if they are not directly mentioned in the command, as they are reasonable values in the context."] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The command partially matches with the JSON structure. The "action" is correctly identified as "rotate". The "angle" is correctly given as 180, and the "is_clockwise" parameter is correct as true. The JSON structure does contain "angular_velocity", which could be interpreted as "degrees per second", but the provided number ("45 degrees per second") is too high, given the example value of 0.5.'] +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees., Note: I will give you a hint, the action is "rotate".;['5; The natural language command is providing clear instructions for the "rotate" action. While the command does not specify an "angular_velocity", it does describe a "rate" of rotation which can be interpreted as such. Additionally, it specifies the "angle" and "is_clockwise" parameters, making it fully conform to the provided JSON structure for the "rotate" action.'] +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second., Note: I will give you a hint, the ontology has an action called "rotate".;['4; The JSON structure does not specify the rotational speed (45 degrees per second), it only specifies the angular velocity. However, the command and the JSON are quite consistent in terms of action and parameters (angle and direction of rotation).'] +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second., Note: I will give you a hint, the action in the ontology is "rotate".;['5; The natural language command matches perfectly with the JSON structure and its parameters in the "rotate" action key. The direction is implied (clockwise), the angle is stated as 180 degrees, and the angular velocity is given as 45. The command is well reflected in the JSON structure, hence the perfect score.'] +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees., Note: You can assume that all the values are valid and in the correct range.;['5; The command is asking to rotate in a clockwise direction with an angular speed of 45 degrees per second for a total of 180 degrees. This exactly matches the "rotate" action in the JSON structure. The parameters "angular_velocity", "angle", and "is_clockwise" are specified, and "unit" is implicitly given as degrees.'] +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The JSON structure doesn\'t match with any of the examples from given ontology. There is no action "descend" in the ontology. The natural language command has no conformity with the keys of the given sample ontology, therefore the score is 0.'] +Decrease your altitude to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command talks about decreasing altitude but the JSON structure is for a rotation action and not related to changing altitude.'] +Lower your altitude to 200 meters.,{ "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The action "lower_altitude" doesn\'t exist in the provided ontology. The ontology provides commands for "navigate_to_point", "fly", "hover", "rotate", and "land", but the concept of lowering altitude is not explicitly covered by any of these actions. Although the "fly" and "hover" actions do contain an "altitude" parameter, neither of these actions imply a decrease in altitude.'] +Move down to an altitude of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['4; The JSON structure mostly matches the command. The "action" is correctly set as \'fly\' and the \'altitude\' parameter is correct. However, the \'direction\' parameter is off, as the ontology does not indicate that \'down\' is a valid direction.'] +Descend until reaching an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };["0; The action 'descend' and its associated parameters do not exist in the sample keys, hence the JSON does not match according to the given ontology."] +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "north" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } };['0; The natural language command instructs to fly in a "zigzag pattern", which is not present in the JSON structure and the speed unit should be m/s in the JSON structure, but it\'s given as km/h in the command. The natural language command also specifies a distance (3 kilometers) which is not included in the JSON structure.'] +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h., Note: I will give you a hint, the zigzag maneuver should be specified as a sequence of 4 turns, each turn should be specified as a tuple of (angle, distance) where angle is the angle of turn in degrees and distance is the distance to turn in meters.;['0; None of the provided JSON structures correspond to the given command. The command suggests a complex action which includes flying in certain pattern (zigzag in this case), however none of the JSON structures support such kind of actions. Therefore, no match can be established.'] +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h., Note: I will give you a hint, the ontology has an action called "fly" and it has a field called "speed".;["1; The command mentions the action 'fly' and the 'speed' parameter which exist in the JSON structure. However, the command specifies the 'speed' unit as 'km/h', but the 'unit_speed' in the JSON structure is 'm/s'. Also, the command mentions 'serpentine pattern' and 'distance' which do not exist in the JSON structure."] +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "zigzag" }, "duration": 3000, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The JSON structure contains the "fly" action which aligns with the command. However, the direction "zigzag" doesn\'t match the ontology\'s format which expects a cardinal direction (such as north, south, east, etc.), the unit_speed is in "m/s" whereas in the command it\'s "km/h", and "duration" shouldn\'t refer to distance ("3 kilometers") in the command but it should refer to time. Therefore, the conversion isn\'t mostly correct.'] +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h.,{ "action": "fly", "params": {"speed": 50.0, "altitude": 0, "direction": { "type": "str", "value": "zigzag" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters" } };['2; There is some matching between the command and the JSON structure - the action "fly" is present and the "speed" parameter is correctly specified. However, the "zigzag" direction isn\'t a standard direction value ("north", "south", "east", "west") as implied by the sample JSON structure. The provided JSON structure doesn\'t cater to the request of moving a "distance of 3 kilometers" either.'] +Perform a barrel roll to the left.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['1; The natural language command corresponds to the rotate action in the JSON structure, however, the parameters in the natural language command do not match those in the JSON structure. The command specifies to perform a "barrel roll to the left," which is not synonymous with the parameters in the JSON structure. The JSON includes parameters for "angular_velocity", "angle", "is_clockwise", and "unit", none of which are mentioned in the natural language command.'] +Execute a left barrel roll.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };["1; The natural language command asks for a barrel roll to be performed, however, the JSON structure only mentions a rotation action which is not the same as a barrel roll. As such, it doesn't entirely match the command."] +Rotate in a barrel roll towards the left.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } };['1; The JSON structure does correspond to a rotation action, but the parameters do not align with the natural language command. The command specifies a "barrel roll towards the left," which suggests a rotation that is not only about a specific axis (not covered in the JSON), but also in a specific direction (counterclockwise, not clockwise as indicated in the JSON). The angle in the JSON is also not specified in the command.'] +Perform a barrel roll in a counterclockwise direction.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": false, "unit": "degrees" } };["2; Although the command mentions a rotational movement (barrel roll), the specified direction (counterclockwise) partially matches the JSON structure. However, a barrel roll can't be correctly mapped onto a simple rotation, as it implies a more complex movement pattern."] +Initiate a leftward barrel roll.,{ "action": "rotate", "params": {"angular_velocity": 0.7, "angle": 135, "is_clockwise": true, "unit": "degrees" } };['2; The JSON structure is partially matching. The command mentions a "barrel roll" action, which is not explicitly presented in the JSON structure but can be interpreted as a "rotate" action. However, the direction of rotation in the command ("leftwards") is not consistent with the JSON ("is_clockwise": true), which implies a rightwards rotation.'] +Ascend to an altitude of 1000 feet and maintain it for 20 minutes., { "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }, "duration": 20, "unit": "feet" } };['0; The command is not in conformity with the provided JSON structures. The action "ascend" does not exist in the sample keys.'] +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes., Note: I will give you a hint, the altitude unit is meters.;['2; While the \'hover\' action is largely matched in the command i.e. "stay at that altitude for next 20 minutes", the parameters do not completely match - \'altitude\' approximated to 304.8 meters from 1000 feet and \'duration\' is approximately 1200 seconds from 20 minutes. However, the command is not reflected in the JSON as there is no \'climb\' action available. The unit_hint also diverges from the ontology, because the \'unit\' labels of the JSON format do not align exactly with the introduction of a unit_hint in the natural language command.'] +Increase your elevation to 1000 feet and sustain it for the next 20 minutes., Note: I will give you a hint, the action is "fly".;['2; There is a partial match in the air command in the JSON structure since the "fly" command does not specify altitude but instead it is used in the "hover" command. Additionally, the duration is in seconds, not minutes, and the altitude is in meters, not feet in the JSON structure, which makes it different from the command.'] +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes., Note: I will give you a hint, the altitude unit is meters.;['4; The natural language command mostly conforms to the JSON structure for the "hover" action, but the unit of measurement is referenced incorrectly as "feet" in the command, while it should be "meters" based on the sample ontology. Thus -1 point for the unit disagreement.'] +Elevate to 1000 feet and retain that height for the next 20 minutes., Note: I will give you a hint, the action is "elevate".;['0; The given natural language command and JSON structure don\'t match as neither "elevate" action nor "retain" action exist in the sample keys of JSON structure. The JSON actions contain "navigate_to_point", "fly", "hover", "rotate", and "land", but don\'t include "elevate". Additionally, the units in the command are in feet and minutes, while the units used in the JSON structures are meters and seconds.'] +Fly backward for 500 meters at a speed of 40 km/h.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0.0, "direction": { "type": "str", "value": "backward" }, "duration": 500, "unit_speed": "km/h", "unit_altitude": "meters" } };['0; The provided JSON does not match the natural language command appropriately. The "direction" parameter should not have a string value, it should rather take a cardinal point like \'north,\' \'south,\' \'east,\' \'west,\' and the duration is not supposed to state the distance the drone is to travel; these discrepancies make the JSON structure non-conforming with the command.'] +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h., Note: I will give you a hint, the ontology has an action called "cover" which takes a "distance" parameter of type "float" and a "velocity" parameter of type "float".;['0; The provided JSON structures do not include an action "cover" with parameters for "distance" and "velocity", so the command does not match with the given ontology.'] +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h.,{ "action": "move", "params": {"distance": { "type": "float", "value": 500.0 }, "speed": 40.0, "unit_distance": "meters", "unit_speed": "km/h" } };['0; The given natural language command does not match any of the JSON structure(s) in the ontology. The "action" key in the JSON command is "move", which is not present in the sample keys provided.'] +Reverse your flight and go for 500 meters at a velocity of 40 km/h., Note: I will give you a hint, the action is "fly".;['2; The natural language command somewhat matches with the "fly" JSON structure. An equivalent JSON command would have action as \'fly\' with parameters as direction, speed, and distance. However, the direction is not explicitly specified to be "south" in the command for it to be a reverse flight. Also, there is no \'distance\' key provided in the JSON sample ontology. So exact match cannot be achieved here.'] +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h., Note: I will give you a hint, the ontology has an action called "fly" but it does not have an action called "fly_opposite_direction". So you should ignore that part of the prompt.;["1; Although the action 'fly' exists in the provided JSON structure, the information given in the command, including the direction('opposite'), distance and speed, does not fully conform with the JSON structure. The structure for 'fly' does not contain a parameter for 'distance' and the 'direction' is specified as a string value rather than a direction relative to the current heading (opposite). Furthermore, the speed unit in the command (km/h) does not match the 'unit_speed' specified in the 'fly' action of the JSON (m/s)."] +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The natural language command mostly conforms to the JSON structure. The "action" is correctly identified as "rotate." However, although the "angular_velocity" provided in the command does not match the sample JSON structure and the "is_clockwise" parameter is contradicted (command says counterclockwise, JSON says true for clockwise). The "angle" is correct.'] +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees., Note: I will give you a hint, the action is "rotate".;['2; The JSON structure does mention the \'rotate\' action but the "angular_velocity" and "angle" values do not match with the command. Also, the "is_clockwise" value in the JSON is \'true\' which conflicts with the \'counterclockwise\' direction mentioned in the command.'] +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure mostly matches the given command. The action is correctly identified as "rotate". The "angle" and "angular_velocity" are also correctly specified. The direction of rotation is implied to be counterclockwise in the natural language command, which is the opposite of the "is_clockwise": true in the JSON, so it doesn\'t fully match the provided JSON sample. However, the natural language command does not specify any unit for the rotation, so the "unit": "degrees" in the JSON could be inferred from the context.'] +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second., { "action": "rotate", "params": {"angular_velocity": 15.0, "angle": 45.0, "is_clockwise": false, "unit": "degrees" } };['5; Exactly conform.'] +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change., { "action": "rotate", "params": {"angular_velocity": 15.0, "angle": 45, "is_clockwise": false, "unit": "degrees" } };['5; Exactly conform.'] +Descend to an altitude of 100 feet and hold for 5 minutes.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }, "duration": { "type": "float", "value": 5.0 } } };['1; The JSON structure does not match with the sample ontology. The action "descend" and the parameters mentioned in the JSON structure are not available in any of the provided sample ontologies. However, it semi-matches with the "hover" action but not completely. The unit of altitude and duration is not provided in the JSON while it was mentioned in the natural command.'] +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude, altitude)" }, "altitude": { "type": "float", "value": 100.0 } } };['1; The natural language command mentions moving downward to a specific altitude and maintaining it, which seems like a "hover" action but in the JSON structure, "navigate_to_point" action is used without assigning any value to coordinates. Moreover, the units of measures are not matching. The command specifies feet and minutes, while the JSON structure uses unnamed units.'] +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes., Note: I will give you the prompt as a string, and you must return the corresponding JSON.;["4; The command and JSON have partial conformity. The command instructs an action similar to the 'hover' action from the ontology where the drone maintains a certain altitude for a specific duration. However, the command requests the altitude to be in feet, while the ontology uses meters as the unit of measure for altitude. There is no command or parameter in the provided ontology to convert measurements from feet to meters."] +Descend until you reach an altitude of 100 feet and remain there for 5 minutes., { "action": " descend", "params": {"altitude": { "type": "float", "value": 100.0 }, "duration": { "type": "float", "value": 5.0 } } };['1; The natural language command is asking to descend to a specific altitude and then hover, which is not represented properly in the JSON structure. The action "descend" and the unit of duration (minutes) does not exist in the JSON ontology. While the "hover" action does exist in the ontology, it was not used in the provided JSON structure.'] +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes., { "action": "hover", "params": {"duration": { "type": "float", "value": 5.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; The command partially matches with the JSON structure. The "action" is correctly identified as "hover" and the "duration" value is correctly given(though in minutes not in seconds), but the "altitude" value and units don\'t match the command\'s value and units. The command mentions altitude in feet while the JSON structure mentions it in meters.'] +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h.,{ "action": "fly", "params": {"speed": 20.0, "altitude": 0, "direction": { "type": "str", "value": "circular" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; While there is an action to "fly" in the JSON example which corresponds to the command to "Fly", many of the essential parameters in the command are not provided for in the JSON structure - such as "circular pattern" and "radius of 1 kilometer". Therefore, the JSON data cannot fully represent all aspects of the command given.'] +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer.,{ "action": "fly", "params": {"speed": 20.0, "altitude": 100, "direction": { "type": "str", "value": "circular" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } };['0; The command "fly in a circular pattern with a radius of 1 kilometer" does not exist in the sample keys. Also, "direction": "circular" is not compatible with the JSON structure. Furthermore, "radius" is not part of the ontology provided.'] +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h.,{ "action": "fly", "params": {"speed": 20.0, "altitude": 0, "direction": { "type": "str", "value": "circular" }, "duration": 0, "unit_speed": "km/h", "unit_altitude": "meters", "unit_duration": "seconds" } };["1; The natural language command specifies flying in a circular motion for which no json structure or key is provided. The speed parameter does match with the natural language command but there are no parameters for the motion's radius and direction. Also, the command does not specify any duration or altitude. While, JSON parameter for direction has a string value, which does not make sense in this command. The 'circular' direction value does not conform with the type of direction needed for navigation (i.e., north, south, east, west)."] +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h., Note: I will give you a hint, the maneuver should be described using the "action" field, and the "params" field should contain the relevant information for that action.;["0; The given command doesn't match with any of the JSON structures. There is no action to perform a circular flight maneuver provided in the JSON structures, and also parameters like radius of the circle and speed at which to navigate are not present in the sample keys."] +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer., Note: I will give you a hint, the radius of a circle is 1000 meters.;['0; The provided natural language command does not conform to any of the action or parameter keys provided in the JSON structures. There is no action that specifically pertains to maintaining constant speed or flying in a circular path. The JSONs also do not include a parameter for defining a radius.'] +Ascend to an altitude of 300 meters and maintain it for 30 minutes., Note: I will give you a hint, the ontology has an action called "ascend" which takes an altitude as a parameter.;['0; The provided ontology does not have an "ascend" action, the natural language command cannot be converted to JSON.'] +Climb to a height of 300 meters and stay there for a duration of 30 minutes., Note: You can assume that all the values are valid and in the correct format.;["2; The command partially matches with the 'hover' action in the JSON structures. However, the altitude given is 50 meters not the 300 meters as mentioned in the command. Also, the duration mentioned is in seconds in the JSON, not minutes as stated in the command."] +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes., Note: I will give you a hint, the action is "ascend".;['0; The natural language command describes an action ("ascend") and parameters ("elevation", "duration") that do not exist in the provided JSON structures. There is no "ascend" action or corresponding parameters for such an action in the given ontology.'] +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes., Note: You can assume that all the actions are valid and that the parameters are valid values for the respective fields.;['3; The commands given partially match the JSON structures. The "navigate_to_point" and "hover" actions can be related to reaching a certain altitude (height) and maintaining it (hovering). However, the duration specified in the command is in minutes, while the "unit_duration" in JSON structures is in seconds so there is a mismatch in units. The "altitude" matches in the \'hover\' action but for avoiding ambiguity, it needs a clear specification to use the "altitude" in the "hover" action as the command could also imply a navigation action. But without GPS coordinates navigation action cannot work. Furthermore, explicit action of \'ensure\' doesn\'t exist in the JSON structures. Also, there\'s no action to explicitly set the altitude before hovering. So a direct and complete match is not present, but with some interpretations, it can be partly aligned.'] +Scale up to an altitude of 300 meters and sustain it for 30 minutes., Note: I will give you a hint, the altitude unit is meters.;['4; The natural language command mostly conforms to the JSON structure. However, the "hover" action in the JSON misses a crucial detail from the user\'s command: altitude increase to 300 meters. Other than that, the duration of the action(hover) matches perfectly with the JSON structure\'s parameters. The absence of "increase altitude" action reduces the overall match, hence the score of 4.'] +Hover in place for 15 minutes and then proceed forward for 2 kilometers., Note: I will give you a hint, the answer should have an "action" field with a value of "hover" and a "params" field with a value of a dictionary containing a "duration" field with a value of 900 (15 minutes in seconds).;['2; The command matches with "action": "hover", "duration" and "unit_duration" from the JSON structure. However, the continuation of the command to "proceed forward for 2 kilometers" is not provided for in the given JSON structure. There is no action key for moving forward in the sample keys.'] +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers., Note: You can assume that all the actions are valid and the parameters are valid and consistent with the ontology.;['0.5; The command "Stay stationary" matches to the action "hover", but the duration specified in minutes is inconsistent with the ontology which uses seconds. The command "continue moving ahead for a distance" could be somewhat related to "navigate_to_point", but the parameters don\'t match with the ontology as there are no coordinates provided and it mentions distance rather than coordinates.'] +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers., Note: You can assume that the position of the drone is already known.;["1; The commands suggest an action of hovering and then flying for a certain distance. However, the matching JSON structures in the sample ontology define hovering in terms of seconds and flying in terms of speed, duration and direction, not distance. Therefore, the provided command partially conforms, but there isn't a perfect or high conformity to the available JSON structure."] +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers., Note: You can assume that all the actions are valid and that the parameters are valid for the respective actions.;['1; The JSON structures don\'t match well with the command. The actions "stay put" and "start moving forward" are not clearly defined in the sample ontology. Also "for a distance of 2 kilometers" is also not represented in the provided JSON structures. They may loosely correspond to "hover" and "fly" actions, but the parameters and units do not entirely match. The command also gives duration in minutes while the JSON uses seconds. Therefore, the conformity score is low.'] +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers., Note: I will give you a hint, the action is "advance_forward".;['0; The natural language command mentions the action "hover" but does not specify the altitude which is a required parameter in the JSON. It also talks about "advance_forward" which doesn\'t have a corresponding action in the given JSON structures.'] +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second., Note: I will give you a hint, the action is "rotate".;["4; The given command matches mostly with the 'rotate' action in the JSON structure in terms of action and parameters like 'angle' and 'is_clockwise'. However, the angular_velocity provided in the command (20) does not match with the value in the JSON structure (0.5)."] +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second., Note: I will give you a hint, the action is "rotate".;['5; The natural language command fully corresponds to the JSON structure for the action "rotate". All required keys ("action", "params", "angular_velocity", "angle", "is_clockwise", "unit") are present and match the command. The parameters in the command ("90", "true", "degrees", "0.5") also match the parameters in the JSON structure.'] +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second., { "action": "rotate", "params": {"angular_velocity": 0.2, "angle": 90, "is_clockwise": true, "unit": "degrees" } };["4; Most of the natural language command matches the JSON informations. But the angular_velocity in the JSON structure is 0.5, while in the command, it's specified as 20, which means it does not match perfectly."] +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 0.2, "angle": 90, "is_clockwise": true, "unit": "degrees" } };["5; Exactly conform. The natural language command corresponds perfectly with the JSON structure, correctly specifying the 'rotate' action, the angle of rotation (90 degrees), the direction of rotation (clockwise), and providing a reasonable value for angular velocity (0.2), all of which match the given sample ontology."] +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The natural language command matches with the JSON structure in terms of the action of rotation and the direction of rotation (clockwise). However, the angular velocity specified in the natural language command (20 degrees per second) does not match the indicated speed in the JSON structure (0.5).'] +Fly in a serpentine pattern for 1 mile at a speed of 25 mph.,{ "action": "fly", "params": {"speed": 25.0, "altitude": 0, "direction": { "type": "str", "value": "serpentine" }, "duration": 1, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The action command "fly" is well translated. However, the "serpentine" direction does not match the ontology as no such value is defined. In addition, the unit of speed in the JSON command is "m/s" which does not match "mph" stated in the command. The unit_duration in the JSON command is in "seconds", yet the duration of "1" from the natural language command refers to a distance ("1 mile") not a time. Finally, the default altitude of \'0\' given in the JSON is also not mentioned in the natural language command.'] +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph., Note: You can assume that the serpentine flight maneuver is defined as a sequence of 5 turns, each turn being 90 degrees. Each turn is performed at a constant speed of 25 mph.;['0; The provided natural language command contains information about a flight maneuver of a certain style (serpentine) and a specified speed, but these details can\'t be mapped accurately to the provided JSON structures and keys, since keys for these specific actions or parameters (e.g., "serpentine flight maneuver", "speed" in mph) do not exist in the sample ontology.'] +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph.,{ "action": "fly", "params": {"speed": 25.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 1000, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["1; The command asks for a specific pattern for flight (in the shape of a serpent) which is not represented in the JSON. Also, the distance parameter (1 mile) in the command is not included in the JSON structure. The speed unit in command (mph) is not converted in the JSON structure, it's supposed to be converted from mph to m/s. Therefore, the matching between the natural language command and the JSON isn't very high."] +Fly in a zigzag pattern for a mile at a speed of 25 mph.,{ "action": "fly", "params": {"speed": 25.0, "altitude": 100, "direction": { "type": "str", "value": "north" }, "duration": 1000, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['0; The provided JSON structure does not match with the natural language command. The command requests a zigzag flying pattern which is not represented in the JSON instruction. Also, the speed unit in the command is in mph and not m/s as specified in the JSON.', ''] +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph., Note: I will give you a hint, the ontology has an action called "curve" which can be used to specify a curved flight path.;['0; The natural language command mentions an action ("curve") and some parameter values ("speed" and "distance") that are not present in the provided ontology keys. The JSON structure doesn\'t include any keys to represent "curve", "speed" or "distance" actions or parameters. Consequently, the command cannot be converted to a JSON structure based on the provided ontology, leading to a score of 0.'] +Descend to an altitude of 100 meters and hover in place for 10 minutes.,{ "action": "navigate_to_point", "params": {"coordinates": { "type": "tuple", "value": "(latitude, longitude)" } }, "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['5; Exactly conform.'] +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes., Note: You can assume that all the values are valid and in the correct format.;["4; The JSON structure that matches the natural language command is the hover action. However, the units of duration in the command are in minutes while in the JSON it’s in seconds. Therefore, this creates a slight discrepancy, so it's not a perfect match."] +Lower your altitude to 100 meters and remain stationary for 10 minutes., { "action": "lower_altitude", "params": {"altitude": { "type": "float", "value": 100.0 }} };["1; The JSON structure represents a command to lower altitude but does not include any information about remaining stationary for a certain duration, which is a part of the natural command. Also, there is no 'lower_altitude' action in the sample keys."] +Descend until reaching an altitude of 100 meters and then hover for 10 minutes., Note: I will give you a hint, the altitude field in the ontology is of type float.;['2; The natural language command covers two actions: descend (which is not present in the json structures) and hover. The hover action in the command partially matches with the json structure, specifying the duration but not matching the unit (minutes instead of seconds). The command also specifies the altitude but there is no information about changing the altitude in the hover action in the JSON structures.'] +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 10.0 }, "altitude": { "type": "float", "value": 100.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["1; The natural language command instructs an action similar to 'hover', however, the duration specified in the command is in minutes while in the JSON structure it's considered in seconds. Hence, the value of the duration does not match."] +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone., Note: I will give you a hint, the landing zone is a tuple of latitude and longitude.;['2; While some of the instructions in the command like "fly" and "land at the" designated location match the structure and actions specified in the sample ontology, the command gives instruction to fly \'for 3 kilometers\' and \'at a speed of 60 km/h\' in units that are not used in the provided JSON structures. Also, the \'designated landing zone\' mentioned is not specific and could not map to a precise set of \'latitude\' and \'longitude\'.'] +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area., Note: I will give you the ontology and the prompt, and you have to return the corresponding JSON.;['0; None of the provided JSON structures match with the command. There are multiple actions in the command that do not align with a single provided action in the sample structures, and the parameters as well as units used (kilometers, km/h) are not represented in the samples.'] +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone., Note: I will give you the ontology and the prompt, and you have to return the corresponding JSON.;['0; The provided command doesn\'t match with any of the given JSON structures. The command talks about traveling in a forward direction and a velocity of 60 km/h which is not similar to any given actions in the sample ontology. Also, the command refers to descending and landing at an assigned zone but the "land" action in the ontology only accepts a "location" parameter specified by latitude and longitude, which isn\'t mentioned in the command.'] +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone., Note: I will give you the ontology and the prompt, and you have to return the corresponding JSON.;["2; The JSON commands for flying and landing are available but the given command doesn't address specifics like flight altitude, direction, or duration -- all of which are present in the flying JSON command. Also, the speed is in a different unit (km/h instead of m/s) and the command doesn't specify a landing location."] +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area., Note: I will give you the ontology and the prompt, and you have to return the corresponding JSON.;['1; The natural language command talks about flying at a particular speed and landing afterwards. However, the provided JSON structure does not offer a clear association between these actions. The "fly" action does not include distance parameter on which it is supposed to keep flying. Similarly, there is no specific location specified for the "land" action in the command.'] +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second., Note: I will give you a hint, the action is "rotate".;['3; The natural language command partially conforms to the JSON structure. The "action" is correctly identified as "rotate", and "angle" is correctly represented as 180. However, the "angular_velocity" is mentioned as 25 in the command which doesn\'t align with 0.5 in the JSON. Furthermore, the "is_clockwise" parameter in the command is specified as false (inferred from \'counterclockwise\') whereas it is true in the JSON.'] +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second.,{ "action": "rotate", "params": {"angular_velocity": 25.0, "angle": 180, "is_clockwise": false, "unit": "degrees" } };['5; Exactly conform.'] +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second., Note: I will give you a hint, the unit of measurement for the angle is in degrees.;['4; The JSON command structure is mostly accurate. "action" is "rotate" which is correct, and "angle" is correctly 180. However, the "angular_velocity" value does not match the command\'s 25 degrees per second and "is_clockwise" should be false for counterclockwise rotation. The reference to the unit of measurement for the angle in the command does not need to be included as it is already discussed in the ontology keys. Overall, the JSON mostly bins, but some parameters values do not fit with the natural language command, hence the slight deduction in score.'] +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation., Note: I will give you a hint, the ontology has an action called "rotate".;['2; The natural language command partially conforms to the JSON structure. The action "rotate" matches but the "angular_velocity" key in the JSON structure does not match with the speed provided in the command ("25 degrees per second"). Also, the "is_clockwise" key does not align with the "counterclockwise" direction in the command. However, the "angle" key somewhat matches with the "180 degree rotation" in the command.'] +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second., Note: I will give you a hint, the action is "rotate".;['5; The command exactly matches the "rotate" action in the JSON structure, including the angle and angular velocity parameters. Even though the rotation direction is mentioned as counterclockwise in the command and the JSON structure has "is_clockwise": true, the two are not in direct conflict as the JSON format only requires "is_clockwise" to be a boolean value, not necessarily "true".'] +Perform a loop-de-loop and then watch TV.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command instructs to perform a non-existent action (watch TV) which does not exist in the given JSON structures. Additionally, while the JSON structure does correctly represent a rotation action, the natural language command of "perform a loop-de-loop" is not clearly defined in terms of \'rotate\' action parameters.'] +Execute a loop-de-loop and subsequently engage in watching TV.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['1; Only part of the command matches the JSON structure - the "rotate" action corresponds to the "execute a loop-de-loop" command. However, the "engage in watching TV" command does not match any of the JSON actions and no parameters for the "rotate" action have been specified in the command.'] +Carry out a loop-de-loop and proceed to view television.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 360, "is_clockwise": true, "unit": "degrees" } };['0; The natural language command is requesting a complex maneuver (a loop-de-loop) which doesn\'t correspond to any specific action in the sample keys. Additionally, the second part of the command "proceed to view television" doesn\'t make sense in the context of the sample keys. The given JSON structure corresponds to the "rotate" action, but the command does not request for any rotation.'] +Conduct a loop-de-loop before indulging in some TV time., Note: You can assume that the agent has the necessary capabilities and resources to perform the actions specified in the prompts.;['0; The natural language command does not match any of the given actions in the JSON structure(s). The command includes an action ("loop-de-loop") not provided in the provided JSON structure, and a totally unrelated element ("indulging in some TV time") which is not supported in the given ontology.'] +Maneuver a loop-de-loop and then enjoy some TV programming.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" }, "action": "land", "params": {"location": { "type": "tuple", "value": "(latitude, longitude)" } } };['0; The natural language command is requesting to maneuver a loop-de-loop then watch TV. This is not reflected in the provided JSON structures which describe a rotation movement and a landing action. The JSON structures do not match the command.'] +Ascend to an altitude of 500 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 500.0 }} };['0; The natural language command does not match the specified JSON structure. According to the sample ontology, there are no keys for the "ascend" action or for altitude in a separate \'ascend\' action. The command also uses feet as a unit, which is not used in the sample ontology which refers to altitude in meters.'] +Increase your height to 500 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };['0; The JSON information is not matched with the natural language command. The command is asking to increase the height, which is a change in altitude, but the JSON is about a rotation action, which does not comply with the command. The keys in the sample ontology also do not have a specific action for changing the altitude independently.'] +Climb up to an elevation of 500 feet.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 90, "is_clockwise": true, "unit": "degrees" } };["0; The JSON structure is about a 'rotate' action with specific parameters, which does not match the natural language command of climbing up to an elevation."] +Reach an altitude of 500 feet.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['1; The action "fly" matches but all the parameters do not conform. The altitude in JSON is specified in meters while the natural language command mentioned in feet. There is no direction \'up\' mentioned in the discussable ontology. Also, duration is given as 0, which doesn\'t really make sense to reach that altitude.'] +Go up to a height of 500 feet.,{ "action": "fly", "params": {"speed": 0.5, "altitude": 500, "direction": { "type": "str", "value": "up" }, "duration": 0, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['2; The natural language command asks to "go up" to a certain altitude, but instead of the "hover" action, it is represented in JSON using the "fly" action. Moreover, altitude unit in the command is \'feet\', but in JSON it\'s \'meters\'.'] +Fly forward for 1 mile at a speed of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } };['1; The command somewhat matches the JSON structure for the "fly" action. However, there are inaccuracies. The direction value is given as "forward" instead of cardinal direction (e.g., "north"). The units provided in the command (mph, miles) don\'t match with the unit parameters in the JSON structure (m/s, seconds). The duration value seems to be computed considering 1 mile distance and 40 mph speed, which is not expected in the original JSON, where duration is a separate parameter. The altitude is arbitrarily given as 0, which is not mentioned in the command.'] +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } };['2; The unit for speed in the JSON is mismatched with the unit given in the command ("mph" vs. "m/s"). Also, the direction is specified as "forward" in the JSON, while the command just states "move ahead", and no such direction exists in the sample ontology. Furthermore, the command "move ahead" relates more to navigation than to flying. The duration in the JSON object is also not specified in the command.'] +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } };['2; Although the action is correct, the direction should be "north" or not present, not "forward". The speed unit should be "m/s", not "miles". The duration is measured in "seconds", not "miles". The altitude is not specified in the command, so a value of 0 is reasonable, but it is not clearly matched with the JSON structure.'] +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } };["1; The natural language command partially matches the JSON structure. The action 'fly' and some parameters, such as 'speed', 'direction', 'duration', correspond. However, the values and some units specified in the command (mph, miles) don't match the ones given in the JSON structure (m/s, seconds). Also the command gives a distance (1 mile) while the JSON structure expects a duration."] +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile.,{ "action": "fly", "params": {"speed": 40.0, "altitude": 0, "direction": { "type": "str", "value": "forward" }, "duration": 1609.6, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "miles" } };['2; The natural language command has been interpreted accurately, and the action "fly" is correctly chosen. However, there are several inconsistencies in units. Speed is given in mph in the command and should be converted to m/s in the JSON, not be directly assigned as 40 m/s. The direction as "forward" is also not matching the "north" in the given sample ontology. The duration unit "miles" does not match the command\'s implied unit of time or sample ontology\'s "seconds". Also, the altitude is not mentioned in the command, yet it is shown as 0 in the JSON.'] +Hover in place for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['2; While the command does correctly interpret the hover action, it fails to correctly identify the unit of duration. The user specifies minutes, yet the JSON structure uses seconds. While the value is correctly translated to 600 seconds, it is not conform to the natural language command.'] +Remain stationary for a duration of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['4; The command is a match with the "hover" action and "duration" parameter. However, the command does not specify an altitude, and therefore the altitude given in the JSON could potentially be incorrect. Also, the unit of duration in the command is "minutes", while the JSON uses "seconds". Hence, despite being correct translation to second, it is not exact conformity.'] +Stay in one spot for a period of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };["4; Even though the duration matches the command (after converting minutes to seconds), the altitude, although not specified in the command, is set to zero, which doesn't necessarily conform to the concept of hovering. Hovering typically takes place at a certain altitude, not at ground level."] +Float in the same position for 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['5; Exactly conform. The natural language command is precisely matched with the provided JSON structure. It gives the correct action ("hover") and parameters (duration in seconds and altitude), even though the altitude is not explicitly stated in the command, implying the drone should maintain its current altitude. The conversion of minutes to seconds is also correctly done for the duration value.'] +Suspend yourself in midair for a span of 10 minutes.,{ "action": "hover", "params": {"duration": { "type": "float", "value": 600.0 }, "altitude": { "type": "float", "value": 0.0 }, "unit_duration": "seconds", "unit_altitude": "meters" } };['3; Partially conform. The action and duration parameters match perfectly. However, the altitude parameter doesn\'t align with the command - while the JSON structure indicates the drone at an altitude of 0 meters (on the ground), the command calls for the drone to hover, which implies it\'s being suspended in the air. Also, the duration unit implied in the command is "minutes" which is dissimilar from the one existing in the JSON structure being "seconds".'] +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['5; All information given in the natural language command is represented in the JSON command, including action ("rotate"), angle (180), is_clockwise (true), and angular_velocity (45). The unit of measurement for the angular velocity and the angle ("degrees") is also correct.'] +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['5; The natural language command exactly conforms to the JSON structure. In the `rotate` action, the angular_velocity, angle, and is_clockwise keys correspond to "45 degrees per second", "180 degrees", and "clockwise" respectively.'] +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure partially corresponds with the natural language command. The command asks for an action of "rotate" at an angle of 180 degrees in a clockwise direction, which matches with the ontology. However, the "angular_velocity" specified in the command does not match with the provided value in the JSON structure.'] +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure represents the action correctly, i.e., "rotate" but the angular_velocity which matches with the speed of the command is mentioned 0.5 instead of 45 as in the command given. Other parameters such as the angle are mentioned correctly.'] +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation., Note: I will give you a hint, the action is "rotate".;['4; The JSON structure correctly identifies the action as "rotate" and correctly indicates that rotation is clockwise. However, the angle in the natural command indicates a 180 degree rotation, while the angle in the JSON structure is 90 degrees. The angular velocity in the natural command is 45 degrees per second, while the angular velocity in the JSON structure is 0.5.'] +Land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The JSON structure provided matches the natural language command in action type "land". However, the specific latitude and longitude values given in the JSON are not mentioned in the command. The command does not specify a "designated landing zone" so the specific coordinates in the JSON can\'t be confirmed as matching the command, hence the score is not perfect.'] +Please land at the specified landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform. The command "Please land at the specified landing zone" matches with the JSON structure perfectly. The action is "land" and the parameters of location, which is a tuple of latitude and longitude, are provided.'] +You are required to touch down at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; Exactly conform.'] +Make sure to land at the designated landing zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['4; The natural language command matches with the "land" action in JSON structure. However, the specific location coordinates in the natural language command are not provided, but a reasonable location is given in the JSON.'] +It is important to secure a landing at the designated zone.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['5; The natural language command corresponds directly with the provided JSON structure. The command instructs to secure a landing, and the JSON structure corresponds with the action "land". Although the provided destination in the natural language command isn\'t mentioned, the JSON struct contains the valid and reasonable coordinates.'] +Fly sideways for 500 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The command to "Fly sideways for 500 meters" does not align with the JSON action of "land" and its corresponding parameters that describe a specific location to land at. The JSON does not define instructions for a sideways flight or distance parameters.'] +Move horizontally for a distance of 500 meters while airborne.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["0; The natural language command is asking for a horizontal movement while airborne, which doesn't match with the provided JSON structure that represents a landing action."] +Perform a lateral flight movement covering a distance of 500 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command relates to a lateral flight movement but the JSON structure corresponds to the action of landing at given coordinates, which does not conform to the command.'] +Traverse 500 meters in a sideways direction while in flight.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };['0; The natural language command suggests navigating an object ("Traverse 500 meters in a sideways direction while in flight") but the provided JSON structure is an action to "land" with latitude and longitude values for location. Thus, there is no conformity between the natural language command and the JSON data.'] +Travel parallel to the ground for a distance of 500 meters.,{ "action": "land", "params": {"location": { "type": "tuple", "value": "(37.7749, -122.4194)" } } };["0; The natural language command suggests a travel or navigation action but the provided JSON structure indicates a 'land' action. The parameters specified in the natural language command (distance of travel) is also not present in the JSON structure. The parameters do not match the command, hence there is no conformity."] +Ascend to an altitude of 1000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }} };["0; The natural language command contains the 'ascend' action which doesn't exist in the sample keys of the provided JSON structure. The JSON structure itself therefore doesn't conform to the given command."] +Increase your elevation to 1000 feet.,{ "action": "ascend", "params": {"altitude": { "type": "float", "value": 1000.0 }} };["0; The natural language command corresponds to an action not present within the provided JSON structure(s). The 'ascend' action does not exist in sample keys."] +Climb to a height of 1000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} };['0; The action "climb" in the JSON does not exist in the sample keys, and the parameter altitude is specified in feet while the sample ontology uses meters. Thus, the JSON information does not match the natural language command.'] +Reach an altitude of 1000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} };['0; The JSON structure does not match with the sample ontology. The action "climb" and its parameter "altitude" do not exist in the sample keys.'] +Move upwards to a level of 1000 feet.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} };["0; The natural language command refers to an action of climbing to a certain altitude, which does not conform to any action given in the JSON structures provided in the sample ontology. Moreover, 'climb' action and the altitude units as 'feet' are not available in the given JSON structures."] +Fly in a circular pattern with a radius of 500 meters for 20 minutes.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} };['0; The JSON structure does not match the natural language command. The command talks about flying in a circular pattern, not about climbing. The duration parameter and the radius parameter from the command are also missing in the JSON structure.'] +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} };["0; The natural language command asks for circular flight. However, the JSON structure illustrates an action for climbing, which doesn't align with the command. The command and JSON have no relationship; they reflect different actions."] +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} };['0; The command does not match the given JSON structure. The command mentions an action of flying in circular motion, and keeping a distance, which is not present in the provided JSON structures. Also, the provided JSON structure represents a "climb" action which is not mentioned in the command.'] +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} };['0; The provided JSON structure does not match with the given natural language command. The command describes a circular flight path while the JSON structure is for an action of climbing to a certain altitude.'] +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters.,{ "action": "climb", "params": {"altitude": { "type": "float", "value": 1000.0 }} };["0; The given natural language command is talking about a flight with specific time and trajectory, but the JSON structure represents a climbing action with specified altitude which doesn't match with the command."] +Descend to an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };["2; While the intention matches with the 'fly' action's JSON where the altitude can be decreased, the specific 'descend' action does not exist in the given ontology. Moreover, the 'fly' action requires other paramaters like speed, direction, duration, and respective units that are not provided."] +Go down to a height of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };['4; The natural language command matches well with the JSON structure, with the "altitude" being correctly labelled as 200. However, there is no direct connotation of "speed" or "direction" in the natural language command, throwing some doubt over the contents of "speed": 10.5 and "value": "down". Also, the duration is not specified in the command. The score is a 4 due to these minor mismatches.'] +Lower yourself to an elevation of 200 meters.,{ "action": "fly", "params": {"speed": 10.5, "altitude": 200, "direction": { "type": "str", "value": "down" }, "duration": 10, "unit_speed": "m/s", "unit_altitude": "meters", "unit_duration": "seconds" } };["4; The natural language command corresponds to the provided JSON with the correct action and altitude parameter. However, the direction has an unexpected value 'down', which is not specified in the original command."] +Decrease your altitude to 200 meters.,{ "action": "rotate", "params": {"angular_velocity": 0.5, "angle": 180, "is_clockwise": true, "unit": "degrees" } };["0; The JSON structure does not match the natural language command. The given command specifies a change in altitude, but the provided JSON details a rotation action. The key 'action' and its associated parameters do not correlate with the given command."] +Descend until you reach an altitude of 200 meters.,{ "action": " descend", "params": {"altitude": { "type": "float", "value": 200.0 }} };['0; The JSON structure does not match with any structures provided in the sample keys. The action "descend" and its parameters do not exist in the given ontology.'] diff --git a/evaluation/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV_SELECTED_5pct_for_manual_eval-HIST.png b/evaluation/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV_SELECTED_5pct_for_manual_eval-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..4094837d67c9e65856603151f2ed2d4fd3ec4415 GIT binary patch literal 50320 zcmeFa30%#2-#&gYm|?6*w#wKdOOw#PxGjyXm{gK#WQkB6Mf-w#MoDFmMB5aKB1C(g zj25JmXw^EWs8lCuIqm(g_c8ACHTUz}&+qyF?%(V8{9Z4;UN^VtobU2k-|y?X-q*)# ztB&@#F*C-nSgdgyepve>i#0Zp#Tr@h^(g$8`?`-0;4fvnbvx|ztoPg5?>@SZwPm-R z&0%Z1!w1c0AK!P>_Mo+u!ZM|0-!GYcz|PLbRz*(k$Ui=?%=)N>+{$|oqj8aMY<@7Z zWwDmcrT-0cxUPAe#dtneUkC* zWA^20>6A`elO7FQhY*YO=c(00c}?jded+sShBVYh9>dQtJkO_}yqLR55}*EozdgP_ zq00E@qVH@*i~c!V{42ibU#x2TzafIlf=f(`T7yXO%YfeR6yLK(9L zhiV^B&^&wP%9YYoN87_?_vfGS_KtY)U`4WB<79Q`uCp4hy_vtAmYR_>%Xag((i&pU%1&88Ra>)XmAID=svz 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z&c}(M*~GLN!GINzul+V{xVGP8JbZR$J4@F!-Wo+rF3K1ncnynjS^j~1YhHWB=w$na zIG#(8Ax#8c_}VRM2J*NOWaxMtklO=1`EG5s_gNg>oFYaG9z?zthrzsjVfLp;+9|8y zDbJS!(I7Luu*3 zZ*GLsw~!2rzNdJsWhgw_(3=NzK$N+^* z0$+8(;#XqA(x0fpXCbD%gYL=DWnNk6h_%sI%)-RmJDJ^%ir{_mEw-+%PgWBz|S_kMp&zdxpSlbOd|%gxj5w~8J_)27S_%>VbL GfBGAKZ2Bhv literal 0 HcmV?d00001 diff --git a/evaluation/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV_SELECTED_5pct_for_manual_eval.txt b/evaluation/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV_SELECTED_5pct_for_manual_eval.txt new file mode 100644 index 0000000..15727b3 --- /dev/null +++ b/evaluation/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV_SELECTED_5pct_for_manual_eval.txt @@ -0,0 +1,53 @@ +;;Human; +"134: Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward., Note: I will give you a hint, the ontology has an action called ""fly"" which takes several parameters, including ""speed"", ""altitude"", ""direction"", ""duration"", ""unit_speed"", ""unit_altitude"", and ""unit_duration"".";"[""2";0;" The natural language command partially matches with the JSON structure. It correctly identifies the 'fly' action and mentions 'speed' and 'direction' parameters. However, the parameters 'altitude', 'duration', and the related units are missing. Furthermore, the command mentions 'distance' which does not conform with any parametric keys in the 'fly' action JSON.""]" +"966: Hover in place for 10 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 600.0 }, ""altitude"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['2;3; While the command does correctly interpret the hover action, it fails to correctly identify the unit of duration. The user specifies minutes, yet the JSON structure uses seconds. While the value is correctly translated to 600 seconds, it is not conform to the natural language command.'] +312: Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data., Note: You can assume that all the values are valid and in the correct format.;['3.5;0;" The natural language command matches partially with the ""hover"" command in JSON where \'altitude\' parameter could be treated as ""rise to an elevation"" and \'duration\' could be interpret as ""remain stationary for 5 minutes"". But, the command lacks direct information for data collection.']" +"483: Move downward until you reach an altitude of 100 meters.,{ ""action"": ""navigate_to_point"", ""params"": {""coordinates"": { ""type"": ""tuple"", ""value"": ""(latitude, longitude, altitude)"" } } }";['1;3; The JSON structure indicates a navigation action to a specific point with latitude, longitude, and altitude coordinates. However, the natural language command only specifies an action of moving downward to a certain altitude, not a full set of coordinates for a specific point. The two only partially correlate, thus the low score.'] +"33: Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h., Note: I will give you a hint, the distance and speed are in the ""params"" field of the ""action"" object.";['1;0;" The natural language command requests to proceed in a direction for a distance at a specific speed. However, the JSON structures provided do not include a command that includes both direction and speed parameters within the ""params"" object. Therefore, the command cannot be accurately converted to a JSON structure using the provided models. The closest match is the ""fly"" action, but it does not include a distance parameter and measures speed in ""m/s"", not ""km/h"".']" +"637: Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 1200.0 }, ""altitude"": { ""type"": ""float"", ""value"": 50.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['1;2;" The natural language command implies an action that should be related to ""fly"" instead of ""hover"". Also, there are no parameters in the JSON structure, such as ""distance"" or ""velocity"". The mentioned parameters in the command don\'t match with any of the sample keys.']" +"712: Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second., Note: I will give you a hint, the action is ""rotate"".";['3;0;" While the action and the direction (""is_clockwise"": true) match perfectly, the \'angle\' in the command is 540 degrees, but only 90 degrees in the JSON. The \'angular velocity\' specified in the command (60 degrees per second) is not represented in the JSON structure at all. Therefore, not all parameters in the command are reflected in the JSON structure.']" +"78: Lower your altitude to 300 meters.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";['1;0;" The natural language command instructs to lower the altitude, however, the JSON structure represents a ""land"" action which might decrease altitude but is not strictly an ""altitude reduction"" and it also includes an unnecessary location parameter which is not null even though it isn\'t mentioned in the command. The altitude value of 300 meters is not represented anywhere in the JSON structure.']" +"564: Descend until you reach an altitude of 200 meters.,{ ""action"": "" descend"", ""params"": {""altitude"": { ""type"": ""float"", ""value"": 200.0 }} }";['0;1;" The JSON structure does not match any of the provided sample keys. The action ""descend"" in JSON structure is not in the sample ontology.']" +"657: Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour.,{ ""action"": "" descend"", ""params"": {""altitude"": { ""type"": ""float"", ""value"": 400.0 }} }";"[""0";0;" The given command talks about moving straight ahead at a certain speed, but the provided JSON structure indicates a 'descend' action which does not match the command.""]" +"533: Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";['1;4; The natural language command loosely refers to the location, but the action of landing is significantly altered by the addition of taking a nap. The JSON also defines a fixed location, but the command does not specify any coordinates.'] +"745: Climb up to a height of 500 meters.,{ ""action"": ""rotate"", ""params"": {""angular_velocity"": 0.5, ""angle"": 90, ""is_clockwise"": true, ""unit"": ""degrees"" } }";['0;0;" The provided command does not match with the JSON structure. The command instructs to climb to a certain altitude, but the JSON represents a ""rotate"" action.']" +"560: Maintain a speed of 50 km/h and travel for 500 meters in a forward direction., Note: I will give you a hint, the ontology has an action called ""travel"" which has a ""speed"" field, but it doesn't have a ""direction"" field. So you should ignore the ""direction"" field in the prompt.";['0;0;" The provided JSON structures don\'t contain an action called ""travel"", nor do they allow for specifying distance in meters or speed in km/h. The direction is explicitly stated to be ignored. This is not in conformity with the given JSON structures.']" +10: Cover a distance of 1 mile by flying forward at a velocity of 40 mph., Note: I will give you a hint, the distance in meters is approximately 1609.34 meters.;"[""1";0;" The given command refers to a 'fly' action, however the parameters specified in the command such as 'distance' and 'velocity' in 'mph' do not match with the parameters('speed', 'altitude', 'direction', 'duration', 'unit_speed', 'unit_altitude', 'unit_duration') in the 'fly' action JSON structure in the ontology. There is a mismatch in parameters and their units hence the low score.""]" +"243: Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters., Note: I will give you a hint, the action is ""ascend"".";['0;0;" The JSON structures provided do not have an ""ascend"" action or parameters for rate of ascent, hence the natural language command does not conform with the sample ontology.']" +"635: Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 1200.0 }, ""altitude"": { ""type"": ""float"", ""value"": 50.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['0;0; The command is about executing a rotation action while the JSON structure represents a hovering action. There is no match here.'] +"520: Ascend to an altitude of 2000 feet.,{ ""action"": ""ascend"", ""params"": {""altitude"": { ""type"": ""float"", ""value"": 2000.0 }} }";['0;1;" The natural language command refers to an action (""ascend"") and a parameter (""altitude"") that do not exist in the provided sample keys of the JSON structures. Hence, the command cannot be converted into any of the given JSON structures.']" +"539: Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour.,{ ""action"": ""fly"", ""params"": {""speed"": 40.0, ""duration"": 1000.0, ""unit_speed"": ""km/h"", ""unit_duration"": ""km"" } }";['2;2;" The natural language command specifies an action (""fly"") and a speed (""40 kilometers per hour"") which are correctly included in the JSON structure. However, the command also specifies a distance (""1 kilometer"") which is incorrectly represented as a duration in the JSON. The ""unit_duration"" is also incorrect (""km"" instead of ""seconds"" or ""minutes""), and no direction is specified which is necessary for the ""fly"" action according to the ontology.']" +"101: Make sure you reach the designated landing area safely.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";"[""5";4;" The natural language command asks for a 'land' action, which correctly corresponds with the 'land' action in the JSON structure. The location values are also correctly formatted as a tuple.""]" +"826: Complete a 30-minute circuit around a particular location.,{ ""action"": ""fly"", ""params"": {""speed"": 10.5, ""altitude"": 100, ""direction"": { ""type"": ""str"", ""value"": ""north"" }, ""duration"": 300, ""unit_speed"": ""m/s"", ""unit_altitude"": ""meters"", ""unit_duration"": ""seconds"" } }";['1;3;" The given natural language command instructs for a circuit (or round) activity of 30 mins around a specific location, but the provided JSON structure has the ""fly"" action with a direction specified as ""north"" for a ""duration"" of 300 seconds (5 mins) and no such parameter or action in the ontology is associated with a looping or rounding movement around a specific location. Thus, the instruction mismatches almost completely with the provided JSON structure.']" +"551: Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second., Note: I will give you a hint, the action is ""rotate"".";"[""4";0;" The JSON structure approximately matches the command. The action type 'rotate' and the parameters 'angular_velocity' and 'angle' match. However, the 'angular_velocity' value given in the command (20) doesn't match the JSON 'angular_velocity' value (0.5), and the 'is_clockwise' parameter in the JSON is not directly referred to in the command - although it is inferred by the term 'clockwise'.""]" +"74: Ensure that you land at the assigned landing zone.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";['5;4; Exactly conform.'] +"67: Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second., Note: I will give you a hint, the action is ""rotate"".";['4;0;" The action ""rotate"" and parameters ""angle"" and ""angular_velocity"" are in conformity with the JSON structure. However, ""is_clockwise"" parameter was not mentioned in the command, but its default value is true which matches with the command. Therefore, the score is not the maximum.']" +"470: Hover and take aerial photographs for 20 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 20.0 }, ""altitude"": { ""type"": ""float"", ""value"": 50.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" }, ""action"": ""take_aerial_photographs"", ""params"": {""frequency"": { ""type"": ""float"", ""value"": 1.0 }, ""altitude"": { ""type"": ""float"", ""value"": 50.0 }, ""unit_frequency"": ""seconds"", ""unit_altitude"": ""meters"" } }";['1;1;" The JSON structure is partially conform. The ""hover"" action matches with the command and its duration parameter is correctly represented. However, the action ""take_aerial_photographs"" does not exist in the sample keys and some keys like ""frequency"" and ""unit_frequency"" are not part of the ontology.']" +"221: Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second., Note: I will give you a hint, the ontology has an action called ""rotate"".";"[""4";0;" The natural language command conforms to the 'rotate' action in the sample keys. The direction (clockwise), angle (135 degrees), and speed (angular_velocity: 50) are all mentioned. However, the speed is significantly higher than the given sample JSON structure (0.5 compared to 50), although this could be considered as a reasonable value.""]" +"568: Remain stationary for a period of 2 minutes.,{ ""action"": ""rotate"", ""params"": {""angular_velocity"": 0.5, ""angle"": 360, ""is_clockwise"": true, ""unit"": ""degrees"" } }";['0;0; The natural language command asks for the system to remain stationary, which does not conform to the JSON command for rotation.'] +196: Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second., Note: I will give you a hint, the unit of measurement for the angle is in degrees.;['4;0;" The JSON command structure accurately represents a rotation action and includes the majority of the parameters cited in the natural language command, i.e., opposite direction (""anti-clockwise"") and angle (270 degrees). The command structure, however, lacks the representation of speed as described in the natural language command (45 degrees per second) and the \'is_clockwise\' is set to true rather than false for anticlockwise. Also, the value of \'angular_velocity\' doesn\'t match the speed in the natural language command, but it can be considered as a reasonable value.']" +923: Maintain your position for 15 minutes and then proceed ahead for 2 kilometers., Note: You can assume that the position of the drone is already known.;"[""1";0;" The commands suggest an action of hovering and then flying for a certain distance. However, the matching JSON structures in the sample ontology define hovering in terms of seconds and flying in terms of speed, duration and direction, not distance. Therefore, the provided command partially conforms, but there isn't a perfect or high conformity to the available JSON structure.""]" +"295: Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour., Note: I will give you a hint, the altitude unit is ""feet"" in this case.";['0;0; There are no matching actions or parameters about descending to a specific altitude, conducting a search and rescue mission or duration in hours within the given JSON structures.'] +"519: Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h., Note: I will give you a hint, the ontology has an action called ""fly"" which can be used to perform this task.";['0;0;" The given natural language command does not match or conform to any of the JSON structures provided in the sample ontology. While the ""fly"" action could potentially be used, it does not have parameters for pattern (like figure-eight) or distance covered, thus making the command impossible to translate as per the given JSON structure.']" +"54: Reach an elevation of 1000 feet.,{ ""action"": ""fly"", ""params"": {""speed"": 10.5, ""altitude"": 100, ""direction"": { ""type"": ""str"", ""value"": ""up"" }, ""duration"": 10, ""unit_speed"": ""m/s"", ""unit_altitude"": ""meters"", ""unit_duration"": ""seconds"" } }";['1;4;" The given natural language command is partially conforming to the JSON structure. Although the action ""fly"" is correctly used but the altitude value, unit of altitude and direction are not matching. The command specifies an altitude of 1000 feet, while in the JSON it is 100 meters. Also, the direction \'up\' isn\'t consistent with any direction as expressed in the ontology. The way up is not a valid cardinal direction in this case. Thus, the score is low.']" +"56: Achieve a height of 1000 feet.,{ ""action"": ""fly"", ""params"": {""speed"": 10.5, ""altitude"": 1000, ""direction"": { ""type"": ""str"", ""value"": ""up"" }, ""duration"": 30, ""unit_speed"": ""m/s"", ""unit_altitude"": ""meters"", ""unit_duration"": ""seconds"" } }";['2;4;" The JSON structure only partially matches the natural language command. The command instructs to achieve a height of 1000 feet, while the JSON mentions an altitude of 1000 meters which is not equivalent. The direction ""up"" is not requested in the command. Also the units used in JSON for altitude is ""meters"", whereas the command uses ""feet"". The duration and speed are not mentioned in the command but present in the JSON.']" +"357: Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour., Note: I will give you a hint, the ontology has an action called ""travel"" that takes a ""distance"" parameter of type ""float"" and a ""speed"" parameter of type ""float"".";['0;0;" The provided command requires an action called ""travel"", which does not conform to any of the actions (""navigate_to_point"", ""fly"", ""hover"", ""rotate"", ""land"") found in the JSON structure.']" +"884: Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h.,{ ""action"": ""fly"", ""params"": {""speed"": 50.0, ""altitude"": 0, ""direction"": { ""type"": ""str"", ""value"": ""zigzag"" }, ""duration"": 3000, ""unit_speed"": ""m/s"", ""unit_altitude"": ""meters"", ""unit_duration"": ""seconds"" } }";['1;4;" The JSON structure contains the ""fly"" action which aligns with the command. However, the direction ""zigzag"" doesn\'t match the ontology\'s format which expects a cardinal direction (such as north, south, east, etc.), the unit_speed is in ""m/s"" whereas in the command it\'s ""km/h"", and ""duration"" shouldn\'t refer to distance (""3 kilometers"") in the command but it should refer to time. Therefore, the conversion isn\'t mostly correct.']" +"176: It is required that you land at the designated landing zone.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";['4;4;" Justification: The natural language command is mostly conformed to the JSON structure. The \'land\' action and the location parameter are correctly mapped. However, the exact coordinates are not provided in the sentence, so the value ""(37.7749, -122.4194)"" in the JSON structure is assumed and there\'s no way to verify its correctness from the natural language command.']" +"252: Hover in place and capture aerial photographs of the surrounding area.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 30.0 }, ""altitude"": { ""type"": ""float"", ""value"": 100.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['3;5;" Partial conformity. The JSON structure corresponds to the hovering aspect of the command. However, the command ""capture aerial photographs of the surrounding area"" does not have an equivalent action in the provided JSON structures.']" +"626: Hover in place for 20 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 1200.0 }, ""altitude"": { ""type"": ""float"", ""value"": 50.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['5;5; Exactly conform.'] +"188: Stay suspended in position for a duration of 45 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 45.0 }, ""altitude"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";"[""2";2;" The duration value matches but it's not specified in the correct unit as the command requests minutes and the JSON structure gives in seconds. The altitude is not specified in the command but it is given a value in the JSON structure, which does not exactly conform to the request made in the natural language command.""]" +"127: Descend to an altitude of 400 meters.,{ ""action"": "" descend"", ""params"": {""altitude"": { ""type"": ""float"", ""value"": 400.0 }} }";['0;1;" The ontology does not include a ""descend"" action, so it cannot be matched based on this sample. The natural language command does not correlate with any of the provided JSON structures.']" +"647: Stay in one spot for a duration of 12 minutes.,{ ""action"": "" descend"", ""params"": {""altitude"": { ""type"": ""float"", ""value"": 400.0 }} }";['1;0;" The natural language command asks for the action to ""hover"" for a specific duration but the provided JSON structure represents a ""descend"" action which is not included in the command. The parameters in the JSON structure also do not match with those in the command.']" +143: Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise., Note: I will give you the ontology and the prompt, and you must return the corresponding JSON.;['4;0;" The JSON structure partially matches the natural language command with a few discrepancies. The ""action"" keys match, with both being ""rotate"". The ""angular_velocity"" parameter in the JSON corresponds to the rate of turning specified in the command. The ""angle"" parameter in the JSON and the total rotation in the command are also the same. However, the ""is_clockwise"" parameter in the JSON contradicts the command, as the rotation is stated to be counterclockwise in the command but true (which would imply clockwise) in the JSON. The unit of measure is accurately mirrored in both the JSON and the command as ""degrees"".']" +"329: Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot., { ""action"": ""navigate_to_point"", ""params"": {""coordinates"": { ""type"": ""tuple"", ""value"": ""(latitude, longitude)"" } }, ""action"": ""fly"", ""params"": {""speed"": 1.0, ""altitude"": 0.0, ""direction"": { ""type"": ""str"", ""value"": ""down"" }, ""duration"": 5.0, ""unit_speed"": ""m/s"", ""unit_altitude"": ""meters"", ""unit_duration"": ""seconds"" }, ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(latitude, longitude)"" } } }";['0;2;" The JSON provided corresponds to multiple actions, i.e. ""navigate_to_point"", ""fly"", and ""land"", which the natural language command also suggests doing. However, the concurrent actions in the JSON structure do not match with the given ontology structure. The ontology suggests that each individual command should have its own JSON structure. Thus, the provided JSON does not follow the correct format, hence the score of 0.']" +"630: Suspend motion and hover in the same position for a duration of 20 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 1200.0 }, ""altitude"": { ""type"": ""float"", ""value"": 50.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['5;5;" Exactly conform. The natural language command corresponds to the action ""hover"" with a specific duration value, which matches the JSON structure appropriately. The duration was converted from minutes to seconds to match the unit in JSON. The altitude parameter is not specified in the natural language command, but its value in JSON is accepted since it\'s reasonable.']" +"532: After successfully reaching the designated landing zone, feel free to relax and take a nap.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";['3;4;" Only the action \'land\' is correctly represented in the JSON structure. However, the parameters \'location\' data is arbitrary and the command ""relax and take a nap"" does not conform with any keys in the sample ontology.']" +"649: Keep still for 12 minutes.,{ ""action"": "" descend"", ""params"": {""altitude"": { ""type"": ""float"", ""value"": 400.0 }} }";"[""1";0;" The JSON structure is about 'descend' action not 'hover' action. The duration is not provided in JSON but mentioned in natural language command.""]" +"272: Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes., Note: I will give you a hint, the ontology has an action called ""surveillance_mission"" which has a ""duration"" field of type ""float"" with a default value of 30.0.";['0;0;" There is no provided JSON structure for a ""surveillance_mission"" action. Moreover, the tasks of ""rising to a height"" cannot be matched to any of the provided JSON structures.']" +"411: Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers.,{ ""action"": ""move"", ""params"": {""velocity"": 50.0, ""distance"": 2.0, ""unit_velocity"": ""km/h"", ""unit_distance"": ""meters"" } }";['0;2;" The natural language command does not match with any of the JSON structures. The command is calling for a ""move"" action with velocity and distance parameters, but none of the JSON structures provided have the ""move"" action or have parameters for velocity and distance.']" +"765: Make your descent and land on the assigned landing zone.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";['4;4;" The natural language command instructs to land which clearly matches with the ""land"" action in the JSON structure. However, it does not explicitly specify the landing coordinates, but the JSON structure has filled in specific coordinates, so it is not an exact conform.']" +"495: Fly forward and survey the area for 3 miles at a speed of 35 mph.,{ ""action"": ""fly"", ""params"": {""speed"": 35.0, ""altitude"": 100, ""direction"": { ""type"": ""str"", ""value"": ""forward"" }, ""duration"": 3, ""unit_speed"": ""m/s"", ""unit_altitude"": ""meters"", ""unit_duration"": ""seconds"" } }";['1;3;" The natural language command uses ""fly"", ""speed"" and ""duration"" but the speed value is in ""mph"" not ""m/s"". ""Direction"" is mentioned using ""forward"" which is not a correct direction value compared to ""north"" mentioned in the sample. Also, there are extra commands like ""survey the area"" which doesn\'t exist in the ontology. The duration is used in the context of distance not the time it should take. An ideal JSON would require the conversion of speed units to ""m/s"" and making sure that only parameters within the ontology are used. The direction isn\'t a cardinal point and isn\'t compatible with the JSON structure sample. Lastly, survey the area doesn\'t exist in the sample.']" +"938: Lower your altitude to 100 meters and remain stationary for 10 minutes., { ""action"": ""lower_altitude"", ""params"": {""altitude"": { ""type"": ""float"", ""value"": 100.0 }} }";"[""1";1;" The JSON structure represents a command to lower altitude but does not include any information about remaining stationary for a certain duration, which is a part of the natural command. Also, there is no 'lower_altitude' action in the sample keys.""]" +;;; +;;1.56; diff --git a/evaluation/evaluations/average_and_SEM_GPT4_score.txt b/evaluation/evaluations/average_and_SEM_GPT4_score.txt new file mode 100644 index 0000000..0ba1bce --- /dev/null +++ b/evaluation/evaluations/average_and_SEM_GPT4_score.txt @@ -0,0 +1,15 @@ +LLaMA-7b,Ground-Robot,2.00 \pm 0.11 +LLaMA-7b,UAV,1.00 \pm 0.09 +LLaMA-7b,Robotic-Arm,1.58 \pm 0.11 +LLaMA2-7b,Ground-Robot,2.24 \pm 0.12 +LLaMA2-7b,UAV,1.79 \pm 0.11 +LLaMA2-7b,Robotic-Arm,1.75 \pm 0.12 +LLaMA2-70b,Ground-Robot,2.80 \pm 0.10 +LLaMA2-70b,UAV,1.99 \pm 0.12 +LLaMA2-70b,Robotic-Arm,1.13 \pm 0.11 +GPT3.5,Ground-Robot,3.54 \pm 0.09 +GPT3.5,UAV,3.20 \pm 0.10 +GPT3.5,Robotic-Arm,2.42 \pm 0.12 +GPT4,Ground-Robot,3.64 \pm 0.09 +GPT4,UAV,3.12 \pm 0.11 +GPT4,Robotic-Arm,2.42 \pm 0.13 diff --git a/evaluation/evaluations/average_and_SEM_TOTAL_per_model_human_score.txt b/evaluation/evaluations/average_and_SEM_TOTAL_per_model_human_score.txt new file mode 100644 index 0000000..fad44c9 --- /dev/null +++ b/evaluation/evaluations/average_and_SEM_TOTAL_per_model_human_score.txt @@ -0,0 +1,5 @@ +LLaMA-7b,0.88 \pm 0.27 +LLaMA2-7b,1.35 \pm 0.32 +LLaMA2-70b,2.43 \pm 0.33 +GPT3.5,3.41 \pm 0.25 +GPT4,4.13 \pm 0.23 diff --git a/evaluation/evaluations/average_and_SEM_human_score.txt b/evaluation/evaluations/average_and_SEM_human_score.txt new file mode 100644 index 0000000..9cb7502 --- /dev/null +++ b/evaluation/evaluations/average_and_SEM_human_score.txt @@ -0,0 +1,15 @@ +LLaMA-7b,Ground_Robot,1.15 \pm 0.50 +LLaMA-7b,UAV,0.26 \pm 0.28 +LLaMA-7b,Robotic_Arm,1.19 \pm 0.53 +LLaMA2-7b,Ground_Robot,0.00 \pm 0.00 +LLaMA2-7b,UAV,1.56 \pm 0.50 +LLaMA2-7b,Robotic_Arm,2.52 \pm 0.65 +LLaMA2-70b,Ground_Robot,3.16 \pm 0.46 +LLaMA2-70b,UAV,2.04 \pm 0.54 +LLaMA2-70b,Robotic_Arm,2.08 \pm 0.64 +GPT3.5,Ground_Robot,3.25 \pm 0.44 +GPT3.5,UAV,3.46 \pm 0.34 +GPT3.5,Robotic_Arm,3.53 \pm 0.50 +GPT4,Ground_Robot,4.28 \pm 0.32 +GPT4,UAV,4.10 \pm 0.32 +GPT4,Robotic_Arm,4.02 \pm 0.53 diff --git a/evaluation/evaluations/average_and_confidence_GPT4score_total_per_model.txt b/evaluation/evaluations/average_and_confidence_GPT4score_total_per_model.txt new file mode 100644 index 0000000..bdc017a --- /dev/null +++ b/evaluation/evaluations/average_and_confidence_GPT4score_total_per_model.txt @@ -0,0 +1,6 @@ +LLaMA-7b,1.53 \pm 0.06 +LLaMA2-7b,1.93 \pm 0.07 +LLaMA2-70b,1.97 \pm 0.07 +GPT3.5,3.06 \pm 0.06 +GPT4,3.06 \pm 0.06 + diff --git a/evaluation/evaluations/summary_results.txt b/evaluation/evaluations/summary_results.txt new file mode 100644 index 0000000..92b60ed --- /dev/null +++ b/evaluation/evaluations/summary_results.txt @@ -0,0 +1,74 @@ +GPT-4: +-------------- +Ground robot: +GPT4: 3.64 +Human: 4.28 // + +UAV +GPT-4: 3.12 +Human: 4.1 + +Robotic arm +GPT-4: 2.42 +Human: 4.02 + + + +GP3.5: +-------------- +Ground robot: +GPT4: 3.54 +Human: 3.25 + +UAV +GPT-4: 3.20 +Human: 3.46 + +Robotic arm +GPT-4: 2.42 +Human: 3.53 + + +LLaMA7b: +--------------- +Ground robot: +GPT4: 2.00 +Human: 1.15 + +UAV +GPT-4: 1.00 +Human: 0.26 + +Robotic arm +GPT-4: 1.58 +Human: 1.19 + + +LLaMA2-7b: +--------------- +Ground robot: +GPT4: 2.24 +Human: 0 + +UAV +GPT-4: 1.79 +Human: 1.56 + +Robotic arm +GPT-4: 1.75 +Human: 2.52 + + +LLaMA2-70b: +--------------- +Ground robot: +GPT4: 2.80 +Human: 3.16 + +UAV +GPT-4: 1.99 +Human: 2.04 + +Robotic arm +GPT-4: 1.13 +Human: 2.08 diff --git a/evaluation/evaluations/uncertainty.txt b/evaluation/evaluations/uncertainty.txt new file mode 100644 index 0000000..6653610 --- /dev/null +++ b/evaluation/evaluations/uncertainty.txt @@ -0,0 +1,31 @@ +The uncertainty or margin of error in your estimate depends on the variability of the population and the sample size. In statistics, one commonly used measure of uncertainty is the standard error of the mean (SEM). + +The standard error of the mean is calculated using the formula: + +\[ SEM = \frac{s}{\sqrt{n}} \] + +where: +- \( s \) is the sample standard deviation. +- \( n \) is the sample size. + +This formula represents the standard deviation of the sampling distribution of the mean. In other words, it gives you an idea of how much the sample mean is expected to vary from the true population mean. + +To calculate the uncertainty, you would typically use a confidence interval. The 95% confidence interval is commonly used, and it is calculated as: + +\[ \text{Confidence Interval} = \text{Sample Mean} \pm \text{Margin of Error} \] + +The margin of error is often given by: + +\[ \text{Margin of Error} = \text{Critical Value} \times \text{Standard Error of the Mean} \] + +The critical value corresponds to the level of confidence you want. For a 95% confidence interval, the critical value is approximately 1.96. + +So, in summary, to estimate the average of a population with uncertainty: +1. Collect a random sample. +2. Calculate the sample mean and sample standard deviation. +3. Calculate the standard error of the mean using the formula above. +4. Determine the critical value based on your desired level of confidence. +5. Calculate the margin of error. +6. Formulate the confidence interval using the sample mean and margin of error. + +Keep in mind that this assumes the population is approximately normally distributed, and the sample size is large enough for the central limit theorem to apply. If the population is not normal or the sample size is small, other methods or adjustments may be necessary. \ No newline at end of file diff --git a/evaluation/final-NL-commands/NL_commands_Ground_Robot_commands_with_5rephrasings.txt b/evaluation/final-NL-commands/NL_commands_Ground_Robot_commands_with_5rephrasings.txt new file mode 100644 index 0000000..260fd43 --- /dev/null +++ b/evaluation/final-NL-commands/NL_commands_Ground_Robot_commands_with_5rephrasings.txt @@ -0,0 +1,1000 @@ +Move forward for 1 meter. +Proceed straight ahead covering a distance of 1 meter. +Advance by 1 meter in the forward direction. +Take a step forward spanning 1 meter. +Move ahead for a length of 1 meter. +Rotate counterclockwise by 90 degrees. +Rotate in an anti-clockwise direction by 90 degrees. +Turn left by 90 degrees. +Rotate 90 degrees counterclockwise. +Spin in the opposite direction by 90 degrees. +Move backward for 2 seconds. +Go backwards for a duration of 2 seconds. +Reverse your direction and travel for a span of 2 seconds. +Retreat for a time frame of 2 seconds. +Take two seconds to move in the opposite direction. +Turn left and move forward for 5 meters. +Move forward for 5 meters, then turn left. +Proceed for 5 meters, then make a left turn. +Take a left turn and continue moving forward for 5 meters. +Make a leftward turn and advance for 5 meters. +Rotate clockwise by 180 degrees. +Perform a 180-degree clockwise rotation. +Turn in a clockwise direction by 180 degrees. +Rotate by 180 degrees in a clockwise manner. +Execute a clockwise rotation of 180 degrees. +Move forward at a velocity of 0.5 meters per second for 10 seconds. +Proceed with a speed of 0.5 meters per second for a duration of 10 seconds. +Advance at 0.5 meters per second for a total of 10 seconds. +Travel forward, maintaining a velocity of 0.5 meters per second, for 10 seconds. +Move ahead for a period of 10 seconds, with a speed of 0.5 meters per second. +Turn right and move forward for 3 meters. +Proceed forward for a distance of 3 meters after making a right turn. +After turning right, continue straight for 3 meters. +Make a right turn and advance for a distance of 3 meters. +Execute a rightward turn and then travel straight ahead for 3 meters. +Move backward at a velocity of 1 meter per second for 4 seconds. +Go in reverse, traveling at a speed of 1 meter per second for a duration of 4 seconds. +Reverse direction and move at a speed of 1 meter per second for a period of 4 seconds. +Travel backward for 4 seconds, maintaining a velocity of 1 meter per second. +Move in the opposite direction at a constant speed of 1 meter per second for 4 seconds. +Rotate counterclockwise by 270 degrees. +Rotate 270 degrees counterclockwise. +Turn left by 270 degrees. +Perform a counterclockwise rotation of 270 degrees. +Rotate in the opposite direction by 270 degrees. +Move forward for 2 meters. +Proceed ahead by a distance of 2 meters. +Advance for a span of 2 meters. +Travel forward, covering a distance of 2 meters. +Move straight ahead, going 2 meters. +Rotate clockwise by 45 degrees and move forward for 1 meter. +Move forward for 1 meter while rotating 45 degrees clockwise. +Perform a 45-degree clockwise rotation, followed by a forward movement of 1 meter. +Rotate by 45 degrees in a clockwise direction and then proceed to move forward for 1 meter. +Combine a clockwise rotation of 45 degrees with a forward movement of 1 meter. +Turn left and move forward for 3 seconds. +Proceed straight for 3 seconds after taking a left turn. +Take a left turn and continue advancing for 3 seconds. +Make a left turn and proceed forward for a duration of 3 seconds. +After turning left, move straight ahead for 3 seconds. +Move backward for 1 meter. +Reverse direction and travel 1 meter. +Go back for a distance of 1 meter. +Retreat for 1 meter. +Take one step backward covering a distance of 1 meter. +Rotate counterclockwise by 120 degrees and move forward for 5 meters. +Perform a counterclockwise rotation of 120 degrees followed by a forward movement of 5 meters. +Rotate in the counterclockwise direction by 120 degrees and proceed forward for a distance of 5 meters. +Turn to the left by an angle of 120 degrees and then move forward for 5 meters. +Execute a 120-degree counterclockwise rotation and proceed ahead for a distance of 5 meters. +Move forward at full speed for 20 seconds. +Proceed ahead at maximum velocity for a duration of 20 seconds. +Travel straight ahead at top speed for a duration of 20 seconds. +Advance forward with utmost speed for a period of 20 seconds. +Go straight ahead at full throttle for a duration of 20 seconds. +Rotate clockwise by 60 degrees. +Turn right by 60 degrees. +Perform a clockwise rotation of 60 degrees. +Rotate in a clockwise direction, making a 60-degree turn. +Rotate to the right, making a 60-degree angle. +Move backward at a velocity of 0.75 meters per second for 8 seconds. +Reverse at 0.75 meters per second for a duration of 8 seconds. +Go in the opposite direction with a speed of 0.75 meters per second for 8 seconds. +Travel backwards with a velocity of 0.75 meters per second for a period of 8 seconds. +Move in reverse at a rate of 0.75 meters per second for the next 8 seconds. +Turn right and move forward for 4 meters. +Take a right turn and proceed straight ahead for a distance of 4 meters. +Make a right turn and continue moving forward for 4 meters. +Rotate to the right and advance ahead for a distance of 4 meters. +Go to the right and keep moving straight for 4 meters. +Move forward for 3 meters. +Proceed straight ahead for a distance of 3 meters. +Advance ahead 3 meters. +Go forward a total of 3 meters. +Travel straight for a distance of 3 meters. +Rotate counterclockwise by 90 degrees and move forward for 2 seconds. +Turn left 90 degrees and proceed forward for a duration of 2 seconds. +Perform a counterclockwise rotation of 90 degrees, followed by a 2-second forward movement. +Rotate anti-clockwise by 90 degrees and continue moving forward for 2 seconds. +Make a left turn of 90 degrees and proceed forward for 2 seconds. +Move forward for 5 meters. +Proceed ahead a distance of 5 meters. +Advance for a total of 5 meters. +Travel straight ahead covering a distance of 5 meters. +Go forward a length of 5 meters. +Turn left and continue for 10 seconds. +Make a left turn and keep going for 10 seconds. +Go left and continue for 10 seconds. +Take a left turn and continue for a duration of 10 seconds. +Proceed by turning left and maintaining that direction for 10 seconds. +Rotate counterclockwise by 90 degrees. +Turn 90 degrees counterclockwise. +Rotate in the opposite direction by 90 degrees. +Perform a counterclockwise rotation of 90 degrees. +Move in a counterclockwise direction, turning by 90 degrees. +Back up 2 meters and stop. +Move back a distance of 2 meters and come to a halt. +Reverse by 2 meters and come to a stop. +Retreat 2 meters and bring yourself to a standstill. +Step backward 2 meters and cease movement. +Move forward at a speed of 0.5 meters per second for 6 seconds. +Proceed ahead for a duration of 6 seconds at a velocity of 0.5 meters per second. +Advance for 6 seconds while maintaining a speed of 0.5 meters per second. +Travel forward for a period of 6 seconds, covering a distance of 0.5 meters in each second. +Execute a movement in the forward direction, achieving a velocity of 0.5 meters per second for a duration of 6 seconds. +Turn right and move forward for 1 meter. +Make a right turn and proceed ahead for a distance of 1 meter. +Take a right turn and continue moving straight for a distance of 1 meter. +Head to the right and advance forward for 1 meter. +Rotate right and proceed ahead for a length of 1 meter. +Rotate clockwise by 180 degrees. +Turn in a clockwise direction until you have rotated 180 degrees. +Perform a 180-degree clockwise rotation. +Rotate 180 degrees in the clockwise direction. +Turn to the right until you are facing the opposite direction. +Move backward for 3 seconds. +Go in reverse for a duration of 3 seconds. +Reverse your movement for a total of 3 seconds. +Backtrack for a period of 3 seconds. +Take a 3-second step backwards. +Turn left and continue for 7 meters. +Take a left turn and proceed straight ahead for a distance of 7 meters. +Make a left turn and keep going for 7 meters. +Go left and carry on for a distance of 7 meters. +Head to the left and continue for a length of 7 meters. +Move forward at a speed of 1 meter per second for 4 seconds. +Proceed ahead for a duration of 4 seconds with a velocity of 1 meter per second. +Advance for 4 seconds, maintaining a speed of 1 meter per second. +Travel forward for 4 seconds, moving at a rate of 1 meter per second. +For a period of 4 seconds, move ahead at a speed of 1 meter per second. +Rotate counterclockwise by 45 degrees. +Change the orientation by 45 degrees in a counterclockwise direction. +Turn left by 45 degrees. +Rotate anticlockwise by an angle of 45 degrees. +Adjust the position by rotating in the counterclockwise direction with an angle of 45 degrees. +Go straight for 8 meters. +Proceed in a straight line for a distance of 8 meters. +Continue in a straight direction for a span of 8 meters. +Maintain a straight path for a duration of 8 meters. +Stay on course for a distance of 8 meters ahead. +Turn right and move forward for 2 seconds. +Proceed straight for 2 seconds after making a right turn. +Take a right turn and continue moving ahead for a duration of 2 seconds. +Make a right turn and advance forward for 2 seconds. +After turning right, keep moving forward for a period of 2 seconds. +Move backward for 4 meters and stop. +Reverse for a distance of 4 meters and come to a halt. +Go back for 4 meters and then come to a stop. +Take 4 meters in reverse and cease movement. +Travel in the opposite direction for a distance of 4 meters and then pause. +Rotate clockwise by 270 degrees. +Turn to the right by 270 degrees. +Move in a clockwise direction, rotating 270 degrees. +Spin in a clockwise manner, completing a 270 degree rotation. +Rotate by 270 degrees in a clockwise fashion. +Turn left and continue for 3 meters. +Make a left turn and keep going for a distance of 3 meters. +Proceed straight for 3 meters after making a left turn. +After turning left, travel straight for 3 meters. +Take a left and continue on for a distance of 3 meters. +Move forward at a speed of 0.3 meters per second for 5 seconds. +Proceed ahead for a duration of 5 seconds at a velocity of 0.3 meters per second. +Advance at a rate of 0.3 meters per second for a period of 5 seconds. +Travel forward at a speed of 0.3 meters per second, maintaining it for 5 seconds. +Go straight ahead for 5 seconds while maintaining a velocity of 0.3 meters per second. +Rotate counterclockwise by 60 degrees. +Turn 60 degrees counterclockwise. +Rotate in the opposite direction by 60 degrees. +Rotate to the left by 60 degrees. +Make a counterclockwise rotation of 60 degrees. +Go straight for 6 seconds. +Proceed in a straight line for a duration of 6 seconds. +Keep moving forward in a straight path for 6 seconds. +Maintain a straight course for 6 seconds. +Continue in a straight direction for a period of 6 seconds. +Turn right and move forward for 7 meters. +Take a right turn and proceed straight ahead for a distance of 7 meters. +Make a right-hand turn and continue moving forward for a length of 7 meters. +Head to the right side and advance for a distance of 7 meters. +Rotate to the right and travel straight for 7 meters. +Move 2 meters forward. +Proceed straight ahead by a distance of 2 meters. +Advance 2 meters in the forward direction. +Take a step forward for a distance of 2 meters. +Move straight ahead, covering a distance of 2 meters. +Turn left and move forward for 5 seconds. +Move forward for 5 seconds after turning left. +After making a left turn, proceed forward for 5 seconds. +Take a left turn and continue moving forward for 5 seconds. +Start moving forward for 5 seconds after making a left turn. +Rotate counterclockwise by 90 degrees. +Rotate 90 degrees counterclockwise. +Perform a counterclockwise rotation of 90 degrees. +Rotate by 90 degrees in the counterclockwise direction. +Turn left by 90 degrees. +Move 3 meters backward. +Go back 3 meters. +Retreat 3 meters. +Step 3 meters in reverse. +Travel in the opposite direction for 3 meters. +Turn right and move forward for 1 meter. +Take a right turn and proceed straight ahead for a distance of 1 meter. +Make a right turn and advance ahead for a distance of 1 meter. +Head to the right and continue moving forward for 1 meter. +Rotate to the right and proceed in a forward motion covering a distance of 1 meter. +Go to the living room and stop. +Please proceed to the living room and come to a halt. +Make your way to the living room and cease moving. +Head to the living room and stand still. +Move towards the living room and come to a stop. +Move 4 meters forward at a speed of 2 meters per second. +Proceed ahead by a distance of 4 meters while maintaining a velocity of 2 meters per second. +Travel in the forward direction for 4 meters with a constant speed of 2 meters per second. +Advance 4 meters in the forward direction while maintaining a velocity of 2 meters per second. +Propel oneself forward at a rate of 2 meters per second, covering a distance of 4 meters. +Rotate clockwise by 180 degrees. +Turn 180 degrees in a clockwise direction. +Perform a 180-degree clockwise rotation. +Rotate by 180 degrees in the clockwise direction. +Turn in a clockwise fashion, rotating 180 degrees. +Turn left and move forward for 3 meters. +Make a left turn and proceed straight ahead for a distance of 3 meters. +Take a left and continue moving forward, covering a span of 3 meters. +Rotate to the left and advance for 3 meters. +Shift towards the left and travel straight for a distance of 3 meters. +Move 2 meters backward at a speed of 0.5 meters per second. +Back up 2 meters with a velocity of 0.5 meters per second. +Go in reverse for a distance of 2 meters at a rate of 0.5 meters per second. +Retreat at a speed of 0.5 meters per second for a duration that covers a distance of 2 meters. +Travel backwards at 0.5 meters per second, covering a distance of 2 meters. +Go to the bedroom and stop. +Please proceed to the bedroom and come to a halt. +Make your way to the bedroom and cease your movement. +Head to the bedroom and pause. +Go to the bedroom and stand still. +Rotate counterclockwise by 45 degrees. +Turn 45 degrees in the counterclockwise direction. +Rotate anticlockwise at an angle of 45 degrees. +Rotate left by 45 degrees. +Perform a 45-degree counterclockwise rotation. +Turn right and move forward for 4 meters. +Proceed forward for a distance of 4 meters after making a right turn. +Take a right and continue moving ahead for 4 meters. +After making a right turn, advance straight for a distance of 4 meters. +Make a right-hand turn and proceed forward for 4 meters. +Move 1 meter forward at a speed of 1 meter per second. +Proceed ahead by 1 meter with a velocity of 1 meter per second. +Advance forward by a distance of 1 meter, maintaining a speed of 1 meter per second. +Go one meter ahead, moving at a rate of one meter per second. +Travel forward for 1 meter while maintaining a speed of 1 meter per second. +Rotate clockwise by 270 degrees. +Turn 270 degrees in a clockwise direction. +Rotate by 270 degrees in a clockwise manner. +Execute a clockwise rotation of 270 degrees. +Shift the orientation by 270 degrees in a clockwise fashion. +Turn left and move forward for 2 seconds. +Proceed forward for 2 seconds, then make a left turn. +Take a left turn and continue moving straight ahead for 2 seconds. +Make a left turn and drive forward for 2 seconds. +After turning left, continue moving straight for 2 seconds. +Move 3 meters backward at a speed of 1.5 meters per second. +Go backwards for a distance of 3 meters at a velocity of 1.5 meters per second. +Reverse direction and travel a distance of 3 meters at a speed of 1.5 meters per second. +Retreat by 3 meters, maintaining a constant speed of 1.5 meters per second. +Travel backwards for 3 meters, maintaining a velocity of 1.5 meters per second. +Go to the dining room and stop. +Proceed to the dining room and come to a halt. +Head over to the dining room and pause. +Make your way to the dining room and bring yourself to a stop. +Move towards the dining room and cease your motion. +Rotate counterclockwise by 60 degrees. +Turn left by 60 degrees. +Rotate in the opposite direction by 60 degrees. +Execute a 60-degree counterclockwise rotation. +Rotate anticlockwise by 60 degrees. +Move forward for 5 meters. +Proceed ahead for a distance of 5 meters. +Advance straight ahead for 5 meters. +Travel forward for a distance of 5 meters. +Go in the forward direction for 5 meters. +Rotate counterclockwise by 90 degrees. +Turn 90 degrees counterclockwise. +Rotate anticlockwise by 90 degrees. +Rotate to the left by 90 degrees. +Change the orientation to the left by 90 degrees. +Move backward for 3 seconds. +Reverse for a duration of 3 seconds. +Go in reverse for a period of 3 seconds. +Travel backwards for a total of 3 seconds. +Move in the opposite direction for 3 seconds. +Turn left and move forward for 2 meters. +Proceed forward for 2 meters after making a left turn. +Make a left turn and advance for 2 meters. +Take a left and continue forward for a distance of 2 meters. +Move ahead for 2 meters after making a leftward turn. +Make a U-turn and move in the opposite direction for 10 seconds. +Perform a U-turn and proceed in the opposite direction for a duration of 10 seconds. +Execute a U-turn and travel in the opposite direction for a time span of 10 seconds. +Turn around and travel in the opposite direction for a duration of 10 seconds. +Perform a U-turn and move in the opposite direction for 10 seconds. +Rotate clockwise by 180 degrees and stop. +Perform a 180-degree clockwise rotation and then come to a halt. +Execute a clockwise rotation of 180 degrees and then cease movement. +Turn right by 180 degrees and then stop. +Rotate in a clockwise direction by 180 degrees and then come to a stop. +Move diagonally to the right for 4 meters. +Go right at an angle for a distance of 4 meters. +Travel in a diagonal direction to the right covering a distance of 4 meters. +Proceed at a diagonal towards the right, moving 4 meters. +Move to the right diagonally, covering a distance of 4 meters. +Turn right and move forward for 1 meter. +Make a right turn and proceed one meter forward. +Take a right and continue moving ahead for a distance of 1 meter. +Rotate to the right and advance straight ahead for 1 meter. +Facing towards the right, progress forward for a distance of 1 meter. +Move in a zigzag pattern for 8 seconds. +Perform a zigzag movement continuously for a duration of 8 seconds. +Traverse in a serpentine motion for 8 seconds. +Alternate your path in a zigzagging pattern for the next 8 seconds. +Execute a back-and-forth motion resembling a zigzag for a total of 8 seconds. +Rotate counterclockwise by 45 degrees and move forward for 3 meters. +Turn left by 45 degrees and advance for a distance of 3 meters. +Rotate anti-clockwise at an angle of 45 degrees and proceed ahead for a span of 3 meters. +Pivot in a counterclockwise direction by 45 degrees and travel a distance of 3 meters. +Shift to the left by 45 degrees and continue moving forward, covering a distance of 3 meters. +Move backward and stop at the nearest obstacle. +Reverse and come to a halt once you reach the closest object in your path. +Back up and cease movement upon reaching the nearest obstruction. +Retreat and come to a stop when you encounter the closest barrier. +Go in reverse and stop once you reach the nearest obstacle. +Turn left and move in a curved path for 6 meters. +Take a left turn and travel in a curved trajectory covering a distance of 6 meters. +Make a leftward turn and proceed along a curving route spanning 6 meters. +Go left and follow a curved path for a distance of 6 meters. +Regulate your movement to the left and travel in a curved trajectory for 6 meters. +Move forward at a speed of 1 meter per second for 10 seconds. +Proceed ahead at a velocity of 1 meter per second for a duration of 10 seconds. +Advance at a rate of 1 meter per second for 10 seconds. +Go straight ahead, maintaining a speed of 1 meter per second for a period of 10 seconds. +Travel forward for 10 seconds, covering a distance of 1 meter per second. +Rotate clockwise by 30 degrees and continue moving forward for 4 meters. +Move forward for 4 meters and rotate in a clockwise direction by 30 degrees. +Rotate 30 degrees clockwise and then proceed to move forward for 4 meters. +After rotating 30 degrees clockwise, continue moving forward for 4 meters. +Rotate to the right by 30 degrees and then proceed with a forward movement of 4 meters. +Move in a circular path with a radius of 2 meters for 7 seconds. +Circle around with a radius of 2 meters for a duration of 7 seconds. +Perform circular movement with a radius of 2 meters for 7 seconds. +Rotate along a circular trajectory with a 2-meter radius for 7 seconds. +Traverse a circular path, covering a distance of 2 meters, for a duration of 7 seconds. +Turn right and move forward for 5 seconds, then revert back. +Make a right turn and proceed forward for 5 seconds, then return back. +Take a right turn and advance ahead for 5 seconds, then go back in reverse. +Rotate to the right and move straight ahead for 5 seconds, then reverse the direction. +Change direction to the right and go forward for 5 seconds, then reverse back. +Move along the perimeter of the room for 1 minute. +Walk around the edges of the room for 1 minute. +Circulate along the boundary of the room for 1 minute. +Patrol the perimeter of the room for 1 minute. +Traverse the outer edges of the room for 1 minute. +Rotate counterclockwise by 60 degrees and move forward for 3 meters. +Turn left by 60 degrees and proceed ahead for a distance of 3 meters. +Rotate anticlockwise by 60 degrees and advance 3 meters. +Face left and travel straight for 3 meters after rotating 60 degrees counter-clockwise. +Make a 60-degree left turn and move forward 3 meters. +Move forward at a variable speed for 10 seconds. +Proceed ahead for a duration of 10 seconds, adjusting the speed as necessary. +Advance for a period of 10 seconds, with variable speed. +Travel forward, varying the speed, for a total of 10 seconds. +Move ahead for 10 seconds, adjusting the speed accordingly. +Move backward and stop 1 meter away from the designated target. +Reverse direction and come to a halt at a distance of 1 meter from the specified target. +Go in the opposite direction and pause when you are 1 meter away from the assigned target. +Retreat and come to a stop, maintaining a distance of 1 meter from the designated target. +Move in a reverse motion and cease motion once you are 1 meter away from the specified target. +Move forward for 1 meter. +Proceed ahead by 1 meter. +Advance for a distance of 1 meter. +Travel in a forward direction for 1 meter. +Go straight for a span of 1 meter. +Rotate counterclockwise by 90 degrees. +Turn left by 90 degrees. +Rotate anticlockwise by 90 degrees. +Rotate to the left by 90 degrees. +Spin counterclockwise by 90 degrees. +Move backward for 2 seconds. +Go backward for a duration of 2 seconds. +Reverse direction and continue for 2 seconds. +Retreat for a period of 2 seconds. +Take a step back and hold for 2 seconds. +Turn left and move forward for 3 meters. +Take a left turn and proceed ahead for a distance of 3 meters. +Make a leftward turn and continue moving straight ahead covering a distance of 3 meters. +Rotate to the left and proceed forward, covering a distance of 3 meters. +Go left and move straight ahead for 3 meters. +Move at a speed of 2 meters per second for 5 seconds. +Travel with a velocity of 2 meters per second for a duration of 5 seconds. +Maintain a pace of 2 meters per second for a period of 5 seconds. +Perform movement with a speed of 2 meters per second over a span of 5 seconds. +Cover a distance at 2 meters per second for a time period of 5 seconds. +Rotate clockwise by 180 degrees. +Rotate by 180 degrees in a clockwise direction. +Perform a clockwise rotation of 180 degrees. +Turn 180 degrees in a clockwise manner. +Rotate in a clockwise fashion, making a 180-degree turn. +Move forward for 4 meters. +Proceed straight ahead, covering a distance of 4 meters. +Advance forward, spanning 4 meters. +Take 4 steps in the forward direction. +Travel a distance of 4 meters, moving in the forward direction. +Turn right and move backward for 1 meter. +Rotate to the right and travel in reverse for a distance of 1 meter. +Make a right turn and proceed backwards for a length of 1 meter. +Shift to the right and travel in the opposite direction, covering a distance of 1 meter. +Face right and move backwards, covering a distance of 1 meter. +Rotate counterclockwise by 45 degrees. +Rotate anti-clockwise by a 45-degree angle. +Turn left by 45 degrees. +Rotate in a counterclockwise direction by 45 degrees. +Rotate to the left by 45 degrees. +Move forward for 10 seconds. +Proceed straight ahead for a duration of 10 seconds. +Advance continuously for a period of 10 seconds. +Travel forwards for a span of 10 seconds. +Progress ahead for a time interval of 10 seconds. +Turn left and move at a speed of 1 meter per second for 2 seconds. +Proceed forward for 2 seconds at a speed of 1 meter per second after making a left turn. +After making a left turn, travel at a velocity of 1 meter per second for a duration of 2 seconds. +Make a left-hand turn and continue moving forward for 2 seconds with a speed of 1 meter per second. +Rotate to the left and then proceed straight ahead for 2 seconds at a velocity of 1 meter per second. +Move backward for 3 meters. +Go back 3 meters. +Reverse your direction and travel 3 meters. +Retreat for a distance of 3 meters. +Take 3 steps backwards. +Rotate clockwise by 270 degrees. +Rotate 270 degrees in a clockwise direction. +Perform a clockwise rotation of 270 degrees. +Turn right by 270 degrees. +Rotate by 270 degrees in the clockwise direction. +Move forward for 5 meters. +Proceed ahead for a distance of 5 meters. +Advance 5 meters in the forward direction. +Take 5 meter steps forward. +Go ahead and travel a distance of 5 meters. +Turn right and move at a speed of 1.5 meters per second for 4 seconds. +Make a right turn and proceed at a velocity of 1.5 meters per second for a duration of 4 seconds. +Rotate to the right and advance with a velocity of 1.5 meters per second for a total of 4 seconds. +Take a rightward turn and travel at a speed of 1.5 meters per second for a period of 4 seconds. +Go right and maintain a speed of 1.5 meters per second for a time span of 4 seconds. +Rotate counterclockwise by 60 degrees. +Turn left by 60 degrees. +Move in an anti-clockwise direction by 60 degrees. +Rotate in the opposite direction by 60 degrees. +Perform a counterclockwise rotation of 60 degrees. +Move forward for 2 meters. +Proceed straight ahead for a distance of 2 meters. +Advance onward by 2 meters. +Travel straight ahead, covering a distance of 2 meters. +Take 2 meters forward. +Turn left and move at a speed of 0.5 meters per second for 10 seconds. +Make a left turn and travel at a velocity of 0.5 meters per second for a duration of 10 seconds. +Rotate to the left and proceed forward at a rate of 0.5 meters per second for a period of 10 seconds. +Take a leftward turn and travel with a speed of 0.5 meters per second for 10 seconds. +Face left and advance at a pace of 0.5 meters per second for 10 seconds. +Move backward for 6 meters. +Go back 6 meters. +Reverse direction and move 6 meters. +Retreat for a distance of 6 meters. +Travel in the opposite direction and cover a distance of 6 meters. +Move forward for 5 meters. +Proceed straight ahead for a distance of 5 meters. +Advance by 5 meters in a forward direction. +Go ahead for a span of 5 meters. +Cover a distance of 5 meters by moving forward. +Rotate counterclockwise by 90 degrees. +Turn 90 degrees counterclockwise. +Rotate in a counterclockwise direction by 90 degrees. +Rotate anti-clockwise by 90 degrees. +Make a 90-degree counterclockwise rotation. +Stop. +Cease. +Halt. +Pause. +Terminate. +Reverse for 2 seconds. +Reverse for a duration of 2 seconds. +Go back for 2 seconds. +Move in reverse for 2 seconds. +Go in the opposite direction for 2 seconds. +Turn left and move forward for 10 meters. +Proceed forward for a distance of 10 meters after making a left turn. +Make a left-hand turn and continue straight ahead for a distance of 10 meters. +After turning left, continue moving straight ahead for a total of 10 meters. +Execute a left turn and then travel forward for a distance of 10 meters. +Move backward for 3 seconds. +Go back for a duration of 3 seconds. +Reverse movement for a period of 3 seconds. +Retreat for 3 seconds. +Take a step back for a duration of 3 seconds. +Rotate clockwise by 180 degrees. +Perform a 180-degree clockwise rotation. +Rotate in a clockwise direction by 180 degrees. +Turn right and rotate 180 degrees. +Execute a rotation of 180 degrees in a clockwise direction. +Turn right and move forward for 8 meters. +Proceed forward for a distance of 8 meters after making a right turn. +Take a right turn and continue moving straight ahead for a duration of 8 meters. +After making a right-hand turn, advance 8 meters in a forward direction. +Rotate to the right, then travel straight ahead for a distance of 8 meters. +Move forward for 1 meter and stop. +Proceed straight ahead for a distance of 1 meter and come to a halt. +Advance one meter ahead and then come to a stop. +Travel in the forward direction for a length of 1 meter and then cease movement. +Move ahead for a distance of 1 meter, and then bring the movement to a stop. +Rotate counterclockwise by 135 degrees. +Rotate 135 degrees counterclockwise. +Turn 135 degrees counterclockwise. +Rotate anticlockwise by 135 degrees. +Perform a 135 degree counterclockwise rotation. +Move backward for 6 meters. +Go in reverse for a distance of 6 meters. +Take 6 steps back. +Retreat 6 meters. +Travel 6 meters in the opposite direction. +Turn left and move forward for 4 seconds. +Take a left turn and proceed straight ahead for a duration of 4 seconds. +Make a leftward turn and continue moving forward, maintaining the motion for 4 seconds. +Pivot to the left and advance forward for a period of 4 seconds. +Rotate in a leftward direction and proceed straight ahead, ensuring that the movement lasts for 4 seconds. +Rotate clockwise by 60 degrees. +Turn 60 degrees in a clockwise direction. +Rotate the object by 60 degrees in the clockwise direction. +Move in a clockwise direction, making a 60 degree turn. +Rotate 60 degrees in a clockwise manner. +Move forward for 7 meters and stop. +Proceed straight for a distance of 7 meters and come to a halt. +Advance ahead covering a distance of 7 meters and then cease movement. +Go forward 7 meters and then come to a stop. +Move straight ahead, covering a distance of 7 meters, and then halt. +Reverse for 5 seconds. +Reverse for a duration of 5 seconds. +Perform a 5-second reverse. +Execute a reverse motion for 5 seconds. +Go backwards for a period of 5 seconds. +Turn right and move forward for 9 meters. +Move forward for 9 meters after turning right. +After turning right, proceed ahead for a distance of 9 meters. +Take a right turn, then continue moving straight for a distance of 9 meters. +Make a right turn and travel forward for 9 meters. +Move forward for 2 seconds and stop. +Proceed in the forward direction for a duration of 2 seconds, then come to a stop. +Go ahead for 2 seconds and then halt. +Advance for a period of 2 seconds and then cease movement. +Travel forward for 2 seconds before stopping. +Rotate counterclockwise by 30 degrees. +Turn 30 degrees counterclockwise. +Rotate in the anticlockwise direction by 30 degrees. +Rotate to the left by 30 degrees. +Rotate in a counterclockwise direction, making a 30-degree turn. +Reverse for 4 meters. +Move back for a distance of 4 meters. +Go in reverse for a span of 4 meters. +Retreat 4 meters in the opposite direction. +Travel backwards, covering a distance of 4 meters. +Turn left and move forward for 6 seconds. +Proceed forward for 6 seconds after making a left turn. +Make a left turn and advance for 6 seconds. +Move ahead for 6 seconds after turning to the left. +After veering left, continue straight for 6 seconds. +Move forward for 5 meters. +Proceed ahead for a distance of 5 meters. +Advance straight on and cover a distance of 5 meters. +Head forward and travel 5 meters in that direction. +Move straight ahead and go a distance of 5 meters. +Turn left and move forward for 2 seconds. +Move ahead for 2 seconds after turning left. +After turning to the left, proceed forward for a duration of 2 seconds. +Take a left turn and then proceed straight for 2 seconds. +Make a left turn and continue moving forward for a duration of 2 seconds. +Rotate counterclockwise by 90 degrees. +Turn in the opposite direction by an angle of 90 degrees. +Rotate anticlockwise by 90 degrees. +Spin to the left by 90 degrees. +Twist counterclockwise by 90 degrees. +Move backward for 3 meters. +Go in reverse for a distance of 3 meters. +Travel three meters in the opposite direction. +Retreat for a distance of 3 meters. +Reverse your movement and cover a distance of 3 meters. +Turn right and move forward for 1 meter. +Proceed forward for 1 meter after turning to the right. +Take a right turn and continue moving straight ahead for a distance of 1 meter. +After making a right turn, proceed ahead for 1 meter. +Rotate to the right and then advance for a distance of 1 meter. +Move forward at a velocity of 0.5 meters per second. +Proceed ahead with a speed of 0.5 meters per second. +Advance with a velocity of 0.5 meters per second. +Go forward at a rate of 0.5 meters per second. +Travel in a forward direction at a velocity of 0.5 meters per second. +Rotate clockwise by 180 degrees. +Perform a 180-degree clockwise rotation. +Turn by 180 degrees in a clockwise direction. +Rotate in a clockwise manner, completing a 180-degree turn. +Execute a clockwise rotation, rotating by 180 degrees. +Move forward for 10 meters at a velocity of 2 meters per second. +Proceed straight ahead for a distance of 10 meters, maintaining a speed of 2 meters per second. +Travel in a forward direction for 10 meters, with a velocity of 2 meters per second. +Go ahead for 10 meters, moving at a pace of 2 meters per second. +Advance for a distance of 10 meters while maintaining a velocity of 2 meters per second. +Turn left and move forward for 5 seconds. +Make a left turn and proceed straight ahead for a duration of 5 seconds. +Take a left and advance in a forward direction for a span of 5 seconds. +Rotate to the left and proceed ahead for a duration of 5 seconds. +Veer left and move forward for an interval of 5 seconds. +Move backward at a velocity of 1 meter per second. +Go in reverse at a speed of 1 meter per second. +Travel backwards with a velocity of 1 meter per second. +Move in the opposite direction at a rate of 1 meter per second. +Go backward at a speed of 1 meter per second. +Rotate counterclockwise by 45 degrees. +Rotate 45 degrees counterclockwise. +Turn left by 45 degrees. +Rotate in an anticlockwise direction by 45 degrees. +Rotate to the left by 45 degrees. +Move forward for 7 meters. +Proceed ahead for a distance of 7 meters. +Advance 7 meters in the forward direction. +Travel straight ahead for a length of 7 meters. +Go straight for 7 meters. +Turn right and move forward for 4 meters. +Take a right turn and proceed ahead for a distance of 4 meters. +Make a right turn and advance straight ahead covering a distance of 4 meters. +Rotate towards the right and continue moving forward for 4 meters. +Go right and travel straight ahead, covering a distance of 4 meters. +Move forward for 3 seconds. +Go straight ahead for a duration of 3 seconds. +Proceed in a forward direction for a span of 3 seconds. +Advance ahead for a period of 3 seconds. +Travel forward for a duration of 3 seconds. +Turn left and move forward for 2 meters. +Proceed straight for a distance of 2 meters after making a left turn. +For a span of 2 meters, continue moving forward after taking a left turn. +Make a left turn and advance ahead for 2 meters. +After turning left, go straight for a distance of 2 meters. +Rotate clockwise by 270 degrees. +Turn to the right by 270 degrees. +Rotate in a clockwise direction by 270 degrees. +Perform a 270-degree clockwise rotation. +Rotate by 270 degrees in a clockwise manner. +Move backward for 6 meters. +Reverse direction and travel a distance of 6 meters. +Go back 6 meters. +Retreat for a distance of 6 meters. +Move in the opposite direction for 6 meters. +Turn right and move forward for 5 seconds. +Take a right turn and proceed ahead for a duration of 5 seconds. +Make a right turn and continue moving straight for 5 seconds. +Go right and advance for a period of 5 seconds. +Shift to the right and travel in a forward direction for 5 seconds. +Move forward at a velocity of 0.3 meters per second for 10 meters. +Proceed ahead for a distance of 10 meters at a speed of 0.3 meters per second. +Travel forward for 10 meters, maintaining a velocity of 0.3 meters per second. +Advance for a total of 10 meters while moving at a speed of 0.3 meters per second. +Cover a distance of 10 meters by moving forward at a velocity of 0.3 meters per second. +Rotate counterclockwise by 120 degrees. +Rotate 120 degrees counterclockwise. +Perform a counterclockwise rotation of 120 degrees. +Turn left by 120 degrees. +Rotate in the opposite direction by 120 degrees. +Rotate counterclockwise by 90 degrees. +Turn left by 90 degrees. +Rotate anti-clockwise by 90 degrees. +Rotate in the opposite direction by 90 degrees. +Rotate counter to the clockwise direction by 90 degrees. +Move forward for 5 meters. +Proceed straight ahead for a distance of 5 meters. +Advance ahead by 5 meters. +Travel in a forward direction, covering a distance of 5 meters. +Move straight ahead and travel a distance of 5 meters. +Turn left and move forward for 2 seconds. +Proceed forward for 2 seconds after turning left. +After making a left turn, continue straight ahead for 2 seconds. +Take a left turn and then advance forward for 2 seconds. +Rotate to the left and travel straight for 2 seconds. +Stop and wait. +Cease and remain still. +Halt and stay put. +Pause and remain stationary. +Desist and await further instruction. +Move backward for 10 meters. +Go back a distance of 10 meters. +Retreat for a distance of 10 meters. +Reverse your direction and travel 10 meters. +Take 10 steps backward. +Rotate clockwise by 180 degrees. +Perform a 180-degree clockwise rotation. +Rotate in a clockwise direction by 180 degrees. +Turn by 180 degrees in a clockwise manner. +Execute a clockwise rotation of 180 degrees. +Turn right and move forward for 3 seconds. +Make a right turn and proceed forward for a duration of 3 seconds. +Take a right and continue moving straight ahead for a total of 3 seconds. +Rotate to the right and advance for a period of 3 seconds. +Face towards the right and travel forward for a duration of 3 seconds. +Go to the living room and stop. +Proceed to the living room and come to a halt. +Move to the living room and cease all movement. +Make your way to the living room and stand still. +Head to the living room and remain stationary. +Move 2 meters to the left. +Shift your position by 2 meters towards the left. +Change your location by 2 meters in a leftward direction. +Relocate yourself 2 meters to the left. +Move to the left by a distance of 2 meters. +Rotate counterclockwise by 45 degrees. +Turn left by 45 degrees. +Execute a counterclockwise rotation of 45 degrees. +Rotate anticlockwise by an angle of 45 degrees. +Perform a 45-degree rotation in the counterclockwise direction. +Move forward at a speed of 0.5 meters per second for 4 seconds. +Proceed ahead for a duration of 4 seconds with a velocity of 0.5 meters per second. +Travel in a straight line for 4 seconds, maintaining a speed of 0.5 meters per second. +Advance at 0.5 meters per second for a period of 4 seconds in a forward direction. +Go forward for 4 seconds, maintaining a velocity of 0.5 meters per second. +Turn left and move forward for 7 meters. +Make a left turn and proceed straight ahead covering a distance of 7 meters. +Take a left turn and continue moving ahead, advancing 7 meters. +Head to the left and travel straight for 7 meters. +Rotate in the left direction and proceed forward, covering a distance of 7 meters. +Stop and reverse direction. +Come to a halt and begin moving in the opposite direction. +Cease forward motion and start moving backwards. +Bring yourself to a stop and change your direction to the opposite way. +Halt your movement and proceed in the opposite direction. +Move 3 meters to the right. +Shift 3 meters towards the right. +Go 3 meters horizontally in the right direction. +Change your position by moving 3 meters to the right. +Traverse a distance of 3 meters towards the right. +Rotate clockwise by 60 degrees. +Perform a clockwise rotation of 60 degrees. +Rotate 60 degrees in a clockwise direction. +Turn to the right by 60 degrees. +Rotate to the right by an angle of 60 degrees. +Turn right and move forward for 1 second. +Take a right turn and proceed straight ahead for 1 second. +Make a right turn and advance for 1 second. +Rotate to the right and move forward for 1 second. +Go right and continue moving forward for 1 second. +Go to the bedroom and stop. +Head to the bedroom and come to a halt. +Make your way to the bedroom and cease all movement. +Proceed to the bedroom and pause. +Go to the bedroom and stand still. +Move backward for 8 meters. +Go 8 meters in reverse. +Travel 8 meters in the opposite direction. +Retreat for a distance of 8 meters. +Reverse 8 meters. +Rotate counterclockwise by 270 degrees. +Turn left by 270 degrees. +Rotate anti-clockwise by 270 degrees. +Rotate in the opposite direction by 270 degrees. +Perform a 270-degree counterclockwise rotation. +Turn left and move forward for 6 seconds. +Go forward for 6 seconds after turning left. +Take a left turn and proceed straight for 6 seconds. +After turning left, continue moving forward for 6 seconds. +Make a left turn and move ahead for 6 seconds. +Turn left and move forward for 5 meters. +Take a left turn and proceed ahead covering a distance of 5 meters. +Make a left turn and continue moving straight, covering a distance of 5 meters. +Go left and advance forward, traveling a distance of 5 meters. +Execute a left turn and proceed straight, ensuring a distance of 5 meters. +Rotate counterclockwise by 90 degrees. +Turn 90 degrees in the counterclockwise direction. +Rotate anti-clockwise at a 90-degree angle. +Spin to the left by 90 degrees. +Rotate in the counterclockwise direction, making a 90-degree turn. +Move backward for 3 seconds. +Go in reverse for a duration of 3 seconds. +Take a step back and continue for a total of 3 seconds. +Reverse your movement and maintain it for 3 seconds. +Retreat for a period of 3 seconds. +Turn right and move forward for 10 meters. +Proceed forward for 10 meters after making a right turn. +Take a right and continue moving ahead for a distance of 10 meters. +Make a right turn and travel straight ahead for a total of 10 meters. +After turning right, advance forward and cover a distance of 10 meters. +Rotate clockwise by 180 degrees. +Perform a 180-degree clockwise rotation. +Turn in a clockwise direction by 180 degrees. +Execute a rotation of 180 degrees in a clockwise manner. +Rotate by 180 degrees, following the clockwise direction. +Move forward at a speed of 0.5 meters per second for 4 seconds. +Go ahead for 4 seconds at a velocity of 0.5 meters per second. +Progress at a speed of 0.5 meters per second for a duration of 4 seconds. +Travel forward for 4 seconds, maintaining a speed of 0.5 meters per second. +Proceed at a rate of 0.5 meters per second for a time span of 4 seconds. +Turn left and move backward for 2 meters. +Take a left turn and proceed backwards for a distance of 2 meters. +Make a left turn and travel in reverse for a distance of 2 meters. +Rotate left and proceed in reverse for a total distance of 2 meters. +Shift to the left and move backwards covering a distance of 2 meters. +Move forward for 7 seconds. +Proceed ahead for a duration of 7 seconds. +Advance for a period of 7 seconds. +Keep moving forward for 7 seconds. +Continue ahead for a total of 7 seconds. +Rotate counterclockwise by 30 degrees. +Turn left by an angle of 30 degrees. +Rotate anticlockwise by 30 degrees. +Rotate in the opposite direction by 30 degrees. +Make a 30 degree counterclockwise rotation. +Move backward at a speed of 1 meter per second for 6 seconds. +Reverse your movement, traveling at a pace of 1 meter per second for a duration of 6 seconds. +Go in the opposite direction, maintaining a velocity of 1 meter per second for 6 seconds. +Travel backwards for 6 seconds at a speed of 1 meter per second. +Invert your motion, moving at a rate of 1 meter per second for a period of 6 seconds. +Turn right and move forward for 8 meters. +Proceed for 8 meters after taking a right turn. +Take a right and continue straight ahead for a distance of 8 meters. +Make a right turn and then proceed ahead for 8 meters. +After turning right, cover a distance of 8 meters by moving forward. +Rotate clockwise by 270 degrees. +Turn 270 degrees to the right. +Turn three-quarters of a full rotation to the right. +Perform a clockwise rotation of 270 degrees. +Rotate in the clockwise direction, making a 270-degree turn. +Move forward and then immediately stop. +Proceed forward and promptly come to a halt. +Advance and instantaneously cease movement. +Go forward and abruptly pause. +Move ahead and promptly end motion. +Turn left and move backward for 4 meters. +Make a left turn and proceed backwards for a distance of 4 meters. +Go in the opposite direction and turn to the left, covering a distance of 4 meters. +Rotate to your left and travel in the reverse direction, moving 4 meters behind. +Head left and travel in reverse for a total of 4 meters. +Move forward for 10 seconds at a speed of 0.3 meters per second. +Advance for a duration of 10 seconds, maintaining a velocity of 0.3 meters per second. +Proceed ahead at a rate of 0.3 meters per second for a period of 10 seconds. +Travel straight ahead for 10 seconds, moving at a speed of 0.3 meters per second. +Go forward at a velocity of 0.3 meters per second, covering a distance for 10 seconds. +Rotate counterclockwise by 60 degrees. +Turn left by 60 degrees. +Rotate in the opposite direction by 60 degrees. +Make a counterclockwise rotation of 60 degrees. +Rotate leftwards by 60 degrees. +Move backward and then immediately stop. +Reverse and come to a sudden halt. +Go in reverse and abruptly cease. +Back up and instantly come to a standstill. +Move backwards and promptly come to a stop. +Turn right and move forward for 6 meters. +Make a right turn and proceed straight ahead for a distance of 6 meters. +Go to your right and continue moving forward for a total of 6 meters. +Take a right turn and advance ahead, covering a distance of 6 meters. +Head towards the right and maintain a straight path for 6 meters. +Rotate clockwise by 120 degrees. +Turn 120 degrees in a clockwise direction. +Move in a clockwise rotation by 120 degrees. +Adjust the rotation by 120 degrees in a clockwise manner. +Execute a 120-degree clockwise rotation. +Move forward and then backward for 5 meters. +Proceed ahead and then return in reverse for a distance of 5 meters. +Advance forward and then retract for a distance of 5 meters. +Go straight ahead and then move backward covering a span of 5 meters. +Propel forward and then reverse, covering a distance of 5 meters. +Move forward for 10 meters. +Proceed straight for a distance of 10 meters. +Advance ahead by 10 meters. +Go straight ahead covering a distance of 10 meters. +Travel in a forward direction for 10 meters. +Turn left and move forward for 5 meters. +Make a left turn and proceed ahead for a distance of 5 meters. +Rotate towards the left and continue moving straight ahead covering a distance of 5 meters. +Take a leftward turn and advance for 5 meters. +Face left and go straight for 5 meters. +Rotate counterclockwise by 90 degrees. +Rotate in an anticlockwise direction by 90 degrees. +Perform a 90-degree counterclockwise rotation. +Turn left by 90 degrees. +Anti-rotate by 90 degrees. +Move backward for 3 meters. +Go in reverse for a distance of 3 meters. +Retreat by 3 meters. +Step back 3 meters. +Reverse direction and travel 3 meters. +Turn right and move forward at 0.5 m/s for 20 seconds. +Proceed straight for 20 seconds at a speed of 0.5 m/s after turning right. +After making a right turn, travel forward for 20 seconds at a velocity of 0.5 m/s. +Make a right turn and advance for 20 seconds at a rate of 0.5 m/s. +After turning right, maintain a speed of 0.5 m/s and move forward for 20 seconds. +Go to the living room and stop. +Please proceed to the living room and come to a halt. +Make your way to the living room and cease movement. +Head over to the living room and pause. +Walk into the living room and stand still. +Move forward for 2 seconds at a speed of 1 meter per second. +Proceed straight ahead for a duration of 2 seconds with a velocity of 1 meter per second. +Advance for 2 seconds with a speed of 1 meter per second in the forward direction. +Move ahead at a rate of 1 meter per second for 2 seconds. +Travel straight ahead for 2 seconds, maintaining a speed of 1 meter per second. +Rotate clockwise by 180 degrees. +Perform a clockwise rotation of 180 degrees. +Rotate 180 degrees in the clockwise direction. +Turn in a clockwise direction and rotate by 180 degrees. +Execute a 180-degree clockwise rotation. +Move forward for 4 meters and then turn left. +Proceed straight ahead, covering a distance of 4 meters, and subsequently make a left turn. +Go straight for a distance of 4 meters followed by a left turn. +Advance in the forward direction, covering 4 meters, and then make a leftward turn. +Move ahead for 4 meters and then change direction by turning left. +Rotate counterclockwise by 60 degrees and move forward for 3 meters. +Turn left by 60 degrees and proceed ahead for a distance of 3 meters. +Perform a 60-degree counterclockwise rotation and then move forward for 3 meters. +Rotate anti-clockwise by 60 degrees and advance 3 meters in the same direction. +Firtly, turn 60 degrees to the left in a counterclockwise direction, and subsequently, move forward for 3 meters. +Go to the bedroom and stop. +Proceed to the bedroom and come to a halt. +Make your way to the bedroom and cease your movement. +Head towards the bedroom and come to a standstill. +Move to the bedroom and pause. +Move backward for 7 meters at a speed of 0.8 meters per second. +Travel in reverse for a distance of 7 meters with a velocity of 0.8 meters per second. +Go backwards for 7 meters, maintaining a speed of 0.8 meters per second. +Reverse direction and travel for 7 meters at a velocity of 0.8 meters per second. +Retrace your steps by moving 7 meters in reverse at a speed of 0.8 meters per second. +Turn left and move forward for 5 meters at a speed of 2 meters per second. +Take a left turn and proceed straight ahead for a distance of 5 meters, maintaining a speed of 2 meters per second. +Make a left turn and advance forward for 5 meters with a velocity of 2 meters per second. +Execute a left turn and continue moving ahead for 5 meters, traveling at a speed of 2 meters per second. +Change direction to the left and travel straight for a distance of 5 meters, keeping a constant speed of 2 meters per second. +Back up for 1 meter and then execute a 90-degree turn to the right. +Reverse for 1 meter and then make a right turn of 90 degrees. +Move backwards by 1 meter and then perform a right turn at a 90-degree angle. +Retreat by 1 meter and then make a right turn of 90 degrees. +Take a step back for 1 meter and then execute a 90-degree right turn. +Navigate to the specified GPS coordinates and play a pre-recorded message. +Please go to the given GPS coordinates and play the pre-recorded message. +Can you navigate to the provided GPS coordinates and start playing the recorded message? +Follow the given GPS coordinates and play the message that has been prerecorded. +Head to the specified GPS coordinates and initiate the playback of the pre-recorded message. +Move in a zigzag pattern for 10 meters, alternating between forward and backward motions. +Alternate between moving forward and backward in a zigzag pattern for a distance of 10 meters. +Cover a distance of 10 meters by moving in a zigzag pattern, alternating between forward and backward movements. +Perform a zigzag pattern, moving forward and then backward, spanning across a distance of 10 meters. +Switch between forward and backward motions while moving in a zigzag pattern for a total distance of 10 meters. +Spin around in a circle three times and then stop abruptly. +Rotate in a full circle three times before coming to an abrupt halt. +Perform three complete rotations in a circular motion and then abruptly come to a stop. +Turn around in a complete circle three times and then suddenly cease movement. +Spin in a circle three times and then bring yourself to an immediate halt. +Move forward at a constant speed of 1 meter per second for 30 seconds. +Maintain a steady speed of 1 meter per second and proceed forward for a duration of 30 seconds. +Continue moving ahead in a straight line for 30 seconds at a constant speed of 1 meter per second. +Advance for 30 seconds with a consistent velocity of 1 meter per second. +For a period of 30 seconds, travel straight ahead with an unchanging speed of 1 meter per second. +Turn right and follow a curved path for 2 meters, then stop and beep. +Make a right turn and proceed along a curved path, covering a distance of 2 meters. Afterwards, come to a halt and emit a beep sound. +Take a right turn and continue along a serpentine trail for a length of 2 meters. Next, pause and produce a beeping sound. +Execute a rightward turn and navigate along a curving route for a distance of 2 meters. Subsequently, cease movement and emit a beep. +Alter your direction towards the right and travel along a winding pathway for 2 meters. Then, come to a stop and produce a beeping noise. +Move forward for 5 meters and then reverse for 2 meters, repeating twice. +Repeat the sequence of moving forward for 5 meters, then reversing for 2 meters, twice. +Perform a forward movement of 5 meters, followed by a reverse movement of 2 meters, and repeat this pattern twice. +Move ahead for 5 meters and then go in reverse for 2 meters, repeating this cycle twice. +Execute a forward motion of 5 meters, stop, go back for 2 meters, stop, and repeat this process twice. +Randomly select a direction and move forward for a random duration between 1 and 5 seconds. +Choose a direction at random and proceed forward for a duration between 1 and 5 seconds, chosen randomly. +Randomly pick a direction and move in that direction for a random period ranging from 1 to 5 seconds. +Select a random direction and move forward for a randomly determined time frame of 1 to 5 seconds. +Pick a direction at random and proceed in that direction, randomly determining the duration to move forward between 1 and 5 seconds. +Perform a 180-degree turn, then launch a small drone from your back. +Execute a 180-degree rotation and subsequently release a compact drone from your rear. +Initiate a 180-degree turn followed by the deployment of a diminutive drone from behind you. +Conduct a 180-degree maneuver and proceed to launch a small aerial drone from your backside. +Carry out a 180-degree spin, then activate the release mechanism to send a small drone flying from your posterior. diff --git a/evaluation/final-NL-commands/NL_commands_Robotic_Arm_with_5rephrasings.txt b/evaluation/final-NL-commands/NL_commands_Robotic_Arm_with_5rephrasings.txt new file mode 100644 index 0000000..92c4b30 --- /dev/null +++ b/evaluation/final-NL-commands/NL_commands_Robotic_Arm_with_5rephrasings.txt @@ -0,0 +1,998 @@ +Lift the object with a force of 10 Newtons. +Apply a 10 Newton force to lift the object. +Exert a 10 Newton force to raise the object. +Use a force of 10 Newtons to elevate the object. +Employ a 10 Newton force to hoist the object. +Rotate the shoulder joint counterclockwise by 90 degrees. +Turn the shoulder joint anti-clockwise at a 90-degree angle. +Rotate the shoulder joint in a counterclockwise direction, making a 90-degree rotation. +Twist the shoulder joint in a counterclockwise manner, turning it by 90 degrees. +Rotate the shoulder joint in the opposite direction of the clock by 90 degrees. +Move to position X:50, Y:30, Z:15. +Change your location to coordinates X:50, Y:30, Z:15. +Transfer yourself to the position with the coordinates X:50, Y:30, Z:15. +Relocate to the coordinates X:50, Y:30, Z:15. +Go to the point specified by X:50, Y:30, Z:15. +Extend the arm by 20 centimeters. +Increase the length of the arm by 20 centimeters. +Stretch the arm outwards by 20 centimeters. +Lengthen the arm by an additional 20 centimeters. +Expand the arm's reach by 20 centimeters. +Grip the object with a force of 15 kilograms. +Apply a force of 15 kilograms to grasp the object. +Exert a 15 kilogram force to hold onto the object. +Securely hold the object with a 15 kilogram force. +Use a force of 15 kilograms to get a firm grip on the object. +Rotate the elbow joint clockwise by 60 degrees. +Turn the elbow joint in a clockwise direction, rotating it by 60 degrees. +Clockwise rotate the elbow joint by 60 degrees. +Rotate the elbow joint in the clockwise direction, making a 60 degree turn. +Twist the elbow joint to the right, moving it 60 degrees in a clockwise rotation. +Lift the object to a height of 1 meter. +Elevate the object to a 1-meter height. +Raise the object to a height of 1 meter. +Hoist the object to a 1-meter elevation. +Bring the object up to a height of 1 meter. +Move to position X:25, Y:40, Z:10 at a velocity of 10 cm/s. +Proceed to coordinates X:25, Y:40, Z:10 with a speed of 10 cm/s. +Travel to position X:25, Y:40, Z:10 traveling at a pace of 10 cm/s. +Transfer yourself to X:25, Y:40, Z:10 while maintaining a velocity of 10 cm/s. +Journey to coordinates X:25, Y:40, Z:10 at a rate of 10 cm/s. +Rotate the wrist joint counterclockwise by 30 degrees. +Turn the wrist joint anticlockwise by 30 degrees. +Twist the wrist joint in a counterclockwise direction by 30 degrees. +Rotate the wrist joint to the left by 30 degrees. +Adjust the position of the wrist joint by rotating it counterclockwise 30 degrees. +Retract the arm by 25 centimeters. +Pull the arm back by a distance of 25 centimeters. +Withdraw the arm, reducing its length by 25 centimeters. +Bring the arm back, shortening it by 25 centimeters. +Decrease the length of the arm by 25 centimeters through retraction. +Grip the object with a force of 20 Newtons. +Apply a 20 Newton force to hold onto the object. +Exert a grip on the object with a 20 Newton force. +Use 20 Newtons of force to firmly grasp the object. +Ensure a 20 Newton force is applied when gripping the object. +Rotate the shoulder joint clockwise by 45 degrees. +Turn the shoulder joint in a clockwise direction for a 45-degree rotation. +Rotate the shoulder joint by 45 degrees in a clockwise direction. +Twist the shoulder joint in a clockwise manner, moving it 45 degrees. +Rotate the shoulder joint to the right by 45 degrees. +Move to position X:15, Y:25, Z:5 at a velocity of 5 cm/s. +Travel to coordinates X:15, Y:25, Z:5 with a speed of 5 cm/s. +Go to location X:15, Y:25, Z:5 with a velocity of 5 cm/s. +Proceed towards position X:15, Y:25, Z:5 at a rate of 5 cm/s. +Travel at a speed of 5 cm/s to reach coordinates X:15, Y:25, Z:5. +Extend the arm by 30 centimeters. +Increase the length of the arm by 30 centimeters. +Stretch the arm outwards by an additional 30 centimeters. +Elongate the arm to add 30 centimeters to its length. +Expand the arm's reach by 30 centimeters. +Lift the object to a height of 2 meters. +Raise the object to a height measuring 2 meters. +Elevate the object to a 2 meter height. +Hoist the object up to a vertical distance of 2 meters. +Ascend the object to a 2 meter elevation. +Rotate the elbow joint counterclockwise by 75 degrees. +Twist the elbow joint in the opposite direction by an angle of 75 degrees. +Turn the elbow joint anticlockwise by 75 degrees. +Rotate the elbow joint in a counterclockwise direction, making a 75 degree angle. +Adjust the elbow joint by rotating it counterclockwise with a 75 degree angle. +Move to position X:35, Y:50, Z:20. +Go to coordinates X:35, Y:50, Z:20. +Transfer yourself to the location with coordinates X:35, Y:50, Z:20. +Change your position to X:35, Y:50, Z:20. +Relocate yourself to the coordinates X:35, Y:50, Z:20. +Retract the arm by 10 centimeters at a velocity of 15 cm/s. +Withdraw the arm by a distance of 10 centimeters, moving at a speed of 15 cm/s. +Pull the arm back by 10 centimeters, with a velocity of 15 cm/s. +Bring the arm back by a length of 10 centimeters, traveling at a rate of 15 cm/s. +Move the arm backwards by 10 centimeters at a speed of 15 cm/s. +Grip the object with a force of 25 kilograms. +Apply a 25-kilogram force to grip the object. +Use a force of 25 kilograms to secure your grip on the object. +Exert 25 kilograms of force to firmly grasp the object. +Apply a grip to the object, using a 25-kilogram force. +Rotate the wrist joint clockwise by 90 degrees and dance. +Dance while rotating the wrist joint 90 degrees clockwise. +Perform a 90-degree clockwise wrist joint rotation and then dance. +Begin by rotating the wrist joint 90 degrees clockwise, followed by dancing. +Start by turning the wrist joint clockwise by 90 degrees, then proceed to dance. +Lift the arm to a height of 50 centimeters. +Raise the arm to a height of 50 centimeters. +Elevate the arm to a height of 50 centimeters. +Hoist the arm to a height of 50 centimeters. +Bring the arm up to a height of 50 centimeters. +Rotate the base joint counterclockwise by 90 degrees. +Turn the base joint 90 degrees counterclockwise. +Rotate the base joint in a counterclockwise direction by 90 degrees. +Twist the base joint to the left by 90 degrees. +Make a 90-degree counterclockwise rotation of the base joint. +Extend the arm by 30 centimeters and hold for 10 seconds. +Stretch the arm outwards, increasing its length by 30 centimeters for a duration of 10 seconds. +Lengthen the arm by 30 centimeters and maintain the position for 10 seconds. +Protract the arm by 30 centimeters and keep it in that state for 10 seconds. +Stretch the arm forward, elongating it by 30 centimeters, and sustain the position for 10 seconds. +Move to position X:100, Y:50, Z:80 with a velocity of 10 meters per second. +Travel to coordinates X:100, Y:50, Z:80 at a speed of 10 meters per second. +Go to location X:100, Y:50, Z:80 at a rate of 10 meters per second. +Reach the point X:100, Y:50, Z:80 at a velocity of 10 meters per second. +Advance to position X:100, Y:50, Z:80 with a speed of 10 meters per second. +Activate the grip mechanism with a force of 8 kilograms. +Engage the grip mechanism using a force of 8 kilograms. +Apply a force of 8 kilograms to activate the grip mechanism. +Use a force of 8 kilograms to activate the grip mechanism's gripping function. +Activate the grip mechanism by exerting a force of 8 kilograms. +Rotate the wrist joint clockwise by 30 degrees and hold for 5 seconds. +Rotate the wrist joint in a clockwise direction, angling it by 30 degrees and maintaining the position for a duration of 5 seconds. +Turn the wrist joint to the right by 30 degrees, keeping it in that position for 5 seconds. +Retract the arm to its home position. +Move the arm back to its original position. +Return the arm to the starting point. +Bring the arm back to its home position. +Move the arm back to where it started. +Move to position X:0, Y:0, Z:100 with a velocity of 5 meters per second. +Change your coordinates to X:0, Y:0, Z:100, and maintain a constant velocity of 5 meters per second. +Head towards position X:0, Y:0, Z:100 at a speed of 5 meters per second. +Set your destination to X:0, Y:0, Z:100 and travel at a velocity of 5 meters per second. +Travel to the location specified by X:0, Y:0, Z:100 with a constant velocity of 5 meters per second. +Grip the object with 10 kilograms of force. +Apply a force of 10 kilograms to grip the object. +Exert 10 kilograms of force to securely hold the object. +Use 10 kilograms of force to firmly grasp the object. +Apply a gripping force of 10 kilograms to firmly hold onto the object. +Extend the arm by 20 centimeters, then retract it by 10 centimeters. +Lengthen the arm by 20 centimeters, then shorten it by 10 centimeters. +Stretch the arm outwards by 20 centimeters, then pull it back in by 10 centimeters. +Increase the arm's length by 20 centimeters, then decrease it by 10 centimeters. +Expand the arm by 20 centimeters, then shrink it by 10 centimeters. +Rotate the base joint clockwise by 180 degrees and hold. +Please rotate the base joint in a clockwise direction by 180 degrees and maintain that position. +Rotate the base joint 180 degrees in a clockwise manner and keep it in place. +Turn the base joint in a clockwise direction by 180 degrees and hold that position. +Rotate the base joint in a clockwise fashion, making a 180-degree turn, and hold steady. +Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second. +Go to coordinates X:50, Y:100, Z:0 at a speed of 7 meters per second. +Travel to the point X:50, Y:100, Z:0 with a velocity of 7 meters per second. +Change your position to X:50, Y:100, Z:0 at a rate of 7 meters per second. +Reach the coordinates X:50, Y:100, Z:0 while moving at a speed of 7 meters per second. +Lift the arm to a height of 80 centimeters and hold for 8 seconds. +Raise the arm to a height of 80 centimeters and maintain the position for 8 seconds. +Elevate the arm to a height of 80 centimeters and keep it there for a duration of 8 seconds. +Hoist the arm up to a height of 80 centimeters and remain in that position for a period of 8 seconds. +Move the arm upward to a height of 80 centimeters and hold steady for 8 seconds. +Retract the arm halfway and pause for 3 seconds. +Pull the arm back to the middle point and wait for 3 seconds. +Bring the arm back halfway and hold for a duration of 3 seconds. +Move the arm in reverse to reach the half position, then take a pause of 3 seconds. +Withdraw the arm to the midpoint, then wait for 3 seconds. +Rotate the wrist joint counterclockwise by 60 degrees. +Turn the wrist joint to the left by 60 degrees. +Twist the wrist joint anticlockwise by 60 degrees. +Rotate the wrist joint in a counterclockwise direction by 60 degrees. +Move the wrist joint 60 degrees in the opposite direction of the clock. +Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second. +Go to coordinates X:75, Y:25, Z:50 at a speed of 8 meters per second. +Travel to X:75, Y:25, Z:50 at a velocity of 8 meters per second. +Proceed to position X:75, Y:25, Z:50 at a rate of 8 meters per second. +Head towards X:75, Y:25, Z:50 with a speed of 8 meters per second. +Extend the arm by 25 centimeters and hold for 4 seconds. +Stretch out the arm, increasing its length by 25 centimeters, and keep it in that position for 4 seconds. +Lengthen the arm by 25 centimeters and maintain the position for a duration of 4 seconds. +Protract the arm, adding 25 centimeters to its length, and hold steady for a period of 4 seconds. +Elongate the arm by 25 centimeters and sustain the extension for a duration of 4 seconds. +Grip the object with 6 kilograms of force, then release after 2 seconds. +Apply a pressure of 6 kilograms to secure your grip on the object, and then let go after 2 seconds. +Exert a force of 6 kilograms to grasp the object tightly, and then release it after a duration of 2 seconds. +Clamp onto the object with a force of 6 kilograms, and then loosen your grip after 2 seconds. +Use 6 kilograms of pressure to firmly hold onto the object, and then release it after a 2-second interval. +Rotate the base joint counterclockwise by 270 degrees and hold. +Turn the base joint in an anti-clockwise direction by 270 degrees and maintain the new position. +Rotate the base joint by 270 degrees in a counterclockwise direction and keep it there. +Make a 270-degree counterclockwise rotation to the base joint and hold it. +Twist the base joint counterclockwise by 270 degrees and keep it steady. +Move to position X:200, Y:150, Z:100 with a velocity of 12 meters per second and then dance. +Dance after moving to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second. +After reaching the position X:200, Y:150, Z:100 with a velocity of 12 meters per second, start dancing. +Begin dancing once you have moved to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second. +After traveling to the position X:200, Y:150, Z:100 at a velocity of 12 meters per second, proceed to dance. +Turn the robot arm on. +Activate the robot arm. +Switch on the robot arm. +Power up the robot arm. +Enable the robot arm. +Open the gripper completely. +Fully open the gripper. +Open the gripper all the way. +Ensure that the gripper is completely open. +Make sure the gripper is fully opened. +Move the arm to position X:50, Y:75, Z:100. +Position the arm to coordinates X:50, Y:75, Z:100. +Adjust the arm to X:50, Y:75, Z:100. +Shift the arm to coordinates X:50, Y:75, Z:100. +Set the arm to position X:50, Y:75, Z:100. +Rotate the elbow joint counterclockwise by 90 degrees. +Turn the elbow joint in the counterclockwise direction, making a 90-degree rotation. +Rotate the elbow joint towards the left, turning it by 90 degrees. +Twist the elbow joint counterclockwise, making a rotation of 90 degrees. +Spin the elbow joint in a counterclockwise manner, angling it by 90 degrees. +Extend the arm by 20 centimeters at a velocity of 10 cm/s. +Increase the arm length by 20 centimeters, moving at a speed of 10 cm/s. +Stretch the arm out by an additional 20 centimeters, with a velocity of 10 cm/s. +Lengthen the arm by 20 centimeters, moving at a rate of 10 cm/s. +Expand the arm's reach by 20 centimeters at a speed of 10 cm/s. +Grip the object with 3 kilograms of force. +Apply a 3-kilogram force to grasp the object. +Exert 3 kilograms of force to grip the object. +Use a force of 3 kilograms to hold onto the object. +Hold the object with a force of 3 kilograms. +Retract the arm by 30 centimeters at a velocity of 5 cm/s. +Move the arm backwards by a distance of 30 centimeters, with a speed of 5 cm/s. +Withdraw the arm by 30 centimeters, advancing at a rate of 5 cm/s. +Pull back the arm by 30 centimeters, traveling at a velocity of 5 cm/s. +Reverse the arm's position by 30 centimeters, with a speed of 5 cm/s. +Rotate the wrist joint counterclockwise by 180 degrees. +Alter the position of the wrist joint in a counterclockwise direction by an angle of 180 degrees. +Turn the wrist joint counterclockwise with a rotation of 180 degrees. +Rotate the wrist joint in a counterclockwise manner, shifting it by 180 degrees. +Perform a 180 degree counterclockwise rotation on the wrist joint. +Move the arm to position X:100, Y:0, Z:50. +Adjust the position of the arm to X:100, Y:0, Z:50. +Relocate the arm so that it is at X:100, Y:0, Z:50. +Shift the arm's position to X:100, Y:0, Z:50. +Transfer the arm to the coordinates X:100, Y:0, Z:50. +Open the gripper halfway. +Partially open the gripper. +Open the gripper to a halfway position. +Adjust the gripper to a halfway open position. +Set the gripper to open at a midpoint. +Rotate the shoulder joint clockwise by 45 degrees. +Turn the shoulder joint in a clockwise direction at a 45-degree angle. +Rotate the shoulder joint to the right by 45 degrees. +Twist the shoulder joint in a clockwise motion, 45 degrees. +Adjust the shoulder joint by rotating it clockwise at a 45-degree angle. +Extend the arm by 10 centimeters at a velocity of 8 cm/s. +Increase the length of the arm by 10 centimeters at a speed of 8 centimeters per second. +Lengthen the arm by 10 centimeters with a velocity of 8 centimeters per second. +Stretch the arm outwards by 10 centimeters, moving at a speed of 8 centimeters per second. +Expand the arm's length by 10 centimeters, while maintaining a velocity of 8 centimeters per second. +Grip the object with 2 kilograms of force. +Apply 2 kilograms of force to grasp the object. +Exert a force of 2 kilograms to grab hold of the object. +Hold onto the object with a force of 2 kilograms. +Use 2 kilograms of force to secure your grip on the object. +Retract the arm by 15 centimeters at a velocity of 6 cm/s. +Move the arm back by 15 centimeters with a speed of 6 cm per second. +Withdraw the arm, reducing its length by 15 centimeters, at a rate of 6 centimeters per second. +Pull back the arm, decreasing its extension by 15 centimeters, moving at a pace of 6 centimeters per second. +Reverse the position of the arm, reducing its protrusion by 15 centimeters, traveling at a speed of 6 centimeters per second. +Rotate the elbow joint clockwise by 135 degrees. +Twist the elbow joint in a clockwise direction, turning it 135 degrees. +Turn the elbow joint to the right, rotating it by 135 degrees. +Rotate the elbow joint in a clockwise manner, making a 135-degree turn. +Twist the elbow joint to the right, adjusting it by 135 degrees in a clockwise direction. +Move the arm to position X:0, Y:100, Z:20. +Adjust the position of the arm to X coordinate 0, Y coordinate 100, and Z coordinate 20. +Alter the arm's location to X:0, Y:100, Z:20. +Shift the arm's position to the coordinates X:0, Y:100, and Z:20. +Change the arm's placement to X coordinate 0, Y coordinate 100, and Z coordinate 20. +Close the gripper completely. +Fully close the gripper. +Shut the gripper completely. +Ensure the gripper is completely closed. +Make sure the gripper is closed tightly. +Rotate the wrist joint clockwise by 90 degrees. +Turn the wrist joint 90 degrees clockwise. +Rotate the wrist joint in a clockwise direction by 90 degrees. +Twist the wrist joint by 90 degrees in a clockwise manner. +Perform a 90-degree clockwise rotation of the wrist joint. +Swim. +Take a swim. +Go for a swim. +Jump in the water and swim. +Engage in swimming. +Watch TV. +Please turn on the television and start watching. +Begin watching television. +Start watching your favorite TV show. +Get ready to enjoy some television programming. +Lift the object and move it 30 centimeters to the left. +Pick up the item and shift it 30 centimeters towards the left. +Grasp the object and relocate it 30 centimeters towards the left. +Raise and transfer the item 30 centimeters to the left. +Elevate the object and shift it 30 centimeters in the leftward direction. +Rotate the base counterclockwise by 90 degrees. +Turn the base 90 degrees counterclockwise. +Rotate the base in a counterclockwise direction, making a 90-degree turn. +Rotate the base in an anti-clockwise direction, making a 90-degree angle. +Twist the base counterclockwise, creating a 90-degree rotation. +Extend the arm by 20 centimeters and hold position for 10 seconds. +Increase the arm's length by 20 centimeters and maintain the position for 10 seconds. +Stretch the arm outwards by 20 centimeters and keep it still for 10 seconds. +Protract the arm by 20 centimeters and sustain the position for 10 seconds. +Elongate the arm by 20 centimeters and stay in that position for 10 seconds. +Open the gripper and release the object gently. +Gently release the object by opening the gripper. +Carefully open the gripper to let go of the object. +Softly release the object by opening the gripper. +Open the gripper in a gentle manner to release the object. +Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second. +Go to coordinates X:50, Y:20, Z:10 with a speed of 0.5 meters per second. +Travel to X:50, Y:20, Z:10 with a velocity of 0.5 meters per second. +Reach position X:50, Y:20, Z:10 at a pace of 0.5 meters per second. +Proceed to point X:50, Y:20, Z:10 at a rate of 0.5 meters per second. +Bend the elbow joint to a 45-degree angle and hold for 5 seconds. +Flex the elbow joint at a 45-degree angle and maintain the position for 5 seconds. +Angle the elbow joint to 45 degrees, and keep it in that position for 5 seconds. +Curve the elbow joint to a 45-degree angle, and hold it for 5 seconds. +Fold the elbow joint to a 45-degree angle and sustain the pose for 5 seconds. +Readjust the wrist joint to a neutral position. +Adjust the position of the wrist joint to a neutral stance. +Correct the position of the wrist joint to a neutral alignment. +Realign the wrist joint to a neutral position. +Reset the wrist joint to a neutral stance. +Rotate the arm horizontally by 180 degrees. +Turn the arm in a horizontal direction by a full 180 degrees. +Rotate the arm sideways, making it complete a 180-degree turn. +Perform a horizontal rotation of the arm, spanning 180 degrees. +Twist the arm horizontally, ensuring it moves precisely 180 degrees. +Grip the object with 10 newtons of force for 2 minutes. +Apply a force of 10 newtons to firmly hold onto the object for a duration of 2 minutes. +Grasp the object firmly with a force of 10 newtons and maintain the grip for a period of 2 minutes. +Exert a 10-newton force to grip the object tightly for 2 minutes. +Hold onto the object with a force of 10 newtons for a duration of 2 minutes. +Move to position X:0, Y:0, Z:50 at a velocity of 1 meter per second. +Travel to the coordinates X:0, Y:0, Z:50 with a speed of 1 meter per second. +Proceed towards the position X:0, Y:0, Z:50 with a velocity of 1 meter per second. +Go to the location at X:0, Y:0, Z:50 while moving at a rate of 1 meter per second. +Navigate to the point X:0, Y:0, Z:50 at a speed of 1 meter per second. +Retract the arm completely and hold in standby position. +Fully withdraw the arm and keep it in standby mode. +Completely retract the arm and maintain it in a standby position. +Pull back the arm entirely and remain in a standby state. +Withdraw the arm fully and hold it in a standby position. +Rotate the gripper 360 degrees clockwise. +Turn the gripper in a clockwise direction for a full 360 degrees. +Rotate the gripper to the right by 360 degrees. +Make a complete clockwise rotation of 360 degrees with the gripper. +Rotate the gripper in a clockwise motion for an entire 360 degrees. +Extend the arm by 30 centimeters and hold position for 3 seconds. +Increase the length of the arm by 30 centimeters and maintain that position for a duration of 3 seconds. +Stretch out the arm by an additional 30 centimeters and keep it in that posture for 3 seconds. +Lengthen the arm by 30 centimeters and hold it steady for a period of 3 seconds. +Straighten out the arm by adding 30 centimeters of length and maintain that pose for 3 seconds. +Move to position X:30, Y:40, Z:10 at a velocity of 0.3 meters per second. +Change your position to X:30, Y:40, Z:10 with a speed of 0.3 meters per second. +Go to the coordinates X:30, Y:40, Z:10 at a speed of 0.3 meters per second. +Adjust your location to X:30, Y:40, Z:10 with a velocity of 0.3 meters per second. +Transition to position X:30, Y:40, Z:10, moving at a rate of 0.3 meters per second. +Bend the elbow joint to a 90-degree angle and hold for 10 seconds. +Flex the elbow joint to form a 90-degree angle and maintain the position for 10 seconds. +Curve the elbow joint, bringing it to a 90-degree angle, and keep the posture for 10 seconds. +Fold the elbow joint to create a 90-degree angle and sustain the position for 10 seconds. +Crimp the elbow joint to a 90-degree angle and remain in this stance for 10 seconds. +Open the gripper and close it with 7 kilograms of force. +Begin by opening the gripper, then apply 7 kilograms of force to close it. +Use 7 kilograms of force to close the gripper after initially opening it. +Start by opening the gripper, and proceed to close it by exerting 7 kilograms of force. +After opening the gripper, apply 7 kilograms of force to seal it shut. +Rotate the wrist joint counterclockwise by 90 degrees. +Turn the wrist joint in a counterclockwise direction by 90 degrees. +Rotate the wrist joint in an anti-clockwise manner by 90 degrees. +Twist the wrist joint to the left by 90 degrees. +Rotate the wrist joint in the opposite direction to the clockwise by 90 degrees. +Move to position X:10, Y:50, Z:20 at a velocity of 0.8 meters per second. +Proceed to coordinates X:10, Y:50, Z:20 with a speed of 0.8 meters per second. +Travel to point X:10, Y:50, Z:20 at a velocity of 0.8 meters per second. +Relocate to position X:10, Y:50, Z:20 at a pace of 0.8 meters per second. +Shift to the coordinates X:10, Y:50, Z:20 with a velocity of 0.8 meters per second. +Retract the arm halfway and hold in a hovering position. +Position the arm in a hovering state, maintaining a halfway retracted position. +Hold the arm halfway retracted and hover in place. +Hover while keeping the arm partially retracted. +Maintain a hovering position while retracting the arm halfway. +Swim in a circular motion while waving. +Wave your hand while swimming in a circular motion. +Perform circular motions while swimming and waving. +Swim in a circular pattern and wave at the same time. +Combine swimming in a circular motion with waving gestures. +Move the base of the arm 90 degrees to the left. +Rotate the arm's base 90 degrees counterclockwise. +Adjust the arm's base to the left by 90 degrees. +Turn the arm's base to the left by 90 degrees. +Pivot the arm's base to the left by 90 degrees. +Extend the arm by 20 centimeters at a velocity of 2 meters per second. +Increase the arm length by 20 centimeters at a rate of 2 meters per second. +Stretch the arm outwards by 20 centimeters, moving at a speed of 2 meters per second. +Lengthen the arm by 20 centimeters while moving with a velocity of 2 meters per second. +Propel the arm forward by 20 centimeters at a rate of 2 meters per second. +Rotate the elbow joint counterclockwise by 60 degrees. +Turn the elbow joint in the opposite direction (counterclockwise) by an angle of 60 degrees. +Rotate the elbow joint anticlockwise, making a 60-degree angle. +Twist the elbow joint counterclockwise, adjusting it by 60 degrees. +Spin the elbow joint to the left, rotating it 60 degrees. +Grip the object with 10 kilograms of force for 10 seconds. +Apply a force of 10 kilograms to firmly hold the object for a duration of 10 seconds. +Squeeze the object with a force of 10 kilograms for a period of 10 seconds. +Exert 10 kilograms of pressure while grasping the object for 10 seconds. +Maintain a grip on the object with a force of 10 kilograms for a duration of 10 seconds. +Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second. +Go to coordinates X:50, Y:50, Z:0 with a speed of 1 meter per second. +Travel to position X:50, Y:50, Z:0 with a velocity of 1 meter per second. +Reach the point X:50, Y:50, Z:0 at a speed of 1 meter per second. +Achieve the location X:50, Y:50, Z:0 with a velocity of 1 meter per second. +Retract the arm by 30 centimeters in 5 seconds. +Withdraw the arm by a distance of 30 centimeters in a duration of 5 seconds. +Move the arm back by 30 centimeters within a time frame of 5 seconds. +Bring the arm back by 30 centimeters while taking 5 seconds to do so. +Pull the arm away by 30 centimeters over the span of 5 seconds. +Rotate the wrist joint clockwise by 90 degrees. +Turn the wrist joint 90 degrees in a clockwise direction. +Rotate the wrist joint in a clockwise manner, making a 90-degree angle. +Twist the wrist joint in a clockwise direction, creating a 90-degree rotation. +Adjust the wrist joint by turning it 90 degrees in a clockwise fashion. +Grip the object with 2 kilograms of force. +Apply a 2-kilogram force to grip the object. +Exert 2 kilograms of force to secure your grip on the object. +Grasp the object firmly with a force of 2 kilograms. +Employ a 2-kilogram force to firmly hold onto the object. +Move to position X:100, Y:0, Z:100 at a velocity of 0.5 meters per second. +Go to coordinates X:100, Y:0, Z:100 gradually with a speed of 0.5 meters per second. +Travel to the point X:100, Y:0, Z:100 using a velocity of 0.5 meters per second. +Reach the position X:100, Y:0, Z:100 while moving at a speed of 0.5 meters per second. +Proceed towards X:100, Y:0, Z:100 at a rate of 0.5 meters per second. +Retract the arm to the starting position. +Bring the arm back to the initial position. +Withdraw the arm and return it to its original position. +Pull the arm back to the starting point. +Move the arm back to the initial location. +Extend the arm by 10 centimeters at a velocity of 0.2 meters per second. +Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second. +Stretch out the arm by 10 centimeters, moving at a velocity of 0.2 meters per second. +Lengthen the arm by 10 centimeters while maintaining a speed of 0.2 meters per second. +Expand the arm by 10 centimeters, advancing at a rate of 0.2 meters per second. +Rotate the elbow joint clockwise by 30 degrees. +Turn the elbow joint 30 degrees in a clockwise direction. +Rotate the elbow joint to the right by 30 degrees. +Twist the elbow joint in a clockwise motion, moving it 30 degrees. +Adjust the elbow joint by rotating it clockwise, making a 30 degree turn. +Grip the object with 8 kilograms of force for 3 seconds. +Apply a force of 8 kilograms to hold onto the object for a duration of 3 seconds. +Use a grip strength of 8 kilograms to firmly hold the object for 3 seconds. +Exert 8 kilograms of pressure to maintain a hold on the object for a period of 3 seconds. +Securely grasp the object with an 8 kilogram force for a duration of 3 seconds. +Move to position X:0, Y:0, Z:50 at a velocity of 0.1 meters per second. +Travel to coordinates X:0, Y:0, Z:50 with a speed of 0.1 m/s. +Go to position X:0, Y:0, Z:50 with a velocity of 0.1 meters per second. +Shift to the location X:0, Y:0, Z:50 at a rate of 0.1 m/s. +Reach the point X:0, Y:0, Z:50 at a speed of 0.1 meters per second. +Retract the arm by 25 centimeters in 4 seconds. +Within a time frame of 4 seconds, pull the arm back by a distance of 25 centimeters. +Withdraw the arm, moving it backwards by 25 centimeters over a period of 4 seconds. +Over the course of 4 seconds, decrease the arm's extension by 25 centimeters. +In 4 seconds, bring the arm back by 25 centimeters. +Rotate the wrist joint counterclockwise by 45 degrees. +Rotate the wrist joint in an anticlockwise direction by 45 degrees. +Turn the wrist joint to the left by an angle of 45 degrees. +Rotate the wrist joint in a counterclockwise motion, angling it by 45 degrees. +Twist the wrist joint anti-clockwise, changing its position by 45 degrees. +Grip the object with 4 kilograms of force. +Apply a 4-kilogram force to grasp the object. +Exert 4 kilograms of pressure to grip the object. +Employ 4 kilograms of force to securely hold onto the object. +Apply a grip force of 4 kilograms to firmly hold the object. +Move to position X:75, Y:75, Z:75 at a velocity of 0.3 meters per second. +Adjust the coordinates to X:75, Y:75, Z:75 with a speed of 0.3 meters per second. +Shift to position X:75, Y:75, Z:75 using a velocity of 0.3 meters per second. +Go to X:75, Y:75, Z:75 at a speed of 0.3 meters per second. +Travel to the location X:75, Y:75, Z:75 at a speed of 0.3 meters per second. +Retract the arm to the standby position. +Move the arm back to the standby position. +Return the arm to its standby position. +Withdraw the arm to the standby position. +Pull the arm back into the standby position. +Extend the arm by 15 centimeters, then do a little dance. +Stretch the arm outwards by 15 centimeters before performing a small dance. +Increase the arm's length by 15 centimeters and proceed to do a brief dance. +Lengthen the arm by 15 centimeters and then perform a mini dance routine. +Extend the arm's reach by 15 centimeters, followed by a playful dance. +Lift the object at a velocity of 5 meters per second. +Elevate the object at a rate of 5 meters per second. +Raise the object with a speed of 5 meters per second. +Hoist the object at a velocity of 5 meters per second. +Ascend the object with a rate of 5 meters per second. +Rotate the arm joint counterclockwise by 90 degrees. +Turn the arm joint in the opposite direction by 90 degrees. +Rotate the arm joint anticlockwise by 90 degrees. +Twist the arm joint in a counterclockwise direction by 90 degrees. +Rotate the arm joint to the left by 90 degrees. +Extend the arm to a distance of 50 centimeters. +Reach out the arm and stretch it to a length of 50 centimeters. +Lengthen the arm by 50 centimeters. +Increase the arm's length to 50 centimeters. +Stretch out the arm until it measures 50 centimeters in distance. +Move to position X:15, Y:25, Z:35 at a duration of 10 seconds. +Go to position X:15, Y:25, Z:35 within a duration of 10 seconds. +Travel to the coordinates X:15, Y:25, Z:35 in a span of 10 seconds. +Adjust your position to X:15, Y:25, Z:35 over a period of 10 seconds. +Reach the specified location X:15, Y:25, Z:35 within 10 seconds. +Grip the object with a force of 10 Newtons. +Apply a force of 10 Newtons to secure your grip on the object. +Exert a 10 Newton force to firmly hold onto the object. +Use a 10 Newton force to tightly grasp the object. +Apply a firm 10 Newton force to firmly seize the object. +Retract the arm to its starting position. +Pull the arm back to its initial position. +Withdraw the arm and return it to its original location. +Move the arm back to its starting point. +Bring the arm back to its initial position. +Rotate the wrist joint clockwise by 30 degrees. +Turn the wrist joint 30 degrees in a clockwise direction. +Rotate the wrist joint by 30 degrees in a clockwise manner. +Twist the wrist joint in a clockwise direction, moving it 30 degrees. +Rotate the wrist joint in the clockwise direction, making a 30-degree turn. +Lift the object at a velocity of 2 meters per second. +Raise the object with a speed of 2 meters per second. +Elevate the object, moving at a velocity of 2 meters per second. +Hoist the object, maintaining a rate of 2 meters per second. +Pick up the object, traveling at a speed of 2 meters per second. +Extend the arm to a distance of 30 centimeters and hold for 5 seconds. +Stretch the arm out to a length of 30 centimeters and maintain for a duration of 5 seconds. +Reach the arm out to a span of 30 centimeters and keep it there for a period of 5 seconds. +Protract the arm to a distance of 30 centimeters and sustain the position for 5 seconds. +Lengthen the arm to a distance of 30 centimeters and maintain the extension for a duration of 5 seconds. +Move to position X:5, Y:10, Z:15 and halt immediately. +Immediately halt and move to position X:5, Y:10, Z:15. +Halt at once and move to the coordinates X:5, Y:10, Z:15. +Move to the specified coordinates X:5, Y:10, Z:15 and come to an immediate stop. +Come to a stop without delay after moving to the position X:5, Y:10, Z:15. +Grip the object with 8 kilograms of force. +Apply a force of 8 kilograms to secure your grip on the object. +Exert 8 kilograms of pressure to firmly hold onto the object. +Use 8 kilograms of force to tightly grasp the object. +Employ an 8-kilogram force to firmly grip the object. +Retract the arm at a duration of 3 seconds. +Withdraw the arm over a period of 3 seconds. +Pull back the arm for a total of 3 seconds. +Bring the arm back slowly for a duration of 3 seconds. +Depress the arm gradually, taking 3 seconds to complete the action. +Rotate the arm joint counterclockwise by 180 degrees. +Turn the arm joint in a counterclockwise direction by 180 degrees. +Rotate the arm joint in an anti-clockwise direction by 180 degrees. +Twist the arm joint counterclockwise by 180 degrees. +Pivot the arm joint counterclockwise by 180 degrees. +Extend the arm to a distance of 40 centimeters and hold for 2 seconds. +Stretch the arm outwards to a length of 40 centimeters and keep it in that position for a duration of 2 seconds. +Protrude the arm at a distance of 40 centimeters and maintain the position for 2 seconds. +Lengthen the arm to 40 centimeters and sustain the extension for a period of 2 seconds. +Reach out the arm to a distance of 40 centimeters and keep it there for a duration of 2 seconds. +Lift the object at a velocity of 3 meters per second and move to position X:20, Y:30, Z:40. +Move the object to position X:20, Y:30, Z:40 while lifting it at a velocity of 3 meters per second. +Lift the object at a speed of 3 meters per second and transport it to point X:20, Y:30, Z:40. +Raise the object at 3 meters per second and relocate it to coordinates X:20, Y:30, Z:40. +With a velocity of 3 meters per second, elevate the object and shift it to position X:20, Y:30, Z:40. +Grip the object with a force of 15 Newtons and rotate the wrist joint clockwise by 60 degrees. +Apply a force of 15 Newtons to grasp the object, then turn the wrist joint in a clockwise direction by 60 degrees. +Exert a 15 Newton force to firmly hold the object, and proceed to rotate the wrist joint in a clockwise manner by 60 degrees. +Use a force of 15 Newtons to grip the object and then twist the wrist joint in a clockwise direction by 60 degrees. +Grasp the object firmly with a 15 Newton force and proceed to rotate the wrist joint in a clockwise manner by 60 degrees. +Retract the arm to its starting position and hold for 4 seconds. +Bring the arm back to its initial position and maintain that position for a duration of 4 seconds. +Withdraw the arm to its original position and keep it there for a period of 4 seconds. +Move the arm back to where it started and keep it stationary for 4 seconds. +Pull the arm back to its starting point and hold it for 4 seconds. +Lift the object at a velocity of 4 meters per second and extend the arm to a distance of 60 centimeters. +Raise the object with a speed of 4 meters per second while stretching the arm to a length of 60 centimeters. +Elevate the object, moving at a velocity of 4 meters per second, and lengthen the arm to a distance of 60 centimeters. +Increase the height of the object by lifting it at a rate of 4 meters per second and extending the arm to a distance of 60 centimeters. +Hoist the object, maintaining a speed of 4 meters per second, as the arm is extended to a distance of 60 centimeters. +Move to position X:10, Y:20, Z:30 at a duration of 8 seconds and rotate the arm joint counterclockwise by 45 degrees. +Adjust the position to X:10, Y:20, Z:30 over a period of 8 seconds, while rotating the arm joint 45 degrees in the counterclockwise direction. +Transition to coordinates X:10, Y:20, Z:30 in 8 seconds, simultaneously rotating the arm joint 45 degrees counterclockwise. +Shift to the specified position (X:10, Y:20, Z:30) in 8 seconds, while also rotating the arm joint 45 degrees counterclockwise. +Transfer to the designated coordinates (X:10, Y:20, Z:30) smoothly within an 8-second timeframe, while turning the arm joint 45 degrees counterclockwise. +Swim. +Take a swim. +Engage in swimming. +Get in the water and swim. +Dive in and start swimming. +Move the robotic arm to position X:50, Y:100, Z:200. +Position the robotic arm at X:50, Y:100, Z:200. +Set the robotic arm to coordinates X:50, Y:100, Z:200. +Adjust the robotic arm to reach X:50, Y:100, Z:200. +Move the robotic arm so that it is located at X:50, Y:100, Z:200. +Rotate the shoulder joint counterclockwise by 90 degrees. +Turn the shoulder joint 90 degrees counterclockwise. +Twist the shoulder joint counterclockwise, making a 90-degree rotation. +Rotate the shoulder joint in a counterclockwise direction, reaching a 90-degree angle. +Pivot the shoulder joint counterclockwise, achieving a 90-degree rotation. +Extend the arm by 30 centimeters. +Increase the arm's length by 30 centimeters. +Lengthen the arm by an additional 30 centimeters. +Stretch the arm outwards by 30 centimeters. +Add 30 centimeters to the arm's reach. +Grip the object with 10 pounds of force. +Apply a force of 10 pounds to grasp the object. +Exert 10 pounds of pressure to firmly hold onto the object. +Use 10 pounds of strength to tightly grip the object. +Securely hold the object with a force of 10 pounds. +Move the arm in a straight line at a velocity of 50 centimeters per second. +Adjust the arm to move in a linear path with a speed of 50 centimeters per second. +Direct the arm to travel in a straight line at a rate of 50 centimeters per second. +Command the arm to execute a straight-line motion at a velocity of 50 centimeters per second. +Instruct the arm to move in a straight line, maintaining a speed of 50 centimeters per second. +Rotate the elbow joint clockwise by 60 degrees. +Turn the elbow joint in a clockwise direction by 60 degrees. +Rotate the elbow joint to the right by 60 degrees. +Twist the elbow joint to the right by 60 degrees. +Move the elbow joint in a clockwise rotation, making a 60-degree angle. +Retract the arm to its starting position. +Move the arm back to its original position. +Withdraw the arm and return it to its initial location. +Bring the arm back to where it started. +Pull the arm back until it reaches its starting point. +Move the robotic arm to position X:0, Y:0, Z:0. +Adjust the robotic arm to coordinates X:0, Y:0, Z:0. +Shift the robotic arm to position X:0, Y:0, Z:0. +Realign the robotic arm to coordinates X:0, Y:0, Z:0. +Position the robotic arm at X:0, Y:0, Z:0. +Grip the object with a force of 20 newtons. +Exert a 20 newton force to hold onto the object. +Apply a 20 newton force to firmly grasp the object. +Use a force of 20 newtons to grip the object securely. +Hold onto the object with a 20 newton force. +Extend the arm by 10 inches. +Increase the arm's length by 10 inches. +Stretch the arm by an additional 10 inches. +Lengthen the arm by 10 inches. +Add 10 inches to the arm's extension. +Rotate the wrist joint counterclockwise by 30 degrees. +Turn the wrist joint in a counterclockwise direction by 30 degrees. +Rotate the wrist joint anticlockwise by 30 degrees. +Move the wrist joint in a counterclockwise rotation of 30 degrees. +Adjust the wrist joint by rotating it counterclockwise at a 30-degree angle. +Move the arm in a curve with a radius of 50 centimeters. +Perform a curved motion with the arm, ensuring a radius of 50 centimeters. +Rotate the arm in a circular path, maintaining a curvature with a radius measuring 50 centimeters. +Execute a curvilinear movement with the arm, guaranteeing a 50-centimeter radius. +Maneuver the arm in a curved trajectory, ensuring a radius spanning 50 centimeters. +Rotate the shoulder joint clockwise by 45 degrees. +Rotate the shoulder joint in a clockwise direction, turning it by an angle of 45 degrees. +Turn the shoulder joint clockwise, rotating it by 45 degrees. +Twist the shoulder joint in a clockwise manner, changing its position by 45 degrees. +Rotate the shoulder joint in the clockwise direction, making a 45-degree turn. +Move the robotic arm to position X:100, Y:50, Z:150. +Position the robotic arm at coordinates X:100, Y:50, Z:150. +Transfer the robotic arm to location X:100, Y:50, Z:150. +Shift the robotic arm to the X:100, Y:50, Z:150 position. +Adjust the robotic arm to the desired coordinates: X:100, Y:50, Z:150. +Grip the object with a force of 15 pounds. +Apply a 15-pound force to grasp the object. +Exert 15 pounds of force to hold onto the object. +Use a 15-pound grip to secure the object. +Hold the object firmly with a force of 15 pounds. +Retract the arm by 20 centimeters. +Move the arm back by a distance of 20 centimeters. +Pull the arm inward, reducing its length by 20 centimeters. +Withdraw the arm by 20 centimeters. +Bring the arm back, shortening it by a measurement of 20 centimeters. +Rotate the elbow joint counterclockwise by 90 degrees. +Turn the elbow joint in an anticlockwise direction, rotating it by 90 degrees. +Rotate the elbow joint to the left by 90 degrees. +Perform a 90-degree counterclockwise rotation of the elbow joint. +Twist the elbow joint counterclockwise, turning it by 90 degrees. +Move the arm in a zigzag pattern with a velocity of 75 centimeters per second. +The arm should be moved in a zigzag pattern at a speed of 75 centimeters per second. +Move the arm with a velocity of 75 centimeters per second in a zigzag pattern. +With a speed of 75 centimeters per second, move the arm in a zigzag pattern. +In a zigzag pattern, move the arm with a velocity of 75 centimeters per second. +Extend the arm by 5 inches. +Increase the arm's length by 5 inches. +Lengthen the arm by an additional 5 inches. +Stretch the arm outwards, adding 5 inches to its total length. +Expand the arm's size by 5 inches. +Rotate the wrist joint clockwise by 15 degrees. +Turn the wrist joint in a clockwise direction, angling it 15 degrees. +Rotate the wrist joint to the right by 15 degrees. +Twist the wrist joint in a clockwise motion, adjusting it by 15 degrees. +Move the wrist joint in a clockwise rotation, offsetting it by 15 degrees. +Swim. +Take a swim. +Go for a swim. +Dive into the water. +Engage in swimming. +Lift the object 5 centimeters off the ground. +Raise the object to a height of 5 centimeters above the ground. +Elevate the object so that it is positioned 5 centimeters above the ground. +Increase the height of the object by 5 centimeters from its current position on the ground. +Ascend the object by 5 centimeters, lifting it away from the ground. +Rotate the base joint counterclockwise by 90 degrees. +Turn the base joint anti-clockwise by an angle of 90 degrees. +Twist the base joint in a counterclockwise direction by 90 degrees. +Rotate the base joint in the counterclockwise direction by 90 degrees. +Execute a 90-degree counterclockwise rotation of the base joint. +Extend the arm to position X:50, Y:0, Z:80. +Move the arm to coordinates X:50, Y:0, Z:80. +Adjust the arm to reach position X:50, Y:0, Z:80. +Stretch out the arm until it reaches X:50, Y:0, Z:80. +Set the arm's coordinates to X:50, Y:0, Z:80. +Open the grip completely for 3 seconds. +Fully open the grip and hold for 3 seconds. +Release the grip completely for a duration of 3 seconds. +Keep the grip wide open for a period of 3 seconds. +Hold the grip in a fully extended position for 3 seconds. +Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second. +Transfer the item to coordinates X:20, Y:30, Z:10 with a speed of 10 centimeters per second. +Relocate the object to X:20, Y:30, Z:10, moving at a rate of 10 centimeters per second. +Transport the item to position X:20, Y:30, Z:10 with a velocity of 10 centimeters per second. +Shift the object to coordinates X:20, Y:30, Z:10 at a speed of 10 centimeters per second. +Close the grip with 10 kilograms of force. +Apply 10 kilograms of force to secure the grip. +Exert a 10-kilogram force to close the grip. +Use 10 kilograms of pressure to tighten the grip. +Apply 10 kilograms of force to finalize the grip closure. +Rotate the wrist joint clockwise by 180 degrees. +Turn the wrist joint in a clockwise direction, making a 180-degree rotation. +Rotate the wrist joint by 180 degrees in a clockwise direction. +Twist the wrist joint clockwise, completing a 180-degree rotation. +Perform a 180-degree clockwise rotation of the wrist joint. +Lift the arm to its maximum height and hold for 10 seconds. +Elevate the arm to its highest point and maintain for a duration of 10 seconds. +Raise the arm as high as possible and keep it in that position for 10 seconds. +Hoist the arm to its utmost height and keep it there for a period of 10 seconds. +Ascend the arm to its peak height and hold the position for 10 seconds. +Retract the arm to standby position. +Bring the arm back to its standby position. +Move the arm back to the standby position. +Return the arm to the standby position. +Withdraw the arm and place it in the standby position. +Move to position X:100, Y:50, Z:150 at a velocity of 20 centimeters per second. +Change your position to X:100, Y:50, Z:150 moving at a speed of 20 centimeters per second. +Travel to coordinates X:100, Y:50, Z:150 with a velocity of 20 centimeters per second. +Go to position X:100, Y:50, Z:150 at a speed of 20 centimeters per second. +Reach the coordinates X:100, Y:50, Z:150 at a velocity of 20 centimeters per second. +Open the grip halfway for 2 seconds. +Partially open the grip for a duration of 2 seconds. +Open the grip halfway and hold for 2 seconds. +Temporarily open the grip halfway for a period of 2 seconds. +Maintain the grip at a mid-point opening for 2 seconds. +Extend the arm by 30 centimeters. +Increase the arm length by 30 centimeters. +Stretch the arm outwards by 30 centimeters. +Elongate the arm by 30 centimeters. +Expand the arm by 30 centimeters. +Rotate the base joint clockwise by 45 degrees. +Turn the base joint to the right by 45 degrees. +Twist the base joint in a clockwise direction by 45 degrees. +Rotate the base joint in a clockwise manner, making a 45 degree turn. +Shift the base joint to the right, rotating it by 45 degrees in a clockwise motion. +Lift the object to position X:0, Y:0, Z:50 and hold for 5 seconds. +Elevate the object to coordinates X:0, Y:0, Z:50 and maintain that position for a duration of 5 seconds. +Hoist the object until it reaches the location X:0, Y:0, Z:50, and then keep it steady for a period of 5 seconds. +Raise the object up to X:0, Y:0, Z:50, and keep it suspended in that spot for 5 seconds. +Carry out a vertical movement to position the object at coordinates X:0, Y:0, Z:50, and keep it in place for a duration of 5 seconds. +Close the grip with 7 kilograms of force. +Apply a force of 7 kilograms to tighten the grip. +Securely tighten the grip with a force of 7 kilograms. +Use 7 kilograms of force to close the grip. +Apply a force of 7 kilograms to firmly close the grip. +Move to position X:75, Y:25, Z:100 at a velocity of 15 centimeters per second. +Go to the coordinates X:75, Y:25, Z:100 with a speed of 15 centimeters per second. +Travel to position X:75, Y:25, Z:100 at a rate of 15 centimeters per second. +Change your location to X:75, Y:25, Z:100 with a velocity of 15 centimeters per second. +Reach the coordinates X:75, Y:25, Z:100 at a speed of 15 centimeters per second. +Rotate the wrist joint counterclockwise by 270 degrees. +Turn the wrist joint in the opposite direction by 270 degrees. +Rotate the wrist joint anti-clockwise by an angle of 270 degrees. +Twist the wrist joint in a counterclockwise direction, rotating it by 270 degrees. +Rotate the wrist joint in the counterclockwise direction, making a 270-degree turn. +Retract the arm to standby position and wait for further instruction. +Bring the arm back to standby position and remain there until further instructions. +Move the arm back to its standby position and await further instruction. +Withdraw the arm to the standby position and expect further guidance. +Return the arm to its original position and stay there until you receive more instructions. +Lift the arm by 20 centimeters and hold for 3 seconds. +Raise the arm by a distance of 20 centimeters and maintain the position for a duration of 3 seconds. +Elevate the arm by 20 centimeters and keep it held for 3 seconds. +Increase the height of the arm by 20 centimeters, then hold steady for 3 seconds. +Lift the arm upwards by 20 centimeters and maintain the lifted position for a period of 3 seconds. +Rotate the base joint counterclockwise by 180 degrees and dance. +Perform a counterclockwise rotation of 180 degrees on the base joint, then carry out a dance. +Turn the base joint in a counterclockwise direction, making a 180 degree rotation before proceeding to dance. +Rotate the base joint 180 degrees in the counterclockwise direction, then showcase your dance moves. +Execute a 180 degree counterclockwise rotation on the base joint and follow it with a dance routine. +Move the arm to position X:50, Y:70, Z:90. +Adjust the arm's position to coordinates X:50, Y:70, Z:90. +Shift the arm to the designated coordinates of X:50, Y:70, Z:90. +Relocate the arm to the specified position of X:50, Y:70, Z:90. +Transpose the arm to the desired coordinates at X:50, Y:70, Z:90. +Rotate the wrist joint counterclockwise by 90 degrees. +Turn the wrist joint in a counterclockwise direction, rotating it 90 degrees. +Rotate the wrist joint anti-clockwise by 90 degrees. +Clockwise rotation of the wrist joint by 90 degrees is not required; instead, rotate it counterclockwise. +In order to achieve a 90-degree counterclockwise rotation, turn the wrist joint. +Extend the arm by 20 centimeters. +Increase the length of the arm by 20 centimeters. +Stretch out the arm by an additional 20 centimeters. +Lengthen the arm by an extra 20 centimeters. +Add 20 centimeters to the arm's current length. +Grip the object with 10 kilograms of force. +Apply a force of 10 kilograms to grip the object. +Exert 10 kilograms of force to grasp the object. +Use a gripping force of 10 kilograms on the object. +Apply 10 kilograms of pressure to hold onto the object. +Move the arm to position X:30, Y:40, Z:50. +Adjust the arm's position to X:30, Y:40, Z:50. +Set the arm's coordinates to X:30, Y:40, Z:50. +Move the arm's location to X:30, Y:40, Z:50. +Position the arm at X:30, Y:40, Z:50. +Rotate the wrist joint clockwise by 60 degrees. +Turn the wrist joint in a clockwise direction by 60 degrees. +Perform a 60-degree clockwise rotation of the wrist joint. +Rotate the wrist joint to the right by 60 degrees. +Move the wrist joint in a clockwise direction, turning it by 60 degrees. +Retract the arm to standby position. +Move the arm back to the standby position. +Return the arm to the standby position. +Bring the arm back to the standby position. +Take the arm back to the standby position. +Grip the object with 15 kilograms of force. +Apply a gripping force of 15 kilograms to the object. +Exert 15 kilograms of force to hold onto the object. +Use a gripping strength of 15 kilograms to secure the object. +Grasp the object firmly with a 15-kilogram force. +Move the arm to position X:70, Y:80, Z:90. +Adjust the arm's position to coordinates X:70, Y:80, Z:90. +Relocate the arm so that it is at position X:70, Y:80, Z:90. +Shift the arm's location to X:70, Y:80, Z:90. +Set the arm's coordinates to X:70, Y:80, Z:90. +Rotate the wrist joint counterclockwise by 120 degrees. +Turn the wrist joint in a counterclockwise direction by 120 degrees. +Rotate the wrist joint anti-clockwise by 120 degrees. +Twist the wrist joint in the counterclockwise direction by 120 degrees. +Move the wrist joint in a counterclockwise rotation by 120 degrees. +Extend the arm by 25 centimeters. +Increase the length of the arm by 25 centimeters. +Stretch out the arm by an additional 25 centimeters. +Lengthen the arm by 25 centimeters. +Add 25 centimeters to the arm's reach. +Grip the object with 20 kilograms of force. +Apply a 20-kilogram force to grasp the object. +Exert 20 kilograms of force to hold onto the object. +Use a gripping force of 20 kilograms to secure the object. +Apply pressure equivalent to 20 kilograms to firmly hold the object. +Move the arm to position X:10, Y:20, Z:30. +Position the arm at X:10, Y:20, Z:30. +Set the arm's coordinates to X:10, Y:20, Z:30. +Adjust the arm's position to X:10, Y:20, Z:30. +Move the arm's location to X:10, Y:20, Z:30. +Rotate the wrist joint clockwise by 30 degrees. +Turn the wrist joint in a clockwise direction by 30 degrees. +Rotate the wrist joint in the clockwise direction, making a 30-degree angle. +Twist the wrist joint to the right by 30 degrees. +Adjust the wrist joint by turning it clockwise 30 degrees. +Retract the arm to standby position. +Move the arm back to the standby position. +Pull the arm back into the standby position. +Return the arm to its standby position. +Bring the arm back to the standby position. +Grip the object with 12 kilograms of force. +Apply a force of 12 kilograms to tightly hold onto the object. +Exert a gripping force of 12 kilograms on the object. +Use 12 kilograms of strength to firmly grasp the object. +Tighten your grip on the object with a force of 12 kilograms. +Move the arm to position X:80, Y:60, Z:40. +Position the arm at X:80, Y:60, Z:40. +Set the arm's coordinates to X:80, Y:60, Z:40. +Adjust the arm to the location X:80, Y:60, Z:40. +Move the arm to the desired coordinates, X:80, Y:60, Z:40. +Rotate the wrist joint counterclockwise by 75 degrees. +Turn the wrist joint anti-clockwise at a 75-degree angle. +Rotate the wrist joint in the counterclockwise direction, making a 75-degree rotation. +Twist the wrist joint to the left by 75 degrees. +Adjust the wrist joint by rotating it counterclockwise with a 75-degree angle. +Extend the arm by 18 centimeters. +Stretch out the arm, adding an additional 18 centimeters in length. +Increase the arm's length by 18 centimeters. +Lengthen the arm by 18 centimeters. +Stretch the arm outwards until it is 18 centimeters longer. +Grip the object with 8 kilograms of force. +Apply 8 kilograms of force to grip the object. +Exert a force of 8 kilograms to hold onto the object. +Securely grip the object with 8 kilograms of force. +Hold the object using a force of 8 kilograms. +Move the arm to position X:40, Y:50, Z:60. +Set the arm's position to X:40, Y:50, Z:60. +Adjust the arm's coordinates to X:40, Y:50, Z:60. +Position the arm at X:40, Y:50, Z:60. +Move the arm's location to X:40, Y:50, Z:60. +Rotate the wrist joint clockwise by 45 degrees. +Turn the wrist joint in a clockwise direction by 45 degrees. +Rotate the wrist joint to the right by 45 degrees. +Twist the wrist joint in a clockwise manner by 45 degrees. +Rotate the wrist joint in the clockwise direction, making a 45-degree angle. +Retract the arm to standby position, then wave. +Bring the arm back to its initial position and subsequently perform a waving motion. +Revert the arm to its default position and proceed to wave. +Withdraw the arm to standby position before waving. +Pull back the arm and proceed to wave. +Extend the arm by 20 centimeters. +Lengthen the arm by 20 centimeters. +Stretch the arm out an additional 20 centimeters. +Increase the arm's length by 20 centimeters. +Add 20 centimeters to the arm's extension. +Rotate the wrist joint counterclockwise by 90 degrees. +Turn the wrist joint in a counterclockwise direction, rotating it by 90 degrees. +Rotate the wrist joint 90 degrees counterclockwise. +Perform a counterclockwise rotation of the wrist joint, turning it by 90 degrees. +Adjust the wrist joint by rotating it counterclockwise at a 90 degree angle. +Grip the object with 10 kilograms of force. +Apply a force of 10 kilograms to hold onto the object. +Utilize 10 kilograms of force to grip the object firmly. +Exert a grip on the object with 10 kilograms of force. +Hold onto the object with a force of 10 kilograms. +Move to position X:50, Y:75, Z:100. +Relocate to coordinates X:50, Y:75, Z:100. +Transfer to position with X coordinate of 50, Y coordinate of 75, and Z coordinate of 100. +Proceed to the location with X value 50, Y value 75, and Z value 100. +Change position to X:50, Y:75, Z:100. +Retract the arm by 30 centimeters. +Pull the arm back by a distance of 30 centimeters. +Withdraw the arm by 30 centimeters. +Move the arm back by a length of 30 centimeters. +Bring the arm back 30 centimeters. +Rotate the shoulder joint clockwise by 180 degrees. +Turn the shoulder joint in a clockwise direction, making a 180-degree rotation. +Rotate the shoulder joint in a clockwise manner, making a complete 180-degree turn. +Twist the shoulder joint clockwise, turning it by 180 degrees. +Perform a 180-degree clockwise rotation of the shoulder joint. +Release the object gently. +Gently let go of the object. +Softly loosen your grip on the object. +Carefully release the object in a gentle manner. +Handle the object with caution as you relinquish your hold on it. +Move to position X:0, Y:0, Z:50. +Proceed to coordinates X:0, Y:0, and Z:50. +Relocate yourself to the destination with the coordinates X:0, Y:0, and Z:50. +Shift your position to X:0, Y:0, Z:50. +Transfer yourself to the specified coordinates: X:0, Y:0, and Z:50. +Extend the arm by 10 centimeters at a velocity of 5 centimeters per second. +Increase the length of the arm by 10 centimeters, moving at a speed of 5 centimeters per second. +Add 10 centimeters to the arm's reach, advancing at a rate of 5 centimeters per second. +Stretch the arm forward by 10 centimeters, with a velocity of 5 centimeters per second. +Lengthen the arm by 10 centimeters, moving at a pace of 5 centimeters per second. +Rotate the wrist joint counterclockwise by 45 degrees at a velocity of 90 degrees per second. +- Turn the wrist joint to the left by 45 degrees at a speed of 90 degrees per second. +- Rotate the wrist joint in an anti-clockwise direction, making a 45 degree angle, at a rate of 90 degrees per second. +- Move the wrist joint counterclockwise for 45 degrees with a velocity of 90 degrees per second. +- Adjust the wrist joint by rotating it counterclockwise at a speed of 90 degrees per second, achieving a 45 degree angle. +Grip the object with 8 kilograms of force for 10 seconds. +Apply a force of 8 kilograms to the object for a duration of 10 seconds. +Hold the object with a grip that exerts 8 kilograms of force for 10 seconds. +Grasp the object firmly, exerting a force of 8 kilograms, and maintain the grip for 10 seconds. +Use 8 kilograms of force to firmly grip the object for a period of 10 seconds. +Move to position X:25, Y:50, Z:75 in 5 seconds. +In 5 seconds, go to the coordinates X:25, Y:50, Z:75. +Reach the position X:25, Y:50, Z:75 within a span of 5 seconds. +Within 5 seconds, relocate yourself to the coordinates X:25, Y:50, Z:75. +Move to X:25, Y:50, Z:75 within 5 seconds. +Retract the arm by 15 centimeters at a velocity of 2 centimeters per second. +Move the arm back by 15 centimeters at a speed of 2 centimeters per second. +Withdraw the arm, reducing its length by 15 centimeters, while moving at a rate of 2 centimeters per second. +Decrease the arm's extension by 15 centimeters, moving it at a velocity of 2 centimeters per second. +Pull the arm back by 15 centimeters, maintaining a speed of 2 centimeters per second. +Rotate the shoulder joint clockwise by 270 degrees in 3 seconds. +In a time span of 3 seconds, turn the shoulder joint in a clockwise direction by 270 degrees. +Perform a 270-degree clockwise rotation of the shoulder joint within a 3-second timeframe. +Rotate the shoulder joint in a clockwise manner, covering a distance of 270 degrees, and complete this action within 3 seconds. +Within a duration of 3 seconds, turn the shoulder joint in a clockwise direction, making a rotation of 270 degrees. +Move to position X:100, Y:100, Z:0 in 10 seconds. +Go to coordinates X:100, Y:100, Z:0 within a time frame of 10 seconds. +Shift to position X:100, Y:100, Z:0 within a duration of 10 seconds. +Transfer yourself to coordinates X:100, Y:100, Z:0 in a span of 10 seconds. +Travel to position X:100, Y:100, Z:0 within a 10-second timeframe. +Extend the arm by 5 centimeters, then swim. +Swim after extending the arm by 5 centimeters. +After extending the arm by 5 centimeters, proceed to swim. +Extend the arm by 5 centimeters first, then start swimming. +First, extend the arm by 5 centimeters, and then initiate swimming. diff --git a/evaluation/final-NL-commands/NL_commands_UAV_with_5rephrasings.txt b/evaluation/final-NL-commands/NL_commands_UAV_with_5rephrasings.txt new file mode 100644 index 0000000..2925d0e --- /dev/null +++ b/evaluation/final-NL-commands/NL_commands_UAV_with_5rephrasings.txt @@ -0,0 +1,996 @@ +Ascend to an altitude of 500 feet. +Increase the elevation to a height of 500 feet. +Climb to a height of 500 feet above ground. +Reach an altitude of 500 feet above sea level. +Ascend to a height of 500 feet in the air. +Fly forward for 1 mile at a speed of 40 mph. +Proceed straight at a velocity of 40 miles per hour for a distance of 1 mile. +Travel in a straight line for 1 mile, maintaining a speed of 40 mph. +Move forward for a distance of 1 mile, traveling at a speed of 40 mph. +Cover a distance of 1 mile by flying forward at a velocity of 40 mph. +Hover in place for 10 minutes. +Stay still for a duration of 10 minutes. +Maintain a hovering position for the next 10 minutes. +Remain suspended in one spot for a period of 10 minutes. +Hold a stationary hover for the next 10 minutes. +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second. +Rotate at a speed of 20 degrees per second in a clockwise direction by 180 degrees. +With an angular speed of 20 degrees per second, rotate clockwise to make a 180-degree turn. +Perform a 180-degree clockwise rotation at a rate of 20 degrees per second. +Rotate in a clockwise direction at an angular velocity of 20 degrees per second, covering a total rotation of 180 degrees. +Land at the designated landing zone. +Please ensure you touch down safely at the specified landing area. +It is essential that you land at the designated land zone. +Make sure you reach the assigned landing zone for landing. +Ensure your landing takes place at the specified landing area. +Descend to an altitude of 200 meters. +Decrease your altitude to 200 meters. +Lower yourself to an altitude of 200 meters. +Descend until you reach an altitude of 200 meters. +Bring your altitude down to 200 meters. +Fly forward for 3 kilometers at a speed of 80 km/h. +Proceed in the forward direction for a distance of 3 kilometers, maintaining a speed of 80 km/h. +Travel straight ahead for 3 kilometers, with a velocity of 80 km/h. +Move ahead for a distance of 3 kilometers, maintaining a speed of 80 km/h. +Fly in a straight line, covering a distance of 3 kilometers, at a speed of 80 km/h. +Hover in place for 15 minutes. +Stay stationary for a duration of 15 minutes. +Maintain a hovering position for a period of 15 minutes. +Remain suspended in one place for 15 minutes. +Hold in mid-air without moving for 15 minutes. +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second. +Turn left at a rate of 10 degrees per second for a duration of 45 degrees. +Perform a counterclockwise rotation of 45 degrees with an angular velocity of 10 degrees per second. +Rotate anticlockwise with an angular speed of 10 degrees per second for 45 degrees. +Execute a 45-degree counterclockwise rotation, with each second corresponding to a 10-degree turn. +Land at the designated landing zone. +Please arrive at the pre-assigned landing area. +Make your way to the specified landing zone. +Ensure you land at the designated landing spot. +Please touch down at the designated landing area. +Ascend to an altitude of 1000 feet. +Climb to a height of 1000 feet. +Reach an elevation of 1000 feet. +Go up to an altitude of 1000 feet. +Achieve a height of 1000 feet. +Fly forward for 2 miles at a speed of 45 mph. +Proceed straight ahead for a distance of 2 miles, maintaining a speed of 45 mph. +Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph. +Fly ahead for 2 miles while moving at a speed of 45 mph. +Maintain a speed of 45 mph while flying forward for a distance of 2 miles. +Hover in place for 20 minutes. +Remain stationary for a period of 20 minutes. +Stay suspended in one spot for a duration of 20 minutes. +Keep still for 20 minutes while floating in the air. +Hold position for 20 minutes without moving. +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second. +Rotate 270 degrees in a clockwise direction with a speed of 15 degrees per second. +Execute a clockwise rotation of 270 degrees at a rate of 15 degrees per second. +Perform a rotation in the clockwise direction, turning 270 degrees with an angular speed of 15 degrees per second. +Turn by 270 degrees in a clockwise manner while maintaining an angular velocity of 15 degrees per second. +Land at the designated landing zone. +Please make a landing at the specified landing zone. +Ensure that you land at the assigned landing zone. +It is necessary for you to touch down at the designated landing zone. +The instruction is to land specifically at the assigned landing zone. +Descend to an altitude of 300 meters. +Lower your altitude to 300 meters. +Move down to an altitude of 300 meters. +Deescalate to a height of 300 meters. +Descend until you reach an altitude of 300 meters. +Fly forward for 4 kilometers at a speed of 70 km/h. +Proceed straight ahead for a distance of 4 kilometers, maintaining a speed of 70 kilometers per hour. +Travel in a forward direction for a total of 4 kilometers, at a constant velocity of 70 kilometers per hour. +Cover a distance of 4 kilometers by flying forward, while maintaining a speed of 70 kilometers per hour. +Fly in a straight line for a distance of 4 kilometers, with a velocity of 70 kilometers per hour. +Hover in place for 25 minutes. +Stay suspended in one spot for a duration of 25 minutes. +Remain airborne without moving for a period of 25 minutes. +Levitate motionlessly for 25 minutes. +Hold position without any movement for 25 minutes. +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second. +Perform a counterclockwise rotation of 135 degrees with an angular velocity of 25 degrees per second. +Turn left by 135 degrees with an angular speed of 25 degrees per second. +Rotate anticlockwise by 135 degrees at a rate of 25 degrees per second. +Execute a 135-degree counterclockwise rotation at a speed of 25 degrees every second. +Land at the designated landing zone. +Please ensure you land at the specified landing area. +Your objective is to touch down at the designated landing zone. +You are required to land at the assigned landing zone. +Make sure you reach the designated landing area safely. +Ascend to an altitude of 1500 feet. +Increase your altitude to 1500 feet. +Climb up to a height of 1500 feet. +Reach an elevation of 1500 feet. +Scale to a height of 1500 feet. +Fly forward for 5 miles at a speed of 50 mph. +Proceed straight ahead at a velocity of 50 mph for a distance of 5 miles. +Travel in a forward direction, maintaining a speed of 50 mph, for a total distance of 5 miles. +Move ahead for a distance of 5 miles, maintaining a speed of 50 mph. +Cover a distance of 5 miles by flying straight ahead at a speed of 50 mph. +Hover in place for 30 minutes. +Stay in one spot for a duration of 30 minutes. +Maintain a fixed position for the next half an hour. +Remain suspended in mid-air for the next 30 minutes. +Hold still for a period of 30 minutes. +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second. +1) Turn to the right in a full circle, completing a rotation of 360 degrees at a rate of 30 degrees per second. +2) Rotate in a clockwise direction, making a complete 360-degree revolution while moving at a speed of 30 degrees per second. +3) Perform a clockwise rotation for a total of 360 degrees, with an angular velocity of 30 degrees per second. +4) Spin to the right, completing a full 360-degree turn at a rate of 30 degrees per second. +Land at the designated landing zone. +Please make your way to the designated landing zone and touch down. +The designated landing zone is where you should aim to touch down. +You are required to land at the specific landing zone as indicated. +Ensure that you come to a safe landing at the designated landing zone. +Descend to an altitude of 400 meters. +Decrease your altitude to 400 meters. +Lower yourself to an altitude of 400 meters. +Go down to an altitude of 400 meters. +Descend until you reach an altitude of 400 meters. +Fly forward for 6 kilometers at a speed of 60 km/h. +Proceed straight ahead for a distance of 6 kilometers, maintaining a speed of 60 km/h. +Maintain a speed of 60 km/h and cover a distance of 6 kilometers by flying forward. +Fly straight ahead at 60 km/h for a distance of 6 kilometers. +Keep a consistent speed of 60 km/h and fly forwards for a distance of 6 kilometers. +Hover in place for 35 minutes. +Stay suspended in mid-air for a duration of 35 minutes. +Maintain a fixed position in the air for the next 35 minutes. +Remain stationary in the same spot for a period of 35 minutes. +Keep yourself suspended without moving for the next 35 minutes. +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second. +Turn in the opposite direction at a rate of 35 degrees per second for a total rotation of 180 degrees counterclockwise. +Perform a 180-degree counterclockwise rotation at a speed of 35 degrees per second. +Rotate with an angular velocity of 35 degrees per second in a counterclockwise direction for a total rotation of 180 degrees. +Execute a counterclockwise rotation of 180 degrees at a rate of 35 degrees per second. +Land at the designated landing zone. +Please make a landing at the specified landing zone. +Ensure a safe landing at the assigned landing area. +You are instructed to touch down at the designated landing zone. +It is requested that you land at the predetermined landing zone. +Ascend to an altitude of 2000 feet. +Increase your elevation to a height of 2000 feet. +Reach a height of 2000 feet above the ground level. +Climb to an altitude of 2000 feet. +Ascend to a height of 2000 feet above sea level. +Fly forward for 7 miles at a speed of 55 mph. +Proceed in a forward direction covering a distance of 7 miles, maintaining a speed of 55 miles per hour. +Travel straight ahead for a total distance of 7 miles, ensuring a constant speed of 55 mph. +Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour. +Ascend ahead for 7 miles, maintaining a velocity of 55 mph. +Hover in place for 40 minutes. +Stay in one position for a duration of 40 minutes. +Remain suspended in the air without moving for a total of 40 minutes. +Maintain a hovering position for the next 40 minutes. +Levitate and hold your position for a period of 40 minutes. +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second. +Please rotate in a clockwise direction at a speed of 40 degrees per second for 90 degrees. +Rotate 90 degrees in a clockwise direction at an angular speed of 40 degrees per second. +Turn right by 90 degrees with an angular speed of 40 degrees per second. +Rotate at a rate of 40 degrees per second in a clockwise direction, completing a 90 degree rotation. +Land at the designated landing zone. +Please touch down at the assigned landing area. +Ensure that you arrive at the specified landing zone. +Make sure to land at the designated touchdown point. +It is required that you land at the designated landing zone. +Descend to an altitude of 500 meters. +Lower yourself to a height of 500 meters. +Decrease your altitude to 500 meters. +Go down to an altitude of 500 meters. +Reduce your height to 500 meters. +Fly forward for 8 kilometers at a speed of 65 km/h. +Proceed ahead for a distance of 8 kilometers, maintaining a speed of 65 km/h. +Cover a distance of 8 kilometers by flying straight ahead at a velocity of 65 km/h. +Maintain a speed of 65 km/h and travel in a straight line for a distance of 8 kilometers. +Fly straight ahead for a total of 8 kilometers, ensuring you maintain a speed of 65 km/h. +Hover in place for 45 minutes. +Stay suspended in position for a duration of 45 minutes. +Remain airborne without moving for a period of 45 minutes. +Keep yourself elevated without any movement for a span of 45 minutes. +Suspend yourself in mid-air for a time frame of 45 minutes without shifting position. +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second. +Rotate in the anticlockwise direction by 270 degrees with an angular velocity of 45 degrees per second. +Perform a counterclockwise rotation of 270 degrees, with an angular speed of 45 degrees per second. +Turn left by 270 degrees at a rate of 45 degrees per second, in the counterclockwise direction. +Execute a rotation in the anticlockwise direction, covering 270 degrees, at a speed of 45 degrees per second. +Land at the designated landing zone. +Please proceed to land at the specified landing zone. +Make your way to the indicated landing zone and prepare for landing. +Follow the instructions and land at the designated landing zone. +It is required that you land at the assigned landing zone. +Ascend to an altitude of 2500 feet. +Climb to a height of 2500 feet. +Reach an elevation of 2500 feet. +Scale to an altitude of 2500 feet. +Increase your height to 2500 feet. +Fly forward for 9 miles at a speed of 50 mph. +Proceed straight for a distance of 9 miles, maintaining a speed of 50 mph. +Cover a distance of 9 miles by flying forward at a speed of 50 mph. +Maintain a speed of 50 mph while traveling straight ahead for 9 miles. +Fly in a forward direction at a speed of 50 mph, covering a distance of 9 miles. +Hover in place for 50 minutes. +Stay still for a duration of 50 minutes. +Maintain a stationary position for 50 minutes. +Remain in one spot for a period of 50 minutes. +Hold steady for 50 minutes without moving. +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second. +Turn 135 degrees to the right at a rate of 50 degrees per second. +Rotate 135 degrees in a clockwise direction at a speed of 50 degrees per second. +Perform a clockwise rotation of 135 degrees at an angular velocity of 50 degrees per second. +Rotate in a clockwise direction, completing a 135-degree turn at a speed of 50 degrees per second. +Land at the designated landing zone. +Please touch down at the specified landing area. +Descend and touch base at the assigned landing zone. +Make your approach and touch ground at the designated landing site. +Please bring the aircraft to a stop at the approved landing zone. +Descend to an altitude of 600 meters and swin. +Swim after descending to an altitude of 600 meters. +Dive down to a depth of 600 meters and start swimming. +Lower yourself to an altitude of 600 meters and begin swimming. +Drop down to a height of 600 meters and begin your swim. +Turn left at a 45-degree angle and fly straight for 500 meters. +Make a 45-degree turn to the left and continue flying straight for a distance of 500 meters. +Take a left turn at a 45-degree angle and proceed straight for 500 meters. +Rotate to the left at a 45-degree angle and maintain a straight flight for 500 meters. +Head in a leftward direction, turning at a 45-degree angle, and keep flying straight for a distance of 500 meters. +Ascend to an altitude of 1000 feet and maintain position for 10 minutes. +Climb to a height of 1000 feet and stay in that position for 10 minutes. +Rise up to an elevation of 1000 feet and hold that position for a duration of 10 minutes. +Increase your altitude to 1000 feet and remain at that level for 10 minutes. +Go up to a height of 1000 feet and keep your position steady for 10 minutes. +Perform a vertical climb to 200 meters at a speed of 10 meters per second. +Ascend vertically at a rate of 10 meters per second until reaching an altitude of 200 meters. +Execute a vertical ascent, maintaining a velocity of 10 meters per second, until reaching an elevation of 200 meters. +Carry out a climb in a vertical direction, increasing the altitude at a speed of 10 meters per second until it reaches 200 meters. +Engage in a vertical ascent, maintaining a speed of 10 meters per second, until reaching a height of 200 meters. +Fly around in a circular pattern with a radius of 100 meters for 15 minutes. +Circle around with a 100-meter radius for a duration of 15 minutes. +Execute a 15-minute flight in a circular pattern, maintaining a 100-meter radius. +Perform a circular flight with a radius of 100 meters, lasting for 15 minutes. +Fly in a circular trajectory with a 100-meter radius, continuously for 15 minutes. +Hover in place and capture aerial photographs of the surrounding area. +Stay suspended and take aerial photographs of the nearby area. +Maintain a stationary position and capture aerial photographs of the surrounding area. +Levitate and snap aerial photographs of the surrounding area. +Remain still and capture overhead photographs of the nearby area. +Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes. +Please decrease your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes. +Begin descending to an altitude of 50 meters and maintain a speed of 80 km/h for the next 20 minutes. +Adjust your altitude to 50 meters and maintain a speed of 80 km/h for the next 20 minutes. +Reduce your altitude to 50 meters and continue flying at a speed of 80 km/h for the next 20 minutes. +Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes. +Execute a sequence of swift actions involving rolls and loops continuously for a span of 5 minutes. +Carry out a set of quick maneuvers, including rolls and loops, lasting for 5 minutes. +Engage in a succession of fast movements, such as rolls and loops, for a period of 5 minutes. +Conduct a series of rapid actions, comprising of rolls and loops, for a duration of 5 minutes. +Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop. +Proceed ahead for a distance of 1 kilometer with a velocity of 40 km/h and subsequently execute an abrupt halt. +Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop. +Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes. +Increase your altitude to 500 meters and carry out a 30-minute surveillance operation. +Rise to a height of 500 meters and undertake a surveillance mission lasting 30 minutes. +Scale up to an altitude of 500 meters and engage in a 30-minute surveillance endeavor. +Climb to a height of 500 meters and perform a surveillance task for a duration of 30 minutes. +Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers. +Perform a zigzag flight pattern for a distance of 3 kilometers at a velocity of 20 m/s. +Cover the distance of 3 kilometers by flying in a zigzag pattern at a speed of 20 m/s. +Fly at a velocity of 20 m/s, covering a distance of 3 kilometers in a zigzag manner. +Execute a flight, maintaining a velocity of 20 m/s, while flying in a zigzag pattern for a distance of 3 kilometers. +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +Perform a 180-degree clockwise rotation at a rate of 45 degrees per second. +Turn in a clockwise direction by 180 degrees with an angular velocity of 45 degrees per second. +Execute a 180-degree rotation in the clockwise direction, rotating at a speed of 45 degrees per second. +Rotate by 180 degrees in a clockwise manner, with an angular speed of 45 degrees per second. +Land at the designated landing zone and conduct a visual inspection of the UAV. +Please ensure that you land the UAV at the designated landing zone and proceed with a visual inspection. +It is essential to touch down at the specified landing zone and carry out a thorough visual inspection of the UAV. +Follow the instructions to land the UAV at the designated landing zone and then proceed to visually inspect it. +Prioritize landing the UAV at the designated zone and then conduct a comprehensive visual inspection of its components. +Hover in place and release a payload at a specified drop zone. +Maintain a hovering position and deploy a payload at a designated release zone. +Stay suspended in one spot and discharge a payload at a predefined drop area. +Remain in a stationary hover and release a payload at a specified dropzone. +Hold position in mid-air and deliver a payload at a designated drop zone. +Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour. +Initiate a search and rescue mission for 1 hour while descending to an altitude of 100 feet. +Lower your altitude to 100 feet and engage in a search and rescue operation for 1 hour. +Perform a search and rescue task for 1 hour after descending to an altitude of 100 feet. +Conduct a search and rescue operation for 1 hour, maintaining an altitude of 100 feet. +Perform a barrel roll maneuver at a high velocity of 100 km/h. +Execute a barrel roll maneuver at a rapid speed of 100 km/h. +Carry out a barrel roll maneuver at a high rate of 100 km/h. +Conduct a barrel roll maneuver with considerable velocity, reaching 100 km/h. +Execute a high-speed barrel roll maneuver, achieving a velocity of 100 km/h. +Fly forward for 500 meters and then execute a sharp turn to the right. +Proceed straight ahead for a distance of 500 meters, then execute a precise right turn. +Fly in a forward direction covering a distance of 500 meters, followed by a sudden turn to the right. +Move ahead for 500 meters and perform a quick right turn. +Travel straight for a distance of 500 meters before making a sharp right turn. +Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data. +Climb to a height of 1000 meters and stay in that position for 5 minutes, gathering data. +Rise to an elevation of 1000 meters and remain stationary for 5 minutes to collect data. +Increase your altitude to 1000 meters and hold that position for 5 minutes, all the while gathering data. +Move upwards until you reach an altitude of 1000 meters, then maintain that height for 5 minutes, collecting data. +Fly in a figure-eight pattern with a total distance of 2 kilometers. +Perform a flight maneuver in the shape of a figure-eight, covering a total distance of 2 kilometers. +Execute a flight path that resembles a figure-eight, spanning a distance of 2 kilometers in total. +Navigate through the air using a figure-eight trajectory, covering a combined distance of 2 kilometers. +Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers. +Hover in place and initiate a search for a lost object on the ground. +Stay stationary and begin a search for a missing item on the ground. +Keep still and start looking for a lost object on the surface. +Maintain a hovering position and commence a search for a misplaced item on the ground. +Suspend movement and initiate a search for a lost object on the floor. +Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot. +Proceed to the ground level and execute a touch-and-go maneuver followed by landing at the designated spot. +Move downwards to the ground level and conduct a touch-and-go maneuver prior to landing at the specified location. +Descend to the surface level and execute a touch-and-go maneuver before touching down at the assigned spot. +Lower your altitude to ground level and perform a touch-and-go maneuver, then proceed to land at the designated spot. +- Fly to waypoint A at a distance of 1 kilometer. +Proceed to waypoint A, located at a distance of 1 kilometer, by flying. +Utilize flight to reach waypoint A, which is situated 1 kilometer away. +Cover a distance of 1 kilometer by flying towards waypoint A. +Fly towards waypoint A, which is precisely 1 kilometer away. +- Descend to an altitude of 200 meters above ground level. +Reduce your altitude to 200 meters above the ground. +Go down until you reach an altitude of 200 meters above the ground. +Lower your altitude to 200 meters above the ground level. +Descend until you are flying at an altitude of 200 meters above the ground. +- Perform a vertical climb at a rate of 5 meters per second. +Ascend vertically, maintaining a speed of 5 meters per second. +Execute a vertical ascent, moving at a pace of 5 meters per second. +Scale upwards in a straight line, advancing at a rate of 5 meters per second. +Carry out a vertical climb, sustaining a speed of 5 meters per second. +- Fly in a zigzag pattern for 10 minutes. +Perform a zigzag flight pattern for a duration of 10 minutes. +Fly in a serpentine motion for a period of 10 minutes. +Execute a back-and-forth flying motion for a duration of 10 minutes. +Soar in a crisscross pattern for a total of 10 minutes. +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees. +Perform a clockwise rotation of 180 degrees at a speed of 45 degrees per second. +Turn in a clockwise direction, rotating 180 degrees at a rate of 45 degrees per second. +Rotate at a speed of 45 degrees per second in the clockwise direction, completing a 180-degree rotation. +- Fly forward at a speed of 30 km/h for 500 meters. +Move straight ahead for a distance of 500 meters at a velocity of 30 kilometers per hour. +Travel in a forward direction for 500 meters, maintaining a speed of 30 kilometers per hour. +Glide forward at a rate of 30 km/h, covering a distance of 500 meters. +Proceed straight ahead, flying at a speed of 30 km/h, until you have traveled 500 meters. +- Hover at a specific location for 15 minutes. +Remain stationary at a designated spot for a duration of 15 minutes. +Stay in one place for a period of 15 minutes. +Maintain a fixed position for 15 minutes. +Hold steady at a specific point for a duration of 15 minutes. +- Ascend to an altitude of 500 meters above ground level. +Increase your height until you reach an altitude of 500 meters above ground level. +Climb up until you are at an altitude of 500 meters above ground level. +Move upwards until you reach a height of 500 meters above ground level. +Reach an altitude that is 500 meters above ground level. +- Perform a horizontal slide to the left for 200 meters. +Slide 200 meters horizontally to the left. +Move to the left in a horizontal slide for a distance of 200 meters. +Execute a horizontal leftward slide spanning 200 meters. +Take a 200 meter horizontal slide towards the left. +- Circle around a fixed point at a radius of 100 meters for 5 minutes. +Move in a circular path, keeping a distance of 100 meters from a central point, for a duration of 5 minutes. +Perform rotations around a center point, maintaining a constant radius of 100 meters, for a duration of 5 minutes. +Traverse a circular trajectory with a fixed distance of 100 meters from a central point, continuing for 5 minutes. +Orbit around a specific point with a radius of 100 meters, maintaining this distance for a period of 5 minutes. +- Fly backward at a speed of 40 km/h for 1 kilometer. +Reverse your flight direction and travel at a velocity of 40 kilometers per hour for a distance of 1 kilometer. +Travel in the opposite direction at a speed of 40 km/h for a distance of 1 kilometer. +Move backwards through the air with a velocity of 40 kilometers per hour, covering a distance of 1 kilometer. +Perform a flight in reverse, traveling at a speed of 40 km/h for a distance of 1 kilometer. +- Descend rapidly at a rate of 10 meters per second. +Quickly descend at a speed of 10 meters per second. +Drop down rapidly, maintaining a rate of 10 meters per second. +Perform a swift descent, descending at a speed of 10 meters per second. +Go down at a rapid pace, descending at a rate of 10 meters per second. +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second. +Execute a rightward barrel roll, rotating at a velocity of 60 degrees per second. +Carry out a barrel roll rotation to the right, with an angular speed of 60 degrees per second. +Rotate to the right in a barrel roll fashion, at a rate of 60 degrees per second. +Engage in a barrel roll maneuver, turning to the right at a speed of 60 degrees per second. +- Fly in a figure-eight pattern for 10 minutes. +Perform a figure-eight flight maneuver for a duration of 10 minutes. +Fly in a pattern resembling the shape of an eight for a total of 10 minutes. +Execute a flight path that resembles a figure-eight configuration, lasting 10 minutes. +Conduct aerial movements in the form of a figure-eight for a period of 10 minutes. +- Ascend to an altitude of 800 meters above sea level. +Achieve an elevation of 800 meters above sea level. +Reach a height of 800 meters above sea level. +Climb to an altitude of 800 meters above sea level. +Move up to a height of 800 meters above sea level. +- Hover in place while capturing photos for 20 minutes. +Maintain a stationary hover for a duration of 20 minutes, taking photos. +Hold position and take photographs for a period of 20 minutes. +Stay in one spot and capture photos continuously for 20 minutes. +Remain suspended in the air and photograph for a duration of 20 minutes. +- Fly forward at a speed of 50 km/h for 2 kilometers. +Move ahead at a velocity of 50 kilometers per hour for a distance of 2 kilometers. +Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h. +Propel forward for 2 kilometers at a rate of 50 kilometers per hour. +Cover a distance of 2 kilometers by flying forward at a speed of 50 km/h. +- Descend to a low altitude of 50 meters above ground level. +Lower your altitude to 50 meters above the ground. +Move down to an altitude of 50 meters above the ground. +Decrease your altitude until you are only 50 meters above the ground. +Descend to a height of 50 meters above the ground level. +- Perform a sudden stop and hover for 2 minutes. +Execute an abrupt halt and remain stationary for a duration of 2 minutes. +Carry out an immediate cessation of movement and maintain a stable position for 2 minutes. +Achieve an instant stop and remain suspended in the air for a period of 2 minutes. +Implement a sudden pause and hover motionless for a timeframe of 2 minutes. +- Land at the designated landing zone, then record a video. +After landing at the specified landing area, proceed to film a video. +Upon arrival at the designated landing zone, commence recording a video. +Touch down at the designated landing zone and proceed to capture a video. +Once you have safely landed at the assigned landing area, begin filming a video. +Ascend to an altitude of 500 feet. +Climb to a height of 500 feet. +Reach an elevation of 500 feet. +Achieve a position at an altitude of 500 feet. +Ascend to a height of 500 feet above ground level. +Fly forward for 1 mile at a speed of 40 mph. +Proceed straight ahead for a distance of 1 mile, maintaining a velocity of 40 mph. +Move forward for a mile, traveling at a speed of 40 miles per hour. +Fly in a straight line for a mile while maintaining a speed of 40 miles per hour. +Travel forward for a distance of 1 mile, with a velocity of 40 mph. +Descend to an altitude of 200 meters. +Reduce your altitude to 200 meters. +Lower down to an altitude of 200 meters. +Move downwards until you reach an altitude of 200 meters. +Descend until you are flying at 200 meters above ground level. +Hover in place for 10 minutes. +Stay suspended in the air for a duration of 10 minutes. +Maintain a hovering position for a period of 10 minutes. +Remained fixed in mid-air for a time span of 10 minutes. +Suspend yourself without moving for the next 10 minutes. +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +Rotate by 180 degrees in a clockwise direction, with an angular velocity of 45 degrees per second. +Turn clockwise by 180 degrees, at a rate of 45 degrees per second. +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second. +Execute a 180-degree clockwise rotation at a speed of 45 degrees per second. +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h. +Perform a zigzag maneuver for a distance of 2 kilometers, maintaining a speed of 50 km/h while flying. +Fly in a serpentine pattern, covering a distance of 2 kilometers, at a velocity of 50 km/h. +Maintain a speed of 50 km/h while flying in a zigzag fashion for a total distance of 2 kilometers. +Cover a distance of 2 kilometers by flying in a zigzag formation at a constant speed of 50 km/h. +Ascend to an altitude of 1000 feet. +Increase your altitude to 1000 feet. +Climb to a height of 1000 feet. +Reach an elevation of 1000 feet. +Move upward and maintain a height of 1000 feet. +Fly forward for 5 miles at a speed of 30 mph. +Proceed straight ahead for a distance of 5 miles, maintaining a velocity of 30 mph. +Travel in a straight line for 5 miles, moving at a speed of 30 mph. +Cover a distance of 5 miles by flying straight ahead at a velocity of 30 mph. +Maintain a speed of 30 mph while flying forward for a total distance of 5 miles. +Hover and take aerial photographs for 20 minutes. +Capture aerial photographs by flying and hovering for a duration of 20 minutes. +Utilize aerial photography techniques by hovering and capturing images for a period of 20 minutes. +Take aerial photos by hovering in the air for a total of 20 minutes. +Fly and maintain a hover position for 20 minutes to capture aerial photographs. +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second. +Rotate 270 degrees counterclockwise with an angular velocity of 60 degrees per second. +Perform a counterclockwise rotation of 270 degrees at a speed of 60 degrees per second. +Turn left by 270 degrees at a rate of 60 degrees per second. +Execute a rotation in the counterclockwise direction of 270 degrees with an angular speed of 60 degrees per second. +Descend to an altitude of 100 meters. +Lower down to an altitude of 100 meters. +Reduce your altitude to 100 meters. +Move downward until you reach an altitude of 100 meters. +Descend until you are at a height of 100 meters. +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h. +Maintain a 20 km/h speed while flying in a circular path with a radius of 500 meters. +Circle at a speed of 20 km/h with a 500-meter radius. +Fly at a speed of 20 km/h, following a circular path with a 500-meter radius. +Perform a circular flight with a 500-meter radius, maintaining a speed of 20 km/h. +Ascend to an altitude of 1500 feet. +Increase your elevation to a height of 1500 feet. +Climb to a 1500-foot altitude. +Reach a height of 1500 feet. +Ascend to a level that is 1500 feet above the ground. +Fly forward and survey the area for 3 miles at a speed of 35 mph. +Proceed ahead and conduct a visual inspection of the surrounding region for a distance of 3 miles, traveling at a velocity of 35 miles per hour. +Advance and observe the vicinity for a span of 3 miles, maintaining a speed of 35 mph. +Move forward while surveying the area within a 3-mile radius, traveling at a speed of 35 mph. +Glide ahead and explore the surroundings for a distance of 3 miles, progressing at a velocity of 35 mph. +Hover and drop a package at the designated location. +Carry a package and release it at the specified spot by slightly floating above it. +Gently float and deposit a package at the predetermined destination. +Utilize aerial suspension to transport and release a package precisely where directed. +Levitate above a designated area and carefully place a package down. +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second. +Execute a clockwise rotation of 45 degrees with an angular velocity of 15 degrees per second. +Perform a rotation to the right by 45 degrees at a rate of 15 degrees per second. +Turn in a clockwise direction, covering 45 degrees, at a speed of 15 degrees per second. +Rotate to the right by 45 degrees while maintaining an angular speed of 15 degrees per second. +Descend to an altitude of 50 meters. +Reduce your altitude to 50 meters. +Go down to a height of 50 meters. +Lower yourself to an altitude of 50 meters. +Descend until you reach a height of 50 meters. +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h. +Perform a figure-eight flight for a distance of 1 kilometer at a velocity of 45 km/h. +Fly in a figure-eight shape covering a distance of 1 kilometer with a speed of 45 km/h. +Execute a figure-eight maneuver while traveling for 1 kilometer at a velocity of 45 km/h. +Pilot the aircraft in a figure-eight pattern, covering a distance of 1 kilometer at a speed of 45 km/h. +Ascend to an altitude of 2000 feet. +Reach a height of 2000 feet. +Climb to an elevation of 2000 feet. +Increase your altitude to 2000 feet. +Ascend to a level that is 2000 feet above ground. +Fly forward and inspect power lines for 4 miles at a speed of 25 mph. +Proceed ahead and examine power lines over a distance of 4 miles while traveling at a velocity of 25 mph. +Move forward while conducting an inspection of power lines for a span of 4 miles at a rate of 25 mph. +Journey ahead and visually assess power lines covering a distance of 4 miles with a speed of 25 mph. +Go in the direction ahead and survey power lines for 4 miles, traveling at a speed of 25 mph. +Land at the designated landing zone, then take a nap. +First, make a safe descent to the assigned landing area, and then find a comfortable spot to rest and sleep. +After successfully reaching the designated landing zone, feel free to relax and take a nap. +Upon arrival at the specified landing spot, simply locate a suitable place to lie down and allow yourself to take a nap. +Safely land at the designated landing zone before finding a peaceful spot to unwind and get some sleep. +Fly forward for 1 kilometer at a speed of 40 km/h. +Proceed straight for a distance of 1 kilometer with a velocity of 40 kilometers per hour. +Travel straight ahead covering a distance of 1 kilometer at a speed of 40 kilometers per hour. +Move forward for 1 kilometer, maintaining a constant speed of 40 kilometers per hour. +Fly in a straight line for 1 kilometer while traveling at a speed of 40 kilometers per hour. +Ascend to an altitude of 500 meters. +Reach a height of 500 meters. +Climb up to an elevation of 500 meters. +Move upwards until you are at an altitude of 500 meters. +Achieve a vertical position of 500 meters. +Hover in place for 10 minutes. +Stay stationary for a duration of 10 minutes. +Remain suspended in the air for a period of 10 minutes. +Keep yourself hovering in one spot for a duration of 10 minutes. +Maintain a fixed position in the air for 10 minutes. +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second. +Rotate in a clockwise direction at a constant speed of 20 degrees per second, covering a total angle of 180 degrees. +Perform a 180-degree clockwise rotation at a velocity of 20 degrees per second. +Rotate in the clockwise direction, completing a full 180-degree turn, with an angular velocity of 20 degrees per second. +Rotate at a rate of 20 degrees per second in a clockwise direction, completing a 180-degree rotation. +Fly forward for 500 meters at a speed of 50 km/h. +Proceed ahead for a distance of 500 meters, maintaining a velocity of 50 km/h. +Move straight ahead at 50 km/h for a distance of 500 meters. +Cover a distance of 500 meters by flying in a forward direction at a speed of 50 km/h. +Maintain a speed of 50 km/h and travel for 500 meters in a forward direction. +Descend to an altitude of 200 meters. +Lower your altitude to 200 meters. +Decrease your altitude to 200 meters. +Descend until you reach an altitude of 200 meters. +Bring your altitude down to 200 meters. +Hover in place for 2 minutes. +Stay still for a duration of 2 minutes. +Remain stationary for a period of 2 minutes. +Hold your position for a span of 2 minutes. +Do not move for a total of 2 minutes. +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second. +Turn to the left by 45 degrees at a rate of 10 degrees per second. +Rotate anti-clockwise by 45 degrees with an angular velocity of 10 degrees per second. +Spin counterclockwise by 45 degrees, moving 10 degrees per second. +Twist to the left by 45 degrees, rotating at a speed of 10 degrees per second. +Fly forward for 3 kilometers at a speed of 70 km/h. +Move ahead for a distance of 3 kilometers with a velocity of 70 km/h. +Travel straight ahead for 3 kilometers at a rate of 70 km/h. +Proceed in a forward direction, covering a distance of 3 kilometers, maintaining a speed of 70 km/h. +Maintain a speed of 70 km/h while moving straight ahead for a distance of 3 kilometers. +Ascend to an altitude of 800 meters. +Reach a height of 800 meters. +Climb to an elevation of 800 meters. +Increase your altitude to 800 meters. +Go up to a height of 800 meters. +Hover in place for 15 minutes. +Stay still for a duration of 15 minutes. +Maintain a hovering position for the next 15 minutes. +Remain in place without moving for a period of 15 minutes. +Suspend motion for a time period of 15 minutes. +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second. +Perform a clockwise rotation of 270 degrees, with an angular speed of 40 degrees per second. +Rotate in a clockwise direction by 270 degrees, at a rate of 40 degrees per second. +Rotate at an angular speed of 40 degrees per second, in a clockwise direction for 270 degrees. +Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second. +Fly forward for 2.5 kilometers at a speed of 55 km/h. +Proceed at a velocity of 55 km/h and cover a distance of 2.5 kilometers by flying forward. +Maintain a flying speed of 55 km/h while covering a distance of 2.5 kilometers in the forward direction. +Fly straight ahead for 2.5 kilometers with a speed of 55 km/h. +Travel a distance of 2.5 kilometers by flying forward at a constant speed of 55 km/h. +Descend to an altitude of 300 meters. +Lower yourself to a height of 300 meters. +Reduce your altitude to 300 meters. +Move down to a height of 300 meters. +Descend until you reach an altitude of 300 meters. +Hover in place for 8 minutes. +Stay still for a duration of 8 minutes. +Maintain a stationary position for a period of 8 minutes. +Suspend movement and remain in one spot for 8 minutes. +Keep hovering without moving for a total of 8 minutes. +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second. +Turn left at a rate of 25 degrees per second for 120 degrees. +Rotate anti-clockwise with an angular velocity of 25 degrees per second for 120 degrees. +Perform a counterclockwise rotation of 120 degrees with an angular speed of 25 degrees per second. +Rotate in the opposite direction of clockwise by 120 degrees at a speed of 25 degrees per second. +Fly forward for 4 kilometers at a speed of 80 km/h. +Proceed ahead for a distance of 4 kilometers with a velocity of 80 km/h. +Move in a forward direction for 4 kilometers maintaining a speed of 80 km/h. +Cover a distance of 4 kilometers by flying forward at a speed of 80 km/h. +Travel at 80 km/h in a straight path for 4 kilometers. +Ascend to an altitude of 1000 meters. +Increase your altitude to 1000 meters. +Reach a height of 1000 meters. +Climb up to an elevation of 1000 meters. +Scale up to an altitude of 1000 meters. +Hover in place for 20 minutes. +Remain suspended in one spot for a duration of 20 minutes. +Stay airborne without moving for a period of 20 minutes. +Keep stationary in mid-air for a period of 20 minutes. +Suspend motion and hover in the same position for a duration of 20 minutes. +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second. +Execute a 360-degree clockwise rotation at a speed of 50 degrees per second. +Perform a full clockwise rotation of 360 degrees with an angular velocity of 50 degrees per second. +Rotate in a clockwise direction by 360 degrees, maintaining an angular speed of 50 degrees per second. +Turn in a clockwise direction, completing a 360-degree rotation at a rate of 50 degrees per second. +Fly forward for 2.7 kilometers at a speed of 60 km/h. +Proceed straight ahead for a distance of 2.7 kilometers while maintaining a velocity of 60 km/h. +Travel in a straight line for a total of 2.7 kilometers, maintaining a constant speed of 60 km/h. +Go forward for a distance of 2.7 kilometers at a speed of 60 km/h. +Cover a distance of 2.7 kilometers by traveling straight ahead at a speed of 60 km/h. +Descend to an altitude of 400 meters. +Reduce your altitude to 400 meters. +Move down until you are at an altitude of 400 meters. +Descend until you reach a height of 400 meters. +Lower your altitude to 400 meters. +Hover in place for 12 minutes. +Stay in one spot for a duration of 12 minutes. +Remain stationary for a period of 12 minutes. +Keep still for 12 minutes. +Do not move for a total of 12 minutes. +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second. +Make a counterclockwise rotation of 150 degrees at a rate of 35 degrees per second. +Perform a rotation in the counterclockwise direction by 150 degrees with an angular speed of 35 degrees per second. +Rotate in the counterclockwise direction by 150 degrees, moving at a speed of 35 degrees per second. +Rotate at a rate of 35 degrees per second in the counterclockwise direction, until a total rotation of 150 degrees is reached. +Fly forward for 5 kilometers at a speed of 90 km/h. +Proceed straight ahead for a distance of 5 kilometers, maintaining a velocity of 90 kilometers per hour. +Travel in a straight line, covering a distance of 5 kilometers, while sustaining a speed of 90 kilometers per hour. +Propel forward for a span of 5 kilometers, traveling at a rate of 90 kilometers per hour. +Move ahead for 5 kilometers at a velocity of 90 kilometers per hour. +Ascend to an altitude of 1200 meters. +Increase your elevation to 1200 meters. +Climb to a height of 1200 meters. +Reach an altitude of 1200 meters. +Move upwards to a position of 1200 meters above ground level. +Hover in place for 25 minutes. +Stay still for a duration of 25 minutes. +Maintain a hovering position for 25 minutes. +Remain in place without moving for a period of 25 minutes. +Hold your position in mid-air for a total of 25 minutes. +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second. +Perform a clockwise rotation of 450 degrees with an angular velocity of 55 degrees per second. +Rotate in a clockwise direction by 450 degrees at a speed of 55 degrees per second. +Execute a rotation to the right by 450 degrees at a rate of 55 degrees per second. +Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second. +Fly forward for 3.2 kilometers at a speed of 65 km/h. +Move ahead for a distance of 3.2 kilometers with a velocity of 65 kilometers per hour. +Proceed straight for 3.2 kilometers at a pace of 65 km/h. +Travel in a forward direction covering a distance of 3.2 kilometers, maintaining a speed of 65 km/h. +Go forward for a stretch of 3.2 kilometers while maintaining a velocity of 65 km/h. +Descend to an altitude of 500 meters. +Lower your altitude to 500 meters. +Decrease your altitude to 500 meters. +Descend until you reach an altitude of 500 meters. +Bring yourself down to an altitude of 500 meters. +Hover in place for 18 minutes. +Maintain a stationary hover for a duration of 18 minutes. +Stay in one position for a period of 18 minutes. +Remain suspended in the air for a total of 18 minutes. +Do not move and stay at the same spot for the next 18 minutes. +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second. +Turn in the opposite direction by 180 degrees, rotating at a speed of 45 degrees per second counterclockwise. +Perform a 180-degree counterclockwise rotation with an angular velocity of 45 degrees per second. +Rotate by 180 degrees counterclockwise, moving at a rate of 45 degrees per second. +Execute a counterclockwise rotation of 180 degrees, with a speed of 45 degrees per second. +Fly forward for 6 kilometers at a speed of 100 km/h. +Proceed ahead for a distance of 6 kilometers, maintaining a speed of 100 km/h. +Cover a distance of 6 kilometers by flying straight, ensuring a speed of 100 km/h. +Move forward for 6 kilometers while flying at a velocity of 100 km/h. +Maintain a speed of 100 km/h as you fly straight ahead for a distance of 6 kilometers. +Ascend to an altitude of 1400 meters. +Climb to a height of 1400 meters. +Reach an elevation of 1400 meters. +Scale to a height of 1400 meters. +Go up to an altitude of 1400 meters. +Hover in place for 30 minutes. +Stay suspended in one spot for a duration of 30 minutes. +Maintain a stationary position for the next half-hour. +Remain hovering without moving for a period of 30 minutes. +Suspend yourself in the air for the next 30 minutes without any movement. +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second. +Rotate 540 degrees in a clockwise direction at a rate of 60 degrees per second. +Perform a clockwise rotation of 540 degrees with an angular velocity of 60 degrees per second. +Turn in a clockwise direction, completing a 540-degree rotation at a speed of 60 degrees per second. +Execute a rotation of 540 degrees in the clockwise direction, with a rate of 60 degrees per second. +Fly forward for 3.7 kilometers at a speed of 70 km/h. +Proceed straight ahead covering a distance of 3.7 kilometers, maintaining a speed of 70 km/h. +Travel in a forward direction for a duration of 3.7 kilometers, cruising at a velocity of 70 km/h. +Move ahead for a span of 3.7 kilometers, traveling at a constant speed of 70 km/h. +Propel forward for a distance of 3.7 kilometers, maintaining a speed of 70 km/h. +Descend to an altitude of 600 meters. +Reduce your altitude to 600 meters. +Move down to an altitude of 600 meters. +Decrease your altitude until you reach 600 meters. +Descend until you are at 600 meters altitude. +Hover in place for 22 minutes. +Stay still for a duration of 22 minutes. +Hold your position for a period of 22 minutes. +Remain stationary for 22 minutes. +Do not move for the next 22 minutes. +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second. +Turn left by 210 degrees with a rotational velocity of 50 degrees per second. +Rotate anti-clockwise by 210 degrees, maintaining an angular speed of 50 degrees per second. +Perform a counterclockwise rotation of 210 degrees with an angular velocity of 50 degrees per second. +Execute a 210-degree counterclockwise rotation at a rate of 50 degrees per second. +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap. +Proceed ahead for a distance of 7 kilometers, maintaining a speed of 110 km/h, and then rest. +Travel forwards at a velocity of 110 km/h for a duration of 7 kilometers, then relax. +Cover a distance of 7 kilometers by flying forward at a speed of 110 km/h, followed by a period of rest. +Move straight ahead at a rate of 110 km/h for 7 kilometers, and then take a break. +Ascend to an altitude of 500 meters. +Increase your elevation to 500 meters. +Climb up to a height of 500 meters. +Reach an altitude of 500 meters. +Move upward to a height of 500 meters. +Fly forward for 10 kilometers at a speed of 80 km/h. +Proceed straight ahead for a distance of 10 kilometers, maintaining a speed of 80 km/h. +Travel in a forward direction for 10 kilometers, with a constant velocity of 80 km/h. +Cover a distance of 10 kilometers by flying straight ahead at a speed of 80 km/h. +Move forward at a rate of 80 km/h for a total of 10 kilometers. +Hover in place for 15 minutes. +Stay suspended in one spot for a duration of 15 minutes. +Maintain a hovering position without movement for a period of 15 minutes. +Keep floating in a fixed location for 15 minutes. +Remain in mid-air without any displacement for a total of 15 minutes. +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +Turn in a clockwise direction by 180 degrees, moving at a rate of 45 degrees per second. +Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn. +Perform a 180-degree clockwise rotation, maintaining an angular velocity of 45 degrees per second. +Turn in a clockwise direction at a constant speed of 45 degrees per second, completing a 180-degree rotation. +Land at the designated landing zone. +Please touch down at the specified landing area. +Make your descent and land on the assigned landing zone. +It is required for you to land at the designated area. +Ensure that you land precisely at the designated landing zone. +Descend to an altitude of 100 meters. +Reduce your altitude to 100 meters. +Decrease your altitude to 100 meters. +Descend until you reach an altitude of 100 meters. +Bring yourself down to an altitude of 100 meters. +Fly backward for 5 kilometers at a speed of 40 km/h. +Reverse course and travel a distance of 5 kilometers at a speed of 40 km/h. +Travel in the opposite direction for a distance of 5 kilometers, maintaining a speed of 40 km/h. +Cover a distance of 5 kilometers by flying backward at a speed of 40 km/h. +Fly in reverse for 5 kilometers, cruising at a speed of 40 km/h. +Circle around a specific location for 20 minutes. +Perform a circular motion around a particular spot for a duration of 20 minutes. +Move in a circular pattern around a designated area for a period of 20 minutes. +Encircle a specific location for 20 minutes, continuously moving in a circular motion. +Follow a circular path around a particular place for a duration of 20 minutes. +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second. +Rotate in a counterclockwise direction by 270 degrees with an angular velocity of 60 degrees/sec. +Turn left by 270 degrees at a rate of 60 degrees per second. +Perform a counterclockwise rotation of 270 degrees with an angular speed of 60 degrees per second. +Rotate anticlockwise at a speed of 60 degrees per second for 270 degrees. +Ascend to an altitude of 1000 meters. +Reach a height of 1000 meters. +Climb up to an elevation of 1000 meters. +Increase the altitude to 1000 meters. +Achieve a vertical position of 1000 meters. +Fly forward for 15 kilometers at a speed of 100 km/h. +Proceed at a velocity of 100 km/h for a distance of 15 kilometers in a forward direction. +Travel straight ahead for 15 kilometers, maintaining a speed of 100 km/h. +Cover a distance of 15 kilometers by flying straight ahead, with a velocity of 100 km/h. +Move forward at a speed of 100 km/h and travel a distance of 15 kilometers. +Hover in place for 10 minutes. +Stay suspended in midair for a duration of 10 minutes. +Maintain a hovering position for a period of 10 minutes. +Remain airborne without moving for 10 minutes. +Suspend yourself in one spot for a duration of 10 minutes. +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second. +Turn in the clockwise direction by 90 degrees, with an angular velocity of 30 degrees per second. +Rotate to the right by 90 degrees at a rate of 30 degrees every second. +Perform a 90-degree clockwise rotation with an angular speed of 30 degrees per second. +Spin in a clockwise direction at a speed of 30 degrees per second, completing a 90-degree rotation. +Land at the designated landing zone. +Please land at the specified landing area. +Ensure you land at the indicated landing zone. +It is important to touch down at the designated landing zone. +Make sure to land precisely at the assigned landing area. +Descend to an altitude of 200 meters. +Decrease your altitude to 200 meters. +Lower yourself to an altitude of 200 meters. +Go down to a height of 200 meters. +Descend until you reach an altitude of 200 meters. +Fly backward for 3 kilometers at a speed of 50 km/h. +Reverse your direction and fly for a distance of 3 kilometers with a velocity of 50 kilometers per hour. +Travel in the opposite direction and cover a distance of 3 kilometers while maintaining a speed of 50 kilometers per hour. +Go in the opposite direction for a total of 3 kilometers, flying at a speed of 50 kilometers per hour. +Fly in reverse for a distance of 3 kilometers traveling at a speed of 50 kilometers per hour. +Circle around a specific location for 30 minutes. +Perform a 30-minute loop around a designated area. +Go in a circular route around a specific spot for half an hour. +Complete a 30-minute circuit around a particular location. +Traverse in a circular path around a specific point for a duration of 30 minutes. +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second. +Rotate in the counterclockwise direction by 360 degrees with an angular velocity of 90 degrees per second. +Perform a counterclockwise rotation of 360 degrees at a rate of 90 degrees per second. +Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second. +Execute a 360-degree counterclockwise rotation, with an angular velocity of 90 degrees per second. +Ascend to an altitude of 700 meters and swin. +Gain an elevation of 700 meters and swim. +Reach a height of 700 meters and engage in swimming. +Ascend to a 700-meter altitude and partake in swimming. +Increase your altitude to 700 meters and then swim. +Fly forward for 8 kilometers at a speed of 70 km/h. +Proceed straight ahead for a distance of 8 kilometers, maintaining a speed of 70 km/h. +Cover a distance of 8 kilometers by flying forward, while maintaining a speed of 70 km/h. +Travel in a forward direction for 8 kilometers at a constant speed of 70 km/h. +Fly straight for a total of 8 kilometers at a speed of 70 km/h. +Hover in place for 20 minutes and watch TV. +Stay stationary for a duration of 20 minutes while watching television. +Maintain a hovering position and engage in television viewing for a period of 20 minutes. +Hold a steady hover for 20 minutes while enjoying television watching. +Remain in one place without moving for 20 minutes and entertain yourself by watching TV. +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second. +Turn to the right by 270 degrees, rotating at a speed of 50 degrees per second. +Rotate in a clockwise direction, completing a 270-degree rotation at a rate of 50 degrees per second. +Perform a 270-degree clockwise rotation, with an angular velocity of 50 degrees per second. +Rotate at a speed of 50 degrees per second in a clockwise direction, completing a 270-degree rotation. +Land at the designated landing zone, then sing loudly. +First, make sure to touch down at the specified landing zone, and then proceed to sing with great volume. +After successfully landing at the designated landing zone, proceed to sing loudly. +Ascend to an altitude of 500 feet. +Increase your altitude to 500 feet. +Climb to a height of 500 feet. +Reach an elevation of 500 feet. +Rise to a position 500 feet above ground level. +Fly forward for 1 mile at a speed of 30 mph. +Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph. +Travel straight ahead for 1 mile at a speed of 30 mph. +Move forward for a distance of 1 mile, maintaining a speed of 30 mph. +Cover a distance of 1 mile by flying straight ahead at a velocity of 30 mph. +Hover in place for 10 minutes. +Stay suspended in one spot for a duration of 10 minutes. +Maintain a hovering position without moving for a period of 10 minutes. +Stay suspended in mid-air without any motion for a time span of 10 minutes. +Hold a hover position for a duration of 10 minutes. +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees. +Perform a 180-degree clockwise rotation at a speed of 45 degrees per second. +Turn to the right by 180 degrees at a constant angular velocity of 45 degrees per second. +Rotate at a speed of 45 degrees per second in the clockwise direction for a total of 180 degrees. +Descend to an altitude of 200 meters. +Decrease your altitude to 200 meters. +Lower your altitude to 200 meters. +Move down to an altitude of 200 meters. +Descend until reaching an altitude of 200 meters. +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h. +Perform a zigzag maneuver while flying for 3 kilometers, maintaining a speed of 50 km/h. +Fly in a serpentine pattern, covering a distance of 3 kilometers, while traveling at a speed of 50 km/h. +Execute a flight in a zigzag trajectory spanning 3 kilometers, maintaining a velocity of 50 km/h. +Travel a distance of 3 kilometers by flying in a zigzag fashion at a speed of 50 km/h. +Perform a barrel roll to the left. +Execute a left barrel roll. +Rotate in a barrel roll towards the left. +Perform a barrel roll in a counterclockwise direction. +Initiate a leftward barrel roll. +Ascend to an altitude of 1000 feet and maintain it for 20 minutes. +Climb to a height of 1000 feet and stay at that altitude for the next 20 minutes. +Increase your elevation to 1000 feet and sustain it for the next 20 minutes. +Rise to an altitude of 1000 feet and uphold it for the next 20 minutes. +Elevate to 1000 feet and retain that height for the next 20 minutes. +Fly backward for 500 meters at a speed of 40 km/h. +Go in reverse and cover a distance of 500 meters at a velocity of 40 km/h. +Move backwards, traveling a distance of 500 meters with a speed of 40 km/h. +Reverse your flight and go for 500 meters at a velocity of 40 km/h. +Fly in the opposite direction for a distance of 500 meters, maintaining a speed of 40 km/h. +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second. +Rotate at a rate of 15 degrees per second in a counterclockwise direction by 45 degrees. +Perform a counterclockwise rotation of 45 degrees with an angular speed of 15 degrees per second. +Move in a counterclockwise direction and rotate by 45 degrees at a speed of 15 degrees per second. +Execute a rotation in the counterclockwise direction at a rate of 15 degrees per second, resulting in a 45-degree change. +Descend to an altitude of 100 feet and hold for 5 minutes. +Move downward to an altitude of 100 feet and maintain that position for a duration of 5 minutes. +Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes. +Descend until you reach an altitude of 100 feet and remain there for 5 minutes. +Lower yourself to an altitude of 100 feet and keep steady for 5 minutes. +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h. +Please fly at a speed of 20 km/h in a circular pattern with a radius of 1 kilometer. +Fly in a circular motion with a radius of 1 kilometer at a speed of 20 km/h. +Perform a flight maneuver in a circular pattern of 1 kilometer radius, maintaining a speed of 20 km/h. +Maintain a constant speed of 20 km/h while flying in a circular path with a radius of 1 kilometer. +Ascend to an altitude of 300 meters and maintain it for 30 minutes. +Climb to a height of 300 meters and stay there for a duration of 30 minutes. +Ascend to an elevation of 300 meters and uphold it for a period of 30 minutes. +Reach a height of 300 meters and ensure that it remains unchanged for 30 minutes. +Scale up to an altitude of 300 meters and sustain it for 30 minutes. +Hover in place for 15 minutes and then proceed forward for 2 kilometers. +Stay stationary for a duration of 15 minutes and then continue moving ahead for a distance of 2 kilometers. +Maintain your position for 15 minutes and then proceed ahead for 2 kilometers. +Stay put for 15 minutes and then start moving forward for a distance of 2 kilometers. +Remain suspended in the same spot for 15 minutes and then advance forward for a distance of 2 kilometers. +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second. +Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second. +Turn to the right by 90 degrees with a rotational speed of 20 degrees per second. +Execute a clockwise rotation of 90 degrees at a rate of 20 degrees per second. +Rotate in a clockwise direction by 90 degrees, with an angular speed of 20 degrees per second. +Fly in a serpentine pattern for 1 mile at a speed of 25 mph. +Perform a serpentine flight maneuver for a distance of 1 mile, maintaining a constant speed of 25 mph. +Execute a 1 mile aerial trajectory in the shape of a serpent, maintaining a velocity of 25 mph. +Fly in a zigzag pattern for a mile at a speed of 25 mph. +Incurvate your flight path to resemble a snake's motion for a distance of 1 mile, while maintaining a speed of 25 mph. +Descend to an altitude of 100 meters and hover in place for 10 minutes. +Maintain an altitude of 100 meters and hold position for a duration of 10 minutes. +Lower your altitude to 100 meters and remain stationary for 10 minutes. +Descend until reaching an altitude of 100 meters and then hover for 10 minutes. +Bring yourself down to an altitude of 100 meters and stay suspended for a period of 10 minutes. +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone. +Proceed straight ahead for a distance of 3 kilometers, maintaining a speed of 60 km/h, and subsequently touch down at the designated landing area. +Travel in a forward direction for 3 kilometers, maintaining a velocity of 60 km/h, before finally descending and coming to a landing at the assigned landing zone. +Cover a distance of 3 kilometers by flying forward at a speed of 60 km/h, and conclude the flight by safely landing at the designated landing zone. +Maintain a constant speed of 60 km/h while flying straight for a duration of 3 kilometers, and then execute a safe landing at the pre-determined landing area. +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second. +Execute a counterclockwise rotation of 180 degrees, with an angular velocity of 25 degrees per second. +Perform a rotation in the counterclockwise direction, covering 180 degrees, at a rate of 25 degrees per second. +Rotate at a speed of 25 degrees per second in the counterclockwise direction, completing a 180 degree rotation. +Carry out a counterclockwise rotation of 180 degrees, with an angular speed of 25 degrees per second. +Perform a loop-de-loop and then watch TV. +Execute a loop-de-loop and subsequently engage in watching TV. +Carry out a loop-de-loop and proceed to view television. +Conduct a loop-de-loop before indulging in some TV time. +Maneuver a loop-de-loop and then enjoy some TV programming. +Ascend to an altitude of 500 feet. +Increase your height to 500 feet. +Climb up to an elevation of 500 feet. +Reach an altitude of 500 feet. +Go up to a height of 500 feet. +Fly forward for 1 mile at a speed of 40 mph. +Move ahead for a distance of 1 mile, maintaining a velocity of 40 mph. +Proceed straight ahead covering a distance of 1 mile with a constant speed of 40 mph. +Travel in a straight line, going forward for 1 mile, while traveling at a speed of 40 mph. +Fly straight ahead, maintaining a speed of 40 mph, and cover a distance of 1 mile. +Hover in place for 10 minutes. +Remain stationary for a duration of 10 minutes. +Stay in one spot for a period of 10 minutes. +Float in the same position for 10 minutes. +Suspend yourself in midair for a span of 10 minutes. +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +Perform a clockwise rotation of 180 degrees, with an angular speed of 45 degrees per second. +Rotate by 180 degrees in a clockwise direction, with a speed of 45 degrees per second. +Execute a rotation clockwise at a speed of 45 degrees per second, with a total rotation angle of 180 degrees. +Rotate in a clockwise manner at a rate of 45 degrees per second, completing a full 180 degree rotation. +Land at the designated landing zone. +Please land at the specified landing zone. +You are required to touch down at the designated landing zone. +Make sure to land at the designated landing zone. +It is important to secure a landing at the designated zone. +Fly sideways for 500 meters. +Move horizontally for a distance of 500 meters while airborne. +Perform a lateral flight movement covering a distance of 500 meters. +Traverse 500 meters in a sideways direction while in flight. +Travel parallel to the ground for a distance of 500 meters. +Ascend to an altitude of 1000 feet. +Increase your elevation to 1000 feet. +Climb to a height of 1000 feet. +Reach an altitude of 1000 feet. +Move upwards to a level of 1000 feet. +Fly in a circular pattern with a radius of 500 meters for 20 minutes. +Perform a circular flight with a radius of 500 meters for a duration of 20 minutes. +Fly in a circular motion for 20 minutes, maintaining a distance of 500 meters from the center. +Maintain a circular flight path with a 500-meter radius for a period of 20 minutes. +Execute a 20-minute flight, following a circular trajectory with a radius of 500 meters. +Descend to an altitude of 200 meters. +Go down to a height of 200 meters. +Lower yourself to an elevation of 200 meters. +Decrease your altitude to 200 meters. +Descend until you reach an altitude of 200 meters. diff --git a/evaluation/final-NL-commands/event_log.txt b/evaluation/final-NL-commands/event_log.txt new file mode 100644 index 0000000..e69de29 diff --git a/evaluation/final-NL-commands/output_numbers.txt b/evaluation/final-NL-commands/output_numbers.txt new file mode 100644 index 0000000..a8d3b14 --- /dev/null +++ b/evaluation/final-NL-commands/output_numbers.txt @@ -0,0 +1,776 @@ +4 +4 +2 +4 +1 +4 +4 +4 +4 +4 +2 +2 +1 +2 +4 +2 +4 +2 +4 +4 +4 +4 +3 +2 +1 +1 +1 +4 +4 +1 +2 +4 +3 +2 +4 +4 +4 +4 +3 +5 +3 +5 +3 +3 +2 +4 +4 +1 +0 +1 +1 +0 +4 +3 +2 +3 +5 +4 +4 +1 +1 +2 +2 +4 +3 +3 +4 +3 +4 +2 +2 +3 +3 +4 +2 +2 +4 +4 +4 +5 +4 +3 +2 +2 +4 +3 +4 +3 +3 +2 +2 +0 +4 +4 +4 +4 +2 +1 +1 +3 +2 +2 +4 +2 +3 +3 +4 +4 +4 +4 +1 +1 +2 +3 +4 +1 +2 +0 +2 +1 +3 +4 +2 +4 +3 +4 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+4 +2 +2 +4 +1 +1 +1 +5 +4 +5 +4 +4 +2 +1 +3 +2 +3 +3 +4 +4 +4 +2 +3 +3 +4 +2 +2 +2 +2 +4 +3 +4 +4 +5 +4 +3 +5 +4 +5 +2 +1 +1 +1 +3 +4 +4 +2 +2 +4 +4 +3 +4 +4 +2 +3 +2 +1 +2 +0 +4 +2 +4 +4 +4 +4 +5 +1 +3 +4 +3 +3 +2 +1 +1 +2 +1 +4 +5 +5 +4 +3 +3 +4 +3 +4 +4 +4 +4 +4 +4 +0 +4 +2 +2 +2 +0 +0 +0 +0 +1 +4 +2 +5 +4 +3 +4 +2 +2 +2 +5 +1 +1 +2 +1 +1 +2 +1 +2 +3 +3 +5 +4 +4 +3 +2 +2 +4 +2 +1 +1 +2 +2 +1 +1 +2 +2 +2 +4 +1 +2 +4 +3 +4 +1 +2 +3 +2 +1 +1 +3 +2 +2 +2 +2 +4 +4 +2 +4 +1 +4 +1 +2 +1 +2 +4 +3 +3 +4 +3 +0 +0 +3 +1 +3 +3 +4 +4 +5 +5 +5 +4 +3 +1 +1 +2 +2 +1 +1 +3 +1 +4 +2 +3 +4 +4 +3 +3 +5 +4 +2 +3 +2 +3 +3 +3 +4 +1 +0 +1 +3 +2 +1 +2 +2 +3 +2 +4 +2 +2 +3 +2 +2 +1 +0 +1 +1 +2 +2 +4 +4 +4 +4 +1 +3 +2 +4 +4 +3 +4 +4 +3 +2 +2 +0 +2 +4 +4 +1 +1 +1 +2 +4 +4 +2 +2 +2 +4 +1 +5 +2 +2 +2 +2 +2 +4 +4 +4 +5 +4 +2 +3 +4 +4 +3 +5 +2 +1 +0 +1 +5 +3 +3 +2 +2 +2 +4 +4 +3 +2 +0 +1 +0 +0 +1 +2 +0 +2 +1 +1 +4 +4 +3 +1 +3 +1 +1 +2 +2 +3 +1 +1 +1 +1 +2 +1 +1 +2 diff --git a/evaluation/final-NL-commands/regex_list_numbers.txt b/evaluation/final-NL-commands/regex_list_numbers.txt new file mode 100644 index 0000000..66a9568 --- /dev/null +++ b/evaluation/final-NL-commands/regex_list_numbers.txt @@ -0,0 +1 @@ +\d+\.\s \ No newline at end of file diff --git a/evaluation/ontology_definition_3_cases.json b/evaluation/ontology_definition_3_cases.json new file mode 100644 index 0000000..a476332 --- /dev/null +++ b/evaluation/ontology_definition_3_cases.json @@ -0,0 +1,125 @@ +### 1) + +Ground Robot JSON Structure (17 pairs) + +{ +"action": "go_to_goal", +"params": { + "location": { + "type": "str", + "value": "Kitchen"}}} +{ +"action": "move", +"params": { + "linear_speed": 0.5, + "distance": distance, + "is_forward": True, + "unit": "meter"}} +{ +"action": "rotate", +"params": { + "angular_velocity": 0.35, + "angle": 40, + "is_clockwise": is_clockwise, + "unit": "degrees"}} + + +### 2) UAV (Unmanned Aerial Vehicle) JSON Structure: (37 pairs) + +{ +"action": "navigate_to_point", +"params": { + "coordinates": { + "type": "tuple", + "value": "(latitude, longitude, altitude)"}}} +{ +"action": "fly", +"params": { + "speed": 10.5, + "altitude": 100, + "direction": { + "type": "str", + "value": "north"}, + "duration": 10, + "unit_speed": "m/s", + "unit_altitude": "meters", + "unit_duration": "seconds"}} +{ +"action": "hover", +"params": { + "duration": { + "type": "float", + "value": 15.0}, + "altitude": { + "type": "float", + "value": 50.0}, + "unit_duration": "seconds", + "unit_altitude": "meters"}} +{ +"action": "rotate", +"params": { + "angular_velocity": 0.5, + "angle": 90, + "is_clockwise": true, + "unit": "degrees"}} +{ +"action": "land", +"params": { + "location": { + "type": "tuple", + "value": "(latitude, longitude)"}} +} + + +### 3) Robotic Arm JSON Structure: (43 pairs) + +{ +"action": "move_joint", +"params": { + "joint_name": { + "type": "str", + "value": "elbow"}, + "angle": { + "type": "float", + "value": 45.0}, + "direction": { + "type": "str", + "value": "clockwise"}, + "speed": { + "type": "float", + "value": 0.5}, + "unit": "degrees", + "unit_speed": "degrees/s"}} +{ +"action": "extend_arm", +"params": { + "extension_length": { + "type": "float", + "value": 10.0}, + "speed": { + "type": "float", + "value": 1.0}, + "unit_length": "centimeters", + "unit_speed": "cm/s"}} +{ +"action": "grip_object", +"params": { + "force": { + "type": "float", + "value": 5.0}, + "duration": { + "type": "float", + "value": 2.0}, + "unit_force": "newtons", + "unit_duration": "seconds"}} +{ +"action": "release_grip", +"params": {}} +{ +"action": "set_orientation", +"params": { + "orientation": { + "type": "str", + "value": "upright"}} +} + diff --git a/evaluation/temp-output/NL_commands_Groubd_Robot_base_commands.txt b/evaluation/temp-output/NL_commands_Groubd_Robot_base_commands.txt new file mode 100644 index 0000000..3b08040 --- /dev/null +++ b/evaluation/temp-output/NL_commands_Groubd_Robot_base_commands.txt @@ -0,0 +1,200 @@ +Move forward for 1 meter. +Rotate counterclockwise by 90 degrees. +Move backward for 2 seconds. +Turn left and move forward for 5 meters. +Rotate clockwise by 180 degrees. +Move forward at a velocity of 0.5 meters per second for 10 seconds. +Turn right and move forward for 3 meters. +Move backward at a velocity of 1 meter per second for 4 seconds. +Rotate counterclockwise by 270 degrees. +Move forward for 2 meters. +Rotate clockwise by 45 degrees and move forward for 1 meter. +Turn left and move forward for 3 seconds. +Move backward for 1 meter. +Rotate counterclockwise by 120 degrees and move forward for 5 meters. +Move forward at full speed for 20 seconds. +Rotate clockwise by 60 degrees. +Move backward at a velocity of 0.75 meters per second for 8 seconds. +Turn right and move forward for 4 meters. +Move forward for 3 meters. +Rotate counterclockwise by 90 degrees and move forward for 2 seconds. +"Move forward for 5 meters." +"Turn left and continue for 10 seconds." +"Rotate counterclockwise by 90 degrees." +"Back up 2 meters and stop." +"Move forward at a speed of 0.5 meters per second for 6 seconds." +"Turn right and move forward for 1 meter." +"Rotate clockwise by 180 degrees." +"Move backward for 3 seconds." +"Turn left and continue for 7 meters." +"Move forward at a speed of 1 meter per second for 4 seconds." +"Rotate counterclockwise by 45 degrees." +"Go straight for 8 meters." +"Turn right and move forward for 2 seconds." +"Move backward for 4 meters and stop." +"Rotate clockwise by 270 degrees." +"Turn left and continue for 3 meters." +"Move forward at a speed of 0.3 meters per second for 5 seconds." +"Rotate counterclockwise by 60 degrees." +"Go straight for 6 seconds." +"Turn right and move forward for 7 meters." +Move 2 meters forward. +Turn left and move forward for 5 seconds. +Rotate counterclockwise by 90 degrees. +Move 3 meters backward. +Turn right and move forward for 1 meter. +Go to the living room and stop. +Move 4 meters forward at a speed of 2 meters per second. +Rotate clockwise by 180 degrees. +Turn left and move forward for 3 meters. +Move 2 meters backward at a speed of 0.5 meters per second. +Go to the bedroom and stop. +Rotate counterclockwise by 45 degrees. +Turn right and move forward for 4 meters. +Move 1 meter forward at a speed of 1 meter per second. +Rotate clockwise by 270 degrees. +Turn left and move forward for 2 seconds. +Move 3 meters backward at a speed of 1.5 meters per second. +Go to the dining room and stop. +Rotate counterclockwise by 60 degrees. +1. Move forward for 5 meters. +2. Rotate counterclockwise by 90 degrees. +3. Move backward for 3 seconds. +4. Turn left and move forward for 2 meters. +5. Make a U-turn and move in the opposite direction for 10 seconds. +6. Rotate clockwise by 180 degrees and stop. +7. Move diagonally to the right for 4 meters. +8. Turn right and move forward for 1 meter. +9. Move in a zigzag pattern for 8 seconds. +10. Rotate counterclockwise by 45 degrees and move forward for 3 meters. +11. Move backward and stop at the nearest obstacle. +12. Turn left and move in a curved path for 6 meters. +13. Move forward at a speed of 1 meter per second for 10 seconds. +14. Rotate clockwise by 30 degrees and continue moving forward for 4 meters. +15. Move in a circular path with a radius of 2 meters for 7 seconds. +16. Turn right and move forward for 5 seconds, then revert back. +17. Move along the perimeter of the room for 1 minute. +18. Rotate counterclockwise by 60 degrees and move forward for 3 meters. +19. Move forward at a variable speed for 10 seconds. +20. Move backward and stop 1 meter away from the designated target. +Move forward for 1 meter. +Rotate counterclockwise by 90 degrees. +Move backward for 2 seconds. +Turn left and move forward for 3 meters. +Move at a speed of 2 meters per second for 5 seconds. +Rotate clockwise by 180 degrees. +Move forward for 4 meters. +Turn right and move backward for 1 meter. +Rotate counterclockwise by 45 degrees. +Move forward for 10 seconds. +Turn left and move at a speed of 1 meter per second for 2 seconds. +Move backward for 3 meters. +Rotate clockwise by 270 degrees. +Move forward for 5 meters. +Turn right and move at a speed of 1.5 meters per second for 4 seconds. +Rotate counterclockwise by 60 degrees. +Move forward for 2 meters. +Turn left and move at a speed of 0.5 meters per second for 10 seconds. +Move backward for 6 meters. +Move forward for 5 meters. +Rotate counterclockwise by 90 degrees. +Stop. +Reverse for 2 seconds. +Turn left and move forward for 10 meters. +Move backward for 3 seconds. +Rotate clockwise by 180 degrees. +Turn right and move forward for 8 meters. +Move forward for 1 meter and stop. +Rotate counterclockwise by 135 degrees. +Move backward for 6 meters. +Turn left and move forward for 4 seconds. +Rotate clockwise by 60 degrees. +Move forward for 7 meters and stop. +Reverse for 5 seconds. +Turn right and move forward for 9 meters. +Move forward for 2 seconds and stop. +Rotate counterclockwise by 30 degrees. +Reverse for 4 meters. +Turn left and move forward for 6 seconds. +Move forward for 5 meters. +Turn left and move forward for 2 seconds. +Rotate counterclockwise by 90 degrees. +Move backward for 3 meters. +Turn right and move forward for 1 meter. +Move forward at a velocity of 0.5 meters per second. +Rotate clockwise by 180 degrees. +Move forward for 10 meters at a velocity of 2 meters per second. +Turn left and move forward for 5 seconds. +Move backward at a velocity of 1 meter per second. +Rotate counterclockwise by 45 degrees. +Move forward for 7 meters. +Turn right and move forward for 4 meters. +Move forward for 3 seconds. +Turn left and move forward for 2 meters. +Rotate clockwise by 270 degrees. +Move backward for 6 meters. +Turn right and move forward for 5 seconds. +Move forward at a velocity of 0.3 meters per second for 10 meters. +Rotate counterclockwise by 120 degrees. +Rotate counterclockwise by 90 degrees. +Move forward for 5 meters. +Turn left and move forward for 2 seconds. +Stop and wait. +Move backward for 10 meters. +Rotate clockwise by 180 degrees. +Turn right and move forward for 3 seconds. +Go to the living room and stop. +Move 2 meters to the left. +Rotate counterclockwise by 45 degrees. +Move forward at a speed of 0.5 meters per second for 4 seconds. +Turn left and move forward for 7 meters. +Stop and reverse direction. +Move 3 meters to the right. +Rotate clockwise by 60 degrees. +Turn right and move forward for 1 second. +Go to the bedroom and stop. +Move backward for 8 meters. +Rotate counterclockwise by 270 degrees. +Turn left and move forward for 6 seconds. +"Turn left and move forward for 5 meters." +"Rotate counterclockwise by 90 degrees." +"Move backward for 3 seconds." +"Turn right and move forward for 10 meters." +"Rotate clockwise by 180 degrees." +"Move forward at a speed of 0.5 meters per second for 4 seconds." +"Turn left and move backward for 2 meters." +"Move forward for 7 seconds." +"Rotate counterclockwise by 30 degrees." +"Move backward at a speed of 1 meter per second for 6 seconds." +"Turn right and move forward for 8 meters." +"Rotate clockwise by 270 degrees." +"Move forward and then immediately stop." +"Turn left and move backward for 4 meters." +"Move forward for 10 seconds at a speed of 0.3 meters per second." +"Rotate counterclockwise by 60 degrees." +"Move backward and then immediately stop." +"Turn right and move forward for 6 meters." +"Rotate clockwise by 120 degrees." +"Move forward and then backward for 5 meters." +Move forward for 10 meters. +Turn left and move forward for 5 meters. +Rotate counterclockwise by 90 degrees. +Move backward for 3 meters. +Turn right and move forward at 0.5 m/s for 20 seconds. +Go to the living room and stop. +Move forward for 2 seconds at a speed of 1 meter per second. +Rotate clockwise by 180 degrees. +Move forward for 4 meters and then turn left. +Rotate counterclockwise by 60 degrees and move forward for 3 meters. +Go to the bedroom and stop. +Move backward for 7 meters at a speed of 0.8 meters per second. +Turn right and move forward for 6 meters. +Rotate clockwise by 270 degrees. +Move forward for 5 seconds at a speed of 0.5 meters per second. +Go to the dining room and stop. +Move forward for 8 meters and then turn right. +Rotate counterclockwise by 120 degrees and move forward for 2 meters. +Turn left and move forward for 9 meters. +Move backward for 6 seconds at a speed of 1 meter per second. +Move forward at a constant speed for 5 meters. +Rotate counterclockwise by 90 degrees and move backwards for 2 seconds. diff --git a/evaluation/temp-output/NL_commands_Ground_Robot_base_commands_with_irrelevant.txt b/evaluation/temp-output/NL_commands_Ground_Robot_base_commands_with_irrelevant.txt new file mode 100644 index 0000000..7184931 --- /dev/null +++ b/evaluation/temp-output/NL_commands_Ground_Robot_base_commands_with_irrelevant.txt @@ -0,0 +1,10 @@ +"Turn left and move forward for 5 meters at a speed of 2 meters per second." +"Back up for 1 meter and then execute a 90-degree turn to the right." +"Navigate to the specified GPS coordinates and play a pre-recorded message." +"Move in a zigzag pattern for 10 meters, alternating between forward and backward motions." +"Spin around in a circle three times and then stop abruptly." +"Move forward at a constant speed of 1 meter per second for 30 seconds." +"Turn right and follow a curved path for 2 meters, then stop and beep." +"Move forward for 5 meters and then reverse for 2 meters, repeating twice." +"Randomly select a direction and move forward for a random duration between 1 and 5 seconds." +"Perform a 180-degree turn, then launch a small drone from your back." diff --git a/evaluation/temp-output/NL_commands_Robotic_Arm_base_commands_with_irrelevant.txt b/evaluation/temp-output/NL_commands_Robotic_Arm_base_commands_with_irrelevant.txt new file mode 100644 index 0000000..aadf75e --- /dev/null +++ b/evaluation/temp-output/NL_commands_Robotic_Arm_base_commands_with_irrelevant.txt @@ -0,0 +1,200 @@ +1. Lift the object with a force of 10 Newtons. +2. Rotate the shoulder joint counterclockwise by 90 degrees. +3. Move to position X:50, Y:30, Z:15. +4. Extend the arm by 20 centimeters. +5. Grip the object with a force of 15 kilograms. +6. Rotate the elbow joint clockwise by 60 degrees. +7. Lift the object to a height of 1 meter. +8. Move to position X:25, Y:40, Z:10 at a velocity of 10 cm/s. +9. Rotate the wrist joint counterclockwise by 30 degrees. +10. Retract the arm by 25 centimeters. +11. Grip the object with a force of 20 Newtons. +12. Rotate the shoulder joint clockwise by 45 degrees. +13. Move to position X:15, Y:25, Z:5 at a velocity of 5 cm/s. +14. Extend the arm by 30 centimeters. +15. Lift the object to a height of 2 meters. +16. Rotate the elbow joint counterclockwise by 75 degrees. +17. Move to position X:35, Y:50, Z:20. +18. Retract the arm by 10 centimeters at a velocity of 15 cm/s. +19. Grip the object with a force of 25 kilograms. +20. Rotate the wrist joint clockwise by 90 degrees and dance. +1. Lift the arm to a height of 50 centimeters. +2. Rotate the base joint counterclockwise by 90 degrees. +3. Extend the arm by 30 centimeters and hold for 10 seconds. +4. Move to position X:100, Y:50, Z:80 with a velocity of 10 meters per second. +5. Activate the grip mechanism with a force of 8 kilograms. +6. Rotate the wrist joint clockwise by 30 degrees and hold for 5 seconds. +7. Retract the arm to its home position. +8. Move to position X:0, Y:0, Z:100 with a velocity of 5 meters per second. +9. Grip the object with 10 kilograms of force. +10. Extend the arm by 20 centimeters, then retract it by 10 centimeters. +11. Rotate the base joint clockwise by 180 degrees and hold. +12. Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second. +13. Lift the arm to a height of 80 centimeters and hold for 8 seconds. +14. Retract the arm halfway and pause for 3 seconds. +15. Rotate the wrist joint counterclockwise by 60 degrees. +16. Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second. +17. Extend the arm by 25 centimeters and hold for 4 seconds. +18. Grip the object with 6 kilograms of force, then release after 2 seconds. +19. Rotate the base joint counterclockwise by 270 degrees and hold. +20. Move to position X:200, Y:150, Z:100 with a velocity of 12 meters per second and then dance. +"Turn the robot arm on." +"Open the gripper completely." +"Move the arm to position X:50, Y:75, Z:100." +"Rotate the elbow joint counterclockwise by 90 degrees." +"Extend the arm by 20 centimeters at a velocity of 10 cm/s." +"Grip the object with 3 kilograms of force." +"Retract the arm by 30 centimeters at a velocity of 5 cm/s." +"Rotate the wrist joint counterclockwise by 180 degrees." +"Move the arm to position X:100, Y:0, Z:50." +"Open the gripper halfway." +"Rotate the shoulder joint clockwise by 45 degrees." +"Extend the arm by 10 centimeters at a velocity of 8 cm/s." +"Grip the object with 2 kilograms of force." +"Retract the arm by 15 centimeters at a velocity of 6 cm/s." +"Rotate the elbow joint clockwise by 135 degrees." +"Move the arm to position X:0, Y:100, Z:20." +"Close the gripper completely." +"Rotate the wrist joint clockwise by 90 degrees." +"Swim." +"Watch TV." +1. Lift the object and move it 30 centimeters to the left. +2. Rotate the base counterclockwise by 90 degrees. +3. Extend the arm by 20 centimeters and hold position for 10 seconds. +4. Open the gripper and release the object gently. +5. Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second. +6. Bend the elbow joint to a 45-degree angle and hold for 5 seconds. +7. Readjust the wrist joint to a neutral position. +8. Rotate the arm horizontally by 180 degrees. +9. Grip the object with 10 newtons of force for 2 minutes. +10. Move to position X:0, Y:0, Z:50 at a velocity of 1 meter per second. +11. Retract the arm completely and hold in standby position. +12. Rotate the gripper 360 degrees clockwise. +13. Extend the arm by 30 centimeters and hold position for 3 seconds. +14. Move to position X:30, Y:40, Z:10 at a velocity of 0.3 meters per second. +15. Bend the elbow joint to a 90-degree angle and hold for 10 seconds. +16. Open the gripper and close it with 7 kilograms of force. +17. Rotate the wrist joint counterclockwise by 90 degrees. +18. Move to position X:10, Y:50, Z:20 at a velocity of 0.8 meters per second. +19. Retract the arm halfway and hold in a hovering position. +20. Swim in a circular motion while waving. +1. Move the base of the arm 90 degrees to the left. +2. Extend the arm by 20 centimeters at a velocity of 2 meters per second. +3. Rotate the elbow joint counterclockwise by 60 degrees. +4. Grip the object with 10 kilograms of force for 10 seconds. +5. Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second. +6. Retract the arm by 30 centimeters in 5 seconds. +7. Rotate the wrist joint clockwise by 90 degrees. +8. Grip the object with 2 kilograms of force. +9. Move to position X:100, Y:0, Z:100 at a velocity of 0.5 meters per second. +10. Retract the arm to the starting position. +11. Extend the arm by 10 centimeters at a velocity of 0.2 meters per second. +12. Rotate the elbow joint clockwise by 30 degrees. +13. Grip the object with 8 kilograms of force for 3 seconds. +14. Move to position X:0, Y:0, Z:50 at a velocity of 0.1 meters per second. +15. Retract the arm by 25 centimeters in 4 seconds. +16. Rotate the wrist joint counterclockwise by 45 degrees. +17. Grip the object with 4 kilograms of force. +18. Move to position X:75, Y:75, Z:75 at a velocity of 0.3 meters per second. +19. Retract the arm to the standby position. +20. Extend the arm by 15 centimeters, then do a little dance. +1. Lift the object at a velocity of 5 meters per second. +2. Rotate the arm joint counterclockwise by 90 degrees. +3. Extend the arm to a distance of 50 centimeters. +4. Move to position X:15, Y:25, Z:35 at a duration of 10 seconds. +5. Grip the object with a force of 10 Newtons. +6. Retract the arm to its starting position. +7. Rotate the wrist joint clockwise by 30 degrees. +8. Lift the object at a velocity of 2 meters per second. +9. Extend the arm to a distance of 30 centimeters and hold for 5 seconds. +10. Move to position X:5, Y:10, Z:15 and halt immediately. +11. Grip the object with 8 kilograms of force. +12. Retract the arm at a duration of 3 seconds. +13. Rotate the arm joint counterclockwise by 180 degrees. +14. Extend the arm to a distance of 40 centimeters and hold for 2 seconds. +15. Lift the object at a velocity of 3 meters per second and move to position X:20, Y:30, Z:40. +16. Grip the object with a force of 15 Newtons and rotate the wrist joint clockwise by 60 degrees. +17. Retract the arm to its starting position and hold for 4 seconds. +18. Lift the object at a velocity of 4 meters per second and extend the arm to a distance of 60 centimeters. +19. Move to position X:10, Y:20, Z:30 at a duration of 8 seconds and rotate the arm joint counterclockwise by 45 degrees. +20. Swim. +Move the robotic arm to position X:50, Y:100, Z:200. +Rotate the shoulder joint counterclockwise by 90 degrees. +Extend the arm by 30 centimeters. +Grip the object with 10 pounds of force. +Move the arm in a straight line at a velocity of 50 centimeters per second. +Rotate the elbow joint clockwise by 60 degrees. +Retract the arm to its starting position. +Move the robotic arm to position X:0, Y:0, Z:0. +Grip the object with a force of 20 newtons. +Extend the arm by 10 inches. +Rotate the wrist joint counterclockwise by 30 degrees. +Move the arm in a curve with a radius of 50 centimeters. +Rotate the shoulder joint clockwise by 45 degrees. +Move the robotic arm to position X:100, Y:50, Z:150. +Grip the object with a force of 15 pounds. +Retract the arm by 20 centimeters. +Rotate the elbow joint counterclockwise by 90 degrees. +Move the arm in a zigzag pattern with a velocity of 75 centimeters per second. +Extend the arm by 5 inches. +Rotate the wrist joint clockwise by 15 degrees. +Swim. +1. Lift the object 5 centimeters off the ground. +2. Rotate the base joint counterclockwise by 90 degrees. +3. Extend the arm to position X:50, Y:0, Z:80. +4. Open the grip completely for 3 seconds. +5. Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second. +6. Close the grip with 10 kilograms of force. +7. Rotate the wrist joint clockwise by 180 degrees. +8. Lift the arm to its maximum height and hold for 10 seconds. +9. Retract the arm to standby position. +10. Move to position X:100, Y:50, Z:150 at a velocity of 20 centimeters per second. +11. Open the grip halfway for 2 seconds. +12. Extend the arm by 30 centimeters. +13. Rotate the base joint clockwise by 45 degrees. +14. Lift the object to position X:0, Y:0, Z:50 and hold for 5 seconds. +15. Close the grip with 7 kilograms of force. +16. Move to position X:75, Y:25, Z:100 at a velocity of 15 centimeters per second. +17. Rotate the wrist joint counterclockwise by 270 degrees. +18. Retract the arm to standby position and wait for further instruction. +19. Lift the arm by 20 centimeters and hold for 3 seconds. +20. Rotate the base joint counterclockwise by 180 degrees and dance. +Move the arm to position X:50, Y:70, Z:90. +Rotate the wrist joint counterclockwise by 90 degrees. +Extend the arm by 20 centimeters. +Grip the object with 10 kilograms of force. +Move the arm to position X:30, Y:40, Z:50. +Rotate the wrist joint clockwise by 60 degrees. +Retract the arm to standby position. +Grip the object with 15 kilograms of force. +Move the arm to position X:70, Y:80, Z:90. +Rotate the wrist joint counterclockwise by 120 degrees. +Extend the arm by 25 centimeters. +Grip the object with 20 kilograms of force. +Move the arm to position X:10, Y:20, Z:30. +Rotate the wrist joint clockwise by 30 degrees. +Retract the arm to standby position. +Grip the object with 12 kilograms of force. +Move the arm to position X:80, Y:60, Z:40. +Rotate the wrist joint counterclockwise by 75 degrees. +Extend the arm by 18 centimeters. +Grip the object with 8 kilograms of force. +Move the arm to position X:40, Y:50, Z:60. +Rotate the wrist joint clockwise by 45 degrees. +Retract the arm to standby position, then wave. +Extend the arm by 20 centimeters. +Rotate the wrist joint counterclockwise by 90 degrees. +Grip the object with 10 kilograms of force. +Move to position X:50, Y:75, Z:100. +Retract the arm by 30 centimeters. +Rotate the shoulder joint clockwise by 180 degrees. +Release the object gently. +Move to position X:0, Y:0, Z:50. +Extend the arm by 10 centimeters at a velocity of 5 centimeters per second. +Rotate the wrist joint counterclockwise by 45 degrees at a velocity of 90 degrees per second. +Grip the object with 8 kilograms of force for 10 seconds. +Move to position X:25, Y:50, Z:75 in 5 seconds. +Retract the arm by 15 centimeters at a velocity of 2 centimeters per second. +Rotate the shoulder joint clockwise by 270 degrees in 3 seconds. +Move to position X:100, Y:100, Z:0 in 10 seconds. +Extend the arm by 5 centimeters, then swim. diff --git a/evaluation/temp-output/NL_commands_UAV_base_commands_with_irrelevant.txt b/evaluation/temp-output/NL_commands_UAV_base_commands_with_irrelevant.txt new file mode 100644 index 0000000..7ebfd05 --- /dev/null +++ b/evaluation/temp-output/NL_commands_UAV_base_commands_with_irrelevant.txt @@ -0,0 +1,200 @@ +Ascend to an altitude of 500 feet. +Fly forward for 1 mile at a speed of 40 mph. +Hover in place for 10 minutes. +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second. +Land at the designated landing zone. +Descend to an altitude of 200 meters. +Fly forward for 3 kilometers at a speed of 80 km/h. +Hover in place for 15 minutes. +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second. +Land at the designated landing zone. +Ascend to an altitude of 1000 feet. +Fly forward for 2 miles at a speed of 45 mph. +Hover in place for 20 minutes. +Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second. +Land at the designated landing zone. +Descend to an altitude of 300 meters. +Fly forward for 4 kilometers at a speed of 70 km/h. +Hover in place for 25 minutes. +Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second. +Land at the designated landing zone. +Ascend to an altitude of 1500 feet. +Fly forward for 5 miles at a speed of 50 mph. +Hover in place for 30 minutes. +Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second. +Land at the designated landing zone. +Descend to an altitude of 400 meters. +Fly forward for 6 kilometers at a speed of 60 km/h. +Hover in place for 35 minutes. +Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second. +Land at the designated landing zone. +Ascend to an altitude of 2000 feet. +Fly forward for 7 miles at a speed of 55 mph. +Hover in place for 40 minutes. +Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second. +Land at the designated landing zone. +Descend to an altitude of 500 meters. +Fly forward for 8 kilometers at a speed of 65 km/h. +Hover in place for 45 minutes. +Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second. +Land at the designated landing zone. +Ascend to an altitude of 2500 feet. +Fly forward for 9 miles at a speed of 50 mph. +Hover in place for 50 minutes. +Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second. +Land at the designated landing zone. +Descend to an altitude of 600 meters and swin. +"Turn left at a 45-degree angle and fly straight for 500 meters." +"Ascend to an altitude of 1000 feet and maintain position for 10 minutes." +"Perform a vertical climb to 200 meters at a speed of 10 meters per second." +"Fly around in a circular pattern with a radius of 100 meters for 15 minutes." +"Hover in place and capture aerial photographs of the surrounding area." +"Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes." +"Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes." +"Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop." +"Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes." +"Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers." +"Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second." +"Land at the designated landing zone and conduct a visual inspection of the UAV." +"Hover in place and release a payload at a specified drop zone." +"Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour." +"Perform a barrel roll maneuver at a high velocity of 100 km/h." +"Fly forward for 500 meters and then execute a sharp turn to the right." +"Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data." +"Fly in a figure-eight pattern with a total distance of 2 kilometers." +"Hover in place and initiate a search for a lost object on the ground." +"Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot." +- Fly to waypoint A at a distance of 1 kilometer. +- Descend to an altitude of 200 meters above ground level. +- Perform a vertical climb at a rate of 5 meters per second. +- Fly in a zigzag pattern for 10 minutes. +- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +- Fly forward at a speed of 30 km/h for 500 meters. +- Hover at a specific location for 15 minutes. +- Ascend to an altitude of 500 meters above ground level. +- Perform a horizontal slide to the left for 200 meters. +- Circle around a fixed point at a radius of 100 meters for 5 minutes. +- Fly backward at a speed of 40 km/h for 1 kilometer. +- Descend rapidly at a rate of 10 meters per second. +- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second. +- Fly in a figure-eight pattern for 10 minutes. +- Ascend to an altitude of 800 meters above sea level. +- Hover in place while capturing photos for 20 minutes. +- Fly forward at a speed of 50 km/h for 2 kilometers. +- Descend to a low altitude of 50 meters above ground level. +- Perform a sudden stop and hover for 2 minutes. +- Land at the designated landing zone, then record a video. +Ascend to an altitude of 500 feet. +Fly forward for 1 mile at a speed of 40 mph. +Descend to an altitude of 200 meters. +Hover in place for 10 minutes. +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h. +Ascend to an altitude of 1000 feet. +Fly forward for 5 miles at a speed of 30 mph. +Hover and take aerial photographs for 20 minutes. +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second. +Descend to an altitude of 100 meters. +Fly in a circular path with a radius of 500 meters at a speed of 20 km/h. +Ascend to an altitude of 1500 feet. +Fly forward and survey the area for 3 miles at a speed of 35 mph. +Hover and drop a package at the designated location. +Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second. +Descend to an altitude of 50 meters. +Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h. +Ascend to an altitude of 2000 feet. +Fly forward and inspect power lines for 4 miles at a speed of 25 mph. +Land at the designated landing zone, then take a nap. +Fly forward for 1 kilometer at a speed of 40 km/h. +Ascend to an altitude of 500 meters. +Hover in place for 10 minutes. +Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second. +Fly forward for 500 meters at a speed of 50 km/h. +Descend to an altitude of 200 meters. +Hover in place for 2 minutes. +Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second. +Fly forward for 3 kilometers at a speed of 70 km/h. +Ascend to an altitude of 800 meters. +Hover in place for 15 minutes. +Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second. +Fly forward for 2.5 kilometers at a speed of 55 km/h. +Descend to an altitude of 300 meters. +Hover in place for 8 minutes. +Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second. +Fly forward for 4 kilometers at a speed of 80 km/h. +Ascend to an altitude of 1000 meters. +Hover in place for 20 minutes. +Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second. +Fly forward for 2.7 kilometers at a speed of 60 km/h. +Descend to an altitude of 400 meters. +Hover in place for 12 minutes. +Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second. +Fly forward for 5 kilometers at a speed of 90 km/h. +Ascend to an altitude of 1200 meters. +Hover in place for 25 minutes. +Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second. +Fly forward for 3.2 kilometers at a speed of 65 km/h. +Descend to an altitude of 500 meters. +Hover in place for 18 minutes. +Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second. +Fly forward for 6 kilometers at a speed of 100 km/h. +Ascend to an altitude of 1400 meters. +Hover in place for 30 minutes. +Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second. +Fly forward for 3.7 kilometers at a speed of 70 km/h. +Descend to an altitude of 600 meters. +Hover in place for 22 minutes. +Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second. +Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap. +Ascend to an altitude of 500 meters. +Fly forward for 10 kilometers at a speed of 80 km/h. +Hover in place for 15 minutes. +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +Land at the designated landing zone. +Descend to an altitude of 100 meters. +Fly backward for 5 kilometers at a speed of 40 km/h. +Circle around a specific location for 20 minutes. +Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second. +Ascend to an altitude of 1000 meters. +Fly forward for 15 kilometers at a speed of 100 km/h. +Hover in place for 10 minutes. +Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second. +Land at the designated landing zone. +Descend to an altitude of 200 meters. +Fly backward for 3 kilometers at a speed of 50 km/h. +Circle around a specific location for 30 minutes. +Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second. +Ascend to an altitude of 700 meters and swin. +Fly forward for 8 kilometers at a speed of 70 km/h. +Hover in place for 20 minutes and watch TV. +Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second. +Land at the designated landing zone, then sing loudly. +Ascend to an altitude of 500 feet. +Fly forward for 1 mile at a speed of 30 mph. +Hover in place for 10 minutes. +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +Descend to an altitude of 200 meters. +Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h. +Perform a barrel roll to the left. +Ascend to an altitude of 1000 feet and maintain it for 20 minutes. +Fly backward for 500 meters at a speed of 40 km/h. +Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second. +Descend to an altitude of 100 feet and hold for 5 minutes. +Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h. +Ascend to an altitude of 300 meters and maintain it for 30 minutes. +Hover in place for 15 minutes and then proceed forward for 2 kilometers. +Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second. +Fly in a serpentine pattern for 1 mile at a speed of 25 mph. +Descend to an altitude of 100 meters and hover in place for 10 minutes. +Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone. +Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second. +Perform a loop-de-loop and then watch TV. +Ascend to an altitude of 500 feet. +Fly forward for 1 mile at a speed of 40 mph. +Hover in place for 10 minutes. +Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. +Land at the designated landing zone. +Fly sideways for 500 meters. +Ascend to an altitude of 1000 feet. +Fly in a circular pattern with a radius of 500 meters for 20 minutes. +Descend to an altitude of 200 meters. diff --git a/evaluation/test_LLaMA2_70b.py b/evaluation/test_LLaMA2_70b.py new file mode 100644 index 0000000..82e1706 --- /dev/null +++ b/evaluation/test_LLaMA2_70b.py @@ -0,0 +1,17 @@ +import requests + +API_URL = "https://api-inference.huggingface.co/models/meta-llama/Llama-2-70b-chat-hf" +headers = {"Authorization": "***********"} + +def query(payload): + response = requests.post(API_URL, headers=headers, json=payload) + return response.json() + +data = query( + { + "inputs": "write me full email asking for 3 days vacation from my manager", + "parameters": {"max_new_tokens": 256 , "top_k" : 40, "top_p" : 0.1 , "temperature" : 0.5 , "stream" : True } + } +) + +print(data) \ No newline at end of file From 21e0edda3bb3c6abdfbb40d999db9371947a3aef Mon Sep 17 00:00:00 2001 From: ammaradel Date: Wed, 2 Oct 2024 13:37:34 +0300 Subject: [PATCH 2/7] updated README --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 102a656..85c7877 100644 --- a/README.md +++ b/README.md @@ -176,14 +176,14 @@ The main goal of this project is to illustrate how natural language instructions **BibTeX Citation**: -@article{koubaa2024next, +```@article{koubaa2024next, title={Next-Generation Human-Robot Interaction with ChatGPT and Robot Operating System}, author={Koubaa, Anis and Ammar, Adel and Boulila, Wadii}, journal={Software: Practice and Experience}, year={2024}, month={September}, doi={10.1002/spe.3377} -} +}``` ## License From 7a8cd11eab9799113a40ccca644aabd68cb35180 Mon Sep 17 00:00:00 2001 From: ammaradel Date: Wed, 2 Oct 2024 13:38:24 +0300 Subject: [PATCH 3/7] updated README --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 85c7877..ab5dcb3 100644 --- a/README.md +++ b/README.md @@ -183,7 +183,8 @@ The main goal of this project is to illustrate how natural language instructions year={2024}, month={September}, doi={10.1002/spe.3377} -}``` +} +``` ## License From 64cb0ef7275f36a8d756b8f903ac16a8272ed785 Mon Sep 17 00:00:00 2001 From: ammaradel Date: Wed, 2 Oct 2024 13:42:26 +0300 Subject: [PATCH 4/7] deleted useless temp files --- ....Evaluated_JSON_commands_Ground_Robot.txt# | 1 - .../.~lock.average_and_SEM_GPT4_score.txt# | 1 - .../.~lock.average_and_SEM_human_score.txt# | 1 - ..._confidence_GPT4score_total_per_model.txt# | 1 - ...NL_commands_Groubd_Robot_base_commands.txt | 200 ------------------ ...nd_Robot_base_commands_with_irrelevant.txt | 10 - ...otic_Arm_base_commands_with_irrelevant.txt | 200 ------------------ ...ands_UAV_base_commands_with_irrelevant.txt | 200 ------------------ evaluation/test_LLaMA2_70b.py | 17 -- 9 files changed, 631 deletions(-) delete mode 100644 evaluation/evaluations/.~lock.Evaluated_JSON_commands_Ground_Robot.txt# delete mode 100644 evaluation/evaluations/.~lock.average_and_SEM_GPT4_score.txt# delete mode 100644 evaluation/evaluations/.~lock.average_and_SEM_human_score.txt# delete mode 100644 evaluation/evaluations/.~lock.average_and_confidence_GPT4score_total_per_model.txt# delete mode 100644 evaluation/temp-output/NL_commands_Groubd_Robot_base_commands.txt delete mode 100644 evaluation/temp-output/NL_commands_Ground_Robot_base_commands_with_irrelevant.txt delete mode 100644 evaluation/temp-output/NL_commands_Robotic_Arm_base_commands_with_irrelevant.txt delete mode 100644 evaluation/temp-output/NL_commands_UAV_base_commands_with_irrelevant.txt delete mode 100644 evaluation/test_LLaMA2_70b.py diff --git a/evaluation/evaluations/.~lock.Evaluated_JSON_commands_Ground_Robot.txt# b/evaluation/evaluations/.~lock.Evaluated_JSON_commands_Ground_Robot.txt# deleted file mode 100644 index 133c1a1..0000000 --- a/evaluation/evaluations/.~lock.Evaluated_JSON_commands_Ground_Robot.txt# +++ /dev/null @@ -1 +0,0 @@ -,riotu,riotu-MSI,05.10.2023 10:14,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file diff --git a/evaluation/evaluations/.~lock.average_and_SEM_GPT4_score.txt# b/evaluation/evaluations/.~lock.average_and_SEM_GPT4_score.txt# deleted file mode 100644 index 060756d..0000000 --- a/evaluation/evaluations/.~lock.average_and_SEM_GPT4_score.txt# +++ /dev/null @@ -1 +0,0 @@ -,riotu,riotu-MSI,16.11.2023 09:04,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file diff --git a/evaluation/evaluations/.~lock.average_and_SEM_human_score.txt# b/evaluation/evaluations/.~lock.average_and_SEM_human_score.txt# deleted file mode 100644 index cd5fb08..0000000 --- a/evaluation/evaluations/.~lock.average_and_SEM_human_score.txt# +++ /dev/null @@ -1 +0,0 @@ -,riotu,riotu-MSI,15.11.2023 13:42,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file diff --git a/evaluation/evaluations/.~lock.average_and_confidence_GPT4score_total_per_model.txt# b/evaluation/evaluations/.~lock.average_and_confidence_GPT4score_total_per_model.txt# deleted file mode 100644 index 52426f2..0000000 --- a/evaluation/evaluations/.~lock.average_and_confidence_GPT4score_total_per_model.txt# +++ /dev/null @@ -1 +0,0 @@ -,riotu,riotu-MSI,16.11.2023 09:18,file:///home/riotu/.config/libreoffice/4; \ No newline at end of file diff --git a/evaluation/temp-output/NL_commands_Groubd_Robot_base_commands.txt b/evaluation/temp-output/NL_commands_Groubd_Robot_base_commands.txt deleted file mode 100644 index 3b08040..0000000 --- a/evaluation/temp-output/NL_commands_Groubd_Robot_base_commands.txt +++ /dev/null @@ -1,200 +0,0 @@ -Move forward for 1 meter. -Rotate counterclockwise by 90 degrees. -Move backward for 2 seconds. -Turn left and move forward for 5 meters. -Rotate clockwise by 180 degrees. -Move forward at a velocity of 0.5 meters per second for 10 seconds. -Turn right and move forward for 3 meters. -Move backward at a velocity of 1 meter per second for 4 seconds. -Rotate counterclockwise by 270 degrees. -Move forward for 2 meters. -Rotate clockwise by 45 degrees and move forward for 1 meter. -Turn left and move forward for 3 seconds. -Move backward for 1 meter. -Rotate counterclockwise by 120 degrees and move forward for 5 meters. -Move forward at full speed for 20 seconds. -Rotate clockwise by 60 degrees. -Move backward at a velocity of 0.75 meters per second for 8 seconds. -Turn right and move forward for 4 meters. -Move forward for 3 meters. -Rotate counterclockwise by 90 degrees and move forward for 2 seconds. -"Move forward for 5 meters." -"Turn left and continue for 10 seconds." -"Rotate counterclockwise by 90 degrees." -"Back up 2 meters and stop." -"Move forward at a speed of 0.5 meters per second for 6 seconds." -"Turn right and move forward for 1 meter." -"Rotate clockwise by 180 degrees." -"Move backward for 3 seconds." -"Turn left and continue for 7 meters." -"Move forward at a speed of 1 meter per second for 4 seconds." -"Rotate counterclockwise by 45 degrees." -"Go straight for 8 meters." -"Turn right and move forward for 2 seconds." -"Move backward for 4 meters and stop." -"Rotate clockwise by 270 degrees." -"Turn left and continue for 3 meters." -"Move forward at a speed of 0.3 meters per second for 5 seconds." -"Rotate counterclockwise by 60 degrees." -"Go straight for 6 seconds." -"Turn right and move forward for 7 meters." -Move 2 meters forward. -Turn left and move forward for 5 seconds. -Rotate counterclockwise by 90 degrees. -Move 3 meters backward. -Turn right and move forward for 1 meter. -Go to the living room and stop. -Move 4 meters forward at a speed of 2 meters per second. -Rotate clockwise by 180 degrees. -Turn left and move forward for 3 meters. -Move 2 meters backward at a speed of 0.5 meters per second. -Go to the bedroom and stop. -Rotate counterclockwise by 45 degrees. -Turn right and move forward for 4 meters. -Move 1 meter forward at a speed of 1 meter per second. -Rotate clockwise by 270 degrees. -Turn left and move forward for 2 seconds. -Move 3 meters backward at a speed of 1.5 meters per second. -Go to the dining room and stop. -Rotate counterclockwise by 60 degrees. -1. Move forward for 5 meters. -2. Rotate counterclockwise by 90 degrees. -3. Move backward for 3 seconds. -4. Turn left and move forward for 2 meters. -5. Make a U-turn and move in the opposite direction for 10 seconds. -6. Rotate clockwise by 180 degrees and stop. -7. Move diagonally to the right for 4 meters. -8. Turn right and move forward for 1 meter. -9. Move in a zigzag pattern for 8 seconds. -10. Rotate counterclockwise by 45 degrees and move forward for 3 meters. -11. Move backward and stop at the nearest obstacle. -12. Turn left and move in a curved path for 6 meters. -13. Move forward at a speed of 1 meter per second for 10 seconds. -14. Rotate clockwise by 30 degrees and continue moving forward for 4 meters. -15. Move in a circular path with a radius of 2 meters for 7 seconds. -16. Turn right and move forward for 5 seconds, then revert back. -17. Move along the perimeter of the room for 1 minute. -18. Rotate counterclockwise by 60 degrees and move forward for 3 meters. -19. Move forward at a variable speed for 10 seconds. -20. Move backward and stop 1 meter away from the designated target. -Move forward for 1 meter. -Rotate counterclockwise by 90 degrees. -Move backward for 2 seconds. -Turn left and move forward for 3 meters. -Move at a speed of 2 meters per second for 5 seconds. -Rotate clockwise by 180 degrees. -Move forward for 4 meters. -Turn right and move backward for 1 meter. -Rotate counterclockwise by 45 degrees. -Move forward for 10 seconds. -Turn left and move at a speed of 1 meter per second for 2 seconds. -Move backward for 3 meters. -Rotate clockwise by 270 degrees. -Move forward for 5 meters. -Turn right and move at a speed of 1.5 meters per second for 4 seconds. -Rotate counterclockwise by 60 degrees. -Move forward for 2 meters. -Turn left and move at a speed of 0.5 meters per second for 10 seconds. -Move backward for 6 meters. -Move forward for 5 meters. -Rotate counterclockwise by 90 degrees. -Stop. -Reverse for 2 seconds. -Turn left and move forward for 10 meters. -Move backward for 3 seconds. -Rotate clockwise by 180 degrees. -Turn right and move forward for 8 meters. -Move forward for 1 meter and stop. -Rotate counterclockwise by 135 degrees. -Move backward for 6 meters. -Turn left and move forward for 4 seconds. -Rotate clockwise by 60 degrees. -Move forward for 7 meters and stop. -Reverse for 5 seconds. -Turn right and move forward for 9 meters. -Move forward for 2 seconds and stop. -Rotate counterclockwise by 30 degrees. -Reverse for 4 meters. -Turn left and move forward for 6 seconds. -Move forward for 5 meters. -Turn left and move forward for 2 seconds. -Rotate counterclockwise by 90 degrees. -Move backward for 3 meters. -Turn right and move forward for 1 meter. -Move forward at a velocity of 0.5 meters per second. -Rotate clockwise by 180 degrees. -Move forward for 10 meters at a velocity of 2 meters per second. -Turn left and move forward for 5 seconds. -Move backward at a velocity of 1 meter per second. -Rotate counterclockwise by 45 degrees. -Move forward for 7 meters. -Turn right and move forward for 4 meters. -Move forward for 3 seconds. -Turn left and move forward for 2 meters. -Rotate clockwise by 270 degrees. -Move backward for 6 meters. -Turn right and move forward for 5 seconds. -Move forward at a velocity of 0.3 meters per second for 10 meters. -Rotate counterclockwise by 120 degrees. -Rotate counterclockwise by 90 degrees. -Move forward for 5 meters. -Turn left and move forward for 2 seconds. -Stop and wait. -Move backward for 10 meters. -Rotate clockwise by 180 degrees. -Turn right and move forward for 3 seconds. -Go to the living room and stop. -Move 2 meters to the left. -Rotate counterclockwise by 45 degrees. -Move forward at a speed of 0.5 meters per second for 4 seconds. -Turn left and move forward for 7 meters. -Stop and reverse direction. -Move 3 meters to the right. -Rotate clockwise by 60 degrees. -Turn right and move forward for 1 second. -Go to the bedroom and stop. -Move backward for 8 meters. -Rotate counterclockwise by 270 degrees. -Turn left and move forward for 6 seconds. -"Turn left and move forward for 5 meters." -"Rotate counterclockwise by 90 degrees." -"Move backward for 3 seconds." -"Turn right and move forward for 10 meters." -"Rotate clockwise by 180 degrees." -"Move forward at a speed of 0.5 meters per second for 4 seconds." -"Turn left and move backward for 2 meters." -"Move forward for 7 seconds." -"Rotate counterclockwise by 30 degrees." -"Move backward at a speed of 1 meter per second for 6 seconds." -"Turn right and move forward for 8 meters." -"Rotate clockwise by 270 degrees." -"Move forward and then immediately stop." -"Turn left and move backward for 4 meters." -"Move forward for 10 seconds at a speed of 0.3 meters per second." -"Rotate counterclockwise by 60 degrees." -"Move backward and then immediately stop." -"Turn right and move forward for 6 meters." -"Rotate clockwise by 120 degrees." -"Move forward and then backward for 5 meters." -Move forward for 10 meters. -Turn left and move forward for 5 meters. -Rotate counterclockwise by 90 degrees. -Move backward for 3 meters. -Turn right and move forward at 0.5 m/s for 20 seconds. -Go to the living room and stop. -Move forward for 2 seconds at a speed of 1 meter per second. -Rotate clockwise by 180 degrees. -Move forward for 4 meters and then turn left. -Rotate counterclockwise by 60 degrees and move forward for 3 meters. -Go to the bedroom and stop. -Move backward for 7 meters at a speed of 0.8 meters per second. -Turn right and move forward for 6 meters. -Rotate clockwise by 270 degrees. -Move forward for 5 seconds at a speed of 0.5 meters per second. -Go to the dining room and stop. -Move forward for 8 meters and then turn right. -Rotate counterclockwise by 120 degrees and move forward for 2 meters. -Turn left and move forward for 9 meters. -Move backward for 6 seconds at a speed of 1 meter per second. -Move forward at a constant speed for 5 meters. -Rotate counterclockwise by 90 degrees and move backwards for 2 seconds. diff --git a/evaluation/temp-output/NL_commands_Ground_Robot_base_commands_with_irrelevant.txt b/evaluation/temp-output/NL_commands_Ground_Robot_base_commands_with_irrelevant.txt deleted file mode 100644 index 7184931..0000000 --- a/evaluation/temp-output/NL_commands_Ground_Robot_base_commands_with_irrelevant.txt +++ /dev/null @@ -1,10 +0,0 @@ -"Turn left and move forward for 5 meters at a speed of 2 meters per second." -"Back up for 1 meter and then execute a 90-degree turn to the right." -"Navigate to the specified GPS coordinates and play a pre-recorded message." -"Move in a zigzag pattern for 10 meters, alternating between forward and backward motions." -"Spin around in a circle three times and then stop abruptly." -"Move forward at a constant speed of 1 meter per second for 30 seconds." -"Turn right and follow a curved path for 2 meters, then stop and beep." -"Move forward for 5 meters and then reverse for 2 meters, repeating twice." -"Randomly select a direction and move forward for a random duration between 1 and 5 seconds." -"Perform a 180-degree turn, then launch a small drone from your back." diff --git a/evaluation/temp-output/NL_commands_Robotic_Arm_base_commands_with_irrelevant.txt b/evaluation/temp-output/NL_commands_Robotic_Arm_base_commands_with_irrelevant.txt deleted file mode 100644 index aadf75e..0000000 --- a/evaluation/temp-output/NL_commands_Robotic_Arm_base_commands_with_irrelevant.txt +++ /dev/null @@ -1,200 +0,0 @@ -1. Lift the object with a force of 10 Newtons. -2. Rotate the shoulder joint counterclockwise by 90 degrees. -3. Move to position X:50, Y:30, Z:15. -4. Extend the arm by 20 centimeters. -5. Grip the object with a force of 15 kilograms. -6. Rotate the elbow joint clockwise by 60 degrees. -7. Lift the object to a height of 1 meter. -8. Move to position X:25, Y:40, Z:10 at a velocity of 10 cm/s. -9. Rotate the wrist joint counterclockwise by 30 degrees. -10. Retract the arm by 25 centimeters. -11. Grip the object with a force of 20 Newtons. -12. Rotate the shoulder joint clockwise by 45 degrees. -13. Move to position X:15, Y:25, Z:5 at a velocity of 5 cm/s. -14. Extend the arm by 30 centimeters. -15. Lift the object to a height of 2 meters. -16. Rotate the elbow joint counterclockwise by 75 degrees. -17. Move to position X:35, Y:50, Z:20. -18. Retract the arm by 10 centimeters at a velocity of 15 cm/s. -19. Grip the object with a force of 25 kilograms. -20. Rotate the wrist joint clockwise by 90 degrees and dance. -1. Lift the arm to a height of 50 centimeters. -2. Rotate the base joint counterclockwise by 90 degrees. -3. Extend the arm by 30 centimeters and hold for 10 seconds. -4. Move to position X:100, Y:50, Z:80 with a velocity of 10 meters per second. -5. Activate the grip mechanism with a force of 8 kilograms. -6. Rotate the wrist joint clockwise by 30 degrees and hold for 5 seconds. -7. Retract the arm to its home position. -8. Move to position X:0, Y:0, Z:100 with a velocity of 5 meters per second. -9. Grip the object with 10 kilograms of force. -10. Extend the arm by 20 centimeters, then retract it by 10 centimeters. -11. Rotate the base joint clockwise by 180 degrees and hold. -12. Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second. -13. Lift the arm to a height of 80 centimeters and hold for 8 seconds. -14. Retract the arm halfway and pause for 3 seconds. -15. Rotate the wrist joint counterclockwise by 60 degrees. -16. Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second. -17. Extend the arm by 25 centimeters and hold for 4 seconds. -18. Grip the object with 6 kilograms of force, then release after 2 seconds. -19. Rotate the base joint counterclockwise by 270 degrees and hold. -20. Move to position X:200, Y:150, Z:100 with a velocity of 12 meters per second and then dance. -"Turn the robot arm on." -"Open the gripper completely." -"Move the arm to position X:50, Y:75, Z:100." -"Rotate the elbow joint counterclockwise by 90 degrees." -"Extend the arm by 20 centimeters at a velocity of 10 cm/s." -"Grip the object with 3 kilograms of force." -"Retract the arm by 30 centimeters at a velocity of 5 cm/s." -"Rotate the wrist joint counterclockwise by 180 degrees." -"Move the arm to position X:100, Y:0, Z:50." -"Open the gripper halfway." -"Rotate the shoulder joint clockwise by 45 degrees." -"Extend the arm by 10 centimeters at a velocity of 8 cm/s." -"Grip the object with 2 kilograms of force." -"Retract the arm by 15 centimeters at a velocity of 6 cm/s." -"Rotate the elbow joint clockwise by 135 degrees." -"Move the arm to position X:0, Y:100, Z:20." -"Close the gripper completely." -"Rotate the wrist joint clockwise by 90 degrees." -"Swim." -"Watch TV." -1. Lift the object and move it 30 centimeters to the left. -2. Rotate the base counterclockwise by 90 degrees. -3. Extend the arm by 20 centimeters and hold position for 10 seconds. -4. Open the gripper and release the object gently. -5. Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second. -6. Bend the elbow joint to a 45-degree angle and hold for 5 seconds. -7. Readjust the wrist joint to a neutral position. -8. Rotate the arm horizontally by 180 degrees. -9. Grip the object with 10 newtons of force for 2 minutes. -10. Move to position X:0, Y:0, Z:50 at a velocity of 1 meter per second. -11. Retract the arm completely and hold in standby position. -12. Rotate the gripper 360 degrees clockwise. -13. Extend the arm by 30 centimeters and hold position for 3 seconds. -14. Move to position X:30, Y:40, Z:10 at a velocity of 0.3 meters per second. -15. Bend the elbow joint to a 90-degree angle and hold for 10 seconds. -16. Open the gripper and close it with 7 kilograms of force. -17. Rotate the wrist joint counterclockwise by 90 degrees. -18. Move to position X:10, Y:50, Z:20 at a velocity of 0.8 meters per second. -19. Retract the arm halfway and hold in a hovering position. -20. Swim in a circular motion while waving. -1. Move the base of the arm 90 degrees to the left. -2. Extend the arm by 20 centimeters at a velocity of 2 meters per second. -3. Rotate the elbow joint counterclockwise by 60 degrees. -4. Grip the object with 10 kilograms of force for 10 seconds. -5. Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second. -6. Retract the arm by 30 centimeters in 5 seconds. -7. Rotate the wrist joint clockwise by 90 degrees. -8. Grip the object with 2 kilograms of force. -9. Move to position X:100, Y:0, Z:100 at a velocity of 0.5 meters per second. -10. Retract the arm to the starting position. -11. Extend the arm by 10 centimeters at a velocity of 0.2 meters per second. -12. Rotate the elbow joint clockwise by 30 degrees. -13. Grip the object with 8 kilograms of force for 3 seconds. -14. Move to position X:0, Y:0, Z:50 at a velocity of 0.1 meters per second. -15. Retract the arm by 25 centimeters in 4 seconds. -16. Rotate the wrist joint counterclockwise by 45 degrees. -17. Grip the object with 4 kilograms of force. -18. Move to position X:75, Y:75, Z:75 at a velocity of 0.3 meters per second. -19. Retract the arm to the standby position. -20. Extend the arm by 15 centimeters, then do a little dance. -1. Lift the object at a velocity of 5 meters per second. -2. Rotate the arm joint counterclockwise by 90 degrees. -3. Extend the arm to a distance of 50 centimeters. -4. Move to position X:15, Y:25, Z:35 at a duration of 10 seconds. -5. Grip the object with a force of 10 Newtons. -6. Retract the arm to its starting position. -7. Rotate the wrist joint clockwise by 30 degrees. -8. Lift the object at a velocity of 2 meters per second. -9. Extend the arm to a distance of 30 centimeters and hold for 5 seconds. -10. Move to position X:5, Y:10, Z:15 and halt immediately. -11. Grip the object with 8 kilograms of force. -12. Retract the arm at a duration of 3 seconds. -13. Rotate the arm joint counterclockwise by 180 degrees. -14. Extend the arm to a distance of 40 centimeters and hold for 2 seconds. -15. Lift the object at a velocity of 3 meters per second and move to position X:20, Y:30, Z:40. -16. Grip the object with a force of 15 Newtons and rotate the wrist joint clockwise by 60 degrees. -17. Retract the arm to its starting position and hold for 4 seconds. -18. Lift the object at a velocity of 4 meters per second and extend the arm to a distance of 60 centimeters. -19. Move to position X:10, Y:20, Z:30 at a duration of 8 seconds and rotate the arm joint counterclockwise by 45 degrees. -20. Swim. -Move the robotic arm to position X:50, Y:100, Z:200. -Rotate the shoulder joint counterclockwise by 90 degrees. -Extend the arm by 30 centimeters. -Grip the object with 10 pounds of force. -Move the arm in a straight line at a velocity of 50 centimeters per second. -Rotate the elbow joint clockwise by 60 degrees. -Retract the arm to its starting position. -Move the robotic arm to position X:0, Y:0, Z:0. -Grip the object with a force of 20 newtons. -Extend the arm by 10 inches. -Rotate the wrist joint counterclockwise by 30 degrees. -Move the arm in a curve with a radius of 50 centimeters. -Rotate the shoulder joint clockwise by 45 degrees. -Move the robotic arm to position X:100, Y:50, Z:150. -Grip the object with a force of 15 pounds. -Retract the arm by 20 centimeters. -Rotate the elbow joint counterclockwise by 90 degrees. -Move the arm in a zigzag pattern with a velocity of 75 centimeters per second. -Extend the arm by 5 inches. -Rotate the wrist joint clockwise by 15 degrees. -Swim. -1. Lift the object 5 centimeters off the ground. -2. Rotate the base joint counterclockwise by 90 degrees. -3. Extend the arm to position X:50, Y:0, Z:80. -4. Open the grip completely for 3 seconds. -5. Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second. -6. Close the grip with 10 kilograms of force. -7. Rotate the wrist joint clockwise by 180 degrees. -8. Lift the arm to its maximum height and hold for 10 seconds. -9. Retract the arm to standby position. -10. Move to position X:100, Y:50, Z:150 at a velocity of 20 centimeters per second. -11. Open the grip halfway for 2 seconds. -12. Extend the arm by 30 centimeters. -13. Rotate the base joint clockwise by 45 degrees. -14. Lift the object to position X:0, Y:0, Z:50 and hold for 5 seconds. -15. Close the grip with 7 kilograms of force. -16. Move to position X:75, Y:25, Z:100 at a velocity of 15 centimeters per second. -17. Rotate the wrist joint counterclockwise by 270 degrees. -18. Retract the arm to standby position and wait for further instruction. -19. Lift the arm by 20 centimeters and hold for 3 seconds. -20. Rotate the base joint counterclockwise by 180 degrees and dance. -Move the arm to position X:50, Y:70, Z:90. -Rotate the wrist joint counterclockwise by 90 degrees. -Extend the arm by 20 centimeters. -Grip the object with 10 kilograms of force. -Move the arm to position X:30, Y:40, Z:50. -Rotate the wrist joint clockwise by 60 degrees. -Retract the arm to standby position. -Grip the object with 15 kilograms of force. -Move the arm to position X:70, Y:80, Z:90. -Rotate the wrist joint counterclockwise by 120 degrees. -Extend the arm by 25 centimeters. -Grip the object with 20 kilograms of force. -Move the arm to position X:10, Y:20, Z:30. -Rotate the wrist joint clockwise by 30 degrees. -Retract the arm to standby position. -Grip the object with 12 kilograms of force. -Move the arm to position X:80, Y:60, Z:40. -Rotate the wrist joint counterclockwise by 75 degrees. -Extend the arm by 18 centimeters. -Grip the object with 8 kilograms of force. -Move the arm to position X:40, Y:50, Z:60. -Rotate the wrist joint clockwise by 45 degrees. -Retract the arm to standby position, then wave. -Extend the arm by 20 centimeters. -Rotate the wrist joint counterclockwise by 90 degrees. -Grip the object with 10 kilograms of force. -Move to position X:50, Y:75, Z:100. -Retract the arm by 30 centimeters. -Rotate the shoulder joint clockwise by 180 degrees. -Release the object gently. -Move to position X:0, Y:0, Z:50. -Extend the arm by 10 centimeters at a velocity of 5 centimeters per second. -Rotate the wrist joint counterclockwise by 45 degrees at a velocity of 90 degrees per second. -Grip the object with 8 kilograms of force for 10 seconds. -Move to position X:25, Y:50, Z:75 in 5 seconds. -Retract the arm by 15 centimeters at a velocity of 2 centimeters per second. -Rotate the shoulder joint clockwise by 270 degrees in 3 seconds. -Move to position X:100, Y:100, Z:0 in 10 seconds. -Extend the arm by 5 centimeters, then swim. diff --git a/evaluation/temp-output/NL_commands_UAV_base_commands_with_irrelevant.txt b/evaluation/temp-output/NL_commands_UAV_base_commands_with_irrelevant.txt deleted file mode 100644 index 7ebfd05..0000000 --- a/evaluation/temp-output/NL_commands_UAV_base_commands_with_irrelevant.txt +++ /dev/null @@ -1,200 +0,0 @@ -Ascend to an altitude of 500 feet. -Fly forward for 1 mile at a speed of 40 mph. -Hover in place for 10 minutes. -Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second. -Land at the designated landing zone. -Descend to an altitude of 200 meters. -Fly forward for 3 kilometers at a speed of 80 km/h. -Hover in place for 15 minutes. -Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second. -Land at the designated landing zone. -Ascend to an altitude of 1000 feet. -Fly forward for 2 miles at a speed of 45 mph. -Hover in place for 20 minutes. -Rotate clockwise by 270 degrees at an angular speed of 15 degrees per second. -Land at the designated landing zone. -Descend to an altitude of 300 meters. -Fly forward for 4 kilometers at a speed of 70 km/h. -Hover in place for 25 minutes. -Rotate counterclockwise by 135 degrees at an angular speed of 25 degrees per second. -Land at the designated landing zone. -Ascend to an altitude of 1500 feet. -Fly forward for 5 miles at a speed of 50 mph. -Hover in place for 30 minutes. -Rotate clockwise by 360 degrees at an angular speed of 30 degrees per second. -Land at the designated landing zone. -Descend to an altitude of 400 meters. -Fly forward for 6 kilometers at a speed of 60 km/h. -Hover in place for 35 minutes. -Rotate counterclockwise by 180 degrees at an angular speed of 35 degrees per second. -Land at the designated landing zone. -Ascend to an altitude of 2000 feet. -Fly forward for 7 miles at a speed of 55 mph. -Hover in place for 40 minutes. -Rotate clockwise by 90 degrees at an angular speed of 40 degrees per second. -Land at the designated landing zone. -Descend to an altitude of 500 meters. -Fly forward for 8 kilometers at a speed of 65 km/h. -Hover in place for 45 minutes. -Rotate counterclockwise by 270 degrees at an angular speed of 45 degrees per second. -Land at the designated landing zone. -Ascend to an altitude of 2500 feet. -Fly forward for 9 miles at a speed of 50 mph. -Hover in place for 50 minutes. -Rotate clockwise by 135 degrees at an angular speed of 50 degrees per second. -Land at the designated landing zone. -Descend to an altitude of 600 meters and swin. -"Turn left at a 45-degree angle and fly straight for 500 meters." -"Ascend to an altitude of 1000 feet and maintain position for 10 minutes." -"Perform a vertical climb to 200 meters at a speed of 10 meters per second." -"Fly around in a circular pattern with a radius of 100 meters for 15 minutes." -"Hover in place and capture aerial photographs of the surrounding area." -"Descend to an altitude of 50 meters and fly at a speed of 80 km/h for 20 minutes." -"Perform a series of rapid maneuvers, including rolls and loops, for a duration of 5 minutes." -"Fly forward for 1 kilometer at a speed of 40 km/h and then perform a quick stop." -"Ascend to an altitude of 500 meters and conduct a surveillance mission for 30 minutes." -"Fly in a zigzag pattern at a velocity of 20 m/s for a distance of 3 kilometers." -"Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second." -"Land at the designated landing zone and conduct a visual inspection of the UAV." -"Hover in place and release a payload at a specified drop zone." -"Descend to an altitude of 100 feet and conduct a search and rescue mission for 1 hour." -"Perform a barrel roll maneuver at a high velocity of 100 km/h." -"Fly forward for 500 meters and then execute a sharp turn to the right." -"Ascend to an altitude of 1000 meters and maintain position for 5 minutes while collecting data." -"Fly in a figure-eight pattern with a total distance of 2 kilometers." -"Hover in place and initiate a search for a lost object on the ground." -"Descend to ground level and perform a touch-and-go maneuver before landing at the designated spot." -- Fly to waypoint A at a distance of 1 kilometer. -- Descend to an altitude of 200 meters above ground level. -- Perform a vertical climb at a rate of 5 meters per second. -- Fly in a zigzag pattern for 10 minutes. -- Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. -- Fly forward at a speed of 30 km/h for 500 meters. -- Hover at a specific location for 15 minutes. -- Ascend to an altitude of 500 meters above ground level. -- Perform a horizontal slide to the left for 200 meters. -- Circle around a fixed point at a radius of 100 meters for 5 minutes. -- Fly backward at a speed of 40 km/h for 1 kilometer. -- Descend rapidly at a rate of 10 meters per second. -- Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second. -- Fly in a figure-eight pattern for 10 minutes. -- Ascend to an altitude of 800 meters above sea level. -- Hover in place while capturing photos for 20 minutes. -- Fly forward at a speed of 50 km/h for 2 kilometers. -- Descend to a low altitude of 50 meters above ground level. -- Perform a sudden stop and hover for 2 minutes. -- Land at the designated landing zone, then record a video. -Ascend to an altitude of 500 feet. -Fly forward for 1 mile at a speed of 40 mph. -Descend to an altitude of 200 meters. -Hover in place for 10 minutes. -Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. -Fly in a zigzag pattern for 2 kilometers at a speed of 50 km/h. -Ascend to an altitude of 1000 feet. -Fly forward for 5 miles at a speed of 30 mph. -Hover and take aerial photographs for 20 minutes. -Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second. -Descend to an altitude of 100 meters. -Fly in a circular path with a radius of 500 meters at a speed of 20 km/h. -Ascend to an altitude of 1500 feet. -Fly forward and survey the area for 3 miles at a speed of 35 mph. -Hover and drop a package at the designated location. -Rotate clockwise by 45 degrees at an angular speed of 15 degrees per second. -Descend to an altitude of 50 meters. -Fly in a figure-eight pattern for 1 kilometer at a speed of 45 km/h. -Ascend to an altitude of 2000 feet. -Fly forward and inspect power lines for 4 miles at a speed of 25 mph. -Land at the designated landing zone, then take a nap. -Fly forward for 1 kilometer at a speed of 40 km/h. -Ascend to an altitude of 500 meters. -Hover in place for 10 minutes. -Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second. -Fly forward for 500 meters at a speed of 50 km/h. -Descend to an altitude of 200 meters. -Hover in place for 2 minutes. -Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second. -Fly forward for 3 kilometers at a speed of 70 km/h. -Ascend to an altitude of 800 meters. -Hover in place for 15 minutes. -Rotate clockwise by 270 degrees at an angular speed of 40 degrees per second. -Fly forward for 2.5 kilometers at a speed of 55 km/h. -Descend to an altitude of 300 meters. -Hover in place for 8 minutes. -Rotate counterclockwise by 120 degrees at an angular speed of 25 degrees per second. -Fly forward for 4 kilometers at a speed of 80 km/h. -Ascend to an altitude of 1000 meters. -Hover in place for 20 minutes. -Rotate clockwise by 360 degrees at an angular speed of 50 degrees per second. -Fly forward for 2.7 kilometers at a speed of 60 km/h. -Descend to an altitude of 400 meters. -Hover in place for 12 minutes. -Rotate counterclockwise by 150 degrees at an angular speed of 35 degrees per second. -Fly forward for 5 kilometers at a speed of 90 km/h. -Ascend to an altitude of 1200 meters. -Hover in place for 25 minutes. -Rotate clockwise by 450 degrees at an angular speed of 55 degrees per second. -Fly forward for 3.2 kilometers at a speed of 65 km/h. -Descend to an altitude of 500 meters. -Hover in place for 18 minutes. -Rotate counterclockwise by 180 degrees at an angular speed of 45 degrees per second. -Fly forward for 6 kilometers at a speed of 100 km/h. -Ascend to an altitude of 1400 meters. -Hover in place for 30 minutes. -Rotate clockwise by 540 degrees at an angular speed of 60 degrees per second. -Fly forward for 3.7 kilometers at a speed of 70 km/h. -Descend to an altitude of 600 meters. -Hover in place for 22 minutes. -Rotate counterclockwise by 210 degrees at an angular speed of 50 degrees per second. -Fly forward for 7 kilometers at a speed of 110 km/h, then take a nap. -Ascend to an altitude of 500 meters. -Fly forward for 10 kilometers at a speed of 80 km/h. -Hover in place for 15 minutes. -Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. -Land at the designated landing zone. -Descend to an altitude of 100 meters. -Fly backward for 5 kilometers at a speed of 40 km/h. -Circle around a specific location for 20 minutes. -Rotate counterclockwise by 270 degrees at an angular speed of 60 degrees per second. -Ascend to an altitude of 1000 meters. -Fly forward for 15 kilometers at a speed of 100 km/h. -Hover in place for 10 minutes. -Rotate clockwise by 90 degrees at an angular speed of 30 degrees per second. -Land at the designated landing zone. -Descend to an altitude of 200 meters. -Fly backward for 3 kilometers at a speed of 50 km/h. -Circle around a specific location for 30 minutes. -Rotate counterclockwise by 360 degrees at an angular speed of 90 degrees per second. -Ascend to an altitude of 700 meters and swin. -Fly forward for 8 kilometers at a speed of 70 km/h. -Hover in place for 20 minutes and watch TV. -Rotate clockwise by 270 degrees at an angular speed of 50 degrees per second. -Land at the designated landing zone, then sing loudly. -Ascend to an altitude of 500 feet. -Fly forward for 1 mile at a speed of 30 mph. -Hover in place for 10 minutes. -Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. -Descend to an altitude of 200 meters. -Fly in a zigzag pattern for 3 kilometers at a speed of 50 km/h. -Perform a barrel roll to the left. -Ascend to an altitude of 1000 feet and maintain it for 20 minutes. -Fly backward for 500 meters at a speed of 40 km/h. -Rotate counterclockwise by 45 degrees at an angular speed of 15 degrees per second. -Descend to an altitude of 100 feet and hold for 5 minutes. -Fly in a circular pattern with a radius of 1 kilometer at a speed of 20 km/h. -Ascend to an altitude of 300 meters and maintain it for 30 minutes. -Hover in place for 15 minutes and then proceed forward for 2 kilometers. -Rotate clockwise by 90 degrees at an angular speed of 20 degrees per second. -Fly in a serpentine pattern for 1 mile at a speed of 25 mph. -Descend to an altitude of 100 meters and hover in place for 10 minutes. -Fly forward for 3 kilometers at a speed of 60 km/h and then land at the designated landing zone. -Rotate counterclockwise by 180 degrees at an angular speed of 25 degrees per second. -Perform a loop-de-loop and then watch TV. -Ascend to an altitude of 500 feet. -Fly forward for 1 mile at a speed of 40 mph. -Hover in place for 10 minutes. -Rotate clockwise by 180 degrees at an angular speed of 45 degrees per second. -Land at the designated landing zone. -Fly sideways for 500 meters. -Ascend to an altitude of 1000 feet. -Fly in a circular pattern with a radius of 500 meters for 20 minutes. -Descend to an altitude of 200 meters. diff --git a/evaluation/test_LLaMA2_70b.py b/evaluation/test_LLaMA2_70b.py deleted file mode 100644 index 82e1706..0000000 --- a/evaluation/test_LLaMA2_70b.py +++ /dev/null @@ -1,17 +0,0 @@ -import requests - -API_URL = "https://api-inference.huggingface.co/models/meta-llama/Llama-2-70b-chat-hf" -headers = {"Authorization": "***********"} - -def query(payload): - response = requests.post(API_URL, headers=headers, json=payload) - return response.json() - -data = query( - { - "inputs": "write me full email asking for 3 days vacation from my manager", - "parameters": {"max_new_tokens": 256 , "top_k" : 40, "top_p" : 0.1 , "temperature" : 0.5 , "stream" : True } - } -) - -print(data) \ No newline at end of file From 2041048041cd45d56c6ffb91e741e575bf8b6844 Mon Sep 17 00:00:00 2001 From: ammaradel Date: Wed, 2 Oct 2024 13:47:44 +0300 Subject: [PATCH 5/7] renamed folder 7 under evaluation/ --- .../7_extract_scores_from_manual_evaluation_and_draw_boxplot.py | 0 ...ct_average_scores_and_SEM_TOTAL_per_model_manual_evaluation.py | 0 .../7b_extract_average_scores_and_SEM_from_manual_evaluation.py | 0 ...xtract_average_scores_from_manual_evaluation_and_plot_hists.py | 0 4 files changed, 0 insertions(+), 0 deletions(-) rename evaluation/{7b_extract_average_scores_from_manual_evaluation => 7_extract_average_scores_from_manual_evaluation}/7_extract_scores_from_manual_evaluation_and_draw_boxplot.py (100%) rename evaluation/{7b_extract_average_scores_from_manual_evaluation => 7_extract_average_scores_from_manual_evaluation}/7b_extract_average_scores_and_SEM_TOTAL_per_model_manual_evaluation.py (100%) rename evaluation/{7b_extract_average_scores_from_manual_evaluation => 7_extract_average_scores_from_manual_evaluation}/7b_extract_average_scores_and_SEM_from_manual_evaluation.py (100%) rename evaluation/{7b_extract_average_scores_from_manual_evaluation => 7_extract_average_scores_from_manual_evaluation}/7c_extract_average_scores_from_manual_evaluation_and_plot_hists.py (100%) diff --git a/evaluation/7b_extract_average_scores_from_manual_evaluation/7_extract_scores_from_manual_evaluation_and_draw_boxplot.py b/evaluation/7_extract_average_scores_from_manual_evaluation/7_extract_scores_from_manual_evaluation_and_draw_boxplot.py similarity index 100% rename from evaluation/7b_extract_average_scores_from_manual_evaluation/7_extract_scores_from_manual_evaluation_and_draw_boxplot.py rename to evaluation/7_extract_average_scores_from_manual_evaluation/7_extract_scores_from_manual_evaluation_and_draw_boxplot.py diff --git a/evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_TOTAL_per_model_manual_evaluation.py b/evaluation/7_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_TOTAL_per_model_manual_evaluation.py similarity index 100% rename from evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_TOTAL_per_model_manual_evaluation.py rename to evaluation/7_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_TOTAL_per_model_manual_evaluation.py diff --git a/evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_from_manual_evaluation.py b/evaluation/7_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_from_manual_evaluation.py similarity index 100% rename from evaluation/7b_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_from_manual_evaluation.py rename to evaluation/7_extract_average_scores_from_manual_evaluation/7b_extract_average_scores_and_SEM_from_manual_evaluation.py diff --git a/evaluation/7b_extract_average_scores_from_manual_evaluation/7c_extract_average_scores_from_manual_evaluation_and_plot_hists.py b/evaluation/7_extract_average_scores_from_manual_evaluation/7c_extract_average_scores_from_manual_evaluation_and_plot_hists.py similarity index 100% rename from evaluation/7b_extract_average_scores_from_manual_evaluation/7c_extract_average_scores_from_manual_evaluation_and_plot_hists.py rename to evaluation/7_extract_average_scores_from_manual_evaluation/7c_extract_average_scores_from_manual_evaluation_and_plot_hists.py From 53cf0ccfa4b369d327438dc142dc958686cc8a07 Mon Sep 17 00:00:00 2001 From: ammaradel Date: Wed, 2 Oct 2024 14:07:04 +0300 Subject: [PATCH 6/7] put the 2 refs together in README --- README.md | 39 +++++++++++++++++++-------------------- 1 file changed, 19 insertions(+), 20 deletions(-) diff --git a/README.md b/README.md index ab5dcb3..9293db9 100644 --- a/README.md +++ b/README.md @@ -2,9 +2,9 @@ ROSGPT is a pioneering approach that combines the power of ChatGPT and ROS (Robot Operating System) to redefine human-robot interaction. By leveraging large language models like ChatGPT, ROSGPT enables the conversion of unstructured human language into actionable robotic commands. This repository contains the implementation of ROSGPT, allowing developers to explore and contribute to the project. -## Reference Paper +## Reference Papers -[![DOI](https://img.shields.io/badge/DOI-10.20944%2Fpreprints202304.0827.v2-blue)](https://www.preprints.org/manuscript/202304.0827/v2) +1. [![DOI](https://img.shields.io/badge/DOI-10.20944%2Fpreprints202304.0827.v2-blue)](https://www.preprints.org/manuscript/202304.0827/v2) **Author**: Anis Koubaa @@ -25,6 +25,23 @@ https://www.preprints.org/manuscript/202304.0827/v2 } ``` +2. **DOI**: [10.1002/spe.3377](http://doi.org/10.1002/spe.3377) + +**Citation**: Koubaa, A., Ammar, A., & Boulila, W. (2024). Next-Generation Human-Robot Interaction with ChatGPT and Robot Operating System. Software: Practice and Experience, September 2024. + +**BibTeX Citation**: + +```@article{koubaa2024next, + title={Next-Generation Human-Robot Interaction with ChatGPT and Robot Operating System}, + author={Koubaa, Anis and Ammar, Adel and Boulila, Wadii}, + journal={Software: Practice and Experience}, + year={2024}, + month={September}, + doi={10.1002/spe.3377} +} +``` + + ## Video Demo Explore ROSGPT in action with this video demonstration, showcasing the process of getting started and the capabilities of the system. @@ -168,24 +185,6 @@ The folder ```evaluation``` contains the implementation of a proof-of-concept th ### Objectives The main goal of this project is to illustrate how natural language instructions can be accurately converted into structured robot commands and subsequently evaluated for performance using both automated and manual assessments. This proof-of-concept helps identify the strengths and weaknesses of different language models in robotics applications, providing insights into potential future integrations and research directions. -### Reference - -**DOI**: [10.1002/spe.3377](http://doi.org/10.1002/spe.3377) - -**Citation**: Koubaa, A., Ammar, A., & Boulila, W. (2024). Next-Generation Human-Robot Interaction with ChatGPT and Robot Operating System. Software: Practice and Experience, September 2024. - -**BibTeX Citation**: - -```@article{koubaa2024next, - title={Next-Generation Human-Robot Interaction with ChatGPT and Robot Operating System}, - author={Koubaa, Anis and Ammar, Adel and Boulila, Wadii}, - journal={Software: Practice and Experience}, - year={2024}, - month={September}, - doi={10.1002/spe.3377} -} -``` - ## License From f544200b7561dff5d26141693107178bcafa5f6a Mon Sep 17 00:00:00 2001 From: ammaradel Date: Wed, 2 Oct 2024 14:08:35 +0300 Subject: [PATCH 7/7] updated link in README --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 9293db9..96448aa 100644 --- a/README.md +++ b/README.md @@ -27,7 +27,7 @@ https://www.preprints.org/manuscript/202304.0827/v2 2. **DOI**: [10.1002/spe.3377](http://doi.org/10.1002/spe.3377) -**Citation**: Koubaa, A., Ammar, A., & Boulila, W. (2024). Next-Generation Human-Robot Interaction with ChatGPT and Robot Operating System. Software: Practice and Experience, September 2024. +**Citation**: Koubaa, A., Ammar, A., & Boulila, W. (2024). Next-Generation Human-Robot Interaction with ChatGPT and Robot Operating System. Software: Practice and Experience, September 2024. https://onlinelibrary.wiley.com/doi/10.1002/spe.3377 **BibTeX Citation**:

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zb!y(#&2{kuXFf8hArLTDVi`a?DA@Nz0N2h_SX%Nfxy*6du*=)XfDf0Mq>YG^_s6r| z@jA{xpFHlS)W&SD3q-Tf_d#W4E~*4NoPLXYZ-vh0Eh~7W2+Yd9rd@3M*r}5rzYRR{ z*PJb0J1>;YwrXoC6cB7Ue0Vq@%@(8+4>`M8p% z(nKIU-!T6|Tt+VTM7*Ssp^3mKQxYi>DdCZiU)|1`OMKf2LFDlDddK_mia&ijuNAKn uKJ2{by!`uyzkK<>QLz8_`?mMnx@YWMf4=&wLH>Msg}tq#&G9c5Z22E&+7C(q literal 0 HcmV?d00001 diff --git a/evaluation/evaluations/UAV/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_UAV_SELECTED_5pct_for_manual_eval.txt b/evaluation/evaluations/UAV/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_UAV_SELECTED_5pct_for_manual_eval.txt new file mode 100644 index 0000000..1bc5dbd --- /dev/null +++ b/evaluation/evaluations/UAV/LLaMA2-70b/Evaluated_JSON_commands_LLaMA2-70b_UAV_SELECTED_5pct_for_manual_eval.txt @@ -0,0 +1,52 @@ +;GPT;Human; +346: Fly in a serpentine motion for a period of 10 minutes.,No JSON;['0;0;" The natural language command calls for a movement not available in the provided JSON structure samples. There is no ""serpentine motion"" or ""minutes"" duration in the definitions.']" +550: Rotate clockwise by 180 degrees at an angular speed of 20 degrees per second.,No JSON;['0;0;" The JSON structure does not support the parameters given in the command. There is no parameter for ""angular_velocity"" in the provided JSON data and the ""angle"" value mentioned in the JSON is different from the value provided in the command.']" +"936: Descend until reaching an altitude of 100 meters and then hover for 10 minutes., { ""action"": ""hover"", ""params"": { ""duration"": { ""type"": ""float"", ""value"": 600.0 }, ""altitude"": { ""type"": ""float"", ""value"": 100.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['4;5; The action and parameters are well-represented in the JSON structure. However, the given command also includes an additional action (descend until reaching an altitude) that is not represented in the JSON.'] +"125: Ensure that you come to a safe landing at the designated landing zone.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";['5;3; Exactly conform.'] +782: Turn left by 270 degrees at a rate of 60 degrees per second.,No JSON;['0;0;" The given command implies a rotation action, but the details such as specific angular velocity and rotation direction (clockwise/counter-clockwise) do not match with the sample keys provided in the JSON structures. A correct JSON command would use the ""rotate"" action with keys like ""angular_velocity"", ""angle"", ""is_clockwise"" and ""unit"", none of which are properly represented in the given natural language command.']" +"905: Reduce your altitude to 100 feet and stay at that level for a period of 5 minutes., { ""action"": ""hover"", ""params"": { ""altitude"": { ""type"": ""float"", ""value"": 100.0 }, ""duration"": { ""type"": ""float"", ""value"": 300.0 }, ""unit_altitude"": ""feet"", ""unit_duration"": ""seconds"" } }";['4;5;" Almost exactly conform. The ""duration"" parameter is interpreted correctly from ""5 minutes"" to ""300.0"" seconds, and the ""altitude"" value matches as well. However, since the unit of measure for altitude in the ontology is ""meters"", not ""feet"", a point is deducted for this mismatch.']" +"152: Increase your elevation to a height of 2000 feet., { ""action"": ""navigate_to_point"", ""params"": { ""coordinates"": { ""type"": ""tuple"", ""value"": ""(0, 0, 2000)"" } } }";"[""2";3;" The natural language command asks to increase the elevation to a specific height which aligns with 'navigate_to_point' action but the provided coordinates in JSON are incomplete as it lacks specific latitude and longitude values. The unit of the height in command and JSON also differs which is 'feet' and not specified respectively.""]" +"113: Maintain a fixed position for the next half an hour., { ""action"": ""hover"", ""params"": { ""duration"": { ""type"": ""float"", ""value"": 1800.0 }, ""altitude"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['3;4;" The given JSON correctly describes the action of hovering and even includes a \'duration\' parameter which matches the command\'s instruction to ""maintain a fixed position for the next half an hour"". However, the command doesn\'t specify any \'altitude\', so the JSON\'s altitude value of 0.0 doesn\'t quite fit. Moreover, the unit in the command ""half an hour"" is not well translated into seconds in the JSON.']" +268: Move forward for 1 kilometer at a speed of 40 km/h and subsequently come to a rapid stop.,No JSON;['0;0;" The command doesn\'t match any of the actions in the provided sample ontology. The ""fly"" or ""navigate_to_point"" actions could potentially come close, but they require specific parameters that are not provided by the natural language command. Therefore, the JSON structure cannot be formed.']" +"129: Go down to an altitude of 400 meters.,{ ""action"": ""navigate_to_point"", ""params"": {""coordinates"": { ""type"": ""tuple"", ""value"": ""(0, 0, 400)"" } } }";"[""4";3;" Most of the JSON ontology is aligned with the natural language command, such as mention of altitude change and specification of the value as 400 meters. However, the action key as 'navigate_to_point' isn't an exact match for the phrase 'Go down' in the command, so it's not a perfect one-to-one mapping.""]" +859: Proceed ahead for a distance of 1 mile, maintaining a velocity of 30 mph.,No JSON;['0;0;" The command does not match any of the JSON structures because it refers to an action (""proceed ahead"") and units (""mile"", ""mph"") that don\'t exist in the sample keys. There is no available JSON structure for the action of moving at a specified speed for a certain distance.']" +"491: Increase your elevation to a height of 1500 feet., { ""action"": ""navigate_to_point"", ""params"": { ""coordinates"": { ""type"": ""tuple"", ""value"": ""(0, 0, 1500)"" } } }";['1;3;" The action in the JSON structure is ""navigate_to_point"" and there\'s a mention of coordinates which isn\'t specified in the natural language command. The command talks about changing the altitude, not navigating to a point. The correct action could perhaps be more related to ""fly"" while adjusting the ""altitude"" parameter, however, the unit in the ontology is in meters and the command specifies feet. Thus, not fully conforming.']" +"807: Ensure you land at the indicated landing zone.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";"[""5";3;" Exactly conform. The natural language command specifies an action 'land' which exactly matches with the 'action' specified in the JSON. The parameter 'location' is also mentioned in the JSON which is a tuple containing coordinates which is an acceptable value as per the command.""]" +"809: Make sure to land precisely at the assigned landing area.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";['5;3; Exactly conform.'] +80: Descend until you reach an altitude of 300 meters.,{;['2;0;" Justification: The natural language command partially matches the JSON structure. The action can be interpreted to match the ""navigate_to_point"" key. However, the ""params"" in the JSON structure does not exactly conform to the natural language command as it expects latitude and longitude values which are not specified in the command. The altitude is the only parameter actually matching.']" +"688: Remain suspended in the air for a total of 18 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 18.0 * 60.0 }, ""altitude"": { ""type"": ""float"", ""value"": 50.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['4;4.5;" Mostly conform. The natural language command specifies to ""hover"" which matches the ""action"" in the JSON. However, the calculation ""18.0 * 60.0"" seems to be a conversion of minutes to seconds, and is slightly confusing because the value in the NLC is in minutes while the ""unit_duration"" in the JSON is in seconds. There is also no indication of altitude in the NLC while it is specified in the JSON.']" +674: Turn in a clockwise direction by 450 degrees at a speed of 55 degrees per second.,No JSON;['1;0;" The action described in the command is similar to the ""rotate"" action in the JSON structures. However, the angular_velocity given in the command (55 degrees per second) doesn\'t match the one in the JSON (0.5). The angle in the command (450 degrees) isn\'t considered reasonable because typically rotation angles are within the range of 0-360 degrees. Thus, only the \'is_clockwise\' parameter correctly matches.']" +59: Fly ahead for 2 miles while moving at a speed of 45 mph.,No JSON;['0;0;" There is no matching JSON structure for the command to ""Fly ahead for 2 miles while moving at a speed of 45 mph."". It neither matches the ""fly"" action in the JSON as the parameters include units in ""m/s"", nor does it match any of the other available parameters in other actions.']" +"920: Maintain your position for 15 minutes and then proceed ahead for 2 kilometers., { ""action"": ""hover"", ""params"": { ""duration"": { ""type"": ""float"", ""value"": 900.0 }, ""altitude"": { ""type"": ""float"", ""value"": 100.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }, { ""action"": ""fly"", ""params"": { ""speed"": 10.0, ""altitude"": 100.0, ""direction"": { ""type"": ""str"", ""value"": ""ahead"" }, ""duration"": 2000.0, ""unit_speed"": ""m/s"", ""unit_altitude"": ""meters"", ""unit_duration"": ""seconds"" } }";['2;4;" The JSON object includes ""duration"" and ""altitude"" in the ""hover"" action and ""speed"", ""altitude"", ""direction"", and ""duration"" in the ""fly"" action, which matches the natural language command. However, the ""duration"" in the first JSON object is converted to seconds (15 minutes = 900 seconds) correctly, but the speed and duration values in the second JSON object do not match the mentioned values in the command (2 kilometers should have been converted to seconds, not 2000). The direction ""ahead"" does not correspond to a specific direction like the ontology\'s ""north"". Consequently, the match is not perfect.']" +"58: Cover a distance of 2 miles by flying in a straight line, maintaining a speed of 45 mph., { ""action"": ""fly"", ""params"": { ""speed"": 45.0, ""direction"": { ""type"": ""str"", ""value"": ""straight"" }, ""distance"": { ""type"": ""float"", ""value"": 3200.0 }, ""unit_speed"": ""mph"", ""unit_distance"": ""feet"" } }";['3.5;4;" The natural language command instructs to fly, which matches with the action ""fly"" in the JSON structure. The speed parameter is also correctly represented. However, the direction value ""straight"" in the JSON does not have a direct equivalent in the available keys. The distance value and its unit are not included in the keys in the given sample ontology, but the conversion of 2 miles to 3200 feet is mathematically accurate. Also, the unit of speed in the JSON structure is in miles per hour, which is correct according to the command but not included in the sample ontology.']" +"390: - Perform a barrel roll maneuver to the right at an angular speed of 60 degrees per second.,{ ""action"": ""rotate"", ""params"": {""angular_velocity"": 60.0, ""angle"": 360.0, ""is_clockwise"": false, ""unit"": ""degrees"" } }";"[""4";4;" The JSON correctly identifies the action as 'rotate' with correct units and specifies an 'angular_velocity' matching the command, however, the 'is_clockwise' parameter doesn't match with the natural language command where it mentions 'to the right' which indicates clockwise rotation. Also, although a barrel roll is a 360-degree rotation, it isn't specified in the natural language command, so it may not be exactly what was intended.""]" +19: Perform a 180-degree clockwise rotation at a rate of 20 degrees per second.,No JSON;['0;0; The natural language command requires a rotation, however the provided JSON information does not match. The JSON structure details rotating 90 degrees at a speed of 0.5, whereas the natural language command is requiring a 180-degree rotation at a rate of 20 degrees per second. The parameters do not match and therefore the score is 0.'] +318: Travel in a pattern resembling the number eight, flying a total distance of 2 kilometers.,No JSON;['0;0; The command does not conform to any of the provided JSON structures. There are no actions or parameters related to flying a specific distance or in a pattern resembling a number.'] +41: Rotate counterclockwise by 45 degrees at an angular speed of 10 degrees per second.,No JSON;['2;0;" The JSON structure contains action ""rotate"" and parameter ""angle"" which matches with the command. However, it assumes rotation direction to be clockwise (""is_clockwise"": true) while command specifies counterclockwise rotation and there is a mismatch with ""angular_velocity"".']" +"924: Perform a 90-degree clockwise rotation with an angular velocity of 20 degrees per second., { ""action"": ""rotate"", ""params"": { ""angular_velocity"": 20.0, ""angle"": 90.0, ""is_clockwise"": true, ""unit"": ""degrees"" } }";['5;5; Exactly conform.'] +988: Fly in a circular pattern with a radius of 500 meters for 20 minutes.,No JSON;['0;0; The command implies an action of flying in a circular pattern, which does not conform to any of the given action keys in the JSON structures provided.'] +"842: Maintain a hovering position and engage in television viewing for a period of 20 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 1200.0 }, ""altitude"": { ""type"": ""float"", ""value"": 50.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";"[""2";5;" The duration value in the JSON doesn't match with the period of 20 minutes mentioned in the natural language command and the action of television viewing is not represented in JSON.""]" +"524: Ascend to a level that is 2000 feet above ground., { ""action"": ""navigate_to_point"", ""params"": { ""coordinates"": { ""type"": ""tuple"", ""value"": ""(0, 0, 2000)"" } } }";['1;2;" The natural language command indicates an ascent to a specific altitude which does not align with the JSON structure provided for ""navigate_to_point"". The JSON does not have a specification for adjusting altitude in isolation. Thus, this is a poor match.']" +"602: Reduce your altitude to 300 meters.,{ ""action"": ""fly"", ""params"": {""speed"": 15.0, ""altitude"": null, ""direction"": { ""type"": ""str"", ""value"": ""east"" }, ""duration"": 10, ""unit_speed"": ""m/s"", ""unit_altitude"": ""meters"", ""unit_duration"": ""seconds"" } }";['2;0;" The JSON structure partially matches the command. The action ""fly"" is general and can be used to decrease altitude, but there is no specific command for reducing altitude. The altitude in the JSON structure is null and does not match with the altitude specified in the command. Furthermore, the speed and direction in the JSON don\'t relate with the command about lowering altitude.']" +"565: Hover in place for 2 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 120.0 }, ""altitude"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['4.5;4;" The JSON structure corresponds with the natural language command with the ""hover"" action correctly defined along with the ""duration"" parameter with a correct value of 120 seconds. However, while the altitude is not specified in the natural language command, the JSON structure provides a value of ""0.0"". A more correct approach would be to omit the ""altitude"" parameter or assign it a reasonable default value, as per the ""If a parameter\'s value is not specified in the natural language command, any reasonable value in the JSON is accepted"" rule. Therefore, the score is 4.5 instead of a perfect 5.']" +828: Turn in a counterclockwise direction, completing a 360-degree rotation, with an angular speed of 90 degrees per second.,No JSON;"[""4";0;" The command partially matches with the 'rotate' action in the JSON structure. The commands' rotation angle, angular velocity and rotation direction can be found in the JSON but the rotation direction is not formatted as the JSON demands. JSON dictates a boolean value for direction while the command provides a string.""]" +"225: Please bring the aircraft to a stop at the approved landing zone.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";['4;3;" The provided JSON structure correctly identifies the action specified in the natural language command (""land""). However, there is a slight mismatch between the command and the specific value given in the JSON structure. The command specifies an ""approved landing zone"" but doesn\'t provide an exact coordinates, while the JSON structure gives specific coordinates. Yet, specific coordinates could be interpreted as an ""approved landing zone"".']" +"866: Stay suspended in mid-air without any motion for a time span of 10 minutes., { ""action"": ""hover"", ""params"": { ""duration"": { ""type"": ""float"", ""value"": 600.0 }, ""altitude"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['4;4;" The natural language command does correspond with the ""hover"" action in the JSON, but it does not specify any altitude and also assumes a duration in seconds whereas the command specifies minutes. However, the change from minutes to seconds in the JSON is reasonable.']" +412: Travel straight ahead for a distance of 2 kilometers at a speed of 50 km/h.,No JSON;['0;0; The natural language command refers to an action of moving straight ahead for a certain distance and speed. However, no such specific action or parameters exist in the provided JSON structures. The actions provided are navigate_to_point, fly, hover, rotate, and land, with none of these exactly corresponding to the requested action.'] +"700: Ascend to an altitude of 1400 meters., { ""action"": ""fly"", ""params"": { ""altitude"": 1400, ""duration"": 0, ""speed"": 0, ""direction"": { ""type"": ""str"", ""value"": ""up"" }, ""unit_altitude"": ""meters"", ""unit_duration"": ""seconds"", ""unit_speed"": ""m/s"" } }";['2;3;" Partially conform. The natural language command refers to ascending to a specific altitude, which implies an action of moving upwards or flying. However, the JSON structure is using the ""fly"" action which correct, but there is no ""direction"": { ""type"": ""str"", ""value"": ""up"" } in the key samples provided. Also, duration and speed should not be forced to 0 if not mentioned in the command, as it\'s not matching the ontology since speed can\'t be zero in a fly action.']" +"705: Hover in place for 30 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 30.0 * 60.0 }, ""altitude"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['4;3.5;" The JSON structure matches the ""hover"" command correctly but the value of the altitude is assumed and not indicated in the natural language command.']" +"374: Take a 200 meter horizontal slide towards the left.,{ ""action"": ""rotate"", ""params"": {""angular_velocity"": 0.5, ""angle"": 200, ""is_clockwise"": false, ""unit"": ""degrees"" } }";"[""0";0;" The natural language command asks for a horizontal movement to the left, but the corresponding JSON structure describes a rotation action, not a horizontal slide or movement. Therefore, they don't match.""]" +"684: Bring yourself down to an altitude of 500 meters.,{ ""action"": ""rotate"", ""params"": {""angular_velocity"": 0.5, ""angle"": 90, ""is_clockwise"": true, ""unit"": ""degrees"" } }";['0;0; The JSON structure describes a rotation action with specified parameters while the command is requesting to change the altitude, there is no match between the command and the JSON structure.'] +757: Rotate at an angular speed of 45 degrees per second in a clockwise manner, completing a 180-degree turn.,;"[""4";0;" The action 'rotate' matches with the natural language command, and the parameters 'angular_velocity', 'angle', 'is_clockwise' also match. However, the 'angular_velocity' value doesn't match as the JSON expects a value of 0.5 but the command says 45.""]" +"685: Hover in place for 18 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 1080.0 }, ""altitude"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";"[""4";4;" The command instructs to 'hover', which is correctly identified in the JSON. The duration is also correctly translated into seconds from minutes. However, the altitude is not specified in the command but provided in the JSON structure.""]" +"775: Circle around a specific location for 20 minutes., { ""action"": ""rotate"", ""params"": { ""angular_velocity"": 1.0, ""angle"": 360, ""is_clockwise"": true, ""unit"": ""degrees"" } }";"[""1";4;" The JSON structure given does not fully conform to the natural language command. The command specifies to 'circle around a specific location' and to do this for '20 minutes', however, the JSON provided does not provide a 'location' parameter nor a 'duration'. It only represents a simple rotation of an unspecified object, in unspecified location and for an unspecified time. Also, the angular_velocity present in the JSON structure isn't mentioned in the command.""]" +"933: Descend to an altitude of 100 meters and hover in place for 10 minutes., { ""action"": ""hover"", ""params"": { ""duration"": { ""type"": ""float"", ""value"": 600.0 }, ""altitude"": { ""type"": ""float"", ""value"": 100.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";['5;5; Exactly conform.'] +573: Spin counterclockwise by 45 degrees, moving 10 degrees per second.,No JSON;['1;0;" The command ""spin counterclockwise by 45 degrees, moving 10 degrees per second"" could partially correlate with the ""action"": ""rotate"" key. However, the JSON values do not match exactly because the command specifies a counterclockwise rotation while the JSON structure implies a clockwise rotation ( ""is_clockwise"": true). Additionally, the angular velocity is not the same, and there is no JSON counterpart associated with the specification ""moving 10 degrees per second"".']" +"761: Please touch down at the specified landing area.,{ ""action"": ""land"", ""params"": {""location"": { ""type"": ""tuple"", ""value"": ""(37.7749, -122.4194)"" } } }";['5;3;" Exactly conform. The natural language command asks for a landing at a specified area and the JSON structure includes an action of ""land"" at a given set of coordinates which represents a location.']" +350: Rotate in the clockwise direction at a rate of 45 degrees per second for a total of 180 degrees.,No JSON;"[""4";0;" The command matches with the 'rotate' action. However, the parameter 'angular_velocity' is not exactly conform with the JSON structure, as it is not clear whether the rate of 45 degrees per second is meant as the angular velocity, and the angular velocity expressed in the sample ontology is 0.5. The angle of rotation of 180 degrees corresponds to the 'angle' parameter in the JSON. 'is_clockwise' is true, which matches the command of rotating in the clockwise direction. The 'unit' in the JSON is 'degrees', which matches with the command.""]" +159: Move in a forward direction, covering a distance of 7 miles, with a steady speed of 55 miles per hour.,No JSON;['0;0; The command does not fit the provided JSON structure because the JSON keys do not support distances in miles or speeds in miles per hour.'] +"11: Hover in place for 10 minutes.,{ ""action"": ""hover"", ""params"": {""duration"": { ""type"": ""float"", ""value"": 600.0 }, ""altitude"": { ""type"": ""float"", ""value"": 0.0 }, ""unit_duration"": ""seconds"", ""unit_altitude"": ""meters"" } }";"[""4";3;" Almost perfect conformity. Although the command matches the 'hover' action, the 'altitude' value is not mentioned in the natural language command but is required in the JSON structure. So a value of 0.0 is assumed which may or may not be appropriate.""]" +"340: Ascend vertically, maintaining a speed of 5 meters per second., { ""action"": ""fly"", ""params"": { ""speed"": 5.0, ""altitude"": null, ""direction"": { ""type"": ""str"", ""value"": ""up"" }, ""duration"": null, ""unit_speed"": ""m/s"", ""unit_altitude"": ""meters"", ""unit_duration"": ""seconds"" } }";['4;3;" The JSON structure partially conforms with the command. The action, unit_speed and speed parameters correctly match, but the ""direction"" value \'up\' is not part of the sample values in the ontology and there is no \'altitude\' nor \'duration\' mentioned in the command.']" +594: Execute a clockwise rotation, rotating 270 degrees at a speed of 40 degrees per second.,No JSON;['2;0;" The provided natural language command does have a matching action (""rotate"") in the JSON structure. But some parameters given in the command such as ""angular_velocity"" (40 degrees per second) and ""angle"" (270 degrees) does not match the values in JSON structure (""angular_velocity"": 0.5, ""angle"": 90). The direction of rotation ""is_clockwise"" matches. On the other hand, a new parameter ""speed"" is introduced in the command which does not exist in the JSON structure.']" +;;; +;;2.04081632653061; diff --git a/evaluation/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV-HIST.png b/evaluation/evaluations/UAV/LLaMA2-7b/Evaluated_JSON_commands_LLaMA2-7b_UAV-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..dbb5852ccc5e01006c40513454d9f7aabc155f11 GIT binary patch literal 52389 zcmeEvd0fru+kY6$FxHTzWEh30NoiG?5!otDQb>)WqP3jFN(de7`-9e2QsQ#rKdfA2cKEQ3y@G^<)9Q~YMC^>*xU}K>$Spz>Em!X>IDN&__B-)nPlcKKhotkK*N(lreA$X) zV`fjU2pZ0~n`O_EFFKQ8C?WK&rKM#YuIkSpuiM6P6aV}R z{(JQ6UlqCj>N!1;>(%~W@%(c0mtXSneHjEym;ZPWmWlQ7t*ck=dlPVExUXrX*WSUw z;qd#)`=|KF{5945lZ6x=Gb`_#kMwrh<_HO-xpc3nS?4@Gas3}*9>aZ?e%SX@T+Uyw z=DRG!=qgsLzxP5ztY@zJ^SE-ZS<1KWUk`;wUwTya+-wHlW!sXH62soUVl`o(ACFI% zeQ^HhD=Lrc+}fG-uW$H=dpiwfZY<}=mnJ*D@Bb});*|Nb)}Q!x`E%*fSKm|fsJI&W zW!cb({KwDzOL+KSJ3{}uYc!2-U1pdP!>B&nCu`w2KC?)-o(fR~$F7lSf3DSg=N<|z 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zpOi=>G7nOIIhGe-h}(?3z3QM}{^A^sNHdb8FId~~R2?6vVQ|K}wBGM3lJkBkcvyi* zi{mY7yNH6qJMCLJLS%pToHOYe1{(YcnTIbZZ+cnkv;I_J`W8?GrR7MA?D&tEImxbH zjw<-73|!)U=p*WuJ&pj#=;rUUIt4E@K9&Y{tp`a_p5%uFi1rhy$8k&p@b#p+iBSa@ zPgh*_eUPyQ<$8?Lu`AD~ClF2&fH?QfW|52I%1UR;wNL_u1xH-I8yR{vP3W@bS&k8j zWZ!Ix?ZBm(8gYwK7%%{WkS_aB1zTWVQ~ziR^b#eFOpuQsKkgHrj7)R@ss%cqpqz8A zT!meGu6|O?CGTNASgZR(wyeu8{#0Mz=#eGDY?tu2u%f0%FI-y0 z2@!Pqtvt{_c=SApBL!NU!^g$fv=sWb$e6la9plK5j1)Ecz5()2hf~k_2$YE?0(fgS z<=a>&n;gBUYpV+?GM zJnNvl3(IM^Wc-2t*FT6>s$x~nx0EYd1SJ)|;$xjT-zS#MX>(>6{9|JF-G z6^wZ^*VW{+VqW0yFZeam>9tsznVES7ZqD^vo>ZN#!qcJqUNHj8*?EVtVasnN1V4^Y z^&5H#xqFc@ddd3%nB;-w?~gB?hGM&SxeroctjdA%8;hVNA~aU z%dN3B@NwJM0HEIJbPv}+lt043iFW3h;HqkCV_zOmyzHvsyBSl(qTn)GiaOpKhq4&% z7;%5LmQ!F{ws5@LauyyAuM%u2O7Ij`#5IB-t9|9ytUS0PIGp8+ z7I@$-fGk`V@th@m7Chb@@2x{*oWEtQ7dqS1gbWF>Hg;Pj_=<~4lUWJNrs6EqcR@hw z{1NI7+a@$|qKcz$wJaaap%Q4A7e3bjc*H8S2vBhSWH|+Ap$wAX^lP`EW5))u)8^WW z8qW20@bISOHEFxlYY_e7?^JtIhZHAYzgk4y5;P;vIxj%F)X~1c@_70~zd8O1zIA5< zwqQHg-0b$TZlwmMny1~EsIfh9l}d$|1{|A=1e*L7Lry=FeVs zo}mZ5uvDIL=guy+b=_A(6v(^TvoHc7^wS&g)#H#_8sAM6xkd>FLyngm-Jm9a?1gy> zOdT&48H~ABalyDuaG^!Xq8CR{I`vR_N&}QJY{P~PClLTuRIgc6bw4DeEw*Y98MgK#2lNb}7m zKA&+1=V3@_l zW~qS~p@LvgJme*ZnrslESS2Jiz;z2sRz^($UJ4~^Gc%f1pnx6i6M+k)YmrUJgyn&G z7cgglN(Egn9wm9Y(Mwf3qBt{ln?W%DJd7S%}&}'];['4; The action value and unit of force are perfectly matched in the natural language command and the JSON structure. However, the duration value specified in the JSON is not found in the natural language command but is reasonable.', ''] +Apply a 10 Newton force to lift the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command and the JSON mostly conform. However, the duration in the JSON structure is not specified in the natural language command. Hence, the score is 4 and not 5.'] +Exert a 10 Newton force to raise the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['3; There is partial matching. The action "grip_object" and parameter "force" with value 10 Newtons conforms with the natural language command. The unit of force "newtons" is also stated in the command. However, "duration" with value 3.0 seconds is not specified in the command. Furthermore, the command includes "to raise the object" which is not reflected in the JSON structure.'] +Use a force of 10 Newtons to elevate the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure correctly identifies the action as "grip_object" and sets the force value to 10.0 newtons, which match the command. But the duration value in the JSON structure (3.0 seconds) does not conform to the natural language command, as the command does not specify the duration value.'] +Employ a 10 Newton force to hoist the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON command and the natural language command align in the action of gripping an object and in the attribute of force. However, the value of duration in the JSON command doesn't correspond to any attribute in the natural language command."] +Rotate the shoulder joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command exactly conforms to the JSON information with no conflicts. The action "move_joint" matches and all details such as joint_name (shoulder), angle (90.0), direction (counterclockwise), and units are present. The speed is not specified in the natural language command, but JSON provides a reasonable value.'] +Turn the shoulder joint anti-clockwise at a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },'];['4; The natural language command and the JSON structure match for the most part. However, in the command, the speed of movement is not specified whereas in the JSON structure a value of 1.0 is assigned to the speed. This detail is the only reason it does not conform exactly.'] +Rotate the shoulder joint in a counterclockwise direction, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command perfectly matches the given JSON structure, even though the values in JSON like joint_name (shoulder), angle (90.0), direction (counterclockwise), and unit (degrees) don't exactly match the sample ontology's values but uniquely identifies the joint and the instruction which are both possible and reasonable."] +Twist the shoulder joint in a counterclockwise manner, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command mostly matches with the JSON structure. The action "move_joint", "angle" of "90 degrees" and the "direction" of "counterclockwise" match, however, the key "joint_name" in JSON command has a value of "elbow" while in the natural language command it\'s "shoulder". Also, the "speed" value isn\'t mentioned in the natural language command so the JSON representation giving it a value is a bonus.'] +Rotate the shoulder joint in the opposite direction of the clock by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command mostly conforms to the JSON structure. The action "move_joint" is correctly applied but there is a minor discrepancy in the joint name: the command specifies "shoulder" instead of "elbow" as in the sample ontology. Additionally, the JSON has an extra parameter "speed" with a specific value that wasn\'t mentioned in the command.'] +Move to position X:50, Y:30, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command is requesting for a movement in three-dimensional space to certain coordinates, but the JSON structure is all about moving a specific joint (elbow) to a certain angle at a specific speed and direction. Therefore, these two are entirely unrelated.'] +Change your location to coordinates X:50, Y:30, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['0; The natural language command is about changing location to specified coordinates, but there is no JSON structure that matches moving to a specific location. The provided JSON structures are related to actions like moving a joint, extending an arm, gripping an object, etc., and do not include any parameters for location or coordinates.'] +Transfer yourself to the position with the coordinates X:50, Y:30, Z:15.,['The response would be something like this:'];["0; The command given does not match with any of the JSON structures provided. There's no action for moving to a specific position neither any parameter to refer to coordinates in the sample ontology."] +Relocate to the coordinates X:50, Y:30, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command instructs to move to specific coordinates which doesn't match with any of the JSON actions provided. The provided JSON structures are mainly for moving joints, extending the arm and gripping objects, none of which conform to the relocation to specific coordinates."] +Go to the point specified by X:50, Y:30, Z:15.,['X:50, Y:30, Z:15'];['0; The provided JSON structure(s) does not contain any commands or parameters that match the natural language command to go to a specified point. The natural language command does not conform to any of the available keys in the sample ontology.'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The command "Extend the arm by 20 centimeters" is well translated in the JSON structure, it conveys the same action, extend_arm, and it correctly defines the parameter "extension_length" as 20.0 (in centimeters). The speed parameter is not mentioned in the command but possesses a reasonable value.'] +Increase the length of the arm by 20 centimeters.,['The response is an object with the following properties:'];['2; The natural language command corresponds to the "extend_arm" action in JSON structure. However, the command states a "extension_length" value of 20.0, not 10.0 as shown in the JSON example. The unit_length and unit_speed values are unspecified in the command.'] +Stretch the arm outwards by 20 centimeters.,['### Output:', ''];["2; The natural language command partially matches with the 'extend_arm' JSON structure. The 'extension_length' is accurately specified as 20.0 in the command but the parameters 'speed', 'unit_length', and 'unit_speed' are not mentioned in the command but exist in the JSON structure."] +Lengthen the arm by an additional 20 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The structure of the JSON corresponds with the command and sample ontology. The action and the extension length value both match accurately. However, the speed does not match correctly as it was not specified in the command, hence it should not be assumed.'] +Expand the arm's reach by 20 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure generally aligns with the command given, which is to extend the arm by a certain amount. However, the speed value is arbitrarily determined as it is not mentioned in the natural language command.'] +Grip the object with a force of 15 kilograms.,['The response is 15.0.'];['1; The natural language command refers to gripping an object with a force of 15 kilograms. However, in the JSON structure, the unit of force is in newtons, not kilograms. The parameters match but the units are inconsistent.'] +Apply a force of 15 kilograms to grasp the object.,['The response is:'];['1; The natural language command refers to gripping an object which matches the "grip_object" action in the JSON. However, force is to be measured in newtons based on the JSON structure, not kilograms as mentioned in the command.'] +Exert a 15 kilogram force to hold onto the object.,['The response is ', ''];['1; The natural language command asks to exert a force, which aligns with the "grip_object" action. However, the provided force is in kilograms, while the JSON structure specifies force in newtons. Given this discrepancy in force units and the absence of duration, full conformity is not achieved.'] +Securely hold the object with a 15 kilogram force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 15.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command is partially conforming with the JSON structure. While the action "grip_object" is correct, the unit of force in the JSON structure is \'newtons\', but in the natural language command, it\'s \'kilograms\'. Also, the \'duration\' parameter value in the JSON is 0.0 which doesn\'t make sense in the context of gripping an object.'] +Use a force of 15 kilograms to get a firm grip on the object.,['The response is ', ''];['1; The command \'Use a force of 15 kilograms to get a firm grip on the object\' refers to gripping an object which matches the "grip_object" action from the JSON structure, but the force value in the command is in kilograms while the unit in the ontology is newtons which doesn\'t match. Moreover, the force value in the command is not reasonably matching the force value in the JSON.'] +Rotate the elbow joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure matches with the natural language command, but there is a discrepancy in the "angle" value (60 in the command vs. 45 in the JSON) and the "speed" value which isn\'t mentioned in the command but exists in the JSON.'] +Turn the elbow joint in a clockwise direction, rotating it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The command precisely corresponds to the provided JSON structure. It calls for the "move_joint" action with "elbow" as the "joint_name", a "60.0" degree "angle", in a "clockwise" "direction". The "speed" is allowed to be any reasonable value as it is not specified in the natural language command. The "unit" of measure is correctly recognized as "degrees", with "unit_speed" as "degrees/s".'] +Clockwise rotate the elbow joint by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'];['5; Exactly conform. The natural language command perfectly matches with the JSON structure. It correctly mentions \'action\' as "move_joint", \'joint_name\' as "elbow", \'angle\' with \'type\' as "float" and \'value\' as 60.0, \'direction\' as "clockwise". Although the \'speed\' is not mentioned in the command, the value given in the JSON is reasonable and accepted.'] +Rotate the elbow joint in the clockwise direction, making a 60 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The command matches well with the JSON structure, with all necessary information present, though the speed value is undefined in the command and thus it's discordant."] +Twist the elbow joint to the right, moving it 60 degrees in a clockwise rotation.,['The response is:'];["4; The JSON correctly represents the action 'move_joint' and the direction as 'clockwise'. However, the value of 'angle' in JSON is not conforming to the command which mentions 60 degrees but the JSON has 45.0 degrees."] +Lift the object to a height of 1 meter.,['The response is an empty array.'];["0; The provided natural language command involves a lifting action which does not have a corresponding action in the provided JSON structures. Hence, there's no conformity."] +Elevate the object to a 1-meter height.,['The response is an empty array.'];["0; The command instructs to elevate an object which doesn't match any actions in the provided JSON structures. The JSON response is empty, so there's no matching information."] +Raise the object to a height of 1 meter.,['The response is an empty array.'];['0; The provided JSON structures do not contain an action or parameters that match the command to raise an object to a certain height. The sample keys do not contain any commands for lifting or raising an object, therefore this command cannot be converted to a reasonable JSON structure based on the sample.'] +Hoist the object to a 1-meter elevation.,['The response is an empty array.'];["0; The command does not match any of the actions in the JSON structures provided. There is no action for 'hoist' or for changing an object's elevation."] +Bring the object up to a height of 1 meter.,['The response is an empty array.'];["0; The provided JSON structure doesn't match with the mentioned command. The command talks about moving an object to a certain height, but there's no comparable action or parameter combo in the sample JSON structures. Hence it's complete nonconformity."] +Move to position X:25, Y:40, Z:10 at a velocity of 10 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'];["0; The natural language command is about moving to a certain position in 3D coordinates at a certain speed but the JSON structure is about moving a specific joint (elbow) at a certain angle, direction and speed. There's no match between the command and the JSON structure."] +Proceed to coordinates X:25, Y:40, Z:10 with a speed of 10 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The command is about moving to specific coordinates with a certain speed, however, there is no provided JSON structure that matches this command. The provided JSON structures are about moving a joint, extending an arm, gripping an object, releasing a grip, and setting an orientation.'] +Travel to position X:25, Y:40, Z:10 traveling at a pace of 10 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not match the command. The command suggests a move in a three dimensional space but the provided JSON represents a joint movement, which is not applicable here. Also, there are elements in the command such as position coordinates (X, Y, Z) and traveling pace which are not represented in the JSON at all. Therefore, the score is 0.'] +Transfer yourself to X:25, Y:40, Z:10 while maintaining a velocity of 10 cm/s.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command instructs some sort of movement to a specified location with a certain speed, but the provided JSON structure refers to setting an orientation, which does not conform with the command.'] +Journey to coordinates X:25, Y:40, Z:10 at a rate of 10 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command talks about navigating to certain coordinates at a specified speed, however, the JSON structure involves moving a specific joint (elbow) in a certain direction (counterclockwise) at a particular speed. There is no matching in intent or parameters from the natural language command to the JSON information.'] +Rotate the wrist joint counterclockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The language command perfectly matches the JSON structure under the action "move_joint". It correctly captures the joint_name as "wrist", direction as "counterclockwise", and angle as 30.0. The speed isn\'t mentioned in command, but it\'s okay to provide any reasonable value in the JSON.'] +Turn the wrist joint anticlockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": -30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['4; The JSON conforms to the natural language command in action and most parameters (joint_name, angle, direction). However, the speed of the joint movement is not specified in the natural language command, so assigning it a value of 1.0 is an assumption.'] +Twist the wrist joint in a counterclockwise direction by 30 degrees.,['The response is:'];['0; The natural language command calls for motion of the "wrist" joint, but the available JSON structure only accounts for movement of the "elbow" joint. Therefore, the command does not conform with the provided JSON sample keys.'] +Rotate the wrist joint to the left by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit":'];['5; The command and JSON are matched perfectly. The action mentioned in the given command is "move_joint", which is clearly seen in the JSON. It specifies all required parameters such as joint_name, angle, and direction with matching values of "wrist", 30.0, and "left" respectively. Although the speed was not mentioned in the command, the JSON provided a reasonable value of 1.0.'] +Adjust the position of the wrist joint by rotating it counterclockwise 30 degrees.,['The response is:'];['2; The natural language command is partially conforming with the JSON structure. The "move_joint" action seems to be a match, however, the "joint_name" in the JSON structure is "elbow", not "wrist" as mentioned in the command. Additionally, the command specifies a counterclockwise rotation while the JSON information specifies a clockwise direction. The degree of rotation and its unit match.'] +Retract the arm by 25 centimeters.,['The response is ', ''];['0; The command implies an action of retracting the arm, which neither matches any of the actions nor any of the parameters in the given JSON structures. The natural language command does not conform.'] +Pull the arm back by a distance of 25 centimeters.,['The response is an empty array.'];['0; The provided JSON structure does not match the natural language command. The command refers to pulling the arm back whereas none of the given JSON structures corresponds to this action.'] +Withdraw the arm, reducing its length by 25 centimeters.,['The response is an empty array.'];['0; The command of withdrawing the arm and reducing its length does not match with any of the JSON structure provided. The provided JSON structures represent actions like move_joint, extend_arm, grip_object, release_grip, and set_orientation while the command talks about a different action.'] +Bring the arm back, shortening it by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The natural language command is asking to shorten the arm by 25 centimeters but the JSON structure is about extending the arm. All parameters are in place but the main action does not match.'] +Decrease the length of the arm by 25 centimeters through retraction.,['The response is an empty array.'];['0; The command implied an action of retracting or shortening the arm, which is not available in the provided JSON structures. The closest command is "extend_arm" but it\'s not the same as the implied "retract_arm". Therefore, the JSON information doesn\'t match the natural language command.'] +Grip the object with a force of 20 Newtons.,['Grip the object with a force of 20 Newtons.'];['4; The natural language command is mostly accurate in terms of the action to be performed, which is to grip the object. The command correctly specifies the use of force and its value which is 20 Newtons. However, the elapsed time for the grip was not specified in the natural language command.'] +Apply a 20 Newton force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command conforms to the "grip_object" action in structure and parameters (forces). However, the value for "duration" in the JSON is not specified in the natural language command.'] +Exert a grip on the object with a 20 Newton force.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["4; The command is matched pretty accurately however, the JSON structure provides a duration value that wasn't specified in the command."] +Use 20 Newtons of force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 20.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; Mostly conform. The "force" in JSON matches perfectly with the command, however, the duration is not specified in the command but it is present in the JSON.'] +Ensure a 20 Newton force is applied when gripping the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['5; Exactly conform. The natural language command corresponds perfectly with the JSON structure provided, with correct action ("grip_object") and parameters. The "force" value matches with the value specified in the command (20 Newtons) while the "duration" value, although not specified in the command, is reasonably filled in the JSON structure.'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['4; The command matches the "move_joint" action perfectly, including "joint_name", "angle", and "direction". However, the "speed" parameter in the JSON doesn\'t match because it was not specified in the natural language command.'] +Turn the shoulder joint in a clockwise direction for a 45-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['4; The command matches the JSON structure very closely, with action and parameters well aligned. However, the natural language command is for the shoulder joint but the JSON states that the joint name is the elbow, also the speed value is included in JSON but not specified in the command.'] +Rotate the shoulder joint by 45 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 45.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; Though the action of moving a joint is correctly captured by the "move_joint" function, the JSON structure mentions "elbow" as the joint to be moved instead of "shoulder". Also, the speed of the movement is not mentioned in the text command but is specified in the JSON, so it doesn\'t fully conform with the natural language command.'] +Twist the shoulder joint in a clockwise manner, moving it 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];["4; The JSON action and parameters match the natural language command's instruction to move a shoulder joint clockwise by 45 degrees, but the speed of movement isn't specified in the command and there is a mismatch at the 'joint_name' field as the command indicates 'shoulder' instead of 'elbow' that appear in the JSON structure."] +Rotate the shoulder joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 45.0,', ' "direction": "right",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; Nearly conform, only minor mismatches exist in the speed value and joint_name value. In the JSON structure, the 'speed' is 1.0 though it was not specified in the natural language command. Also, joint_name should be 'elbow' according to the JSON, but it is 'shoulder' in the command."] +Move to position X:15, Y:25, Z:5 at a velocity of 5 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command specifies the movement in XYZ coordinates, but the JSON structure does not define or accommodate parameters for these coordinates. Also, the JSON structure is related to a joint movement rather than positional coordinates and the speed value in JSON does not match with the speed in the command.'] +Travel to coordinates X:15, Y:25, Z:5 with a speed of 5 cm/s.,['The response would be something like this:'];["0; The provided JSON structures do not contain any action or parameters related to 'traveling' or 'coordinates'. Thus, there is no conformity with the sample keys."] +Go to location X:15, Y:25, Z:5 with a velocity of 5 cm/s.,['The response would be something like this:'];['0; The command is asking to move to a specific location with a certain speed. It does not match any of the sample JSON structures provided. "move_joint", "extend_arm", "grip_object", "release_grip", or "set_orientation" given in the sample keys do not have parameters for specifying a specific location (X,Y,Z coordinates) or a velocity value.'] +Proceed towards position X:15, Y:25, Z:5 at a rate of 5 cm/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "position"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit": "'];['0; The JSON structure does not match the natural language command. The command refers to moving to a particular position at a specified rate, but the JSON structure represents the "move_joint" action which does not correspond. The "move_joint" action refers to moving a specific joint at a certain angle and speed which is quite different from moving to a particular position.'] +Travel at a speed of 5 cm/s to reach coordinates X:15, Y:25, Z:5.,['The answer is 5.'];['0; The provided JSON structures do not have an action or parameters to represent moving to specific coordinates at a specified speed.'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' }', ' }', '}'];["3; The 'action' of 'extend_arm' matches, and the parameter of 'extension_length' with the value of 30.0 matches, but the 'speed' parameter is missing in the JSON structure as compared to the original sample JSON. Also, the 'unit_length' in the JSON structure should be 'centimeters'."] +Increase the length of the arm by 30 centimeters.,['The response is an empty array.'];['0; The JSON structure does not match the natural language command and it does not contain any relevant information.'] +Stretch the arm outwards by an additional 30 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' }', ' }', '}'];['4; The action of extending the arm matches the natural language command correctly as does the value for the extension_length. However, the JSON structure lacks the "speed" parameter as present in the sample keys, hence the deducted point.'] +Elongate the arm to add 30 centimeters to its length.,['The response would be,', '', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command matches perfectly with the JSON structure. The "action" key corresponds to "extend_arm", and there is a "params" key that contains "extension_length" with a corresponding type and value of 30.0, which matches with the command. The "unit_length" is correctly stated as "centimeters". The "speed" value is not specified in the natural language command, so the JSON value of 0.5 is still acceptable.'] +Expand the arm's reach by 30 centimeters.,['The answer is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command matches exactly with the JSON structure. It calls for the "extend_arm" action with an "extension_length" of 30. The "speed" value isn\'t mentioned in the command but is present in the JSON, which is acceptable.'] +Lift the object to a height of 2 meters.,['The response is an empty array.'];['0; The command does not correspond to any of the actions in the JSON structures. The action described in the command (lifting an object) and the parameter (height of 2 meters) do not match any of the available actions or parameters in the JSON structures.'] +Raise the object to a height measuring 2 meters.,['The response is an empty array.'];['0; The natural language command does not match with any of the JSON structures provided. The command is about raising an object to a certain height, but none of the JSON actions (move_joint, extend_arm, grip_object, release_grip, set_orientation) are suitable for this command.'] +Elevate the object to a 2 meter height.,['The response is an empty array.'];['0; The command mentioned is not included in the sample ontology and there is no JSON structure provided to match the command to.'] +Hoist the object up to a vertical distance of 2 meters.,['The response is:'];['0; The commands provided do not match any information from the provided JSON structures. The action "hoist" and parameters related to vertical distance and meters as units do not exist in the sample ontology.'] +Ascend the object to a 2 meter elevation.,['The response is an empty array.'];["0; The provided command instructs to ascend an object, but none of the JSON structures correspond to this action. As such, there's no match and the score is 0."] +Rotate the elbow joint counterclockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 75.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The action, joint_name, angle, direction, unit and unit_speed keys in the JSON structure match perfectly with the natural language command. The only difference is in the "speed" value which is not mentioned in the natural language command but exists in the JSON structure. The score is not 5 due to this distinction, a reasonable speed value is accepted if it is not specified in the command.'] +Twist the elbow joint in the opposite direction by an angle of 75 degrees.,['The response is:'];['4; The JSON structure matches the natural language command but the direction value is not specified in the command and thus any reasonable value in the JSON is accepted.'] +Turn the elbow joint anticlockwise by 75 degrees.,['The response is:'];["3; The natural language command partially matches with the JSON structure. The action 'move_joint' is correct, 'joint_name' as 'elbow' and 'direction' as 'anticlockwise' are correct too. However, the 'angle' value in the command is '75' not '45.0' as in JSON. The 'speed' is not specified in the command."] +Rotate the elbow joint in a counterclockwise direction, making a 75 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 75.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command mostly matches the JSON structure. The action 'move_joint', the joint_name 'elbow', direction 'counterclockwise', and unit 'degrees' are all present in the JSON. The angle '75' is correctly extracted from the natural language command. However, the speed '1.0' and unit_speed 'degrees/s' in the JSON do not match the natural language command as it does not specify the speed."] +Adjust the elbow joint by rotating it counterclockwise with a 75 degree angle.,['The response is:'];["3; The JSON structure partially matches with the command. The action is 'move_joint', and the joint name 'elbow' and angle '75 degrees' fit. However, the direction in JSON is 'clockwise', not 'counterclockwise' like stated in the command."] +Move to position X:35, Y:50, Z:20.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The command is about changing the position of an object, which doesn\'t conform to the "move_joint" action in the JSON object. The JSON object refers to the movement of a joint (like an elbow) in a specific direction, not the movement of an object to a coordinate in space. Moreover, the parameters in the command (X, Y, Z) are not reflected in the JSON object.'] +Go to coordinates X:35, Y:50, Z:20.,['The response would be something like this:'];['0; The provided natural language command refers to moving to specific coordinates, which does not conform with any of the provided JSON structures or their actions and parameters.'] +Transfer yourself to the location with coordinates X:35, Y:50, Z:20.,['X:35, Y:50, Z:20'];['0; The JSON structure is not included in the command, and the command does not match any of the actions given in the sample ontology.'] +Change your position to X:35, Y:50, Z:20.,['{', ' "position": {', ' "x": 35,', ' "y": 50,', ' "z": 20', ' }', '}'];['0; The natural language command is instructing to change a position. However, there is no corresponding action or keys related to position or coordinates (X, Y, Z) present in the provided JSON structures.'] +Relocate yourself to the coordinates X:35, Y:50, Z:20.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['0; The natural language command is asking for some kind of movement to specific coordinates, but none of the JSON structures presented offers an action allowing for this kind of command. The "move_joint" action may seem similar, but it deals only with movements of specific joints, not relocation to coordinates.'] +Retract the arm by 10 centimeters at a velocity of 15 cm/s.,['The response is:'];['0; The command is about retracting the arm, however there is no matching action in the JSON structures provided. The "extend_arm" action seems similar but the direction of the action (extension vs retraction) is different.'] +Withdraw the arm by a distance of 10 centimeters, moving at a speed of 15 cm/s.,['The response is:'];['2; The action described in the command corresponds more to the "extend_arm" action in the JSON structure, which involves changing the extension length of the arm. However, the command talks about "withdrawing" the arm, which isn\'t in direct correspondence with "extending". Moreover, the "speed" value in the command (15 cm/s) doesn\'t match with the "speed" value in the JSON structure (1.0 cm/s).'] +Pull the arm back by 10 centimeters, with a velocity of 15 cm/s.,['The response is:'];['2; The natural language command speaks to an action of retracting or pulling back the arm, however the sample keys ontology does not contain keys for such an action. The closest matching action in the ontology is "extend_arm", but this is the opposite of the intended action in the natural language command. Furthermore, the speed parameter mentioned in the command does not match the value stated in the "extend_arm" JSON structure. Hence, due to the lack of a suitable action key and the discrepancy in speed value, the score is a 2.'] +Bring the arm back by a length of 10 centimeters, traveling at a rate of 15 cm/s.,['The response is:'];['4; Most of the command corresponds with "extend_arm" action in the JSON structure with correct "extension_length" of 10.0 and "unit_length" as "centimeters". However, the "speed" does not match with given value of 15 cm/s in the command, it is 1.0 in the JSON structure.'] +Move the arm backwards by 10 centimeters at a speed of 15 cm/s.,['The response is:'];['3; The natural language command "move the arm backwards by 10 centimeters at a speed of 15 cm/s" partially matches with the JSON structure of the "extend_arm" action where "extension_length" and "speed" parameters are used. However, the parameter\'s values for "extension_length" and "speed" in the JSON structure are not matching with command\'s quantities. Also, there is no clear indication in JSON structure for the movement to be "backwards".'] +Grip the object with a force of 25 kilograms.,['The response is 25.'];["0; The natural language command refers to gripping an object with a certain force, which is expected in the ontology. However, the conformity is not achieved, because the unit of the force is described as kilograms in the command, while in the JSON structure force is measured in newtons. Additionally, there's no JSON provided for comparison."] +Apply a 25-kilogram force to grip the object.,['The response is:'];['0; The provided natural language command does not match with the JSON structure as the command mentions a force of 25 kilograms but the JSON structure specifies force in newtons, not kilograms. The force value in the JSON is also different from the mentioned command.'] +Use a force of 25 kilograms to secure your grip on the object.,['The response is accepted.'];['1; The natural language command corresponds to the "grip_object" action, but the parameter\'s value is given in kilograms, while it should be in newtons, as per the sample ontology. Therefore, the conformity is low.'] +Exert 25 kilograms of force to firmly grasp the object.,['The response is 25.'];["1; The natural language command sort of corresponds to the 'grip_object' action in the JSON structure, but it mentions amount of force in incorrect units - kilograms instead of newtons as per the JSON structure. Also, the JSON structure does not have any parameter that would correspond to the concept of 'firmly' in the command. Therefore, the correspondence is weak."] +Apply a grip to the object, using a 25-kilogram force.,['The response is:'];['1; The natural language command refers to the action "grip_object", but the metric unit used for force in the command is not compatible with the sample ontology which uses "newtons" as unit of force, not "kilograms".'] +Rotate the wrist joint clockwise by 90 degrees and dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'];['2; The JSON structure correctly represents the action of moving a specific joint (the wrist) in a specific direction (clockwise) by a certain angle (90 degrees). However, the speed parameter is not specified in the original command, and the "dance" command does not exist in the provided sample keys, so it should not be converted to JSON.'] +Dance while rotating the wrist joint 90 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'];['2; The JSON structure partially matches the natural language command. The rotation of the wrist joint is well represented in the JSON, including the angle and the direction of the rotation. However, the action of dancing is not covered in the JSON as there is no corresponding action in the sample ontology.'] +Perform a 90-degree clockwise wrist joint rotation and then dance.,['The response is ', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['1; The JSON structure correctly represents the command to "Perform a 90-degree clockwise wrist joint rotation", but the command to "dance" cannot be converted into JSON since it does not exist in the sample keys. The conformity score is therefore lower.'] +Begin by rotating the wrist joint 90 degrees clockwise, followed by dancing.,['The response is:'];['1; The action of "move_joint" is mentioned in the command but there is missing information in the parameters as it specifies "wrist" instead of "elbow". Additionally, "dancing" does not conform to any listed actions.'] +Start by turning the wrist joint clockwise by 90 degrees, then proceed to dance.,['The response is:'];['0; The natural language command includes a movement of the joint ("wrist") in a certain direction ("clockwise"), but the specific action ("dance") does not match any of the actions listed in the sample ontology, and "wrist" is not mentioned in JSON.'] +Lift the arm to a height of 50 centimeters.,['The response is an empty array.'];['0; The natural language command does not match with the provided JSON structure as there is no corresponding action or parameter involving lifting the arm to a particular height.'] +Raise the arm to a height of 50 centimeters.,['The response is an empty array.'];['0; The JSON structure does not correspond to the natural language command. The command refers to raising the arm but there is no action key for raising the arm in the given sample keys. Therefore, it cannot be converted to JSON.'] +Elevate the arm to a height of 50 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The command matches the "extend_arm" action in the JSON structure. The "extension_length" key\'s value matches with the 50.0 centimeters mentioned in the command. However, the "speed" value in the JSON structure does not match with the command because the speed is absent or not specified in the command.'] +Hoist the arm to a height of 50 centimeters.,['The response is an empty array.'];['0; The provided JSON structures do not contain any action for "hoist" or parameter for "height". Therefore, the natural language command cannot be accurately represented by any of the given JSON structures.'] +Bring the arm up to a height of 50 centimeters.,['The response is an empty array.'];['0; The provided JSON structures do not include an action that corresponds to the command "bring the arm up to a height of 50 centimeters." This action might be inferred from the "extend_arm" action, but the command specifies a height, not a length of extension. Furthermore, the command does not specify a speed for the movement, which is a required parameter in the "extend_arm" action. Therefore, the command does not conform to the JSON structures.'] +Rotate the base joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command matches with the JSON structure, though the value of "speed" is not specified in the natural language command but is included in the JSON.'] +Turn the base joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; Exactly conform. The command specifies moving a joint, which is an action in the ontology. All the parameters given in the command, such as the name of the joint, the direction, and the angle, match with the keys in the JSON structure. The speed isn't given in the command, but its presence in the JSON structure isn't problematic as it's a reasonable addition. The values of all parameters also match the types specified in the ontology."] +Rotate the base joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; Although the action "move_joint" and most parameters - "joint_name", "angle", "direction", "unit" match perfectly, there is a discrepancy with the "speed" parameter. While the JSON specifies a speed of 1.0 degree/s, the speed was not mentioned in the natural language command, so the JSON represents an assumption not found in the command.'] +Twist the base joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "'];['4.5; The JSON structure largely matches with the natural language command, but the natural language command does not specify the speed of the movement, so the "speed" field in JSON can have any reasonable value, not necessarily 1.0 as indicated in the JSON.'] +Make a 90-degree counterclockwise rotation of the base joint.,['The response is:'];['0; The JSON structure is not provided, therefore we cannot evaluate the conformity between the command and JSON information.'] +Extend the arm by 30 centimeters and hold for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; There is a discrepancy between the natural language command and the JSON structure. While the natural language command mentions holding for a duration of 10 seconds, this parameter is not reflected in the JSON structure. The JSON structure indicates a speed of 1.0 cm/s, which is not mentioned in the language command. Therefore, the JSON does not conform to the command.'] +Stretch the arm outwards, increasing its length by 30 centimeters for a duration of 10 seconds.,['The response is:'];['4; The natural language command partially matches with the second JSON structure which has the action "extend_arm". The parameters "extension_length" and "speed" are inferred, but the command doesn\'t specify the speed, therefore any reasonable speed value in JSON is accepted. The duration in natural language command doesn\'t have a corresponding key in the JSON structure.'] +Lengthen the arm by 30 centimeters and maintain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure correctly identifies the action "extend_arm" and the parameter "extension_length" with a value of 30.0. However, the natural language command specifies maintaining the extended position, which isn\'t directly represented in the JSON structure. The "speed" value of 0.0 is somewhat misleading as the command doesn\'t mention about speed of extension.'] +Protract the arm by 30 centimeters and keep it in that state for 10 seconds.,['The response is:'];["0; The natural language command doesn't match any of the provided JSON structures. It appears to combine elements from the 'extend_arm' and 'grip_object' actions, but there is no 'duration' parameter in 'extend_arm' action and the 'extension_length' value doesn't match. Also, the 'grip_object' action doesn't apply here as there's no mention of gripping any object in the command."] +Stretch the arm forward, elongating it by 30 centimeters, and sustain the position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command corresponds well to the JSON structure. The action "extend_arm" and the length of extension are well matched. However, speed was not mentioned in the natural language command, causing some discrepancy.'] +Move to position X:100, Y:50, Z:80 with a velocity of 10 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:100, Y:50, Z:80"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 10.0', ' }', ' }', '}'];["0; The natural language command asks for movement to a certain position while the JSON suggests a missing 'move_to_position' action. Thus, these two don't match. Furthermore, the provided JSON format does not exist in the sample keys given. The parameter velocity isn't part of the ontology and position parameter is described in an incompatible format."] +Travel to coordinates X:100, Y:50, Z:80 at a speed of 10 meters per second.,['The answer is 100 meters.'];['0; The provided JSONs do not contain any action or parameters for traveling to specific coordinates or moving at a specific speed in meters per second. Therefore, the natural language command does not conform to the sample keys provided.'] +Go to location X:100, Y:50, Z:80 at a rate of 10 meters per second.,['{', ' "location": {', ' "x": 100,', ' "y": 50,', ' "z": 80', ' }', '}'];['0; The provided JSON structure does not conform to the sample keys in the ontology. The command requires an action such as "move_to_location" which is not represented in the provided JSON structure and there\'s no parameter related to speed or coordinates in JSON examples in the ontology.'] +Reach the point X:100, Y:50, Z:80 at a velocity of 10 meters per second.,['The answer is 100 + 50 + 80 = 230 meters.'];['0; The provided JSON structure(s) do not match the natural language command. The command is suggesting a move in 3D space at a certain velocity, however such action or parameters do not exist within the given JSON structures. Furthermore, the JSON structures provided are wrong and not relevant to the command.'] +Advance to position X:100, Y:50, Z:80 with a speed of 10 meters per second.,['{', ' "action": "advance",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 100.0', ' },', ' "y": {', ' "type": "float",', ' "value": 50.0', ' },', ' "z": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'];['0; The natural language command speaks about an "advance" action with parameters including x, y, z coordinates and speed. But there is no correlation to the given JSON structures. The JSON structures have different actions including move_joint, extend_arm, grip_object, release_grip and set_orientation which do not match with the "advance" action. Furthermore, the action parameters of the JSON structures also do not match with the parameters given in the natural language command.'] +Activate the grip mechanism with a force of 8 kilograms.,['The response is:'];['0; The command mentions activating the grip with force specified in kilograms, but the ontology structure denotes force in newtons. This means they are not completely conform.'] +Engage the grip mechanism using a force of 8 kilograms.,['The response is:'];['1; The command talks about engaging the grip with a specific force which is somewhat in line with "grip_object" action in JSON. However, the unit of force is given in \'kilograms\' in the command which does not match with the \'newtons\' unit in the JSON structure.'] +Apply a force of 8 kilograms to activate the grip mechanism.,['The response is:'];['1; The natural language command refers to a "grip_object" action similar to the JSON structure, but the parameters value ("force") in the command is not matched in ontology as it is given in \'kilograms\' but according to ontology it should be in \'newtons\'.'] +Use a force of 8 kilograms to activate the grip mechanism's gripping function.,['The response is:'];['1; The natural language command partially matches with the "grip_object" action in the JSON structure. However, there is a mismatch in the unit of force used. The JSON structure uses newtons as a unit force while the command uses kilograms.'] +Activate the grip mechanism by exerting a force of 8 kilograms.,['The response is an empty array.'];['1; The natural command is asking to activate the grip which can be linked to the action "grip_object". However, the force is given in kilograms while the JSON structure expects the unit to be in newtons, and hence it does not conform fully.'] +Rotate the wrist joint clockwise by 30 degrees and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit'];['2.5; The "action" is correctly depicted as "move_joint", the "joint_name" is correctly given as "wrist", the "angle" value accurately reflects 30 degrees and the "direction" value is correctly stated as "clockwise". The command does not specify the speed at which the rotation should occur, therefore a speed value of 5 is not applicable. However, the JSON file mistakenly interpreted "hold for 5 seconds" as a speed value instead of a duration value. The given JSON structure does not have a duration key or value. Therefore, the structure is only partially aligned with the given command.'] +Rotate the wrist joint in a clockwise direction, angling it by 30 degrees and maintaining the position for a duration of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 0.5,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["3.5; The action and majority of parameters match the JSON structure, however there is a parameter in the natural language command (duration) that's not accounted for in the JSON. This results in a partial match."] +Turn the wrist joint to the right by 30 degrees, keeping it in that position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit":'];['0; The JSON structure provided does not match with the natural language command. The parameters in the command include joint_name (wrist), angle (30 degrees), direction (right), and a duration (5 seconds). However, the JSON structure does not include the duration or a means to communicate "keeping it in that position". Also, the value for "speed" in JSON structure does not match with the natural language command. Thus, it has no conformity with the command.'] +Retract the arm to its home position.,['The response is an empty array.'];['0; The provided command does not match any of the available JSON structure as there is no action - "retract_arm" in the ontology or similar. The provided JSON is also empty.'] +Move the arm back to its original position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];["1; The action 'move_joint' is used correctly, but the JSON provides values for joint_name, angle, direction, speed, and unit, which are not mentioned or implied in the natural language command. As such, these values don't match the command. The natural language command says to move the arm back to original position, which would imply a direction but the value provided is arbitrary without context."] +Return the arm to the starting point.,['The response is an empty array.'];["0; The provided JSON structures do not include any command or action related to returning the arm to the starting point. Therefore, it doesn't conform with any of the available commands."] +Bring the arm back to its home position.,['{', ' "action": "release_grip"', '}'];["1; The command wants to move the arm to original position but the provided JSON structure shows an action to release grip, not to move the arm. Although releasing the grip could be part of returning the arm to its home position, the JSON doesn't fully represent the provided command."] +Move the arm back to where it started.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];["1; The natural language command implies a return action to a previous state which may not necessarily only involve the 'elbow' joint as specified in the JSON. The JSON structure lacks information about where 'where it started' is, hence it does not substantially conform to the command. Furthermore, the command does not specify the direction and speed of movement, making it difficult to match with the JSON structure."] +Move to position X:0, Y:0, Z:100 with a velocity of 5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command is about moving to a certain position with a certain velocity, but the JSON structure is about moving a specific joint to a certain angle at a certain speed and direction. There's no match between the command and the JSON structure."] +Change your coordinates to X:0, Y:0, Z:100, and maintain a constant velocity of 5 meters per second.,['The response would be:'];['0; The provided JSON structures do not contain a key or an action for changing coordinates or maintaining speed. Therefore, the natural language command is not represented in any of the JSON structures provided.'] +Head towards position X:0, Y:0, Z:100 at a speed of 5 meters per second.,['{', ' "action": "head_towards",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:0, Y:0, Z:100"', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' }', ' }', '}'];['0; The provided natural language command refers to an action ("head_towards") and parameters ("position" and "speed") that do not exist in the provided sample keys. Therefore, it cannot be converted to JSON based on the existing structures.'] +Set your destination to X:0, Y:0, Z:100 and travel at a velocity of 5 meters per second.,['The response would be something like this:'];['0; The provided JSON structures do not contain any information related to setting a destination or travelling at a certain velocity. Hence, the command does not conform to the provided sample ontology.'] +Travel to the location specified by X:0, Y:0, Z:100 with a constant velocity of 5 meters per second.,['The answer is 100 meters.'];['0; The natural language command talks about a movement action to a specific location in a 3D space with a certain speed, which is not present in any of the shown JSON structures. There are no matches in the JSON keys to correspond to this command, hence no match.'] +Grip the object with 10 kilograms of force.,['The response is accepted.'];["1; The natural language command asks to grip the object with a force value that's not in the correct unit (it's in kilograms, not newtons as per the JSON structure)."] +Apply a force of 10 kilograms to grip the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command indicates a force, but the unit mentioned is "kilograms" while the JSON structure follows the unit of "newtons", hence the units don\'t conform. Also the value for "duration" parameter is assumed in JSON structure, but it is not specified in the natural language command.'] +Exert 10 kilograms of force to securely hold the object.,['The response is accepted.'];['0; The command doesn\'t match any of the sample keys in the provided JSON structures. The action "grip_object" could be a possible match, but the parameter "force" is in "newtons", not "kilograms".'] +Use 10 kilograms of force to firmly grasp the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The JSON structure represents an action of 'grip_object', which matches with the natural language command of grasping an object. But the unit of force in the JSON is 'newtons' whereas in the command it is 'kilograms'. Also, the ‘duration’ parameter was not specified in the command but it was filled in JSON."] +Apply a gripping force of 10 kilograms to firmly hold onto the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command asks for a gripping force of 10 'kilograms' while the JSON response mentions the force in 'newtons', not 'kilograms'. The duration value and unit in the JSON don't match the natural language command either."] +Extend the arm by 20 centimeters, then retract it by 10 centimeters.,['The response is:'];["0; The provided JSON structures do not contain any action for retracting the arm. The command can only partially be converted to the JSON structure, so it's not a match."] +Lengthen the arm by 20 centimeters, then shorten it by 10 centimeters.,['The response is an empty array.'];['0; The JSON structure is an empty array and does not provide any information that corresponds to the natural language command requesting to extend and then retract the arm. Thus, there is no conformity.'] +Stretch the arm outwards by 20 centimeters, then pull it back in by 10 centimeters.,['The response is:'];["2; The command specifies the action of extending and retracting the arm which partially corresponds to the 'extend_arm' action in the ontology. However, the JSON structure for 'retracting' the arm or action of pulling it back in does not exist in the provided ontology. Also, no specific JSON structures are provided to justify the conformity score."] +Increase the arm's length by 20 centimeters, then decrease it by 10 centimeters.,['The response is:'];['2; The natural language command refers to the action of extending the arm as per the second JSON structure, however, the command requires two sequential actions (increase then decrease), which is not mirrored in this JSON ontology. Additionally, while the "extension_length" parameter is mentioned, the specific value change (from 20cm up to 10cm down) is not reflected.'] +Expand the arm by 20 centimeters, then shrink it by 10 centimeters.,['The response is ', ''];["0; The provided JSON structures do not match with the natural language command given. The command talks about expanding and shrinking the arm, however, no such action exists in the sample keys. The 'extend_arm' action could be considered but it doesn't have an option for shrinking."] +Rotate the base joint clockwise by 180 degrees and hold.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];['4; The action, joint_name, angle, and direction in the given JSON structure match the command perfectly. However, the speed does not conform perfectly as the command does not explicitly ask to "hold" but rather rotate a certain amount. The JSON interprets this as a speed of \'0.0\' which isn\'t entirely accurate.'] +Please rotate the base joint in a clockwise direction by 180 degrees and maintain that position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];["5; The natural language command exactly conforms the JSON structure. The 'action' is 'move_joint', with 'joint_name' value of 'base', 'angle' as '180.0', 'direction' as 'clockwise', and a speed ('speed') is also specified, albeit as '0.0' which could indicate maintaining the position. The unit of measurement is not specified here in JSON, but it could be assumed as 'degrees' and 'degrees/s' based on the context of the command."] +Rotate the base joint 180 degrees in a clockwise manner and keep it in place.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];['5; The given JSON structure correctly corresponds to the natural language command. It specifies moving a joint with further details that the joint is the "base", it should be moved 180 degrees, in a clockwise direction, and with speed 0.0 which means it needs to be kept in place. The unspecified parameters in the command are filled without contradiction.'] +Turn the base joint in a clockwise direction by 180 degrees and hold that position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];['4.5; The JSON structure matches the natural language command almost perfectly as it correctly identifies the "action" as "move_joint" and the joint to be moved as "base". Similarly, the "direction" is identified as "clockwise" and the "angle" to move is 180. However, the speed in the JSON structure is specified as 0.0, which doesn\'t clearly align with the command of holding the position after moving.'] +Rotate the base joint in a clockwise fashion, making a 180-degree turn, and hold steady.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];['4; The command matches the "move_joint" action in the JSON structure well, including the \'joint_name\', \'angle\', and \'direction\'. However, the speed of rotation is specified as 0 in the JSON structure, while the natural language instruction does not provide such information, leading to a slight mismatch.'] +Move to position X:50, Y:100, Z:0 with a velocity of 7 meters per second.,['The response is an empty array.'];['0; The natural language command does not match the given JSON structures. There is no action related to moving to a certain position in the provided JSON examples. The criteria mentioned in the command like X, Y, Z positions and velocity do not exist in the JSON structures.'] +Go to coordinates X:50, Y:100, Z:0 at a speed of 7 meters per second.,['The response would be something like this:'];['0; The provided natural language command does not match any of the JSON structures given in the sample ontology. There are no actions or parameters relating to coordinates or speed in meters per second.'] +Travel to the point X:50, Y:100, Z:0 with a velocity of 7 meters per second.,['The answer is 7 * 3 = 21 meters.'];['0; The command is related to moving to a certain point with a specific velocity, which does not conform with any of the JSON structures provided. The JSON structures are about moving joint, extending arm, gripping object, releasing grip, and setting orientation. Therefore no match.'] +Change your position to X:50, Y:100, Z:0 at a rate of 7 meters per second.,['{', ' "action": "change_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 50.0', ' },', ' "y": {', ' "type": "float",', ' "value": 100.0', ' },', ' "z": {', ' "type": "float",', ' "value": 0.0', ' },', ' "rate": {', ' "type": "float",', ' "value": 7.0', ' }', ' }'];['0; The natural language command refers to a "change_position" action, but there\'s no such action in the given ontology. The given ontology only supports "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation" actions. Therefore, the natural language command and the JSON structure don\'t match.'] +Reach the coordinates X:50, Y:100, Z:0 while moving at a speed of 7 meters per second.,['The response is:'];['0; The given natural language command does not match with any of the provided JSON structures as it is referring to movement to specific coordinates, a command which is not present in the sample ontology.'] +Lift the arm to a height of 80 centimeters and hold for 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["0; The JSON structure doesn't match the command. The command says to hold the arm at 80 cm for 8 seconds, but the JSON structure is coded to extend the arm at a speed of 8 cm/s. Hence, the speed part is misinterpretation of holding duration. The JSON does not reflect an action of holding something for a certain duration."] +Raise the arm to a height of 80 centimeters and maintain the position for 8 seconds.,['The response is:'];['0; The natural language command implies an action that may correspond to "extend_arm" or "move_joint". But, it is not clear if the \'height\' refers to \'extension_length\' or \'angle\' in the provided ontology. Also, there is no provision in the JSON structures to maintain a position for a certain \'duration\' as mentioned in the command. Therefore, the command doesn\'t conform to the sample ontology.'] +Elevate the arm to a height of 80 centimeters and keep it there for a duration of 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["2; The JSON structure matches the 'extend_arm' action in the sample keys, however, the speed parameter is not represented in the natural language command and the duration parameter mentioned in the natural language command is not included in the JSON structure. Therefore, the script partially matches the command but lacks important aspects."] +Hoist the arm up to a height of 80 centimeters and remain in that position for a period of 8 seconds.,['The response is:'];['0; The natural language command and JSON information do not match. There is no JSON structure that represents hoisting the arm to a certain height and remaining in that position for a specified period.'] +Move the arm upward to a height of 80 centimeters and hold steady for 8 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The command to "hold steady for 8 seconds" does not match with any action or parameter in the provided JSON structure. The "speed" parameter in the JSON structure also does not imply holding the position for a duration, it denotes the speed at which the action should be performed. Thus, the provided JSON does not fully conform to the command.'] +Retract the arm halfway and pause for 3 seconds.,['The response is:'];["0; The command involves retracting the arm, which isn't represented in any of the JSON structures provided in the sample keys. Thus, there is no conformity."] +Pull the arm back to the middle point and wait for 3 seconds.,['The response is an empty array.'];['0; The natural language command does not match any of the provided JSON structures. It would require an action such as "retract_arm" or "move_joint", and parameters such as "duration" or "position", which are not present in the sample ontology.'] +Bring the arm back halfway and hold for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The JSON structure has the action "extend_arm", which can be interpreted from the command "Bring the arm back halfway", but the "extension_length" value in the JSON structure doesn\'t match with the half length suggested by the command. The speed value and unit are completely absent in the command. Furthermore, the command refers to holding the position for a duration, which doesn\'t fit with the JSON structure at all.'] +Move the arm in reverse to reach the half position, then take a pause of 3 seconds.,['The response is:'];['0; The JSON structures do not contain enough information to perform the described action. The natural language command appears to be referring to the "move_joint" action and possibly the "grip_object" action (assuming "pause" refers to "duration"), but the expected parameters such as \'direction\' (for \'reverse\') and specific joint angle(for \'half position\') are not clearly mentioned.'] +Withdraw the arm to the midpoint, then wait for 3 seconds.,['The response is an empty array.'];['0; The natural language command does not match any action in the JSON structure. It mentions withdrawing an arm and waiting which neither is represented in the given JSON structures.'] +Rotate the wrist joint counterclockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 60.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command perfectly matches with the JSON structure. The command\'s action "move_joint" is reflected in the JSON and all its parameters like joint_name, angle, direction are present and have reasonable values in the JSON. Unit and unit_speed are also mentioned correctly.'] +Turn the wrist joint to the left by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit":'];['4; The natural language command is almost entirely represented by the JSON structure. However, the JSON structure mentions a speed value that was never specified in the command, hence handful points were deducted.'] +Twist the wrist joint anticlockwise by 60 degrees.,['The response is:'];['1; The command given involves moving a joint but in the JSON structure, the joint specified is "elbow", not "wrist". The direction given in the JSON structure is also "clockwise" which doesn\'t match the "anticlockwise" direction in the command. The only matching parameter is the "angle".'] +Rotate the wrist joint in a counterclockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 60.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command mostly conforms to the JSON structure. The action is correct as "move_joint", the "joint_name" matches as "wrist", "angle" has a correct value of 60.0, and "direction" is "counterclockwise". However, the command does not specify the "speed" for the action, so the provided speed value of 1.0 in JSON is an assumption.'] +Move the wrist joint 60 degrees in the opposite direction of the clock.,['The response is:'];["2; The natural language command mostly aligns with the 'move_joint' action in the JSON structure; the 'joint_name' parameter's value is different, and no 'speed' parameter is mentioned in the command. Also, the 'direction' is not entirely clear from the command as it's not specified if the original movement was clockwise or anti-clockwise. Therefore, the JSON structure only partially matches the command."] +Move to position X:75, Y:25, Z:50 with a velocity of 8 meters per second.,['The response is:'];['0; The natural language command refers to a movement to a specific position in three-dimensional space with a specified velocity. This does not match any of the JSON structures provided, as they deal with actions such as moving a specific joint, extending an arm, gripping and releasing objects, and setting orientation. Hence there is no conformity between the command and the JSON information.'] +Go to coordinates X:75, Y:25, Z:50 at a speed of 8 meters per second.,['The response would be something like this:'];['0; The provided JSON structures do not have an action to move to specific coordinates or a key for setting the speed in meters per second. Therefore, the command does not conform to the available JSON structures.'] +Travel to X:75, Y:25, Z:50 at a velocity of 8 meters per second.,['The answer is 8 * 75 + 8 * 25 + 8 * 50 = 800 meters.'];['0; The given natural language command does not match any of the JSON structures. The command refers to moving to specific coordinates at a certain speed, but none of the provided JSON structures refer to such an action or those parameters.'] +Proceed to position X:75, Y:25, Z:50 at a rate of 8 meters per second.,['The response would be:'];["0; The natural language command doesn't match with any of the provided JSON structures. The command involves moving to a specific position at a certain rate, while the JSON structures only include moving a joint, extending an arm, gripping an object, releasing grip, and setting orientation. None of the JSON structures contains parameters for positioning or moving rate in meters per second."] +Head towards X:75, Y:25, Z:50 with a speed of 8 meters per second.,['The response would be something like this:'];['0; The provided JSON structures do not have a matching command for moving to specific coordinates or changing speed in three-dimensional space, which is what the natural language command is asking for.'] +Extend the arm by 25 centimeters and hold for 4 seconds.,['The response is:'];['1; The natural language command refers to extending the arm and holding the position, however the JSON structure provided only caters for the extension of the arm and does not include a duration or "hold" parameter. Furthermore, the extension_length value given in the command (25cm) does not match the value in the JSON structure (10cm).'] +Stretch out the arm, increasing its length by 25 centimeters, and keep it in that position for 4 seconds.,['The response is:'];['2; The command partially matches with the \'extend_arm\' action in the JSON structure. The "extension_length" of 25.0 cm aligns with the command. However, the "duration" mentioned in the command does not have a corresponding key in the given JSON structures. Hence, it\'s a partial match.'] +Lengthen the arm by 25 centimeters and maintain the position for a duration of 4 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure corresponds to the "extend_arm" action which is correct based on the command. However there is a mismatch in the "speed" parameter\'s value, which is not mentioned in the command. Also, there is no information in the JSON structure related to maintaining the position for a duration of 4 seconds.'] +Protract the arm, adding 25 centimeters to its length, and hold steady for a period of 4 seconds.,['The response is:'];['1; While the command does mention an action similar to "extend_arm" and it talks about increasing the length (which could be seen as extension_length), it doesn\'t give any information about the speed which is a key parameter in the `extend_arm` action. In addition, the time period mentioned does not match with any parameter in the JSON structure.'] +Elongate the arm by 25 centimeters and sustain the extension for a duration of 4 seconds.,['The response is:', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["3; The action and the extension_length are correctly interpreted in the JSON structure. However, the duration for which the extension should be sustained has been incorrectly interpreted as speed in the JSON structure. The JSON doesn't contain a specific field for duration in extend_arm action. Thus, the conversion isn't fully accurate but the key elements of the command have been mapped to the right categories."] +Grip the object with 6 kilograms of force, then release after 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The "action": "grip_object" matches the provided command, and the duration parameter is also correctly represented. However, the unit for force in the command (\'kilograms\') contradicts the sample ontology which uses \'newtons\'. Therefore, the JSON doesn\'t perfectly conform to the given ontology.'] +Apply a pressure of 6 kilograms to secure your grip on the object, and then let go after 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];["0; The JSON structure does not match the command. The command is about 'grip_object' action with specific force and duration parameters while the JSON structure represents 'release_grip' action with no parameters."] +Exert a force of 6 kilograms to grasp the object tightly, and then release it after a duration of 2 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 6.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action "grip_object" and duration parameter match with the JSON structure but the force value and unit are incorrect. The command mentions force in kilograms, which is a measure of mass, not force. The JSON structure requires the force value to be in newtons. Here, we don\'t have a direct conversion from kilograms to newtons as it depends on acceleration due to gravity, hence it\'s a mismatch.'] +Clamp onto the object with a force of 6 kilograms, and then loosen your grip after 2 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The JSON data does not match the natural language command. The command speaks about clamping on an object, while the JSON data speaks about setting orientation. Additionally, the force mentioned in the command is in kilograms, while the force in the JSON data should be in newtons according to the sample description. Also, the duration for which the grip should be held is not mentioned in the JSON.'] +Use 6 kilograms of pressure to firmly hold onto the object, and then release it after a 2-second interval.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['1; The JSON structure represents the action "release_grip" with no parameters. However, the command given mentions applying a certain amount of pressure to hold an object, and does not match with the JSON structure provided.'] +Rotate the base joint counterclockwise by 270 degrees and hold.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];["4; The natural language command and JSON structure mostly match. The action of moving a joint and the parameters such as joint name, angle, and direction are correctly identified. However, the 'hold' command in the natural language is not represented in the JSON structure, and the speed is set to 0.0 in the JSON where it wasn't specified in the natural language command."] +Turn the base joint in an anti-clockwise direction by 270 degrees and maintain the new position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'];['4; The JSON structure matches the given command for most parts, with the "action" correctly set as "move_joint", and the "joint_name" and "direction" correctly identified. The "angle" is also accurately represented as 270.0 in float value. However, the "speed" parameter is not mentioned explicitly in the command, so it shouldn\'t be set as 0 in the JSON. Also, the part about "maintain the new position" is not represented in the JSON at all. Respective keys for the same need to be established and reflected in the JSON to gain full points.'] +Rotate the base joint by 270 degrees in a counterclockwise direction and keep it there.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['4.5; The JSON structure does match with the natural language command in terms of the action and the parameters. "joint_name" is base, "angle" is 270, and "direction" is counterclockwise. However, for the "speed" it\'s assumed to be 0.0 but that information is not specified in the natural command.'] +Make a 270-degree counterclockwise rotation to the base joint and hold it.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];["4; The natural language command matches with the 'move_joint' action in the JSON keys. The 'joint_name' parameter is referenced correctly as 'base', and the 'angle' and 'direction' are also correctly specified as 270.0 and 'counterclockwise' respectively. However, the speed in the JSON is given as 0.0 which does not conform with the command of 'hold it' which implies some speed. The 'hold' command is not present in the JSON structure.", ''] +Twist the base joint counterclockwise by 270 degrees and keep it steady.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];["4; The command and JSON structure are mostly conformant. The action, joint name, angle and direction are correctly matched. However, the value for speed is not specified in the natural language command, but is included in the JSON structure. This mismatch is minor and doesn't significantly impact the overall conformity."] +Move to position X:200, Y:150, Z:100 with a velocity of 12 meters per second and then dance.,['The response is:'];['0; The natural language command talks about moving to a certain position and then dancing, none of which aligns with the JSON structures provided which concern movement of specific joints, extension or retraction of an arm, gripping and releasing an object, and setting orientation.'] +Dance after moving to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,['The response would be something like this:'];['0; The natural language command does not match any of the JSON structures provided. There is no action command related to dancing or moving to coordinates in the ontology.'] +After reaching the position X:200, Y:150, Z:100 with a velocity of 12 meters per second, start dancing.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];["0; The natural language command describes reaching a specific location at a certain speed and then commencing to dance. However, the JSON structure represents setting an orientation to 'upright'. There is no matching between the command and the JSON structure provided."] +Begin dancing once you have moved to the coordinates X:200, Y:150, Z:100 at a speed of 12 meters per second.,['The response is:'];["0; The natural language command does not match any of the JSON structures provided. There are no actions related to 'dancing' or moving to specific coordinates in the sample ontology."] +After traveling to the position X:200, Y:150, Z:100 at a velocity of 12 meters per second, proceed to dance.,['The response is accepted.'];["0; The natural language command doesn't correspond to any of the provided JSON structures. There is no action or parameter for traveling to a position or for dancing."] +Turn the robot arm on.,['{', ' "action": "turn_on"', '}'];["0; The natural language command 'Turn the robot arm on' does not conform to any of the available actions in the JSON structures provided. The action 'turn_on' does not exist in the sample keys."] +Activate the robot arm.,['{', ' "action": "activate_robot_arm"', '}'];['0; The provided JSON structure does not match with any action given in the sample ontology. The "activate_robot_arm" action does not exist in the given ontology.'] +Switch on the robot arm.,['The response is:'];["0; The command does not match with any of the given JSON structures. The action of 'switching on' the robot arm is not defined in the JSON structure keys."] +Power up the robot arm.,[''];['0; The command "Power up the robot arm" does not correspond to any of the listed JSON structures. It lacks a matching "action" and "params".'] +Enable the robot arm.,[''];["0; The natural language command does not match any JSON structure as there are no matching 'action' or 'params' keys in the sample ontology."] +Open the gripper completely.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform. The command "Open the gripper completely" matches exactly with the action "release_grip" which does not require any parameters.'] +Fully open the gripper.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 10.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The JSON structure does not match the natural language command. The command specifies to open the gripper, however, the JSON structure represents the action of extending the arm. There is no correlation between these two actions.'] +Open the gripper all the way.,['The response is an empty array.'];['0; The JSON structure does not match with the natural language command, because the action mentioned in the command "Open the gripper" is not represented in the JSON structures given.'] +Ensure that the gripper is completely open.,['The gripper is completely open.'];['1; The JSON information provided does not directly correspond to the natural language command. The command asks to ensure that the "gripper is completely open" which suggests a "release_grip" action. However, there are no "params" provided in the JSON to indicate the state of the "gripper" being "completely open". So, the extraction can\'t be entirely accomplished.'] +Make sure the gripper is fully opened.,['The gripper is fully opened.'];['0; The natural language command implies the action of opening or releasing the grip, however, the JSON provided does not match this action. The correct action "release_grip" is not included in the JSON.'] +Move the arm to position X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not match the natural language command. The command specifies moving the arm to certain X, Y, Z coordinates, but the JSON structure is for the "move_joint" action with parameters such as joint name, angle, direction, speed, which are completely unrelated to the given command.'] +Position the arm to coordinates X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The given command provides coordinates for positioning an arm which doesn\'t match the sample ontology\'s keys. The provided JSON structure, with action "move_joint", also doesn\'t align with the parameters specified in the natural language command.'] +Adjust the arm to X:50, Y:75, Z:100.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];['0; The natural language command instructs to adjust the arm to certain coordinates while the JSON structure sets an upright orientation. There is no obvious correspondence between the coordinates in the command and the upright orientation in the JSON structure.'] +Shift the arm to coordinates X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command instructs to move the arm to certain coordinates, which is not represented in the provided JSON structures. The provided JSON structures concern moving a joint, extending an arm, gripping or releasing an object, or setting an orientation, not moving to specific coordinates. Thus, the command doesn't match with the available JSON information."] +Set the arm to position X:50, Y:75, Z:100.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];['0; The natural language command suggests an "action" of setting arm position in 3-dimensional space with parameters for X, Y, and Z coordinates. However, the JSON structure mentioned refers to an "action" of "set_orientation" with a "params" key for orientation, with a single string value of "upright". None of these details match the command, providing no conformity.'] +Rotate the elbow joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure. The "action" is correctly identified as "move_joint" and the parameters such as "joint_name", "angle", "direction", "unit" and "unit_speed" are correctly identified, even if the "speed" value is considered reasonable because it wasn\'t specified in the command.'] +Turn the elbow joint in the counterclockwise direction, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command exactly corresponds to the JSON structure. The "action" is "move_joint" and the parameters "joint_name", "angle", "direction", "unit", and "unit_speed" are all specified correctly. The value of "speed" isn\'t mentioned in the NL command, but as per the example note, any reasonable values in JSON is accepted. Thus, it\'s a perfect match.'] +Rotate the elbow joint towards the left, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The JSON structure correctly represents the action of moving a joint (the elbow in this case), the direction of the movement is counterclockwise (equivalent to left), the angle of movement is 90 degrees and the speed of the joint's movement is assumed to be 1.0 degrees per second. The JSON and the command are in perfect agreement."] +Twist the elbow joint counterclockwise, making a rotation of 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['4; The JSON matches the "move_joint" action and specifies the "elbow" as the joint to be moved, an angle of "90.0", and a direction of "counterclockwise" which is all according to the command. However, the speed is mentioned in JSON but it was not specified in the natural language command.'] +Spin the elbow joint in a counterclockwise manner, angling it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['5; The natural language command perfectly matches with the provided JSON structure. The \'action\' is correctly identified as "move_joint". The \'params\' also match with the given command including \'joint_name\' with value "elbow", \'angle\' with a float value of 90.0, and \'direction\' as "counterclockwise". Although the speed is not mentioned in the command, it\'s considered to have a reasonable value of 1.0. Thus, the conformity is exact.'] +Extend the arm by 20 centimeters at a velocity of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'];['5; Exactly conform.'] +Increase the arm length by 20 centimeters, moving at a speed of 10 cm/s.,['The response is:'];['4; The natural language command essentially matches the JSON "extend_arm" action, but the extension_length value is not matched since the command specifies 20 instead of 10 as shown in the example JSON. The speed value and the units are perfectly matched while other parameters that aren\'t specified in the command are considered as acceptable.'] +Stretch the arm out by an additional 20 centimeters, with a velocity of 10 cm/s.,['The response is:', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The given JSON structure perfectly matches the natural language command, which says to extend the arm by 20 centimeters at a speed of 10 cm/s. The JSON structure specifies the action as "extend_arm", the extension_length value is 20.0 (which matches the command\'s 20 centimeters), the speed value is 10.0 (which matches the command\'s 10 cm/s), the unit_length is "centimeters", and the unit_speed is "cm/s".'] +Lengthen the arm by 20 centimeters, moving at a rate of 10 cm/s.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; Exactly conform.'] +Expand the arm's reach by 20 centimeters at a speed of 10 cm/s.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command perfectly matches the JSON information. Every parameter specified in the command is duly referenced with exact values in the JSON structure. The action "extend_arm", the extension_length of "20.0", the speed "10.0", the unit_length "centimeters", and the unit_speed "cm/s" are all correct.'] +Grip the object with 3 kilograms of force.,['The response is 3.'];["0; The JSON structure does not match the natural language command given. The command refers to gripping an object with a certain force but the provided JSON dictionary is simply ['The response is 3.']. Additionally, the force in the command is given in kilograms which is not a unit of force (newtons would be expected). This is neither accurate representation of the command or action needed nor adhering to the sample keys in the ontology."] +Apply a 3-kilogram force to grasp the object.,['The response is:'];["4; The natural language command matches with the 'grip_object' action in the JSON, but the value of the force is noted in different units (kilograms in the command vs. newtons in the JSON). However, both refer to measures of force."] +Exert 3 kilograms of force to grip the object.,['The response is 3.'];['0; The natural language command does not match any JSON structure present. The "action" of gripping an object is present, however, the unit of force is incorrect in the natural command ("kilograms" should be "newtons") and there is no parameter of "duration" provided.'] +Use a force of 3 kilograms to hold onto the object.,['The response is:'];['1; The natural command request to "grip_object" which is present in the JSON structures, however, the unit of force mentioned in the command, "kilograms", does not match the unit specified in the JSON structure, "newtons". Hence, the command does not fully match the information given in the JSON.'] +Hold the object with a force of 3 kilograms.,['The response is an empty array.'];["0; The JSON structure does not match the command. The command talks about 'holding an object with a force of 3 kilograms', however, the provided JSON does not include the 'action' for gripping an object or the 'params' expressing the force in kilograms."] +Retract the arm by 30 centimeters at a velocity of 5 cm/s.,['The response is:'];['0; The JSON structures provided don\'t have an action for retracting the arm nor do they have parameters that match "retraction_length" and "velocity".'] +Move the arm backwards by a distance of 30 centimeters, with a speed of 5 cm/s.,['The response is:'];['2; The natural language command refers to movement of the arm, which somewhat aligns with the "extend_arm" action in the JSON structures. However, the command specifies a backward movement which doesn\'t have a corresponding parameter or value in the JSON structures. The extension_length and speed parameters match well with the JSON structure. However, the command doesn\'t perfectly fit into the action within the available options.'] +Withdraw the arm by 30 centimeters, advancing at a rate of 5 cm/s.,['The response is:'];["2; The JSON structure does not include an action for retracting or withdrawing the arm. The closest match is the 'extend_arm' action but it refers to extension, not retraction. However, the parameters for length and speed do match."] +Pull back the arm by 30 centimeters, traveling at a velocity of 5 cm/s.,['The response is:'];['1; The natural language command is asking to change the arm\'s position which is somewhat similar to the "extend_arm" action in the ontology, but the direction is different (pulling back instead of extending) and JSON structure does not provide a way to express this direction difference. Also, the command suggests a "velocity" while the ontology presents a "speed" concept. The \'extension_length\' provided in the command is also not matching with the JSON structure. Due to these mismatches, the score is low.'] +Reverse the arm's position by 30 centimeters, with a speed of 5 cm/s.,['The response is:'];['0; The given natural language command refers to moving the arm position, however, the provided JSON structures do not have an action to reverse arm position by a specific number of centimeters. The "extend_arm" action theoretically could be used to interpret this command, but it\'s a stretch as reversing the arm\'s position is substantially different from extending it.'] +Rotate the wrist joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'];['5; The JSON structure correctly captures the details given in the natural language command. The action "move_joint" is suitable and all parameters (joint_name, angle, direction) match correctly. Though the speed is not specified in the command, the JSON value of 0.0 is accepted as a reasonable default value.'] +Alter the position of the wrist joint in a counterclockwise direction by an angle of 180 degrees.,['The response is:'];['2; The natural language command matches with the "move_joint" action in the JSON structure, but the "joint_name" is "wrist" instead of "elbow" in the JSON structure. Also, the "direction" is counterclockwise instead of clockwise. The conformity is partial.'] +Turn the wrist joint counterclockwise with a rotation of 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'];['5; The natural language command and the JSON structure are perfectly matched. The "action" is "move_joint" which is correctly identified. "joint_name" is identified as "wrist", "angle" as 180.0, and "direction" as "counterclockwise". The speed is not mentioned in the command but a reasonable value of 0.0 is supplied in JSON. The units are not specified in the JSON but they can be inferred from the ontology provided.'] +Rotate the wrist joint in a counterclockwise manner, shifting it by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'];['5; The JSON structure perfectly matches the natural language command. The action is correctly identified as "move_joint", and the \'joint_name\',\'angle\' and \'direction\' parameters correspond correctly to "wrist", 180.0 and "counterclockwise" respectively. A speed value is present even though it wasn\'t mentioned in the command; but any reasonable value is accepted if not specified in command, as per the instructions. So overall, it shows a full conformity between the command and JSON structure.'] +Perform a 180 degree counterclockwise rotation on the wrist joint.,['The response is:'];["4.5; The command is almost perfectly reflected in the JSON structure. The 'action' key corresponds to 'move_joint', 'joint_name' to 'wrist', 'angle' to 180, 'direction' to 'counterclockwise'. However, 'speed' is not specified in natural language command, it could have any reasonable value in JSON."] +Move the arm to position X:100, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command specifies a move to a specific XYZ position. This doesn\'t match with the JSON structure provided, which details movement of a specific joint ("elbow") with defined speed and direction. Also, parameters of position X, Y, Z does not exist in the parameters of JSON structures.'] +Adjust the position of the arm to X:100, Y:0, Z:50.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];["0; The natural language command refers to adjusting the position of the arm using X, Y, Z coordinates. The provided JSON refers to setting the orientation to upright. There's no matching between the command and the JSON structure."] +Relocate the arm so that it is at X:100, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not match with the natural language command. The command talks about moving the entire arm to a specific coordinate position (X:100, Y:0, Z:50), while the JSON structure only pertains to moving a specific joint (elbow) within the arm. There are also no parameters in the JSON to represent X, Y, or Z coordinates.'] +Shift the arm's position to X:100, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "'];["0; The natural language command and the JSON structure do not match. The command refers to shifting the arm's position, which is not an action in the given ontology. Furthermore, the use of X,Y,Z coordinates does not align with the ontology which uses joint names and angles for movements."] +Transfer the arm to the coordinates X:100, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command mentions moving the arm to specific coordinates which is not represented in the JSON structure. The JSON structure shows moving a specific joint in a certain direction, angle, and speed, not moving the entire arm to a certain coordinate.'] +Open the gripper halfway.,['The response is an empty array.'];['0; The natural language command does not match with any of the provided JSON structures, as there are no provisions for opening the gripper halfway.'] +Partially open the gripper.,['The response is:'];['0; The natural language command refers to an action - "open the gripper" - that doesn\'t exist in the sample keys. Therefore, it cannot be converted to JSON.'] +Open the gripper to a halfway position.,['The response is an empty array.'];['0; The JSON structure does not match the command as no action to open the gripper to a halfway position is defined.'] +Adjust the gripper to a halfway open position.,['The halfway open position of the gripper is 5 centimeters. The answer is 5.0.'];['0; The command does not match any of the provided JSON structures. No corresponding action or parameters for "adjust gripper" or "halfway open position" are present.'] +Set the gripper to open at a midpoint.,['The response is an empty array.'];['0; The JSON structure does not match the command. The command suggests an action to open the gripper which does not exist in the sample keys, hence it cannot be converted to JSON.'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['4; The natural language command and the JSON structure have a high level of conformity, with matching action and parameters such as the joint name, angle, and direction. The only parameter that\'s not specified in the natural language command is the "speed", but the value in the JSON (0.5) is assumed to be reasonable. Therefore, the score is 4.'] +Turn the shoulder joint in a clockwise direction at a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['4; The JSON structure correctly represents the action of moving a joint and specifies the "shoulder" joint, the direction as "clockwise", and the angle as 45.0, which aligns with the natural language command. However, the speed value is not mentioned in the natural language command, therefore, this value of 0.5 could be any reasonable value.'] +Rotate the shoulder joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 45.0,', ' "direction": "right",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; Most keys in the JSON match the natural language command e.g. "action": "move_joint", "angle": 45.0, "unit": "degrees", etc. However, the direction in the command is \'right\' while in the JSON it\'s \'clockwise\' and the joint_name in the command is \'shoulder\' while it\'s \'elbow\' in the JSON. The \'speed\' key is also included in the JSON with a value, but the speed is not mentioned in the command.'] +Twist the shoulder joint in a clockwise motion, 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['4; Almost perfect match but the "speed" value is not mentioned in the natural language command so the "speed" value of 0.5 in the JSON structure is arbitrary.'] +Adjust the shoulder joint by rotating it clockwise at a 45-degree angle.,['The response is:'];['2; The JSON structure does not completely match the command. While the "move_joint" action and the "clockwise" direction, as well as the angle value are correct, the joint_name is not aligned. The command refers to the "shoulder" joint, while the JSON structure specifies the "elbow" joint.'] +Extend the arm by 10 centimeters at a velocity of 8 cm/s.,['The response is:'];['3; The action "extend_arm" matches. The "extension_length" is correctly identified as 10cm. However, the "speed" in JSON does not match with the natural command (1.0 is not equivalent to the 8 cm/s given in the command). The units are correct.'] +Increase the length of the arm by 10 centimeters at a speed of 8 centimeters per second.,['The response is:'];['4; The command partially matches with the \'extend_arm\' action in the JSON structure. Although the extension length is correctly stated as 10 centimeters which matches the \'extension_length\' parameter, the specified speed of 8 cm/s in the command does not match with the value given in the \'speed\' parameter of the JSON structure which is 1.0 cm/s. The values for \'unit_length\' and \'unit_speed\' perfectly matches as "centimeters" and "cm/s" respectively.'] +Lengthen the arm by 10 centimeters with a velocity of 8 centimeters per second.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The command matches the JSON structure correctly in action and parameters. However, the speed given 8 cm/s in the command does not match the speed in the JSON structure which is 1.0 cm/s, thus it doesn't fully conform."] +Stretch the arm outwards by 10 centimeters, moving at a speed of 8 centimeters per second.,['The response is:'];['3; The provided JSON command carries out the correct "extend_arm" action as instructed and the "extension_length" matches (10 cm). However, the speed value doesn\'t conform as the speed in the JSON is 1.0 cm/s while the command requests 8 cm/s.'] +Expand the arm's length by 10 centimeters, while maintaining a velocity of 8 centimeters per second.,['The answer is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 8.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command and the JSON structure are somewhat matching, but the speed value is different. In the command the speed value specified is 8 cm/s while in the JSON structure it is 1 cm/s. But the command is keeping the unit specification and other parameters as per the sample ontology.', ''] +Grip the object with 2 kilograms of force.,['The response is 2.'];['0; The JSON structure does not match the natural language command. The command requires gripping an object with a specified force, but the JSON structure does not contain any equivalent action or parameters to show this operation. Also, the unit in the command is in kilograms which is a unit of mass, not force. The sample ontology uses newtons as the unit of force.'] +Apply 2 kilograms of force to grasp the object.,['The response is 2.'];['2; The natural language command matches well with the "grip_object" action in the JSON structure, but it uses a different unit of force ("kilograms") than the one provided in the sample ontology ("newtons").'] +Exert a force of 2 kilograms to grab hold of the object.,['The response is an empty array.'];['0; The natural language command specifies to grip an object but the JSON provided does not match with the command. The JSON structure does not provide any information at all. Moreover, the "force" in the command is given in kilograms whereas it should be in newtons according to the sample keys.'] +Hold onto the object with a force of 2 kilograms.,['The response is an empty array.'];['0; The JSON structure is empty and doesn\'t match the given natural language command which is asking to grip an object. The command should ideally match the "grip_object" action in the ontology, but it does not.'] +Use 2 kilograms of force to secure your grip on the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 2.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command specifies the use of force in kilograms, which doesn't conform to the JSON structure using newtons as the unit of force. The duration parameter in the JSON response is not mentioned in the natural language command."] +Retract the arm by 15 centimeters at a velocity of 6 cm/s.,['The response is ', ''];['0; The provided JSON structures do not include an action for "retract_arm" or parameters for "retraction_length" or "velocity", so they cannot accurately represent the command in natural language format.'] +Move the arm back by 15 centimeters with a speed of 6 cm per second.,['The response is:'];['1; The natural language command involves moving the arm, which correlates with the "extend_arm" action in the sample ontology. However, the direction "back" is not specified in the JSON structure, and the extension_length value in the command (15 cm) does not match the value in the JSON structure (10.0 cm). Additionally, the speed value in the natural language command (6 cm/s) does not match the value in the JSON structure (1.0 cm/s).'] +Withdraw the arm, reducing its length by 15 centimeters, at a rate of 6 centimeters per second.,['The response is:'];['0; The JSON structure does not have an action key or parameter value that corresponds to the withdrawal of the arm or reducing its length. The closest action, "extend_arm," extends the arm rather than reducing its length. The command does not conform with the sample ontology.'] +Pull back the arm, decreasing its extension by 15 centimeters, moving at a pace of 6 centimeters per second.,['The response is:'];["2; The command requires the 'extend_arm' action, but with a negative extension value, which is not accounted for in the provided ontology. The 'speed' parameter is present, but the ontology might not support negative extension lengths."] +Reverse the position of the arm, reducing its protrusion by 15 centimeters, traveling at a speed of 6 centimeters per second.,['The response is:'];['3; The JSON structure partially matches the command. The "extend_arm" action is used but with negative value (not explicitly supported in the ontology). Although it captures the speed ("speed": 6.0) and extension length ("extension_length": -15.0) accurately, the action "reverse" or "reduce" is not explicitly defined in the sample ontology provided.'] +Rotate the elbow joint clockwise by 135 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 135.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; All keys in the JSON match with the command. The only difference is the 'angle' and 'speed' values, the command indicates an angle of 135 while the JSON shows 45. Similarly, the speed is not specified in the command while the JSON has the value of 1.0. These differences are reasonable so the match is nearly perfect."] +Twist the elbow joint in a clockwise direction, turning it 135 degrees.,['The response is:'];['4; The natural language command matches the "move_joint" action in the JSON structure. While the parameter values for "joint_name", "direction", and "unit" align with the command, the value for "angle" (135 degrees in the command versus 45 degrees in the JSON structure) does not match. The "speed" parameter is not specified in the command; thus, any value in the JSON structure is acceptable.'] +Turn the elbow joint to the right, rotating it by 135 degrees.,['The response is:'];['5; The command perfectly refers to the action "move_joint", specifies the joint_name as "elbow" and indicates a direction which can be interpreted as "clockwise". The angle of rotation (135 degrees) is also provided, and while the speed is not specified, it can be any reasonable value.'] +Rotate the elbow joint in a clockwise manner, making a 135-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 135.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command perfectly matches with the JSON structure. The action "move_joint" is correct, the parameters "joint_name", "angle", "direction" are clearly stated and match with the values in the JSON structure. Even though the "speed" is not mentioned in the command, it is not required to match perfectly as per the guideline.'] +Twist the elbow joint to the right, adjusting it by 135 degrees in a clockwise direction.,['The response is:'];['4; The natural language command matches with the action "move_joint". The joint_name is "elbow", direction is "clockwise" and unit is "degrees". However, the angle in the command (135 degrees) does not match the value in the JSON structure (45.0 degrees). Therefore, the degree of alignment is not perfect.'] +Move the arm to position X:0, Y:100, Z:20.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command asks for moving the arm to a certain position in three-dimensional space, using specific x, y, and z coordinates, but the JSON structure refers to moving a specific joint (the elbow) to a certain angle in a specific direction. Furthermore, there is no mention of XYZ coordinates in the JSON action 'move_joint'. The command and the JSON do not match."] +Adjust the position of the arm to X coordinate 0, Y coordinate 100, and Z coordinate 20.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];["0; The command refers to changing the position of the 'arm' to certain coordinates which is not represented in the JSON structure. The JSON structure is for setting the 'orientation' not coordinates or position."] +Alter the arm's location to X:0, Y:100, Z:20.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command is trying to move the arm's position to a specific coordinate (X:0, Y:100, Z:20) which is not supported by any of the JSON structures provided."] +Shift the arm's position to the coordinates X:0, Y:100, and Z:20.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The command instructs to move the arm to specific coordinates, which is not supported by any action in the ontology. Furthermore, the given JSON structure does not correspond to the provided command, as it describes moving a joint (the elbow), not shifting the arm's position."] +Change the arm's placement to X coordinate 0, Y coordinate 100, and Z coordinate 20.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];["0; The natural language command talks about changing the arm's placement to certain coordinates, which is not represented in any of the JSON structures provided."] +Close the gripper completely.,['The response is empty.'];['1; The given command involves closing the gripper, but no corresponding JSON action is provided in the sample ontology. The closest available action is "grip_object", but the command for closing the gripper is too vague to match any of the provided JSON structures.'] +Fully close the gripper.,['{', ' "action": "release_grip"', '}'];['1; JSON structure action is not in conformity with the natural language command. The natural language command states to close the gripper whereas the JSON structure indicates a release grip action which is the opposite.'] +Shut the gripper completely.,['{', ' "action": "release_grip"', '}'];["1; The command 'Shut the gripper completely' does not actually align with the JSON instruction 'release_grip'. The natural language command seems to suggest a closing or tightening action (possibly represented by 'grip_object' with a high 'force' value), not a release or opening action as suggested by the given JSON structure."] +Ensure the gripper is completely closed.,['The response is empty.'];['0; The JSON structure does not contain any information that matches the natural language command "Ensure the gripper is completely closed." There is no related action or matching parameters in the sample keys provided.'] +Make sure the gripper is closed tightly.,['The gripper is closed tightly.'];['1; The natural language command suggests an action similar to "grip_object", however, it does not specify any force or duration parameters. The resulting JSON does not correspond to the command nor does it contain any of the necessary keys from the sample ontology. The JSON only contains the sentence text in a misplaced context.'] +Rotate the wrist joint clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.5; The command matches the JSON structure nearly perfectly. However, the "type" key for each parameter is missing in the JSON data. Additionally, the \'speed\' parameter value in JSON doesn\'t match with the command as it\'s not provided in the natural language command.'] +Turn the wrist joint 90 degrees clockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Rotate the wrist joint in a clockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command matches perfectly with the JSON structure provided. The action "move_joint" is correctly used with the appropriate parameters; the "joint_name" is given as "wrist", the "direction" given is "clockwise", and the "angle" is 90.0 which is in "degrees". A reasonable "speed" value is provided.'] +Twist the wrist joint by 90 degrees in a clockwise manner.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command gives a directive to move a joint ("action": "move_joint") which matches the JSON structure perfectly. Even though the joint_name "wrist" doesn\'t match the given example ("elbow"), it is a reasonable expectation that this could be another valid joint_name. The direction, angle, and units in the JSON structure are all provided in the natural language command. The speed is not mentioned in the command, but any reasonable speed (in this case, 1.0) is acceptable.'] +Perform a 90-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command perfectly matches the JSON structure. The action "move_joint" is correctly specified along with all required parameters such as "joint_name", "angle", "direction", "speed", "unit", and "unit_speed".'] +Swim.,['### Check:', 'So far, the response is accurate.'];["0; The natural language command 'Swim' does not correspond to any of the given JSON structures and does not conform to the keys of the sample ontology provided. Swimming does not relate to any of the available operations such as 'move_joint', 'extend_arm', 'grip_object', 'release_grip', and 'set_orientation', hence it cannot be converted to JSON."] +Take a swim.,['A: You swam 100 meters. That is 100/10 = 10 meters per 10 seconds. So you swam for 10 * 10 = 100 seconds.'];['0; The command does not match any of the sample keys in the provided ontology; swimming is not an action accounted for in these JSON structures.'] +Go for a swim.,['A: You swam 100 meters.', 'A: You swam for 10 minutes.', 'A: You swam at a speed of 2 meters per minute.'];['0; The natural language command does not match any of the JSON structures provided in terms of the action type or parameters. Therefore, it cannot be converted into any of the provided JSON structures.'] +Jump in the water and swim.,[''];['0; The command doesn\'t match any of the actions in the JSON structures. The actions available are move_joint, extend_arm, grip_object, release_grip and set_orientation, none of which correspond to the command to "Jump in the water and swim". Hence, it cannot be converted into a valid JSON based on the sample ontology.'] +Engage in swimming.,['A: You swam 100 meters. ', 'A: You swam 100 meters. ', ''];['0; The command \'Engage in swimming.\' does not match any of the JSON structures provided. The actions listed in the ontology sample are "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation". Swimming is not an action represented in this ontology. Furthermore, the JSON structures following the command are irrelevant and do not contain valid keys or values.'] +Watch TV.,['The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is on. The TV is'];['0; The natural language command "Watch TV" doesn\'t match with any of the provided JSON structures as it\'s not related to any form of actions provided in the sample ontology such as "move_joint", "extend_arm", "grip_object", "release_grip" and "set_orientation". Additionally, the JSON representation provided doesn\'t match with the ontology at all.'] +Please turn on the television and start watching.,['The television was turned on.'];['0; The given JSON structures do not mention any commands or parameters related to turning on a television or watching something. The natural language command is not related to the JSON information or conform with the sample keys provided.'] +Begin watching television.,['A: Begin watching television.', ''];['0; The natural language command does not match any of the sample keys in the JSON structure.'] +Start watching your favorite TV show.,['The TV show is 2 hours long. You start watching it 30 minutes before the end. How many minutes do you watch?'];['0; The given command does not match or conform to any of the JSON structures provided in the sample keys.'] +Get ready to enjoy some television programming.,['The response is:'];["0; The provided natural language command doesn't match any of the actions described in the sample keys of the JSON structures, so it can't be converted to JSON."] +Lift the object and move it 30 centimeters to the left.,['The response is an empty array.'];['0; The natural language command provided does not match any of the actions provided in the JSON structures, hence there is no conformity.'] +Pick up the item and shift it 30 centimeters towards the left.,['The response is an empty array.'];['0; The given JSON structure(s) do not match the natural language command because they don\'t include the equivalent of "pick up" or "shift" actions.'] +Grasp the object and relocate it 30 centimeters towards the left.,['The response is:'];['0; The natural language command given does not match with any JSON structures provided. The command requires a "grip_object" action and a "move_joint" or similar action, however the specified parameters ("relocate", "30 centimeters", "left") are not present in the sample ontology.'] +Raise and transfer the item 30 centimeters to the left.,['The response is an empty array.'];['0; The natural language command does not correlate with the provided JSON structures. The command implies an action of moving an item, however there is no such action indicated in the JSON ontology.'] +Elevate the object and shift it 30 centimeters in the leftward direction.,['The response is an empty array.'];['0; The command asks for two different actions, elevation and shifting the object, which are not mentioned in the JSON structures. Also, there are no parameters given that would correspond to movement in the leftward direction or elevation of the object. Hence, the JSON does not match the natural language command at all.'] +Rotate the base counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command and the JSON structure match exactly. The command 'Rotate the base counterclockwise by 90 degrees' has been correctly translated into the JSON structure with the action being 'move_joint'. The 'joint_name' is correctly identified as 'base', the direction is 'counterclockwise'and the angle is correctly understood to be '90.0'. The units are also correct."] +Turn the base 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['1; The action in the JSON is "move_joint" which could possibly match with the command, but the "joint_name" is \'elbow\' in JSON which does not match with the natural language command that requests to turn the base. In addition, the speed parameter is present in the JSON, but it is not mentioned in the command.'] +Rotate the base in a counterclockwise direction, making a 90-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['0; The given JSON structure does not conform to the sample ontology. The "joint_name" parameter in the command is "base", which does not match the "elbow" joint_name in the ontology. Additionally, the "direction" parameter is "counterclockwise", but the sample ontology only includes a "clockwise" direction.'] +Rotate the base in an anti-clockwise direction, making a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "anti-clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The given JSON structure mostly matches the given natural language command. However, the "joint_name" in the JSON structure is "base" when the command does not specify which joint to move. Additionally, the "speed" is provided in the JSON structure even though it isn\'t mentioned in the command.'] +Twist the base counterclockwise, creating a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The base joint does not exist in the sample keys, however, the action "move_joint" with parameters angle, direction, speed, unit and unit_speed does exist and it conforms with the natural language command. The value of joint_name ("base") is not specified in the JSON ontology, but it can be reasonably assumed. Therefore the matching is not exact, but acceptable.'] +Extend the arm by 20 centimeters and hold position for 10 seconds.,['The response is:'];['1; The command involves the action \'extend_arm\' which is present in the JSON structure, but it also refers to a duration ("hold position for 10 seconds") which is not part of the parameters for this action in the JSON. The \'extension_length\' is correctly specified as 20 cm.'] +Increase the arm's length by 20 centimeters and maintain the position for 10 seconds.,['The response is:'];['2; Although the command refers to an "extend_arm" action similar to the JSON structure, it includes a duration for maintaining the position which is not represented in the JSON structure. The JSON structure only mentions the extension_length and speed, not duration.'] +Stretch the arm outwards by 20 centimeters and keep it still for 10 seconds.,['The response is:'];['2; The command refers to the action "extend_arm" and provides the extension_length as 20.0, which matches the JSON structure. However, the command also includes a duration ("keep it still for 10 seconds") which is not provided for in the sample JSON for the extend_arm action.'] +Protract the arm by 20 centimeters and sustain the position for 10 seconds.,['The response is:'];['1; The JSON structure is lacking. The natural language command talks about protracting or extending the arm which correlates with the "extend_arm" action in the ontology. However, in the parameters, no information is provided for sustaining the position for a certain amount of time, which the natural language command refers to.'] +Elongate the arm by 20 centimeters and stay in that position for 10 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'];['4; The JSON structure mainly matches the command, however, there is no moment duration parameter in JSON for "extend_arm" action, so the duration mentioned in the natural language command ("stay in that position for 10 seconds") has not been represented.'] +Open the gripper and release the object gently.,['The response is an empty array.'];["0; The JSON structure does not match the natural language command, as it doesn't specify releasing the grip nor information about how the object should be released. Moreover, the JSON is an empty array instead of a valid command structure."] +Gently release the object by opening the gripper.,['{', ' "action": "release_grip"', '}'];['5; Exactly conform.'] +Carefully open the gripper to let go of the object.,['{', ' "action": "release_grip"', '}'];['5; Exactly conform. The command correctly translates to the "release_grip" action with no required parameters in the JSON structure.'] +Softly release the object by opening the gripper.,['{', ' "action": "release_grip"', '}'];['3; The natural language command asks for a "soft" object release, but the JSON structure has no parameter for defining how the grip is released. It only performs the action "release_grip" without any parameters.'] +Open the gripper in a gentle manner to release the object.,['The response is an empty array.'];['5; Although the JSON structure is not explicitly stated, the command maps perfectly to the "release_grip" action, which does not require parameters. The "gentle manner" portion of the command can be interpreted as coming naturally with the action of releasing a grip, hence not needing explicit mention in the JSON.'] +Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.5', ' },', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "met'];['0; The natural language command to "Move to position X:50, Y:20, Z:10 at a velocity of 0.5 meters per second." does not match the JSON structure because the JSON structure is representing an action of joint movement, not a movement to a specific coordinate position. Apart from this, also the parameters mentioned in the command like X, Y, Z positions and velocity are not identifiable in JSON.'] +Go to coordinates X:50, Y:20, Z:10 with a speed of 0.5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['0; The natural language command is about moving to a coordinate at a specific speed, however, none of the provided JSON data structures match this command. The available actions are move_joint, extend_arm, grip_object, release_grip, and set_orientation, which do not involve moving to a specific coordinate.'] +Travel to X:50, Y:20, Z:10 with a velocity of 0.5 meters per second.,['The answer is 50 + 20 + 10 = 80 meters.'];["0; The given JSON structure doesn't have any keys that match with 'travel', 'velocity' or coordinates (X, Y, Z). Therefore, the natural language command cannot be converted into the provided JSON structures."] +Reach position X:50, Y:20, Z:10 at a pace of 0.5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "'];['0; No conformity. The natural language command description does not match any of the JSON structures provided, as it seems to suggest a movement in a 3D space (X, Y, Z coordinates), for which there is no matching action or parameters in the sample ontology.'] +Proceed to point X:50, Y:20, Z:10 at a rate of 0.5 meters per second.,['The response would be something like this:'];['0; The JSON structures provided for comparing do not include any parameters or actions that would allow for a command to move to a specific coordinate at a certain speed. Therefore, the command provided does not match or conform to any of the given JSON structures.'] +Bend the elbow joint to a 45-degree angle and hold for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['4; The command and the JSON structure mostly conform. The action "move_joint" and the joint_name "elbow" match, as does the angle value of 45.0. However, the command did not specify the direction of movement and the speed, and the JSON value for \'direction\' is not in line with what was specified in the command. Furthermore, the command mentions holding the position for 5 seconds, which is not reflected in the JSON structure.'] +Flex the elbow joint at a 45-degree angle and maintain the position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['2; The natural language command asks to flex the elbow joint at a 45-degree angle, and the JSON structure does have the corresponding action ("move_joint") and parameters, including the specified joint ("elbow") and angle (45.0). However, the command asks to maintain the position for 5 seconds, and this information is not represented in the JSON structure. The \'direction\' in the JSON is also \'clockwise\' which is not specified in the command.'] +Angle the elbow joint to 45 degrees, and keep it in that position for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['3; The JSON structure contains most of the elements from the natural language command, which are the action "move_joint" and parameters like "joint_name" with value "elbow" and "angle" with value 45.0. However, there\'s no parameter for duration in the JSON structure, so the part in the command about keeping the position for 5 seconds is not represented. Furthermore, the "direction" in the JSON is "clockwise", which is not specified in the command, and the "speed" value in the JSON doesn\'t match with any information in the command.'] +Curve the elbow joint to a 45-degree angle, and hold it for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['3; The JSON structure correctly identifies the action as "move_joint" and defines the "joint_name" and "angle" parameters as stated in the command. However, the "direction" parameter is incorrectly stated as "clockwise" and the "speed" value doesn\'t match the command. Moreover, the command implies a holding period which is not represented in the JSON structure.'] +Fold the elbow joint to a 45-degree angle and sustain the pose for 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['2; The JSON structure correctly identifies "move_joint" as the action and "elbow" as the joint_name. Also, it correctly specifies the "angle" as 45. However, there are several mismatches. The natural language command talks about folding the elbow which implies a counter-clockwise movement, but the JSON has "clockwise" mentioned. Also, the command mentions sustaining the pose for 5 seconds, which is not captured in the JSON structure at all. The speed mentioned in JSON is also not mentioned in the command.'] +Readjust the wrist joint to a neutral position.,['The response is an empty array.'];["0; The natural language command involves the action of adjusting the 'wrist joint' to a neutral position, which neither matches with any of the actions in the given JSON structure nor does the 'wrist joint' and 'neutral position' exist in the parameters for any of these actions."] +Adjust the position of the wrist joint to a neutral stance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "neutral"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];["2; The natural language command 'Adjust the position of the wrist joint to a neutral stance' maps to the 'move_joint' action in the sample keys. However, the 'direction' parameter value 'neutral' does not align with the 'clockwise' value in the sample keys. Also, the 'speed' parameter value is not specified in the natural language command, and a neutral stance does not equate to an angle of '0.0'. Finally, units are missing in the provided JSON structure."] +Correct the position of the wrist joint to a neutral alignment.,["The neutral alignment of the wrist joint is 0 degrees. So the action to correct the position is 'move_joint'. The params for this action are 'joint_name': 'wrist', 'angle': 0, 'direction': 'clockwise', 'speed': 0.5, 'unit': 'degrees', 'unit_speed': 'degrees/s'. The response is:"];['1; The natural language command talks about moving the wrist joint to a neutral alignment, which corresponds to the "move_joint" action in the JSON structure. But the provided JSON structure and its parameters values ("joint_name": \'wrist\', "angle": 0, "direction": "clockwise", "speed": 0.5) don\'t fully match the command. Specifically, the direction "clockwise" doesn\'t make sense because the command is asking for a neutral alignment and doesn\'t specify a direction. Moreover, the speed is assigned a value (0.5) without being mentioned in the command.'] +Realign the wrist joint to a neutral position.,['The response is an empty array.'];['0; The natural language command refers to moving a specific joint to a certain position, which is analogous to the "move_joint" action in the ontology. However, the JSON provided does not match this, as it is an empty array. Thus, there is no conformity.'] +Reset the wrist joint to a neutral stance.,['The response is an empty array.'];['0; The natural language command of resetting the wrist joint to a neutral stance does not match with any of the JSON actions. The JSON does not have an action or parameter related to resetting a joint or specifically dealing with the wrist joint.'] +Rotate the arm horizontally by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 180.0,', ' "direction": "horizontal",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure correctly corresponds to the action ("move_joint") and includes relevant parameters like "angle" and "unit". However, in the natural language command, the direction of the rotation is specified as "horizontally" while in the JSON structure, the "direction" parameter is represented by the "joint_name" key, which is mentioned as "elbow".'] +Turn the arm in a horizontal direction by a full 180 degrees.,['The response is:'];['0; The JSON structure does not include any information about turning the arm in a horizontal direction. The command cannot be mapped onto any of the provided JSON actions or parameters.'] +Rotate the arm sideways, making it complete a 180-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 180.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['2; The natural language command asks to rotate the arm sideways, but the JSON structure refers the movement to the "elbow" joint instead of the "arm". Plus, the direction given in JSON is counter-clockwise, which does not completely align with the phrase "sideways". The values for "angle" and "speed" are not specified in the text, so any reasonable value like 180.0 and 1.0 in the JSON structure could be acceptable.'] +Perform a horizontal rotation of the arm, spanning 180 degrees.,['The response is ', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 180.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['2; The JSON structure correctly represents the action but not completely correct for the parameters. In the command, it doesn\'t specify which joint to move ("elbow" was assumed in JSON), the "speed" was not mentioned but it was assumed as 1.0 in JSON and the direction of the rotation ("clockwise") was also assumed in the JSON structure. Therefore, while the action and movement unit are correct, the parameters have assumptions.'] +Twist the arm horizontally, ensuring it moves precisely 180 degrees.,['The response is an empty array.'];["0; There is no matching action or parameters with the natural language command in the JSON structure(s). The correct action should be 'move_joint' and include parameters such as 'joint_name', 'angle', 'direction', 'speed', 'unit', and 'unit_speed'."] +Grip the object with 10 newtons of force for 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 60.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "minutes"', ' }', '}'];['4; The natural language command and JSON information mostly conform. The action "grip_object" is a match, and the parameters "force" with 10.0 newtons and "duration" are correctly specified. However, the command specifies 2 minutes for duration, while the JSON has a value of 60.0 for duration with unit in minutes, which is a disparity as 2 minutes represent 120 seconds not 60 seconds.'] +Apply a force of 10 newtons to firmly hold onto the object for a duration of 2 minutes.,['The response is:'];['3; The natural language command partially matches with the \'grip_object\' JSON structure. The \'force\' parameter correct with a \'float\' type and numeric value of 10.0. The \'duration\' parameter also has the correct \'float\' type, but the value does not match. The natural language command specifies a duration of "2 minutes", but the JSON specifies a duration of "2.0" with a "unit_duration" of "seconds", not minutes.'] +Grasp the object firmly with a force of 10 newtons and maintain the grip for a period of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command and the JSON structure match in terms of action and force. However, the unit of duration in the JSON structure is seconds instead of the minutes mentioned in the command.'] +Exert a 10-newton force to grip the object tightly for 2 minutes.,['The response is:'];['2; The natural language command talks about executing the action of gripping an object with a force of 10 newtons for 2 minutes. The action (gripping an object) matches with the action in the third JSON structure, and the force value (10 newtons) and duration (2 minutes) are also mentioned. However, the units are different. In the natural language command, the duration is given in minutes, whereas in the JSON structure, seconds are used as the unit for duration.'] +Hold onto the object with a force of 10 newtons for a duration of 2 minutes.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['3; The JSON structure corresponds to the correct "grip_object" action and correctly represents the "force" param as 10.0 newtons. However, the "duration" is not correctly matched. In the command, it mentions a duration of "2 minutes", but the JSON represents the duration as "2.0 seconds".'] +Move to position X:0, Y:0, Z:50 at a velocity of 1 meter per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "met'];["0; The natural language command asks for a movement to a certain position at a certain speed, but the provided JSON structure is for a 'move_joint' action. There is no indication of a joint name, angle, direction, or speed in the original command. The two do not conform."] +Travel to the coordinates X:0, Y:0, Z:50 with a speed of 1 meter per second.,['The response is an empty array.'];['0; The natural language command requires an action to move to specific coordinates which does not exist in the provided JSON structures.'] +Proceed towards the position X:0, Y:0, Z:50 with a velocity of 1 meter per second.,['The response would be something like this:'];['0; The natural language command describes a movement action in a 3D space with specified coordinates and speed. However, the JSON samples provided do not accommodate such a command. Therefore, there is no conformity.'] +Go to the location at X:0, Y:0, Z:50 while moving at a rate of 1 meter per second.,['The response would be something like this:'];['0; The given JSON structures do not contain any information related to moving to a specified location or moving at a specific rate. The JSON structures only include actions related to moving a joint, extending an arm, gripping an object, releasing a grip, and setting an orientation. Therefore, the natural language command does not match with the given JSON information.'] +Navigate to the point X:0, Y:0, Z:50 at a speed of 1 meter per second.,['The response is an empty array.'];["0; The provided command involves an action of navigating to a certain point, which doesn't match with any of the actions provided in the sample keys. Therefore, the JSON representation can't be identified with any given action and so the score is 0."] +Retract the arm completely and hold in standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command requires a retraction of the arm, however, the provided JSON structure refers to setting the orientation upright. These two commands do not match so the score is 0.'] +Fully withdraw the arm and keep it in standby mode.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 0.0,', ' "speed": 0.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The natural language command infers a withdrawal or retraction of the arm, however, the action in the JSON structure corresponds to "extend_arm", which is not fully in accordance with the command. Furthermore, the command also mentions keeping the arm in "standby mode" which is not represented in the JSON structure.'] +Completely retract the arm and maintain it in a standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The JSON structure indicates the action "set_orientation" with orientation "upright", which does not match the natural language command to "completely retract the arm and maintain it in a standby position". The two commands have different purports and hence, they do not conform to each other.'] +Pull back the arm entirely and remain in a standby state.,['{', ' "action": "standby",', ' "params": {}', '}'];['0; The JSON structure does not correspond to any available actions in the sample ontology.'] +Withdraw the arm fully and hold it in a standby position.,['The response is an empty array.'];['0; The command refers to an action of withdrawing the arm which does not conform with any actions in the given JSON structures. The mentioned JSON structure is also invalid, hence no matching can be done.'] +Rotate the gripper 360 degrees clockwise.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['0; The command refers to rotating a gripper, which directly aligns with the action "move_joint". But the JSON structure provided is for the "grip_object" action which doesn\'t match with the command. Furthermore, the parameters in the JSON like force and duration are irrelevant to the rotation command.'] +Turn the gripper in a clockwise direction for a full 360 degrees.,['The response is an empty array.'];["0; The given JSON structure does not have a match with the natural language command. No 'turn' or '360 degrees' information is included in any of the actions. The 'move_joint' action could potentially match the command but it lacks the proper parameters, as is it specific to the 'elbow' joint and does not correlate to the action of the 'gripper'."] +Rotate the gripper to the right by 360 degrees.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command asks to rotate the gripper, corresponding to "move_joint" action in the database. However, the JSON structure provided correspond to the "set_orientation" action, which is not the same. The parameters provided in the JSON structure also does not match with those instructed in the command.'] +Make a complete clockwise rotation of 360 degrees with the gripper.,['The response is:'];['0; The provided JSON structures do not contain any action key that represents the rotation of a gripper. All the actions mentioned in the JSON example structures like "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation" do not conform with the requested action in the natural language command.'] +Rotate the gripper in a clockwise motion for an entire 360 degrees.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 360.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command refers to an action where the gripper is supposed to be rotated 360 degrees clockwise, but in the given JSON structure, the "grip_object" action is being performed using force of 10 newtons for a duration of 360 seconds, which is not the correct representation of the command. The correct action for this command could be "move_joint", but the appropriate parameters like "joint_name", "direction", and "angle" are also not provided in the JSON. Therefore, the command does not match with the provided JSON structure.'] +Extend the arm by 30 centimeters and hold position for 3 seconds.,['The response is:'];['1; There is no "hold position" and "duration" in the extend_arm action in the provided JSON structures. In addition, the value for "extension_length" in the natural language command does not match the value in the JSON.'] +Increase the length of the arm by 30 centimeters and maintain that position for a duration of 3 seconds.,['Returns:', ''];["2; The JSON representations have mention of the extension of the arm, but there is no parameter to specify the duration for maintaining that position. As a result, although the command partially matches with the 'extend_arm' action in the ontology, it doesn't fully conform to the given structure."] +Stretch out the arm by an additional 30 centimeters and keep it in that posture for 3 seconds.,['The response is:'];["1; The natural language command indicates to 'stretch out' which can be considered the same action as 'extend' given in the JSON structure. However, there is no parameter in the JSON that corresponds to keeping the posture for a lengthened amount of time. The closest parameter, duration, is related to gripping an object and not maintaining a posture."] +Lengthen the arm by 30 centimeters and hold it steady for a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure mostly conforms to the natural language command. The action of extending the arm and the extension length of 30 centimeters is correctly represented. However, the command to "hold it steady for a period of 3 seconds" isn\'t accurately depicted in the JSON structure. The speed value of 0.0 isn\'t quite the equivalent of holding steady.'] +Straighten out the arm by adding 30 centimeters of length and maintain that pose for 3 seconds.,['The response is:'];["3; The command corresponds to the 'extend_arm' action in the ontology but does not completely match the JSON structure. The JSON structure requires speed of movement for extending the arm whereas the command does not provide this detail. The command also includes an instruction to maintain the pose for some duration, which does not have corresponding parameters in the JSON structure."] +Move to position X:30, Y:40, Z:10 at a velocity of 0.3 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:30, Y:40, Z:10"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.3', ' }', ' }', '}'];['0; The natural language command specified a "move_to_position" action, however there is no action with such a name present in the provided ontology. Therefore, there can\'t be a match between the command and the JSON structure.'] +Change your position to X:30, Y:40, Z:10 with a speed of 0.3 meters per second.,['{', ' "action": "change_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' }', ' }'];["0; The JSON structure does not match with the sample ontology. The 'change_position' action and the parameters 'x', 'y', 'z' are not defined in the ontology."] +Go to the coordinates X:30, Y:40, Z:10 at a speed of 0.3 meters per second.,['The response would be something like this:'];["0; The provided JSON structures don't have any matching key to perform an action related to coordinates or moving to a certain location. Thus, the natural language command does not conform to the given JSON structures."] +Adjust your location to X:30, Y:40, Z:10 with a velocity of 0.3 meters per second.,['{', ' "action": "move_location",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 30.0', ' },', ' "y": {', ' "type": "float",', ' "value": 40.0', ' },', ' "z": {', ' "type": "float",', ' "value": 10.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.3', ' }', ' }'];["0; The natural language command talks about moving to a certain location at a certain velocity. However, none of the JSON structures match this command. There's no command for moving to a location or for adjusting velocity in the provided JSON structures."] +Transition to position X:30, Y:40, Z:10, moving at a rate of 0.3 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit'];['0; The command given does not match with any of the JSON structures provided. The command talks about transitioning to a specific position with a particular rate, but none of the JSON structures contain the information or action related to this command. The provided JSON structures are about moving a joint, extending an arm, gripping an object, releasing grip, and setting orientation.'] +Bend the elbow joint to a 90-degree angle and hold for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['3; The JSON accurately describes moving the elbow joint to a 90-degree angle, but it does not mention holding the position for 10 seconds, as described in the natural language command. Furthermore, the direction "counterclockwise" is mentioned in JSON but not in the natural language command.'] +Flex the elbow joint to form a 90-degree angle and maintain the position for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['4; The JSON object clearly contains the "move_joint" action and mentions the elbow joint and the 90-degree angle. However, it states the direction of movement as counterclockwise, which wasn\'t mentioned in the command. Also, the duration for the maintained position (10 seconds) was not represented in the JSON.'] +Curve the elbow joint, bringing it to a 90-degree angle, and keep the posture for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['2; The natural language command mentions maintaining the posture for 10 seconds which does not have a corresponding key or parameter in the JSON structure. Also, the direction is not specified in the command but is mentioned in the JSON structure as "counterclockwise".'] +Fold the elbow joint to create a 90-degree angle and sustain the position for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['2; The JSON structure aligns only partially with the natural language command. The command mentions "sustain the position for 10 seconds", which is not represented in the JSON. The JSON also incorrectly represents the direction of movement as "counterclockwise". The natural language command does not provide a direction, nor it is necessary for the action of folding the elbow. Finally, the speed parameter doesn\'t match the command\'s details either.'] +Crimp the elbow joint to a 90-degree angle and remain in this stance for 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; Partially conform. The JSON structure correctly identifies the "action" as "move_joint", and correctly sets the "joint_name" to "elbow" and "angle" to 90.0. However, the "direction" is incorrectly set as "counterclockwise", while the natural language command does not specify the direction. Moreover, the "speed" parameter value and "unit_speed" are not mentioned in the command. In addition, maintaining the movement for 10 seconds wasn\'t converted to the JSON structure.'] +Open the gripper and close it with 7 kilograms of force.,['The response is 7.0.'];['1; The natural language command mentions two actions, opening (which could be translated to "release_grip") and closing with force (which could be translated to "grip_object"). However, the JSON structure provided only addresses the action of gripping an object with force, and does not contain any information on releasing the grip. Furthermore, there is no "kg" unit in the "unit_force" in the sample keys, indicating a unit mismatch.'] +Begin by opening the gripper, then apply 7 kilograms of force to close it.,['The response is:'];['0; The command involves an action related to the gripper, but it does not match with any of the available actions in the sample ontology. Hence there is no conformity with the JSON structure.'] +Use 7 kilograms of force to close the gripper after initially opening it.,['The response is ', '{', ' "action": "release_grip",', ' "params": {}', '}'];['0; The JSON structure does not match with the natural language command. The command mentions to "Use 7 kilograms of force to close the gripper after initially opening it." which implies a grip action with a specified force. However, the given JSON structure represents the "release_grip" action, without any parameters, which is incorrect.'] +Start by opening the gripper, and proceed to close it by exerting 7 kilograms of force.,['The response is:'];['2; The command partially matches with the "grip_object" action but the applied force is provided in kilograms instead of newtons which is expected based on the JSON structure. However, there is no corresponding action for opening the gripper in the provided JSON structures.'] +After opening the gripper, apply 7 kilograms of force to seal it shut.,['The response is 7.0.'];['0; The given natural language command is requesting to apply a specific force to close a gripper, which may suggest the use of the `grip_object` action in the ontology. However, the JSON structure provided does not represent the action described in the command. The action parameter is incorrect and the force applied is measured in newtons in the ontology, but in kilograms in the command. These mismatches mean the command does not conform to the JSON structure.'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; All required elements ("action", "joint_name", "angle", "direction", "unit") are present and conform to the described example ontology. The "speed" is specified in JSON but not in the natural language command, yet as rules said the speed can be any reasonable value, so given value 1.0 is justified.'] +Turn the wrist joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command generally matches well with the JSON structure. The "action" key corresponds with the action to "move_joint", and the "params" keys match with details such as "joint_name", "angle", and "direction". However, the "speed" key does not match the command; there\'s no explicit mention of speed in the command, but in the JSON, it\'s set as 1.0. Therefore, the score is 4 due to this slight mismatch.', ''] +Rotate the wrist joint in an anti-clockwise manner by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "anti-clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure correctly represents moving a joint as requested in the natural language command, and specifies the correct joint ("wrist"), angle (90.0), and direction ("anti-clockwise"). However, the speed is not specified in the natural language command and it is not necessary to be added to the JSON, thus the strict matching is not observed due to unnecessary key-value pair of speed.'] +Twist the wrist joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit":'];['3; The JSON structure partially matches the natural language command. The "action" and "joint_name" keys conform to the command. However, the "speed" value does not match as it was not specified in the command. The closing brackets and some keys like "unit" and "unit_speed" are also missing from the JSON structure.'] +Rotate the wrist joint in the opposite direction to the clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command correctly corresponds to the action "move_joint" in the JSON structure. All necessary parameters such as "joint_name", "angle", "direction", "speed", "unit" and "unit_speed" are properly included. Even though the "speed" value is different, it is still a reasonable value and is correctly implemented.'] +Move to position X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,['{', ' "action": "move_to_position",', ' "params": {', ' "position": {', ' "type": "str",', ' "value": "X:10, Y:50, Z:20"', ' },', ' "velocity": {', ' "type": "float",', ' "value": 0.8', ' }', ' }', '}'];["0; The natural language command asks for a movement to a certain position with a certain velocity, but there is no suitable action in the JSON structures provided to match this command. The 'move_to_position' action does not exist in the sample keys. The parameters 'position' and 'velocity' do not exist in the JSON structures' keys either."] +Proceed to coordinates X:10, Y:50, Z:20 with a speed of 0.8 meters per second.,['The response would be something like this:'];['0; The provided natural language command does not match with any of the given JSON structures. The command is to move to specific coordinates at a certain speed, whereas the available JSON actions are move_joint, extend_arm, grip_object, release_grip, and set_orientation. The available actions do not have parameters related to coordinates or moving to a specific location.'] +Travel to point X:10, Y:50, Z:20 at a velocity of 0.8 meters per second.,['The answer is 10 + 50 + 20 = 80 meters.'];['0; The provided JSON structures do not support an action like moving to a coordinate point or moving with a specific velocity, making the natural language command unrelated to the JSON information. Also, the calculation in the response is unrelated to the command.'] +Relocate to position X:10, Y:50, Z:20 at a pace of 0.8 meters per second.,['The response is:'];["0; The natural language command is related to a relocation action, which doesn't exist in the given JSON structures. Therefore, there is no match."] +Shift to the coordinates X:10, Y:50, Z:20 with a velocity of 0.8 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.8', ' },', ' "unit'];['0; The JSON structure does not match with the command. There is no action or parameter in the JSON ontology that corresponds to shifting coordinates or controlling velocity.'] +Retract the arm halfway and hold in a hovering position.,['The response is:'];['0; The natural language command does not match any of the JSON structures provided in the sample keys. The command \'Retract the arm halfway and hold in a hovering position\' does not have corresponding keys in the JSON structures. The existing actions are "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation", none of which relate to retracting an arm or maintaining a hovering position.'] +Position the arm in a hovering state, maintaining a halfway retracted position.,['The response is:'];['0; The command does not match any of the sample ontologies provided. The actions mentioned in the command ("position the arm", "maintaining a halfway retracted position") do not correspond with any of the available actions in the JSON structures ("move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation") and do not provide any of the required params such as "joint_name", "angle", "direction", "speed", "unit", "unit_speed", "extension_length", "force", "duration", "orientation".'] +Hold the arm halfway retracted and hover in place.,['The response is an empty array.'];["0; The given command doesn't match any of the provided JSON structures. The command talks about holding the arm halfway retracted and hovering in place, none of which is covered in the sample ontology provided."] +Hover while keeping the arm partially retracted.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["1; The natural language command mentions 'hovering', which is not represented in the JSON structure at all. Moreover, 'partially retracted' implies a decrease in arm length but the provided JSON structure represents an extension of the arm not a retraction."] +Maintain a hovering position while retracting the arm halfway.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The JSON structure used is incorrect for the command given. The command is asking for a withdrawing or retracting arm action which is not present in the ontology sample keys. The only somewhat related action in the JSON is "extend_arm" but that does not fully cover the command given. Also, the speed value in JSON does not match the "halfway" specification in the command. Lastly, the command mentions a hovering position which is not represented in the JSON structure.'] +Swim in a circular motion while waving.,['The response is:'];["0; The command is not related to any of the actions in the provided JSON structures. The command 'Swim in a circular motion while waving.' doesn't correlate with any actions such as 'move_joint', 'extend_arm', 'grip_object', 'release_grip', or 'set_orientation'."] +Wave your hand while swimming in a circular motion.,['The response is an empty array.'];['0; The natural language command does not correspond to any of the provided JSON structures. The command seems to refer to a human motion, which is likely not available in a robotic function considering the provided JSON structures.'] +Perform circular motions while swimming and waving.,['The response is:'];["0; The command 'Perform circular motions while swimming and waving' is not covered by the provided JSON structures. The existing actions in the JSON structures do not include any references to circular motion, swimming or waving."] +Swim in a circular pattern and wave at the same time.,['A: Swim in a circular pattern and wave at the same time.'];['0; The natural language command given does not match any of the keys in the JSON structures provided. Consequently, the command cannot be converted to JSON using the sample ontology.'] +Combine swimming in a circular motion with waving gestures.,['The response is:'];['0; The natural language command refers to actions and movements ("swimming in a circular motion", "waving gestures") that are not represented in any of the JSON structures provided.'] +Move the base of the arm 90 degrees to the left.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['2; The JSON structure somewhat matches the natural language command. The action \'move_joint\' aligns with the movement instruction in the command, and the "angle" and "direction" parameters match as well. However, the "joint_name" is incorrect (\'elbow\' instead of \'base of the arm\'), and although a "speed" value is accepted for unspecified commands, a value of 1.0 is inaccurate as no speed is suggested in the natural language command.'] +Rotate the arm's base 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["2; The command refers to the rotation of the arm's base while the JSON structure indicates the movement of the 'elbow' joint. The rotation direction and angle in the command and JSON align; however, the joint name does not match."] +Adjust the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['2; The natural language command refers to moving the "arm\'s base" while the JSON structure refers to moving the "elbow". Additionally, the direction in the natural language command is "to the left" while in the JSON structure it is "counterclockwise".'] +Turn the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "left",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4.25; The command largely conforms to the given JSON structure. The "action" is correctly identified as "move_joint" and most parameters match, such as "joint_name", "angle", and "unit". However, the "direction" value doesn\'t match. In the command it\'s told to move "to the left", whereas in the JSON the direction is "clockwise". In general, clockwise is to the right. In addition, the "speed" value isn\'t mentioned in the command, but exists in JSON with a reasonable value of 1.0.'] +Pivot the arm's base to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['2; The command involves moving a joint, which matches with the "move_joint" action in the JSON structure. However, the parameters do not match. The joint_name is specified as "elbow" in the JSON while the command refers to the "base" of the arm. The direction value is also not matching ("counterclockwise" vs "left"). The speed value in the JSON is not mentioned in the command but it\'s acceptable. The angle value is correct in JSON regarding to the command.'] +Extend the arm by 20 centimeters at a velocity of 2 meters per second.,['The response is, "Extend the arm by 20 centimeters at a velocity of 2 meters per second."'];["0; The provided JSON does not match with the natural language command. 'Extend_arm' action in the JSON has speed and extension_length parameters, however, the unit of speed is given as 'cm/s' in JSON while it's 'm/s' in the natural language command. This difference in units gives us the non-conformity."] +Increase the arm length by 20 centimeters at a rate of 2 meters per second.,['The response is, "Increase the arm length by 20 centimeters at a rate of 2 meters per second."'];['3; The action in the natural language command matches the \'extend_arm\' action in the JSON structure. The \'extension_length\' parameter also correctly matches with \'20 centimeters\' mentioned in the command. But the \'speed\' value given in the command as \'2 meters per second\' does not conform to the ontology since the system uses "cm/s" as speed units.'] +Stretch the arm outwards by 20 centimeters, moving at a speed of 2 meters per second.,['The response is:'];["3; While the natural language command aligns with the 'extend_arm' action in the JSON structure, the unit of measurement for speed is not correct. The JSON has the speed defined in centimeters per second, while the command is asking for it in meters per second. The parameters do align but the units of measurement should be consistent."] +Lengthen the arm by 20 centimeters while moving with a velocity of 2 meters per second.,['The response is:', '', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; While both the action and parameter "extension_length" are correctly referred to in the command, the "speed" parameter value in the command and the JSON does not match. The command refers to a speed of 2 meters per second, while the JSON structure has the speed in cm/s. Although these could potentially represent the same speed, the discrepancy in units creates a mismatch.'] +Propel the arm forward by 20 centimeters at a rate of 2 meters per second.,['The response is the same as the request.'];['2; The structure of the JSON command matches with the key "extend_arm". However, the "extension_length" value in the JSON command is 10.0cm, not matching the command\'s 20cm. Additionally, the speed of 2 meters/second in the command exceeds the JSON\'s value of 1.0cm/s. Due to these mismatches in values, the conformity score is low.'] +Rotate the elbow joint counterclockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['4; The JSON structure matches the natural language command in terms of action and parameters - the action of moving the joint, the joint name being elbow, the direction being counter clockwise and the angle being 60.0 degrees. However, the speed is not specified in the natural language command and therefore the value of 1.0 does not match. The unit (degrees) and unit_speed ("degrees/s") are also missing from the JSON string.'] +Turn the elbow joint in the opposite direction (counterclockwise) by an angle of 60 degrees.,['The response is:'];['1; The natural language command partially matches with the JSON structure, but not completely. The command requests to turn the elbow joint counterclockwise, but it doesn\'t specify the speed, so the "speed" key is missing. Also, the direction in the JSON is not counterclockwise as requested in the command; it\'s set as clockwise.'] +Rotate the elbow joint anticlockwise, making a 60-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "anticlockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure accurately represents the action of moving a joint and the joint in focus (elbow). The direction and angle of movement are also correct as per the command. The only discrepancy lies in the speed mentioned in the JSON ("speed": 1.0) which isn\'t specified in the command. However, any reasonable speed value is accepted as per instructions.'] +Twist the elbow joint counterclockwise, adjusting it by 60 degrees.,['The response is:'];['4; The JSON command partially matches with the natural language command. However, the direction in the natural language command is counterclockwise while in the JSON it is clockwise.'] +Spin the elbow joint to the left, rotating it 60 degrees.,['The response is:'];['3; The natural language command partially conforms with the JSON structure. It correctly identifies the "move_joint" action and specifies "elbow" for "joint_name" and 60 for "angle". However, it does not specify a "speed" and contradicts the JSON on "direction", saying "left" instead of "clockwise".'] +Grip the object with 10 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10000.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The action in the command and JSON match, but the force value does not match up. The command specifies 10 kilograms of force, but in the JSON it's converted to 10000.0 newtons which is incorrect because 1 kg is approximately equivalent to 9.8 newtons, not 1000. The duration is correct."] +Apply a force of 10 kilograms to firmly hold the object for a duration of 10 seconds.,['The response would be:'];['3; The command refers to the action of gripping an object which is present in the JSON keys. However, the force is given in kilograms, not newtons, and the duration correctly matches the JSON keys but the actual value cannot be determined due to the context of "firmly" in the command.'] +Squeeze the object with a force of 10 kilograms for a period of 10 seconds.,['The response is acceptable.'];['1; The command "squeeze the object with a force of 10 kilograms for a period of 10 seconds" could possibly match with the \'grip_object\' action in the JSON structures where it includes the \'force\' and \'duration\' parameters. However, the provided value for force is in \'kilograms\' instead of \'newtons\' as indicated in the JSON structure and no conversion formula is provided in the sample ontology. Thus, the conformity is low.'] +Exert 10 kilograms of pressure while grasping the object for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command refers to applying a force or pressure for grasping the object which matches the action "grip_object" in JSON. However, the provided pressure value is in kilograms, which does not match with the unit of force used in JSON (newtons), hence the command does not fully conform. The duration of force is correctly given and matches with the JSON.'] +Maintain a grip on the object with a force of 10 kilograms for a duration of 10 seconds.,['The response is acceptable.'];["2; The natural language command partially matches with the 'grip_object' action, but there's a discrepancy in unit of force - the command uses kilogram, but the JSON uses newtons. Also, the force value doesn't match with the one provided in the sample JSON."] +Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit": "met'];['0; The command "Move to position X:50, Y:50, Z:0 at a velocity of 1 meter per second" does not match with the provided JSON structure. The parameters given in the command such as position coordinates (X, Y, Z) and velocity are not available in the JSON keys of the sample ontology. The JSON structure provided refers to actions of moving a joint, extending an arm, gripping an object, releasing a grip, and setting orientation, none of which match the command given.'] +Go to coordinates X:50, Y:50, Z:0 with a speed of 1 meter per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The provided JSON structure does not correspond to the natural language command. The command mentions a motion to specific coordinates at a certain speed, but the JSON info relates to movement of a specific joint (the elbow) in a particular direction at a particular speed and angle. They are completely non-conforming, because the command needs coordinates and speed to be executed, but the JSON structure lacks these keys.'] +Travel to position X:50, Y:50, Z:0 with a velocity of 1 meter per second.,['The answer is 50 meters.'];['0; The natural language command instructs for a travel to certain coordinates at a certain speed, however, there is no matching action in the given JSON ontology. Thus, it cannot be translated to any of the provided JSON structures.'] +Reach the point X:50, Y:50, Z:0 at a speed of 1 meter per second.,['The response is:'];["0; The given natural language command doesn't match with any of the JSON structures provided in the ontology. The command seems to imply an action of moving to a specified coordinate at a certain speed, but no such action or parameters exist in the ontology."] +Achieve the location X:50, Y:50, Z:0 with a velocity of 1 meter per second.,['The answer is 1 second.'];['0; The provided JSON structures do not contain a corresponding action for achieving a specific location or moving with a certain velocity. Thus, the natural language command does not conform to any of the available JSON structures.'] +Retract the arm by 30 centimeters in 5 seconds.,['The response is:'];['0; The natural language command doesn\'t match with any JSON structure. It refers to a "retract_arm" action which doesn\'t exist in the sample keys.'] +Withdraw the arm by a distance of 30 centimeters in a duration of 5 seconds.,['The response is:'];['2; The command indicates a retraction or withdrawal of the arm which is somewhat opposite to "extend_arm" action, but it involves similar parameters: distance and duration. However, there\'s no direct match in the sample JSON ontology.'] +Move the arm back by 30 centimeters within a time frame of 5 seconds.,['The response is:'];['0; The provided natural language command does not correspond to any of the provided JSON structures. The command suggests a motion of the entire arm, but none of the JSON structures support this function. The available structures allow for joint movement, arm extension, gripping/releasing an object, and setting orientation.'] +Bring the arm back by 30 centimeters while taking 5 seconds to do so.,['The response is:'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Pull the arm away by 30 centimeters over the span of 5 seconds.,['The response is:'];["0; The provided command does not conform to any of the JSON structure examples provided as there is no action defined for 'pulling away the arm'."] +Rotate the wrist joint clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON is consistent with the natural language command as it correctly identifies the joint to be moved (wrist), the angle of movement (90.0), and the direction (clockwise). The speed parameter is not mentioned in the command, so the value of 1.0 in the JSON is accepted. The unit for the degrees and degrees per second also match the sample ontology.'] +Turn the wrist joint 90 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure correctly represents the action of moving a joint, the joint name (wrist), the angle (90 degrees) and the direction (clockwise). However, the speed of rotation is not specified in the natural language command, so although it is not wrong, it is not explicitly correct either.'] +Rotate the wrist joint in a clockwise manner, making a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4.5; Even though the specified values in the natural language command and JSON don't match completely, the JSON structure is in compliance with the natural language command. The joint_name in the command is 'wrist' while in the JSON it's an implied 'elbow'. Similarly, the 'speed' is not specified in the command but it's assumed to be 1.0 in the JSON."] +Twist the wrist joint in a clockwise direction, creating a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The natural language command fully matches the JSON structure provided. The JSON command represents a "move_joint" action, which is correctly defined as twisting a joint in the natural language command. The joint name "wrist" is mentioned, the direction is "clockwise" and the angle is 90 degrees. The speed has a reasonable value of 1.0 with units "degrees" and "degrees/s" as required.'] +Adjust the wrist joint by turning it 90 degrees in a clockwise fashion.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command is well represented by the JSON structure in terms of action and parameters, however the specific "speed" value in the JSON structure was not mentioned in the natural language command.'] +Grip the object with 2 kilograms of force.,['The response is 2.'];['2; The natural language command corresponds with the "grip_object" JSON structure, but the force unit in the command ("kilograms") does not match the unit in the sample JSON ("newtons"). The value of the force (2) is not a problem as the command does not specify a value.'] +Apply a 2-kilogram force to grip the object.,['The response is:'];["3; The action 'grip_object' in the command matches with the JSON action. Majority of the parameters match but the 'force' value in the command is in kilograms, while in the JSON, it is in newtons. It is a partial match because of the difference in units. It is assumed that a conversion is possible."] +Exert 2 kilograms of force to secure your grip on the object.,['The response is accepted.'];['1; The action "grip_object" corresponds to the natural language command but the force unit in the command ("kilograms") doesn\'t match the unit_force in the JSON structure which is "newtons".'] +Grasp the object firmly with a force of 2 kilograms.,['The response is accepted.'];["1; Although the natural language command is issuing a 'grip_object' action which exists in the provided ontology, the force measure is not correctly translated into JSON. In the ontology, force is in newtons, not kilograms."] +Employ a 2-kilogram force to firmly hold onto the object.,['The response is accepted.'];["3; The natural language command partially aligns with the 'grip_object' JSON structure. However, the force parameter in both the command and the JSON structure is measured in different units ('kilograms' vs 'newtons'), and the command does not specify a duration for the grip."] +Move to position X:100, Y:0, Z:100 at a velocity of 0.5 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit": "met'];['0; The natural language command is instructing to move to a specific position, while the JSON structure is about moving a joint to a certain angle. The parameters in the command also do not match with those provided in the JSON structure.'] +Go to coordinates X:100, Y:0, Z:100 gradually with a speed of 0.5 meters per second.,['The response is an empty array.'];['0; The provided JSON structures do not contain any information about moving to coordinates or controlling speed in terms of meters per second, so the command cannot be matched to any of the sample keys.'] +Travel to the point X:100, Y:0, Z:100 using a velocity of 0.5 meters per second.,['The answer is 100 meters.'];['0; The provided JSON structures do not contain any information related to the action and parameters described in the command. The command talks about traveling to a specific point in space at a certain velocity, this does not match with any of the JSON structures which discuss joint movement, arm extension, gripping and releasing objects, and setting an orientation.'] +Reach the position X:100, Y:0, Z:100 while moving at a speed of 0.5 meters per second.,['The response is:'];["0; The command requires a movement to a specific 3D coordinate position at a certain speed. The provided JSON structures don't provide a matching action or parameters for this command."] +Proceed towards X:100, Y:0, Z:100 at a rate of 0.5 meters per second.,['The response is 0.5 meters per second.'];["0; The provided JSON structures don't have a matching key for the command 'proceed towards'. The command appears to be a move or navigation command, but the existing JSON structures only account for joint movement, arm extension, gripping and releasing objects, and setting orientation. The JSON structures do not support movement in three dimensions (X, Y, Z), or support a speed unit of 'meters per second' for any such action. As a result, the natural language command doesn't match with any of the available JSON structure."] +Retract the arm to the starting position.,['The response is an empty array.'];['0; The command refers to retracting an arm to a starting position, however none of the provided JSON structures provide options to retract or set a starting position for the arm. Hence, the natural language command does not match any of the JSON information.'] +Bring the arm back to the initial position.,['{', ' "action": "release_grip"', '}'];['1; The natural language command is referring to moving the arm back to its initial position, but the provided JSON structure describes the action of "release_grip", which is not completely related nor equivalent to the instruction given. The command does not provide enough detail to determine whether the grip should be released as part of moving the arm back to its initial position.'] +Withdraw the arm and return it to its original position.,['{', ' "action": "release_grip"', '}'];['1; The natural language command talks about withdrawing the arm, but the provided JSON structure refers to the action of releasing a grip, which are not the same actions. However, both refer to some form of returning to an original state, hence a minimal conformity score.'] +Pull the arm back to the starting point.,['The response is an empty array.'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Move the arm back to the initial location.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];['1; The natural language command implies returning the arm to its initial location, however, in the provided JSON, the action is \'move_joint\' and refers specifically to the joint "elbow". Moreover, the angle and speed value being 0.0 does not signify a valid command since moving with an angle of 0 and speed 0 essentially means no movement. Although the command and JSON structure share some relation they are not efficiently matching.'] +Extend the arm by 10 centimeters at a velocity of 0.2 meters per second.,['The response is, "Extend the arm by 10 centimeters at a velocity of 0.2 meters per second."'];["2; The 'extend_arm' action matches, and 'extension_length' correctly matches the 10 centimeters. However, the 'speed' does not match. While the command gives a speed of 0.2 meters per second, the JSON structure states 1.0 and the unit of speed is cm/s not m/s."] +Increase the length of the arm by 10 centimeters with a speed of 0.2 meters per second.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The action in the JSON matches the command and the "extension_length" param\'s value also matches. However, the "speed" parameter doesn\'t match the command as the command mentions meters per second, but the JSON reflects centimeters per second. The units for length and speed in the JSON match the command.'] +Stretch out the arm by 10 centimeters, moving at a velocity of 0.2 meters per second.,['The response is:'];["1; The natural language command matches to the 'extend_arm' action in terms of unit_length and extension_length, but the speed value is not equivalent because the command uses a different measurement unit(meters per second) which is not conforms to the sample ontology unit (cm/s)."] +Lengthen the arm by 10 centimeters while maintaining a speed of 0.2 meters per second.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The action type "extend_arm" is correctly identified within the command. However, the speed specified in the JSON structure is not matching with the one given in the natural language command - the command says "0.2 meters per second" while the JSON structure implies a speed in "cm/s", which converts to "2.0 meters/second" and not "0.2 meters/second". The "extension_length" of 10 centimeters is correctly matched in the command and JSON.'] +Expand the arm by 10 centimeters, advancing at a rate of 0.2 meters per second.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.2', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["3.5; The action and the extension_length match perfectly between the command and the JSON. However, the speed value in the command is in meters per second, while in the JSON, it's in cm/s, which does not match. However, they are convertible units. The JSON value for speed is also reasonable based on the command."] +Rotate the elbow joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Almost all details align perfectly between the JSON and natural language command. The joint_name, direction, and angle all match. However, the "speed" value is not specified in the natural language command, which is why it doesn\'t earn a perfect score.'] +Turn the elbow joint 30 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];['5; The JSON structure represents the natural language command accurately. All the parameters mentioned in the command such as the "elbow" joint, the angle "30.0", and the direction "clockwise" are represented correctly in the structure. Even though a value for "speed" is not mentioned in the natural language command, the JSON structure provides a reasonable default value of "0.0". The unit for "angle" and "speed" are also appropriate, as degrees and degrees/s respectively.'] +Rotate the elbow joint to the right by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];["4; The JSON structure mostly conforms to the natural language command. However, there's a mismatch in the value of 'direction'. It should be 'clockwise' instead of 'right'. Furthermore, the 'speed' key has a value of 0.0, which is not mentioned in the command."] +Twist the elbow joint in a clockwise motion, moving it 30 degrees.,['The response is:'];['4; The natural language command matches with the \'move_joint\' action in the JSON, however, there is no specification of speed in the provided natural language command while the JSON structure provided has a "value" for the "speed" key which might be necessary for the \'move_joint\' action. Also, the requested angle in the command (30 degrees) is different from that in the JSON (45 degrees), but that should be acceptable as the command doesn\'t have to match the exact values in the JSON example - any reasonable value should be accepted.'] +Adjust the elbow joint by rotating it clockwise, making a 30 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The JSON correctly represent the action, the joint_name, the direction, the angle and the unit of measure provided. However, it is assuming a 'speed' value which isn't mentioned in the command so it shouldn't be present in the JSON."] +Grip the object with 8 kilograms of force for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "kilograms",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action in the natural language command ("Grip the object") matches the action in the JSON ("grip_object"), and the duration parameter also matches. However, the "force" parameter in the JSON is in "newtons", whereas in the natural language command it is in "kilograms", which is a unit of mass, not force. Therefore, the command does not fully conform to the JSON structure.'] +Apply a force of 8 kilograms to hold onto the object for a duration of 3 seconds.,['The response is:'];['2; The natural language command partially matches with the "grip_object" action in the JSON structures. However, the force unit in the command is "kilograms" while in the JSON it\'s "newtons". The duration matches correctly.'] +Use a grip strength of 8 kilograms to firmly hold the object for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action \'grip_object\' and parameter \'duration\' match and the duration value is correctly identified as 3 seconds. However, parameter \'force\' should be 8kg but in this JSON it\'s incorrectly labeled with "newtons" unit instead of "kilograms".'] +Exert 8 kilograms of pressure to maintain a hold on the object for a period of 3 seconds.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 8.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The command itself matches the "action" key in the JSON structure - it refers to gripping an object. However, the parameters are not compliant. The force unit in the command is in Kilograms, while in the JSON it is in Newtons. They are not interchangeable units. Also, it\'s unspecified if the force in the command is a direct replacement for the force in the JSON as it depends on the gravitational field in which the action is performed. The duration matches correctly.'] +Securely grasp the object with an 8 kilogram force for a duration of 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["3; While the action command 'grip_object' and parameters such as 'force' and 'duration' match the natural language command, the unit of force 'kilograms' is not consistent with 'newtons' in the JSON structure. This requires a conversion."] +Move to position X:0, Y:0, Z:50 at a velocity of 0.1 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.1', ' },', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit": "met'];["0; The JSON structure does not match the command. The command asks for the robot to move to a specific position, but the JSON structure is describing a movement of a specific joint in a certain direction, with a specific speed. Moreover, 'position' and 'velocity' attributes are not shown in the JSON structure."] +Travel to coordinates X:0, Y:0, Z:50 with a speed of 0.1 m/s.,['The answer is 50 m.'];['0; The provided JSON structures do not support a "travel to coordinates" action, hence there is no match between the command and the JSON structures.'] +Go to position X:0, Y:0, Z:50 with a velocity of 0.1 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.1', ' },', ' "direction": {', ' "type": "str",', ' "value": "forward"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit": "met'];['0; The command is asking for a movement to a specific position (X:0, Y:0, Z:50) with a certain speed, which is not represented or addressed in the provided JSON structures. The JSON structure focuses on moving a specific joint, extending an arm, gripping or releasing an object, or setting an orientation, not on moving to a certain position. In addition, the specific JSON structure given is about moving a joint, not moving to a position.'] +Shift to the location X:0, Y:0, Z:50 at a rate of 0.1 m/s.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.1', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.1', ' },', ' "unit": "met'];["0; The natural language command is asking to shift to a specific 3D location at a specific speed, however the provided JSON structure is about moving a specific joint of a robot to an angle in a certain direction at a certain speed. There's no conformity between the command and the JSON structure."] +Reach the point X:0, Y:0, Z:50 at a speed of 0.1 meters per second.,['The response is 0.1 meters per second.'];['0; The provided natural language command refers to reaching a specific point in a 3D coordinate system at a certain speed. However, the provided JSON structures do not contain any action or parameters related to \\"reaching a point\\" or handling coordinates like X, Y, Z, or a command related to linear speed. This makes the natural language command non-conformant with the available JSON structures.'] +Retract the arm by 25 centimeters in 4 seconds.,['The response is:'];["0; The JSON structures provided do not contain a 'retract_arm' action, so it cannot be matched with the given natural language command."] +Within a time frame of 4 seconds, pull the arm back by a distance of 25 centimeters.,['The response would be:', '', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 4.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The natural language command is somewhat matching with the JSON structure but not completely. In the command, it\'s asked to "pull the arm back" while in the JSON structure "extend_arm" action is used. Also, the time frame (4 seconds) isn\'t correctly represented in JSON structure, instead "speed" is considered as 4.0 cm/s.'] +Withdraw the arm, moving it backwards by 25 centimeters over a period of 4 seconds.,['The response is:'];['0; The JSON structures provided do not support an action for withdrawing the arm. The closest relevant action, "extend_arm", does not match the command because it signifies extension, not withdrawal. The "speed" parameter also cannot be interpreted as a period of time.'] +Over the course of 4 seconds, decrease the arm's extension by 25 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' }', ' }', '}'];['2; The action "extend_arm" is included in the JSON structure, but the specific parameters given in the command ("over the course of 4 seconds", "decrease") are not captured accurately in the JSON information. Also, the speed of the extension is missing.'] +In 4 seconds, bring the arm back by 25 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": -25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure correctly represents the action of extending the arm, in this case, bringing it back is recognized as a negative extension length. However, the speed of the action in the JSON structure does not perfectly conform to the natural language command as there is no reference to speed within the given command. Therefore, although the action is correct, the parameters are not perfectly matched, resulting in a score of 4.'] +Rotate the wrist joint counterclockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 45.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The "action" "move_joint" and the parameters "joint_name":"wrist", "angle": 45.0, "direction":"counterclockwise" and the unit "degrees" perfectly match with the natural language command. However, the speed was not specified in the natural language command so the JSON structure doesn\'t completely reflect the spoken command even though the value given in the JSON structure is reasonable.'] +Rotate the wrist joint in an anticlockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 45.0,', ' "direction": "anticlockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command correctly corresponds to the provided JSON structure, with all keys and parameters accurately represented albeit the joint having a different name and the direction is opposite, it still considers the same ontology structure.'] +Turn the wrist joint to the left by an angle of 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];['4; The JSON structure mostly conforms to the natural language command with correct action and parameters. However, the direction value in the JSON structure should be "counter-clockwise" to accurately represent the "left" direction mentioned in the command. Additionally, the speed value could be any reasonable float value, but 0.0 does not seem appropriate for the action to take place.'] +Rotate the wrist joint in a counterclockwise motion, angling it by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 45.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command matches the JSON structure almost perfectly, however, the joint name in the command is 'wrist' while in the JSON structure it is 'elbow'."] +Twist the wrist joint anti-clockwise, changing its position by 45 degrees.,['The response is an empty array.'];['2; The natural language command partially conforms to the JSON structure. The "action" should be "move_joint", and "joint_name" should be "wrist". The "direction" should be "anti-clockwise", and "angle" should be 45 with "unit" as "degrees". However, none of this information is present in the provided JSON structures.'] +Grip the object with 4 kilograms of force.,['The response is 4.'];['0; The JSON structure provided is not correct or does not match at all with the sample keys, so the natural language command "Grip the object with 4 kilograms of force" can\'t be converted to JSON. Additionally, the force unit in the \'grip_object\' action is \'newtons\', not \'kilograms\'.'] +Apply a 4-kilogram force to grasp the object.,['The response is:'];["3.5; The command partially matches with the 'grip_object' action JSON structure. The 'force' value in the command corresponds to the 'value' key in the 'force' parameter of the JSON. However, the 'force' value is noted as 'newtons' in JSON while the command states it in 'kilograms', leading to mismatch in units."] +Exert 4 kilograms of pressure to grip the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 4000.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command asks to 'grip the object' which matches the 'action' in the JSON. However, the 'force' value in the JSON is specified in 'newtons', not 'kilograms'. Furthermore, the 'duration' value specified in the JSON was not mentioned in the command."] +Employ 4 kilograms of force to securely hold onto the object.,['The response is accepted.'];["2; The natural language command partially matches with the 'grip_object' JSON structure. The 'force' parameter is correctly defined in the command, but it is given in kilograms instead of newtons which is mentioned in the JSON. The 'duration' parameter is not mentioned in the command. Also, 'securely hold onto the object' is not a clear mapping to the 'grip_object' action."] +Apply a grip force of 4 kilograms to firmly hold the object.,['The response is:'];["1; The natural language command partially matches with the 'grip_object' JSON structure. But the issue is the force unit in the natural language command is 'kilograms' which does not match with the 'newtons' unit in the JSON structure."] +Move to position X:75, Y:75, Z:75 at a velocity of 0.3 meters per second.,['The response is an empty array.'];['0; The provided JSON structures do not contain any action or parameters that would correlate to moving to a specific position at a certain velocity.'] +Adjust the coordinates to X:75, Y:75, Z:75 with a speed of 0.3 meters per second.,['The response is ', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3'];['0; The natural language command is asking to adjust coordinates, however, this is not an action present in the sample keys. The JSON structure provided is for moving a joint, not adjusting coordinates, so they are not effectively describing the same action.'] +Shift to position X:75, Y:75, Z:75 using a velocity of 0.3 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit": "'];['0; The command does not match with either the action performed (move_joint) or the parameters used (joint_name, angle, direction, speed) in the JSON structure. The command is referring to shifting to a position, which is not covered in the sample keys. Therefore, the command cannot be converted to JSON using them. Furthermore, the parameters provided in the command such as X, Y, Z values and velocity are not included in the JSON structure.'] +Go to X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,['The response is 0.3 meters per second.'];['0; The natural language command refers to movement in a 3D space, at a specific speed. However, none of the provided JSON structures contain information about this kind of movement. Therefore, the command does not conform to the provided JSON structures.'] +Travel to the location X:75, Y:75, Z:75 at a speed of 0.3 meters per second.,['The answer is 0.3 meters per second.'];['0; The provided JSON structures do not contain keys for a move or travel action with parameters for specific X, Y, Z coordinates or speed unit in meters per second, thus the command does not conform to given JSON structures.'] +Retract the arm to the standby position.,['The response is an empty array.'];["0; The natural language command 'Retract the arm to the standby position' does not match any of the JSON structure actions provided, thus it can't be converted to JSON using the sample keys."] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];['1; The natural language command is saying to move the arm to standby position but the JSON file is not providing the correct action. It is moving the elbow joint at an angle of 0, in a clockwise direction with a speed of 0. Parts of the command "Move the arm back to the standby position." Is not possible with the provided JSON file. Therefore, the match is only partial.'] +Return the arm to its standby position.,['{', ' "action": "release_grip"', '}'];['1; The action "release_grip" in the JSON structure does represent a kind of return to a standby position, but it\'s not a full match for the natural language command which does not specify any grip action. The natural language command might involve other actions such as "move_joint" or "set_orientation" to truly return the arm to a standby position, according to the sample ontology.'] +Withdraw the arm to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "'];["1; The existing JSON structure partially matches with the command. The action type 'move_joint' is correct, but the values of the parameters 'angle' and 'speed' set to zero and 'direction' set to 'none' do not represent the 'withdraw' movement clearly in the command. Also, the command to 'standby position' is not reflected in the JSON."] +Pull the arm back into the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['2; The natural language command asks to pull the arm back into the standby position. While the JSON structure attempts to depict this, it is largely inaccurate. It suggests moving the elbow joint at an angle of 90 degrees in a counterclockwise direction, which may or may not result in the arm moving back to the standby position. Therefore, the JSON structure does not accurately translate the command into the appropriate action.'] +Extend the arm by 15 centimeters, then do a little dance.,['The response is:'];['0; The natural language command includes the action "extend_arm" which is part of the ontology, but the value of "extension_length" is not matching (15.0 in the command vs. 10.0 in the ontology). The action "do a little dance" is not part of the ontology.'] +Stretch the arm outwards by 15 centimeters before performing a small dance.,['The response is:'];["0; The command includes the action 'stretch the arm outwards by 15 centimeters' which is similar to the 'extend_arm' action in the ontology, but it also involves an additional undefined action 'performing a small dance' which does not exist in the sample ontology. Therefore, this command can't be converted to a matching JSON structure according to the provided ontology."] +Increase the arm's length by 15 centimeters and proceed to do a brief dance.,['The response is:'];['0; The command contains actions ("Increase the arm\'s length" and "do a brief dance") that are not included in the sample keys provided.'] +Lengthen the arm by 15 centimeters and then perform a mini dance routine.,['The response is:'];['1; The command to extend the arm matches partially with the "extend_arm" action in the ontology - the "extension_length" parameter being available. However, the value is different in the command with 15, compared to 10.0 in the JSON structure. There is no match for "perform a mini dance routine" command in the ontology.'] +Extend the arm's reach by 15 centimeters, followed by a playful dance.,['The response is:'];["0; The natural language command is asking to extend the arm and do a playful dance afterwards but this action is not available in the provided JSON structures. Therefore, there's no match with the given sample ontology."] +Lift the object at a velocity of 5 meters per second.,['The response is an empty array.'];['0; The JSON information does not provide a matching "lift_object" action or contain parameters to set a velocity in meters per second, so there is no conformity between the natural language command and the JSON structures.'] +Elevate the object at a rate of 5 meters per second.,['The response is an empty array.'];["0; The action in the command 'elevate the object' does not match with any of the available actions in the JSON structures i.e., 'move_joint', 'extend_arm', 'grip_object', 'release_grip', and 'set_orientation'."] +Raise the object with a speed of 5 meters per second.,['The response is an empty array.'];['0; The natural language command does not match any of the actions provided in the JSON structures. The command mentions about raising an object with specific speed which is not represented in any of the available JSON structures.'] +Hoist the object at a velocity of 5 meters per second.,['The response is, "Hoist the object at a velocity of 5 meters per second."'];['0; The given command does not match any of the actions or parameters in the JSON ontology. "Hoist" could be inferred to be similar as "grip_object" but the natural language command does not specify the "force" or "duration" parameters required for the "grip_object" action and there is no information about the velocity in the JSON structure.'] +Ascend the object with a rate of 5 meters per second.,['The response is accepted.'];['0; The provided natural language command does not correspond with any of the actions provided in the JSON structures.'] +Rotate the arm joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The action, joint_name, unit, and unit_speed keys match perfectly. The direction key value matches but is the opposite direction. The angle value is correct. But the given speed value doesn't match the natural language command, the speed is not specified in the command."] +Turn the arm joint in the opposite direction by 90 degrees.,['The response is:'];['4; The natural language command mostly matches with the JSON structure for "move_joint" action. The joint name is missing in the natural language command. However, the "angle", "direction", and "unit" are implied (90 degrees, opposite direction, degrees). The "speed" is neither mentioned in the command nor implied.'] +Rotate the arm joint anticlockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "anticlockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; Although the JSON structure closely aligns with the natural language command, the 'joint_name' value in the JSON is 'elbow', but in the command the specific joint is not stated. The direction is accurately mentioned as 'anticlockwise' and the angle is correct as '90.0'. The speed, however, was not specified in the command but has a value of 1.0 in the JSON. 'Unit' and 'unit_speed' match perfectly with the command."] +Twist the arm joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The given natural language command asks to move the arm joint ("elbow") in a specific "direction" (counterclockwise) by a certain "angle" (90 degrees). The JSON structure correctly captures these instructions in the "action" and "params" keys. The "speed" and "unit_speed" elements are also rightfully included, even though they are not specified in the given command; as per the instructions, any reasonable value for unspecified parameters is accepted.'] +Rotate the arm joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command is matching perfectly with the action "move_joint" in the JSON structure and the parameters "angle", "direction", and "unit" are also matching. However, the mentioned "joint_name" in the JSON structure is "elbow" while it is not specified in the natural language command and the "speed" and "unit_speed" are arbitrary in the command but fixed value in JSON.'] +Extend the arm to a distance of 50 centimeters.,['The response is:', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The "speed" does not conform to the natural language command as no speed was specified. However, all other parameters and actions match perfectly.'] +Reach out the arm and stretch it to a length of 50 centimeters.,['The response is an empty array.'];['0; The JSON structure does not match the given command. The provided JSON is an empty array and does not contain any of the necessary information to fulfill the command to extend the arm to a length of 50 centimeters.'] +Lengthen the arm by 50 centimeters.,['The response is an empty array.'];['0; The natural language command indicates an action of extending the arm, which corresponds to the action "extend_arm" in the sample ontology. However, the JSON structure given is an empty array, which doesn\'t follow the corresponding keys in the sample ontology. Therefore, the score is 0.'] +Increase the arm's length to 50 centimeters.,['The response is the same as the original request.'];['0; The provided JSON structure does not match the command. The command is requesting an increase in arm\'s length, which would require a \'change_length\' action or similar, but none of the provided structures have this action. The closest action is \'extend_arm\', but its parameters do not align with the command, as it requires a specific "extension_length" (10.0 in the example) rather than an increase in length.'] +Stretch out the arm until it measures 50 centimeters in distance.,['The response is an empty array.'];['1; The command corresponds approximately to the \'extend_arm\' action, but the assigned value and unit in the JSON structure are not correctly reflecting the values mentioned in the command ("50 centimeters"). Moreover, there is no JSON structure provided, which also leads to deduction in points.'] +Move to position X:15, Y:25, Z:35 at a duration of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The command is asking to move to a specific position in a specific duration, but the JSON structure provided is related to the moving of a specific joint (elbow) in a certain direction (counterclockwise) at a specific speed. Therefore, the given JSON doesn't match the command."] +Go to position X:15, Y:25, Z:35 within a duration of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command is about moving to a specific position with a duration specified, but none of the JSON structures correspond to such an action. They're only about moving a joint to a specific angle, extending an arm, gripping and releasing an object, and setting an orientation."] +Travel to the coordinates X:15, Y:25, Z:35 in a span of 10 seconds.,['The coordinates X:15, Y:25, Z:35 can be represented as (15, 25, 35). The span of 10 seconds can be represented as 10.0. The answer is (15, 25, 35, 10.0).'];["0; The natural language command doesn't match with any of the provided JSON structures in the sample ontology. The command discusses movement in coordinates which isn't a parameter or action in the available JSON structures."] +Adjust your position to X:15, Y:25, Z:35 over a period of 10 seconds.,['{', ' "action": "set_position",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 15.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 35.0', ' }', ' }', '}'];['0; The natural language command asks for the action of setting a position, but in the sample keys provided there is no "set_position" action. Therefore, the JSON doesn\'t match the command.'] +Reach the specified location X:15, Y:25, Z:35 within 10 seconds.,['The shortest path from (0, 0, 0) to (15, 25, 35) is (0, 0, 0) -> (15, 0, 0) -> (15, 15, 0) -> (15, 15, 15) -> (15, 15, 25) -> (15, 25, 25) -> (15, 25, 35)'];['0; There is no matching between the natural language command and the JSON information given. The command requires action related to moving to a specific location which is not mentioned in the JSON structures provided.'] +Grip the object with a force of 10 Newtons.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The action "grip_object" and parameter "force" with a value of "10.0" and "unit_force" as "newtons" match the natural language command. The "duration" parameter with a value of "3.0" and its unit "seconds" is also valid as the duration is not specified in the command. However, considering duration parameter while it\'s not mentioned in the command leads to slight unmatching.'] +Apply a force of 10 Newtons to secure your grip on the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4.5; Almost all details match. The only discrepancy is with the "duration" value - the command does not specify a duration, so while the given 3.0 value in JSON is reasonable, it isn\'t mentioned in the command.'] +Exert a 10 Newton force to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command and JSON structure have a lot in common. The action is indeed \'grip_object\' and the force value is correctly 10.0 in both. However, the parameter "duration" is not mentioned in the natural language command, whereas its value is specified as 3.0 in the JSON structure.'] +Use a 10 Newton force to tightly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; In the natural language command to \'use 10 Newton force to tightly grasp the object\', the JSON structure matches with `"action": "grip_object"` and `"force": 10.0`. The "duration" parameter is not mentioned in the natural language command but it takes a reasonable value of 3.0 in JSON. Therefore, it does not completely conform but is largely acceptable hence a score of 4.'] +Apply a firm 10 Newton force to firmly seize the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The natural language command and the JSON structure partially conform. The "force" value matches as a 10 Newton force is indicated in both. However, the "duration" value doesn\'t match. Even though the natural language command does not specify a duration, it would be more optimal if the JSON structure didn\'t specify a "duration" value or provide any reasonable value since it wasn\'t mentioned in the given command. Although, since it does not conflict with the command, I am still giving it a 4.'] +Retract the arm to its starting position.,['The response is an empty array.'];['0; The command "Retract the arm to its starting position" cannot match any of the provided JSON structures. The available actions in the ontology are "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation". None of these actions can be interpreted as retracting the arm to its starting position.'] +Pull the arm back to its initial position.,['The response is an empty array.'];["0; The given command does not match any of the given JSON structures. 'Pull the arm back to its initial position' is not represented anywhere within the provided JSON structure."] +Withdraw the arm and return it to its original location.,['{', ' "action": "release_grip"', '}'];['0; The JSON command represents the "release_grip" action, while the natural language command talks about withdrawing the arm. The two commands are not related, hence they don\'t match.'] +Move the arm back to its starting point.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];['1; The natural language command asks to move the arm to its starting point. However, the provided JSON structure performs a "move_joint" action on "elbow" in "clockwise" direction with some angle and speed. The natural language command doesn\'t specify which joint to move, the direction, or the angle. There is not enough detail in the natural language command to match the complexity of the JSON structure.'] +Bring the arm back to its initial position.,['The response is an empty array.'];['0; The natural language command does not match any of the actions in the JSON structures provided. The commands given do not support returning the arm to its initial position.'] +Rotate the wrist joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];["4; The command matches well with the first JSON structure having 'move_joint' for action and the parameters with 'joint_name', 'angle', and 'direction' match appropriately as well. However, the speed in JSON structure has value 0.0 which was not mentioned in the command."] +Turn the wrist joint 30 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];['4; Although all the necessary keys for action, joint_name, angle, and direction are present and correct, the speed value in the JSON structure is 0.0 which is not specified in the natural language command. Hence, any reasonable value should be accepted. The "unit" and "unit_speed" is also not specified in the JSON, which might be necessary to accurately convey the command.'] +Rotate the wrist joint by 30 degrees in a clockwise manner.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command somewhat conforms to the JSON structure. In the JSON structure, the 'joint_name', 'angle' and 'direction' parameters match the command perfectly. However, the value of 'speed' does not match as it's not mentioned in the command."] +Twist the wrist joint in a clockwise direction, moving it 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.3', ' },', ' "unit'];['4; Almost conform. The JSON has the correct action and params, including "joint_name", "angle", and "direction". However, in the natural language command, there is no specification of speed, so it should not have an assumed value in the JSON. There should be no assumed values unless indicated in the instruction.'] +Rotate the wrist joint in the clockwise direction, making a 30-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command matches the JSON structure quite well, where the action is "move_joint", the joint_name is "wrist", the angle is 30.0, and the direction is "clockwise". However, the speed isn\'t specified in the command but is in the JSON, hence a point is deducted.'] +Lift the object at a velocity of 2 meters per second.,['The answer is 2.'];['0; The JSON structures provided do not contain information about lifting an object or manipulating velocities in meters per second. The command does not match any of the sample keys provided.'] +Raise the object with a speed of 2 meters per second.,['The response is an empty array.'];['0; The natural language command doesn\'t match any of the actions in the given JSON structures. The "raise" operation is not provided in the ontology, and also the unit of speed specified in the command ("meters per second") is not used in any of the provided JSON structures.'] +Elevate the object, moving at a velocity of 2 meters per second.,['The response is an empty array.'];['0; The command does not match any of the actions provided in the JSON structures. The keys for the action and parameters are not present.'] +Hoist the object, maintaining a rate of 2 meters per second.,['The response is an empty array.'];['0; The natural language command does not correspond to any JSON structures given as it mentions about hoisting an object at a specific rate which is not represented in the provided JSON structures.'] +Pick up the object, traveling at a speed of 2 meters per second.,['The response is an empty array.'];['0; The JSON structures provided do not have an action for picking up an object nor a parameter to specify the speed of movement in "meters per second", so the natural language command does not conform to any of the samples given.'] +Extend the arm to a distance of 30 centimeters and hold for 5 seconds.,['The response is:'];["1; The given command partially matches with the 'extend_arm' action in the JSON structure. However, the 'hold for 5 seconds' part of the command does not conform with any of the actions in the JSON structure, hence the low score."] +Stretch the arm out to a length of 30 centimeters and maintain for a duration of 5 seconds.,['The response is:'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Reach the arm out to a span of 30 centimeters and keep it there for a period of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The natural language command matches with the "extend_arm" action in the JSON structure. It includes an "extension_length" of 30.0 which is stated in the natural language command. However, the duration of the extension isn\'t a provided parameter in the JSON action schema hence the "period of 5 seconds" in the natural language command isn\'t represented. Besides, speed value does not match as it is not mentioned in the command.'] +Protract the arm to a distance of 30 centimeters and sustain the position for 5 seconds.,['The response is:'];["2; The natural language command refers to extending the arm, which corresponds to the 'extend_arm' action in JSON. However, the command includes the additional aspect of maintaining position for a duration, which is not covered in the sample JSON structure. Hence, the command only partially matches with the JSON structure."] +Lengthen the arm to a distance of 30 centimeters and maintain the extension for a duration of 5 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["2; The natural language command mentions a duration for the extension which is not translated in the JSON structure. The 'speed' field in the JSON structure is not mentioned in the natural language command. Furthermore, the value of the 'speed' in the JSON structure does not seem relevant to the natural language command."] +Move to position X:5, Y:10, Z:15 and halt immediately.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command requests a movement to specific coordinates and to halt immediately, but the provided JSON structure is pertaining to the 'move_joint' action which is related to moving a specific joint (in this case, elbow) at a certain angle, direction, and speed. These are two entirely different actions; thus, the command and the JSON structure do not conform."] +Immediately halt and move to position X:5, Y:10, Z:15.,['{', ' "action": "immediately_halt",', ' "params": {}', '}'];["0; The JSON structure does not match the command at all. The action in the command is to 'move' to a specified position but the JSON indicates the action 'immediately_halt'. Positions X, Y, Z are also not represented in the JSON structure."] +Halt at once and move to the coordinates X:5, Y:10, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not correspond to the command. The command is about immediate stopping and moving to specific coordinates, while the JSON structure is about moving a specific joint (the elbow) at a certain angle and speed. The parameters given in the command (coordinates) are not represented anywhere in the JSON structure.'] +Move to the specified coordinates X:5, Y:10, Z:15 and come to an immediate stop.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "'];['0; The natural language command requests a movement to specific coordinates and an immediate stop. However, the provided JSON structure describes an action of moving a specific joint (elbow), providing attributes such as angle, direction, speed, unit of measurement and speed unit. There is no mention of moving to specific coordinates in the JSON structure, making it non-conforming to the command.'] +Come to a stop without delay after moving to the position X:5, Y:10, Z:15.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The provided natural language command involves moving to a specific coordinate position and then stopping, which doesn't match any of the actions provided in the sample ontology. The JSON structure presented doesn't correctly represent the command either as it relates to moving a specific joint in a certain direction rather than moving to a specific coordinate."] +Grip the object with 8 kilograms of force.,['The response is 8.'];['0; The natural language command refers to gripping an object with a force of 8 kilograms, but the corresponding JSON structure does not match. The force parameter in the JSON is specified in newtons, not kilograms, so there seems to be a unit discrepancy.'] +Apply a force of 8 kilograms to secure your grip on the object.,['The response is accepted.'];['1; The natural language command is referring to the action "grip_object", which exists in the ontology. However, the force is expressed in kilograms instead of the defined "newtons" in the JSON structure. Therefore, the conformity is not complete.'] +Exert 8 kilograms of pressure to firmly hold onto the object.,['The response is 8.'];['0; The command does not conform to any of the sample keys in the JSON structure. The action "grip_object" requires the force unit to be newtons, but the command gives the force in kilograms, which is a unit for mass, not force. Also, the value is missing for the "duration" parameter. Plus, there is no match for the parameter \'pressure\' in the ontology. The correct natural language command might be something like "Apply a force of 5 newtons for 2 seconds to grip the object".'] +Use 8 kilograms of force to tightly grasp the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 8.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command is partially matched with the JSON structure. The 'action' key correctly matches with 'grip_object' and 'force' key correctly contains a value. But, the 'force' value in the command is in the wrong unit (should be newtons, but it's in kilograms). Also, the 'duration' value does not exist in the command but appears in the JSON."] +Employ an 8-kilogram force to firmly grip the object.,['The response is accepted.'];["1; The command indicates an action of gripping an object with a certain force which is somewhat related to the 'grip_object' action in the JSON structure. However, it uses the unit of force as kilograms, while the JSON structure uses newtons as the unit of force, hence the mismatch."] +Retract the arm at a duration of 3 seconds.,['The response is:'];['0; The provided command requires the action of retracting the arm, but there is no corresponding action in the sample keys of the JSON structures.'] +Withdraw the arm over a period of 3 seconds.,['The response is, "Withdraw the arm over a period of 3 seconds."'];['0; The provided JSON structures do not contain a corresponding command for "withdraw the arm". The available commands are: "move_joint", "extend_arm", "grip_object", "release_grip", and "set_orientation". Thus, the natural language command does not match any given ontology and there is no JSON structure to compare to.'] +Pull back the arm for a total of 3 seconds.,['The response is:'];['0; The command "Pull back the arm for a total of 3 seconds" does not conform to any JSON structure and the keys in the samples provided. None of the provided actions cover the action of pulling back an arm.'] +Bring the arm back slowly for a duration of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['0; The command instructs to "bring the arm back slowly", which doesn\'t match with the provided JSON structure that relates to releasing a grip. The parameters mentioned in the command (specifically relating to time and action speed) also do not exist in the given JSON.'] +Depress the arm gradually, taking 3 seconds to complete the action.,['The response is:'];['0; The given command does not match any of the provided JSON structures. The action "depress_arm" or a similar functionality does not exist in the sample keys.'] +Rotate the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 180.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure matches the natural language command mostly. However, the joint_name is defined as elbow in JSON which is not mentioned in the command. Also, the speed of the movement is defined as 1.0 in JSON but not mentioned in the command.'] +Turn the arm joint in a counterclockwise direction by 180 degrees.,['The response is:'];['4; The command refers to an action "move_joint" with params including "joint_name" (assumed to be "arm" from the context), "angle" (180 degrees), "direction" ("counterclockwise"). However, the speed of the motion isn\'t specified in the command, but that\'s acceptable per the guidelines.'] +Rotate the arm joint in an anti-clockwise direction by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 180.0,', ' "direction": "anti-clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure closely matches the natural language command with the correct "action" and similar "params". However, the "joint_name" value in the JSON is "elbow", while the command does not specify which arm joint to move. And "speed" value in the JSON is 1.0, while the command doesn\'t mention the speed at all.'] +Twist the arm joint counterclockwise by 180 degrees.,['The response is:'];["0; The given command doesn't match any of the JSON structures as there is no JSON structure for a counterclockwise motion."] +Pivot the arm joint counterclockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'];['3; Almost conform. The natural language command matches the "move_joint" JSON structure. However, the speed parameter value in the JSON structure doesn\'t match the natural language command since the speed isn\'t specified in the latter one. Therefore, a score of 3 is given representing a notable conformity with the exception of one parameter value.'] +Extend the arm to a distance of 40 centimeters and hold for 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The JSON structure has a correct \'action\' part, it identifies the action as "extend_arm". However, the \'params\' part doesn\'t match the natural language command. In the natural language command, there\'s no mention of speed, but the JSON structure includes a \'speed\' parameter with a value of 2.0. The \'extension_length\' parameter matches the natural language command. But the command mentions "hold for 2 seconds", which isn\'t represented in the JSON structure at all. It should be part of "duration" in parameters.'] +Stretch the arm outwards to a length of 40 centimeters and keep it in that position for a duration of 2 seconds.,['The response is:'];['2; The natural language command mentions an action of extending the arm which is similar to "extend_arm" in JSON but the details like duration and exact speed are not referred in the given JSON structure. Hence, it can be considered moderate conformity.'] +Protrude the arm at a distance of 40 centimeters and maintain the position for 2 seconds.,['The response is:'];['1; The action in the command is somewhat related to the "extend_arm" action in the ontology, however, there is no key for maintaining the position for a certain time duration in the JSON structure. The natural language command does not fully conform to the available actions and parameters in the given JSON structures.'] +Lengthen the arm to 40 centimeters and sustain the extension for a period of 2 seconds.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The command asks to extend the arm by 40 centimeters, which is correctly translated in the JSON. It also mentions sustaining the extension for 2 seconds, but this duration is not represented in the JSON. Instead the JSON indicates a speed of 2.0 cm/s which is not mentioned in the command. So the command and JSON only partially match.'] +Reach out the arm to a distance of 40 centimeters and keep it there for a duration of 2 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 40.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The command refers to the "extend_arm" action from the ontology and the "extension_length" parameter matches with a value of 40.0 centimeters, which is consistent with the natural language command. However, the "speed" parameter in the JSON does not match the natural language command, as the provided speed is not mentioned in the natural language command. Instead, the command specifies a duration of 2 seconds, which doesn\'t exist in the defined ontology for "extend_arm". Therefore, the score is reduced to 3, indicating partial conformity.'] +Lift the object at a velocity of 3 meters per second and move to position X:20, Y:30, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit'];['0; The command given does not match to the provided JSON structure. The action "move_joint" in the JSON does not correspond to the action of lifting an object as stated in the command. The parameters provided in the JSON such as "joint_name", "angle", and "direction" also do not match with the given command\'s parameters of velocity and position coordinates (X, Y, Z).'] +Move the object to position X:20, Y:30, Z:40 while lifting it at a velocity of 3 meters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit'];['0; The natural language command is about moving an object to a specific position and lifting it at a certain speed, but the provided JSON structure is about moving a specific joint (elbow) at a certain angle, direction, and speed. The information in the command and the JSON structure does not match.'] +Lift the object at a speed of 3 meters per second and transport it to point X:20, Y:30, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "'];['0; The natural language command refers to lifting and transporting an object, which does not match any of the provided JSON structures. Hence, the command does not conform to the given JSON structures.'] +Raise the object at 3 meters per second and relocate it to coordinates X:20, Y:30, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 3.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit": "'];["0; The natural language command talks about raising an object and relocating it which is a different action from the JSON's 'move_joint' action. Moreover, the parameters like 'joint_name', 'angle', 'direction' etc. in the JSON command do not match with the natural language command."] +With a velocity of 3 meters per second, elevate the object and shift it to position X:20, Y:30, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "'];['0; The natural language command mentions actions such as "elevate the object" and "shift it to position X:20, Y:30, Z:40" which are not represented in any of the provided JSON actions. The provided speed value of 3 meters per second does not align with any of the JSON structures either. Therefore, there is no conformity between the command and the JSON structures.'] +Grip the object with a force of 15 Newtons and rotate the wrist joint clockwise by 60 degrees.,['The response is:'];["2; Partially conform. The command refers to two actions, namely 'grip_object' and 'move_joint'. However, the 'move_joint' action mentions 'wrist' joint which is not present in the sample keys (only 'elbow' joint is presented in the ontologies). The 'grip_object' action is correctly described, but the force value of 15 Newtons doesn't match the value of 5 Newtons in the JSON structure; yet, it is accepted since the natural language command has the authority to dictate the value of force."] +Apply a force of 15 Newtons to grasp the object, then turn the wrist joint in a clockwise direction by 60 degrees.,['The response is:'];['2; The natural language command references two separate JSON actions, "grip_object" and "move_joint". However, the "move_joint" portion of the command doesn\'t specify which joint (it could be any joint, not necessarily the wrist inferred) and also doesn\'t provide a speed. The "grip_object" action has the correct force value. The direction and angle in the "move_joint" action are correct, but the joint_name and speed are missing in the provided JSON. So, this command partially conforms to the given JSON structures.'] +Exert a 15 Newton force to firmly hold the object, and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];["1; The provided JSON structure corresponds to the 'set_orientation' action which doesn't match with the command given. The command talks about 'grip_object' action and 'move_joint', but the correlating parameters are not represented in the JSON structure. The 'set_orientation' action in JSON structure is not mentioned in the command at all."] +Use a force of 15 Newtons to grip the object and then twist the wrist joint in a clockwise direction by 60 degrees.,['The response is:'];['2; The natural command is partially matching with the JSON structure which is "grip_object" and "move_joint". The "force" value for the "grip_object" action matches with the command. However, there isn\'t any joint specified as "wrist" in the "move_joint" JSON structure and also the "angle", "direction" and "speed" values are not mentioned in the command for the "move_joint" action.'] +Grasp the object firmly with a 15 Newton force and proceed to rotate the wrist joint in a clockwise manner by 60 degrees.,['The response is:'];['2; The natural language command includes actions shared by two JSON structures, but only partially covers both. The gripping action is very well represented, the "force", "type" and "value" keys all exactly conform to the command. However, the moving joint action is only partially covered as the "joint_name" key is not accurately represented in the command.'] +Retract the arm to its starting position and hold for 4 seconds.,['The response is an empty array.'];['0; The natural language command mentions an action ("retract the arm to its starting position") that doesn\'t exist in the JSON structures provided. The JSON response is also empty, indicating no action. Hence it does not match any of the JSON structures, and the score is 0.'] +Bring the arm back to its initial position and maintain that position for a duration of 4 seconds.,['The response is an empty array.'];["0; The natural language command does not have a corresponding action with the same parameters in the JSON sample. There's no 'move_joint' action back to initial position or a duration parameter. Therefore, it's not possible to accurately translate this command to JSON using the given ontology."] +Withdraw the arm to its original position and keep it there for a period of 4 seconds.,['The response is an empty array.'];['0; The natural language command does not map to any of the provided JSON structures as there is no key for withdrawing the arm or holding it in a particular position for a specified amount of seconds.'] +Move the arm back to where it started and keep it stationary for 4 seconds.,['The response is an empty array.'];['0; The JSON structures provided do not include any information or parameters concerning moving the arm back to its starting position or keeping it stationary for a certain amount of time. Therefore, the natural language command does not match with any JSON structure.'] +Pull the arm back to its starting point and hold it for 4 seconds.,['The response is an empty array.'];['0; The natural language command instructs to pull back the arm and hold it but there are no corresponding actions available in the provided JSON structures. Thus, there is no match and the score is 0.'] +Lift the object at a velocity of 4 meters per second and extend the arm to a distance of 60 centimeters.,['The response is:'];['1; The command mentions two actions, lifting an object and extending the arm. However, the sample keys provided do not include a "lift_object" action, so this part can\'t be converted to JSON. There is an "extend_arm" action, but the command does not mention any particular speed for the extension. Thus, the command does not fully match with the JSON structure.'] +Raise the object with a speed of 4 meters per second while stretching the arm to a length of 60 centimeters.,['The response is:'];['0; The provided JSON structures do not include a command or action that raises an object. Also, the speed and length parameters mentioned do not match the units given in the JSON structures (which are in cm/s for speed and cm for length).'] +Elevate the object, moving at a velocity of 4 meters per second, and lengthen the arm to a distance of 60 centimeters.,['The response is:'];['0; The natural language command does not match any of the JSON structures provided. The command calls for an action of "elevate", while no such action exists within the sample keys of the JSON structure. Additionally, terms such as "velocity" and "distance" are not represented either.'] +Increase the height of the object by lifting it at a rate of 4 meters per second and extending the arm to a distance of 60 centimeters.,['The response is:'];['1; The command mentions extending the arm which corresponds with the "extend_arm" action in the JSON. However, the speed provided in the JSON is 1.0, which does not match 4 meters per second mentioned in the command. Also, the "extension_length" in the JSON is 10.0, which does not match the command\'s 60 centimeters. The command also refers to lifting an object, which isn\'t represented in the JSON.'] +Hoist the object, maintaining a speed of 4 meters per second, as the arm is extended to a distance of 60 centimeters.,['The response is:'];['0; There is no JSON structure that matches with the command of "hoist the object", or with parameters such as maintaining a speed or extending the arm to a certain distance.'] +Move to position X:10, Y:20, Z:30 at a duration of 8 seconds and rotate the arm joint counterclockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['1; The JSON structure includes the "move_joint" action, with correct "joint_name", "angle", and "direction" parameters matching the natural command\'s instruction to "rotate the arm joint counterclockwise by 45 degrees". However, the "speed" value doesn\'t match the "duration of 8 seconds" found in the command. The command also specifies a movement to the position X:10, Y:20, Z:30, which is not represented in the JSON at all. Therefore, the match is partial.'] +Adjust the position to X:10, Y:20, Z:30 over a period of 8 seconds, while rotating the arm joint 45 degrees in the counterclockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "'];['2; The JSON command correctly interprets the rotation of the joint by 45 degrees in the counter-clockwise direction. However, the movement to the X:10, Y:20, Z:30 position and the time period of 8 seconds are not considered in the JSON command. Furthermore, there are absent keys such as "unit" and "unit_speed".'] +Transition to coordinates X:10, Y:20, Z:30 in 8 seconds, simultaneously rotating the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The JSON structure does not match the natural language command. The command includes a transition to coordinates, which doesn't exist in the sample keys of the ontology. The JSON structure only refers to moving a joint, not to transitioning the whole arm to specific coordinates. Therefore, the command and JSON are not conform."] +Shift to the specified position (X:10, Y:20, Z:30) in 8 seconds, while also rotating the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["1; The natural language command is partially matched to the JSON structure. The command requires both moving to a certain position and rotating the arm joint, but the provided JSON only depicts the 'move_joint' action, and does not include the moving to a specific position part. Furthermore, the speed value in the JSON has a different value (1.0) than described in the action command (8 seconds)."] +Transfer to the designated coordinates (X:10, Y:20, Z:30) smoothly within an 8-second timeframe, while turning the arm joint 45 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "'];["1; The natural language command includes the instruction to move the robot arm joint 45 degrees counterclockwise, which matches with the 'move_joint' action in the JSON with the 'angle' being 45.0 degrees and the 'direction' counterclockwise. However, there is no information in the JSON related to moving to specific coordinates (X, Y, Z) and doing so smoothly within a certain timeframe, which is the primary part of the command. Thus, the JSON structure only partially matches the command."] +Swim.,['### Check:', 'So far, the response is accurate.'];['0; The command "Swim" does not conform to any of the actions found in the sample keys of the JSON structures provided. There is no corresponding JSON structure for this command.'] +Take a swim.,['A: You swam 100 meters. That is 100/10 = 10 meters per 10 seconds. So you swam for 10 * 10 = 100 seconds.'];["0; The natural language command 'take a swim' does not conform to any of the provided JSON structures. Hence, the conformity score is 0."] +Engage in swimming.,['A: You swam 100 meters. ', 'A: You swam 100 meters. ', ''];["0; The natural language command 'Engage in swimming' does not match any of the specified actions in the given JSON structures, nor can any of the contained parameters be related to this command."] +Get in the water and swim.,[''];["0; The command 'Get in the water and swim.' doesn't match with any provided JSON information or keys in the sample ontology. There is no action or parameters corresponding to swimming or getting into water."] +Dive in and start swimming.,[''];["0; The natural language command 'Dive in and start swimming' does not match any of the given JSON structures. The actions referenced in the command aren't represented in the sample ontology provided."] +Move the robotic arm to position X:50, Y:100, Z:200.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command requires moving the robot arm to a specific position in a 3D space (X:50, Y:100, Z:200), but the provided JSON information under "action": "move_joint" doesn\'t have keys for 3D coordinates or positions. It only has keys for "joint_name", "angle", "direction", "speed", "unit", and "unit_speed", which do not match with the command.'] +Position the robotic arm at X:50, Y:100, Z:200.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];["0; The natural language command is trying to set the X, Y, and Z coordinates of the robotic arm, while the JSON structure represents setting the orientation to upright. These actions are different hence there's no conformity."] +Set the robotic arm to coordinates X:50, Y:100, Z:200.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not match the natural language command. The command indicates setting specific coordinates X, Y, Z for the robotic arm, which does not exist in any action or parameter in the given JSON structures. The provided JSON structure describes a joint movement with specific parameters that are not related to the command.'] +Adjust the robotic arm to reach X:50, Y:100, Z:200.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];['0; The natural language command is about adjusting the robotic arm to specific coordinates (X, Y, Z), which doesn\'t match with any of the provided JSON structure. The provided JSON corresponds to "set_orientation" action, which is different from the natural language command.'] +Move the robotic arm so that it is located at X:50, Y:100, Z:200.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['0; The JSON structure provided does not match the command. The command is about moving the robotic arm to specific coordinates, while the JSON structure represents a "move_joint" action with parameters for joint name, angle, direction, speed, but it doesn\'t include coordinates as X, Y, Z.'] +Rotate the shoulder joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; While the JSON correctly identifies the action and the majority of parameters such as the joint which is to be moved (shoulder), the direction (counterclockwise), and the angle (90 degrees), the speed is mentioned as 1.0 degrees/s in the JSON which isn't specified in the natural language command. Therefore, we cannot assume conformity in terms of speed."] +Turn the shoulder joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4.5; Although the 'joint_name' and 'direction' match the command closely, the speed value is different. The speed value is not mentioned in the command, so assuming any speed like 1.0 doesn't fully conform to the command."] +Twist the shoulder joint counterclockwise, making a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; Almost all key-value pairs match with the command. However, the value for the key 'joint_name' in JSON is 'shoulder' whereas in the command it is specified as 'elbow'."] +Rotate the shoulder joint in a counterclockwise direction, reaching a 90-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure represents the action to "move_joint" and includes details like joint_name, angle, direction, speed, unit, and unit_speed. This matches with the natural language command. However, the joint_name is given as "shoulder" in JSON while the command mentions the "elbow". Also, the speed parameter given in the JSON structure is not mentioned in the command, hence it can have any reasonable value. So, the conformity score is slightly less than perfect.'] +Pivot the shoulder joint counterclockwise, achieving a 90-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform.'] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' }', ' }', '}'];['3; The "action" and "extension_length" parameters match the command but the "speed" parameter in the JSON structure was not specified in the command.'] +Increase the arm's length by 30 centimeters.,['The response is ', ''];['1; The natural language command refers to extending the arm, which is contemplated in the second JSON structure. However, the parameter "extension_length"\'s value of 30.0 is not present in the JSON structure. The JSON structure also lacks a command and there\'s an unknown string \'\'. Hence, it only vaguely matches.'] +Lengthen the arm by an additional 30 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure is correct according to the command, as it defines the action to "extend_arm" with an "extension_length" of "30.0". The unit of length is also accurately represented as "centimeters". However, the "speed" key is inferred to be 2.0 from the JSON, but this isn\'t mentioned in the natural command. Hence, the score is not a perfect 5.'] +Stretch the arm outwards by 30 centimeters.,['The response is an empty array.'];['0; The JSON information provided does not match the natural language command. The command requests to "stretch the arm outwards by 30 centimeters", however the JSON structure provided is an empty array with no relevant action or parameters.'] +Add 30 centimeters to the arm's reach.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["5; Exactly conform. The natural language command perfectly matches the provided JSON structure. The 'extend_arm' action is instructed correctly, with the correct extension length of 30 centimeters. The speed is also reasonably filled, although it wasn't mentioned in the command, following the guidelines."] +Grip the object with 10 pounds of force.,['The response is acceptable.'];['2; The command is partially conforming to the JSON structure for "grip_object". However, the force value does not match the expected force value unit in the JSON ontology (newtons vs pounds).'] +Apply a force of 10 pounds to grasp the object.,['The response is an empty array.'];['0; The provided JSON structure does not match the natural language command. The command refers to applying force to grip an object, a functionality that could be associated with the "grip_object" action. However, the parameters used "force: 10 pounds" are not present or matching the sample keys (the units are different - the JSON has force in newtons, not pounds).'] +Exert 10 pounds of pressure to firmly hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command is mentioning the force to be exerted in 'pounds' while the 'unit_force' in the JSON structure is in 'newtons'. Moreover, the 'duration' parameter is not specified in the natural language command but is present in the JSON structure."] +Use 10 pounds of strength to tightly grip the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2.5; Partial match. The natural language command instructs to grip the object tightly and specifies the force amount as "10 pounds" while the JSON structure also commands to "grip_object" and provides a force measure of 10.0. However, the unit in the JSON structure is "newtons", not "pounds". Moreover, the duration is specified in the JSON but not in the natural language command.'] +Securely hold the object with a force of 10 pounds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The action in the command and JSON match but there is a mismatch in the "force" value unit. The command specifies force in "pounds" whereas the JSON structure uses "newtons". The duration value is arbitrarily assumed in the JSON structure.'] +Move the arm in a straight line at a velocity of 50 centimeters per second.,['The response is an empty array.'];["0; The command references moving the arm in a straight line at a specific velocity, but there is no matching JSON structure. The 'extend_arm' action could be considered analogous, but it doesn't specify a direction and uses the term 'speed', not 'velocity'. The JSON structures also do not contain the value '50' for any speed parameters."] +Adjust the arm to move in a linear path with a speed of 50 centimeters per second.,['The response is:'];['0; The natural language command does not correspond to any given JSON structure. There is no JSON action that involves adjusting the speed in a linear path for the arm.'] +Direct the arm to travel in a straight line at a rate of 50 centimeters per second.,['The response is an empty array.'];['0; The command specifies an action that isn\'t represented in the JSON structures provided. The action "move arm in a straight line" or anything similar is not present in the sample keys. Therefore, the command can\'t be converted to JSON.'] +Command the arm to execute a straight-line motion at a velocity of 50 centimeters per second.,['The response is an empty array.'];['0; The command refers to a straight-line arm movement which is not represented in any of the JSON structures provided. The JSON structures specifically refer to joint movement, arm extension, grip and orientation actions. Therefore, the command cannot be translated into JSON using the existing structures.'] +Instruct the arm to move in a straight line, maintaining a speed of 50 centimeters per second.,['The response is an empty array.'];['0; The JSON structure for moving or extending the arm at a certain speed is not present in the provided strings. Thus, the natural language command does not align with the sample ontology.'] +Rotate the elbow joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command and the JSON structure match almost perfectly. However, there is a speed parameter in the JSON that wasn't specified in the command."] +Turn the elbow joint in a clockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The JSON is nearly a perfect match to the natural language command except for the speed. It wasn't mentioned in the command, so any reasonable value could be accepted. Here, it's 1.0 which is a reasonable speed value."] +Rotate the elbow joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 60.0,', ' "direction": "right",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command and the JSON structure mostly conform. The "joint_name" value as "elbow," "direction" as "right," "unit" as "degrees," and "unit_speed" as "degrees/s" correctly match the command. The "angle" also matches at 60.0. However, "speed" is set as 1.0 in the JSON while it\'s not mentioned in the command.'] +Twist the elbow joint to the right by 60 degrees.,['The response is:'];['4; The natural language command generally conforms to the JSON structure with "action": "move_joint", "params": {"joint_name": {"type": "str","value": "elbow"},"direction": {"type": "str","value": "clockwise"}, "angle": {"type": "float", "value": 60.0}}, but exact direction like \'right\' in natural language command is not matched with \'clockwise\' in JSON structure.'] +Move the elbow joint in a clockwise rotation, making a 60-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['5; The JSON structure perfectly matches the natural language command, except for the speed which was not specified in the command but has a reasonable value in the JSON.'] +Retract the arm to its starting position.,['The response is an empty array.'];['0; The given command "retract the arm to its starting position." doesn\'t match with any of the provided JSON structures.'] +Move the arm back to its original position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];['1; The JSON structure is relating to the action "move_joint", which could be relevant. However, the parameters listed don\'t match the command. The command is asking to move the arm, not a specific joint. Additionally, moving the "arm back to its original position" does not provide a specific angle or direction, which the JSON structure focuses on.'] +Withdraw the arm and return it to its initial location.,['{', ' "action": "release_grip"', '}'];['0; The natural language command involves withdrawing the arm and returning it to an initial location, which does not correspond to the JSON structure for "release_grip". The JSON structure for "release_grip" does not specify any movement of the arm (back to initial location, or otherwise).', ''] +Bring the arm back to where it started.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": -90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['1; The natural language command "Bring the arm back to where it started" suggests a reversing action which does not necessarily imply a "move_joint" action with a specific joint, angle, direction, and speed as specified in the JSON. Moreover, the reversal of the action may not only involve the elbow joint but could also include other joints or actions, such as retracting the arm or changing its orientation. The values in the JSON, such as the "counterclockwise" direction and "-90.0" angle, are not mentioned in the command, and the action of the command cannot be definitively deduced from the JSON.'] +Pull the arm back until it reaches its starting point.,['The response is an empty array.'];['0; The natural language command does not match any JSON structure as the action and parameters specified do not conform to the sample keys in the listed JSON structures.'] +Move the robotic arm to position X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "'];['0; The JSON structure does not match the natural language command. The JSON references an action to move a joint (specifically the elbow), while the command directs moving to a specific 3D coordinate. The parameters in these two structures also do not align, and the specific idea of moving a robot to a 3D positions does not exist as an action within the given ontology.'] +Adjust the robotic arm to coordinates X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command and the JSON structure have no matching fields or actions. The command talks about adjusting coordinates which does not exist in the JSON ontology, where the related actions are about moving a joint, extending an arm, gripping and releasing an object, or setting an orientation.'] +Shift the robotic arm to position X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command refers to positioning the arm to a specific (x,y,z) coordinate, however, the JSON structure doesn't contain any information about movement to a specific coordinate. It only contains information for moving a specific joint (elbow), changing its angle, direction, and speed. None of these parameters match the context of the given command."] +Realign the robotic arm to coordinates X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command is asking for the robotic arm to be re-aligned to certain coordinates, but this doesn't match any of the JSON actions available in the sample ontology. Furthermore, the provided JSON structure is attempting to move a joint to a specific angle rather than re-aligning the entire arm to certain coordinates."] +Position the robotic arm at X:0, Y:0, Z:0.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "none"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "'];["0; The JSON structure doesn't match the natural language command. The command is asking to position the arm based on coordinates which can't be catered to by the existing JSON structure. Furthermore, the action 'move_joint' isn't relevant to the command given which involves moving the robotic arm to a specific positional coordinate - an action that isn't included in the sample keys."] +Grip the object with a force of 20 newtons.,['Grip the object with a force of 20 newtons.'];['4; The natural language command corresponds well with the "grip_object" JSON structure, with specified force parameter. However exact value of the force (20 newtons in command versus 5.0 newtons in JSON) doesn\'t match.'] +Exert a 20 newton force to hold onto the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The command asks to "exert a 20 newton force to hold onto the object", which is accurately reflected in the action "grip_object" and the "force" parameter with a value of 20.0 in the JSON structure. However, the duration is not mentioned in the natural language command, but it is set to 3.0 seconds in the JSON structure. Since the command does not specify the duration, any reasonable value in the JSON is accepted, but it still causes some small degree of inconsistency.'] +Apply a 20 newton force to firmly grasp the object.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON is mostly conform to the natural language command. The 'action' and 'unit_force' match perfectly. However, the 'duration' value in the JSON is assumed, since the duration is not specified in the natural language command. Therefore, despite the JSON structure being correct, it loses one point for the assumption."] +Use a force of 20 newtons to grip the object securely.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The JSON action and parameters conform to the command. However, note that the command did not specify duration, and a value of 3.0 seconds was arbitrarily assigned in the JSON, hence it is not a perfect match.'] +Hold onto the object with a 20 newton force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["4; The natural language command closely aligns to the structure of the JSON, however, the command did not specify duration, hence JSON parameter of 3.0 seconds is assumed and this isn't explicitly specified in the command."] +Extend the arm by 10 inches.,['The response is, "Extend the arm by 10 inches."'];["0; The command involve the 'extend_arm' action, the provided JSON structure is missing and also the unit of measurement in the command is in inches instead of centimeters as per the JSON structure."] +Increase the arm's length by 10 inches.,['The response is an empty array.'];["0; The JSON does not match the natural language command as the action of increasing the arm's length is not referenced in the JSON structure and the unit used (inches) does not match the unit used in the JSON structure (centimeters)."] +Stretch the arm by an additional 10 inches.,['The response is, "The arm was stretched by an additional 10 inches."'];['1; The natural language command corresponds to the "extend_arm" action in JSON structure. However, the unit of measure in the command ("inches") does not match with the one in the JSON structure ("centimeters"), hence the low score.'] +Lengthen the arm by 10 inches.,['The response is, "Lengthen the arm by 10 inches."'];["0; The natural language command does not match with any of the JSON structures as the action 'extend_arm' does not contain the correct unit of measurement ('inches' instead of 'centimeters')."] +Add 10 inches to the arm's extension.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["2; While the action 'extend_arm' is conform with the command, the values for 'extension_length' and 'speed' are incorrectly represented in the JSON, additionally the 'unit_length' is in centimeters whereas the command specifications are given in inches."] +Rotate the wrist joint counterclockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["5; The natural language command matches with the JSON structure. All the parameters of the command is specified and corresponds to the correct keys and their relevant values in the JSON. The joint_name in the JSON is mentioned as 'wrist' which corresponds to the command 'rotate the wrist joint', the direction key as 'counterclockwise' is exactly matched and the angle '30' in command is correctly mentioned in the JSON as '30.0'. The speed is acceptable as it's considered a reasonable value and it's not specified in the command."] +Turn the wrist joint in a counterclockwise direction by 30 degrees.,['The response is:'];['3; Although the action "move_joint" is correctly inferred, the "joint_name" parameter is not correctly specified. In the natural language command, the "wrist" is specified, while in the JSON structure, the "elbow" joint is specified. The direction, angle, and units are correctly matched, but the speed is not specified in the natural language command so any value is acceptable.'] +Rotate the wrist joint anticlockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": -30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['4; The JSON structure mostly matches the command, it lists the action as "move_joint" and correctly identifies the specified joint as the wrist and the angle correctly as 30 degrees. However, the direction is \'anticlockwise\' in the command, in contrast to the JSON\'s \'clockwise\'. The speed is not specified in the command but was randomly generated in the JSON, this does not affect the scoring as per the instructions. Additionally, the close bracket and quotation mark at the end of the string are not part of this JSON structure, and it seems that the \'unit\' values are missing.'] +Move the wrist joint in a counterclockwise rotation of 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['4; The structure generally matches the command but the "speed" key in the JSON structure doesn\'t have a value specified in the command, hence the 0.0 value in the JSON is not directly in conformity with command.'] +Adjust the wrist joint by rotating it counterclockwise at a 30-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Justification: The natural language command matches the JSON structure quite well. The action "move_joint" and the parameters "joint_name", "angle", "direction", "unit", and "unit_speed" are correct. However, the "speed" value is specified as 1.0 in the JSON, while it is not specified in the natural language command.'] +Move the arm in a curve with a radius of 50 centimeters.,['The response is an empty array.'];['0; The natural language command does not match any JSON structure as the command involves moving the arm in a curve with a certain radius, which is not represented in the given JSON structures.'] +Perform a curved motion with the arm, ensuring a radius of 50 centimeters.,['The response is an empty array.'];["0; The natural language command describes an action ('Perform a curved motion with the arm, ensuring a radius of 50 centimeters.') which does not match or conform to any of the available JSON structures or actions. Therefore, the conformity score is 0."] +Rotate the arm in a circular path, maintaining a curvature with a radius measuring 50 centimeters.,['The response is an empty array.'];["0; The command asks to rotate the arm in a circular path with a specific curvature, but there is no corresponding action or parameters in the JSON structures that could represent this. Therefore, the command isn't represented in JSON structure at all."] +Execute a curvilinear movement with the arm, guaranteeing a 50-centimeter radius.,['The response is an empty array.'];['0; None of the provided JSON structures match the natural language command for executing a curvilinear movement with the arm with a specified radius. The command and the JSON structures given do not conform.'] +Maneuver the arm in a curved trajectory, ensuring a radius spanning 50 centimeters.,['The response is an empty array.'];['0; The command does not correspond to any of the available actions or parameters outlined in the JSON structures provided.'] +Rotate the shoulder joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['4; The action and many parameters match correctly, but the speed parameter in the JSON does not conform to the natural language command, which did not specify a speed.'] +Rotate the shoulder joint in a clockwise direction, turning it by an angle of 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 45.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command mostly conforms to the JSON structure; however, the speed is not specified in the natural language command but is present in the JSON structure.'] +Turn the shoulder joint clockwise, rotating it by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['4; The action and the parameters in the JSON matches with those mentioned in the command. However, the natural language command specifies moving of the "shoulder" joint while the JSON has the "elbow" joint. So there is a discrepancy in the \'joint_name\'. Also, the speed is not mentioned in the natural language command but is present in the JSON.'] +Twist the shoulder joint in a clockwise manner, changing its position by 45 degrees.,['The response is an empty array.'];["0; The JSON structure is not provided and therefore does not match the natural language command calling for 'move_joint' action."] +Rotate the shoulder joint in the clockwise direction, making a 45-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 45.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure contains most of the information in the natural command. However, the joint_name value should be "elbow" and the speed value is irrelevant in the JSON as it is not mentioned in the command.'] +Move the robotic arm to position X:100, Y:50, Z:150.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The provided JSON structure does not match with the natural language command. The command is related to moving the robotic arm to a specific XYZ position, whereas the JSON structure represents the "move_joint" action on a robotic arm, which adjusts the elbow joint at an angle.'] +Position the robotic arm at coordinates X:100, Y:50, Z:150.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not match with the natural language command, as the command is about positioning robotic arm at specific coordinates which is not represented in the provided JSON structure and the sample ontology.'] +Transfer the robotic arm to location X:100, Y:50, Z:150.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command is instructing to move the robotic arm to a specific location with specified coordinates (X:100, Y:50, Z:150). There is no matching key in the given JSON structure that corresponds to moving to a specific location. The JSON on the other hand is about moving a specific joint (elbow) with specifications on the angle, direction, speed of the action. The values and information in this JSON structure do not match or conform to the desired action specified in the natural language command.'] +Shift the robotic arm to the X:100, Y:50, Z:150 position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];["0; The command talks about positioning the robotic arm in the 3D space, instead the JSON structure corresponds to setting the orientation of the robot to upright. This doesn't match the given command, therefore, the score is zero."] +Adjust the robotic arm to the desired coordinates: X:100, Y:50, Z:150.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];["0; The provided JSON structure corresponds to an action of setting orientation, which is not related to the natural language command of adjusting robotic arm to specific coordinates. Thus, they don't match."] +Grip the object with a force of 15 pounds.,['Grip the object with a force of 15 pounds.'];['1; The given command instructs to grip the object with a force of 15 pounds. However, the unit of force in the JSON structure is given in newtons rather than pounds. The overall action (grip_object) is correct and the force is correctly specified, but the unit of the force is different. Therefore, the command only partially conforms to the JSON structure.'] +Apply a 15-pound force to grasp the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 15.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['3; The "duration" in JSON structure does not match with the natural language command. So, the value of "duration" is arbitrary and doesn\'t affect the score but the units are mismatched, as \'pounds\' is not converted to \'newtons\'.'] +Exert 15 pounds of force to hold onto the object.,['The response is 15.0.'];['1; The command requires grip action but uses different unit for force which is not included in the sample key. Plus, the JSON structure provided does not correspond to any valid command structure. It seems this structure rather represents the response to such command, not the command itself.'] +Use a 15-pound grip to secure the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 15.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command gives the force value in pounds and not the required \'newtons\' unit of force as indicated in the JSON structure. Also, the duration value in the command is lacking but the JSON structure has a value, which goes against the specification "If a parameter\'s value is not specified in the natural language command, any reasonable value in the JSON is accepted."', ''] +Hold the object firmly with a force of 15 pounds.,['The response is "Hold the object firmly with a force of 15 pounds."'];['0; The provided JSON structure does not match with the natural language command. The command talks about holding an object firmly with a specific force but the JSON structure is incorrect and does not provide any relevant information pertaining to the performed action.'] +Retract the arm by 20 centimeters.,['The response is an empty array.'];["0; The natural language command does not match any of the actions provided in the JSON structures. The 'retract' command does not exist in the sample keys provided."] +Move the arm back by a distance of 20 centimeters.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": -20.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not match the command. The command requires the action "extend_arm" with negative extension to move back, but the JSON provided is related to "move_joint" action, which does not correspond to the natural language command. Furthermore, the "joint_name" given in JSON is incorrect, distance is not mentioned in "angle", and the direction of movement does not apply in this context.'] +Pull the arm inward, reducing its length by 20 centimeters.,['The response is an empty array.'];["0; The JSON structure does not match the command. There's no action or parameters related to pulling the arm inward or reducing its length in the sample ontology."] +Withdraw the arm by 20 centimeters.,['The response is empty.'];['0; The command does not match any action in the provided JSON structures. The closest action might be "extend_arm", but the command calls for the arm to be withdrawn, not extended. Furthermore, no JSON structure with an action to withdraw (reduce the extension of) an arm is provided.'] +Bring the arm back, shortening it by a measurement of 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The action in the JSON structure is "extend_arm", which doesn\'t match the natural language command of "bring the arm back, shortening it". Furthermore, the value for "extension_length" in the JSON structure is 20.0 cm which matches the "shortening by 20 cm" in the command, but direction/intention does not match. Also, the speed parameter in the JSON wasn\'t specified in the command. Therefore, the overall conformity between the command and the JSON is not very high.'] +Rotate the elbow joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command and the JSON information match quite well, but the direction in the JSON is not the same as in the command and the speed value in the JSON is not specified in the command. The direction is "counterclockwise" in the command and "clockwise" in the JSON and the speed value is not specified in the command but it is 1.0 in the JSON. Therefore, the command partially matches the JSON information.'] +Turn the elbow joint in an anticlockwise direction, rotating it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anticlockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['5; The natural language command matches perfectly with the JSON structure. The action of moving a joint ("move_joint"), the joint name ("elbow"), the angle (90 degrees), and the direction ("anticlockwise") are all present and correct. The speed parameter isn\'t specified in the command, but the value in the JSON structure is accepted as it is a reasonable assumption.'] +Rotate the elbow joint to the left by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["4; The natural language command matches the JSON structure in the 'action', 'joint_name', and 'angle'. The direction is also matching but mentioned as 'to the left' instead of 'counterclockwise'. The 'speed' parameter not specified in the natural language command but it's in the JSON structure. This is the only reason for the score being less than 5."] +Perform a 90-degree counterclockwise rotation of the elbow joint.,['The response is ', '{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0'];['5; The JSON accurately reflects the natural language command with the correct action (move_joint) and parameters (joint_name, angle, and direction). The speed value is not specified in the natural language command but it is provided in the JSON, which is acceptable.'] +Twist the elbow joint counterclockwise, turning it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4.5; The command and the JSON structure mostly align. The value for 'speed' in the JSON is not specified in the natural language command. So, any reasonable value in the JSON for 'speed' (here, 1.0) is accepted. However, the JSON structure has a 'speed' key, but the natural language command does not mention anything about speed."] +Move the arm in a zigzag pattern with a velocity of 75 centimeters per second.,['The response is:'];["0; The provided command does not correspond to any of the JSON structures provided. The action 'move_arm' and the parameter 'velocity' are not available in the sample keys. Moreover, the 'zigzag' pattern is not considered in any JSON structures."] +The arm should be moved in a zigzag pattern at a speed of 75 centimeters per second.,['The arm should be moved in a zigzag pattern at a speed of 75 centimeters per second.'];["0; The natural language command does not conform to any of the JSON structures. There is no 'move_joint' action or other action that could be interpreted as 'move in a zigzag pattern' and no speed of '75 centimeters per second' is provided in the sample keys. Also, the unit of speed is not appropriate for the joint movement."] +Move the arm with a velocity of 75 centimeters per second in a zigzag pattern.,['The response is an empty array.'];["0; Natural language command does not match to any JSON structure, the action 'move the arm in a zigzag pattern' is not given in the JSON structures."] +With a speed of 75 centimeters per second, move the arm in a zigzag pattern.,['The response is:'];['0; The natural language command does not map to any of the provided JSON structures. None of the actions include moving the arm in a zigzag pattern.'] +In a zigzag pattern, move the arm with a velocity of 75 centimeters per second.,['The response is ', ''];['0; The natural language command requests a complex movement ("zigzag pattern") at a specified speed, but none of the provided JSON structures include a command for moving the arm in a pattern. Also, there is no \'velocity\' parameter in any of the given JSON structures.'] +Extend the arm by 5 inches.,['The response is, "Extend the arm by 5 inches."'];['0; The natural language command refers to an action of extending the arm with a specific length but the unit used in the command ("inches") is not reflected in the JSON structure. Additionally, there is no parameter value specified in the JSON structure for this command (extension length and speed are 10.0 and 1.0 respectively in cm/s) meaning it does not entirely match the command.'] +Increase the arm's length by 5 inches.,['The response is ', ''];['0; The given natural language command talks about extending the arm\'s length by 5 inches. However, this command doesn\'t conform to any of the JSON structures provided. The "extend_arm" action could be seen as a close match with the command, but the unit of measurement (inches) mentioned in the command does not conform to the unit of measurement (centimeters) in the JSON structure for "extend_arm". Also, the specific extension length (5 inches) is also not provided in the JSON structure parameters. Therefore, the conformity score is 0.'] +Lengthen the arm by an additional 5 inches.,['The response is, "Lengthen the arm by an additional 5 inches."'];["0; The JSON structure does not match the command 'Lengthen the arm by an additional 5 inches.' because there is no relevant action or parameter for lengthening the arm in inches in the sample ontology. The extend_arm action only accepts parameters in centimeters, not inches."] +Stretch the arm outwards, adding 5 inches to its total length.,['The response is an empty array.'];['0; The natural language command involves extending the arm, but this action is not reflected in the provided JSON structure. Further, the JSON structure is an empty array and contains no relevant data to match the command.'] +Expand the arm's size by 5 inches.,['The arm can be expanded by 5 inches. The answer is 5.'];["1; The command somewhat aligns with the JSON structure for 'extend_arm', but it uses a different unit of measurement ('inches' instead of 'centimeters'). It also does not provide a 'speed' parameter."] +Rotate the wrist joint clockwise by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 15.0,', ' "direction": "clockwise",', ' "speed": 0.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure matches the command given but the speed value (0.0) does not conform to the natural language command as it was not specified.'] +Turn the wrist joint in a clockwise direction, angling it 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];['5; The natural language command matches with the JSON perfectly. The "action" is "move_joint" and the parameters involved are "joint_name" (with value "wrist"), "angle" (with value 15.0), and "direction" (with value "clockwise"). Although speed is not specified in the command, any reasonable value is accepted.'] +Rotate the wrist joint to the right by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];['4; The natural language command corresponds closely with the JSON structure. The "action" is "move_joint", the "joint_name" is "wrist", the "angle" is 15 (turned into correct format, float), and the "direction" is "right". Values for "speed" aren\'t included in the command, but the presence of value 0.0 in JSON is reasonable. Also, "unit" key is not fully provided in JSON, which isn\'t included in provided sample keys.'] +Twist the wrist joint in a clockwise motion, adjusting it by 15 degrees.,['The response is:'];["3; The JSON structure presents the correct action of moving a joint and the direction is also right being clockwise. However, the joint specified in the JSON is 'elbow', not 'wrist', and the angle value does not match with being 45.0 instead of 15."] +Move the wrist joint in a clockwise rotation, offsetting it by 15 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];["4.5; The action, joint_name, direction, and angle are correct. There is no speed mentioned in the language command, so it's not technically incorrect, but it's also not a perfect match because the JSON structure has a speed value of 0.0."] +Swim.,['### Check:', 'So far, the response is accurate.'];['0; The command "Swim" does not match any of the provided JSON structure actions.'] +Take a swim.,['A: You swam 100 meters. That is 100/10 = 10 meters per 10 seconds. So you swam for 10 * 10 = 100 seconds.'];['0; The natural language command "Take a swim" does not match with any of the provided JSON structures. The given JSON structures involve actions such as moving a joint, extending an arm, gripping an object, releasing a grip, and setting an orientation, none of which corresponds to the action of swimming.'] +Go for a swim.,['A: You swam 100 meters.', 'A: You swam for 10 minutes.', 'A: You swam at a speed of 2 meters per minute.'];['0; The provided JSON structures denote actions related to robot\'s movements, such as moving a joint, extending arm, gripping object, etc. The natural language command "Go for a swim." does not match any of these actions, nor does it provide any relevant parameters.'] +Dive into the water.,[''];['0; The command "Dive into the water" doesn\'t match with any of the provided JSON structures as it refers to a different type of action that is not covered by the ontology examples provided (move_joint, extend_arm, grip_object, release_grip, set_orientation). Therefore, no conversion to JSON is possible.', ''] +Engage in swimming.,['A: You swam 100 meters. ', 'A: You swam 100 meters. ', ''];['0; The natural language command doesn\'t match any of the JSON information provided. The command "Engage in swimming" is unrelated to any of the available actions in the JSON structures, such as "move_joint", "extend_arm", "grip_object", "release_grip", "set_orientation", and the JSON data given alongside it has no relevant connection to the command as well. Therefore, the conformity score is 0.'] +Lift the object 5 centimeters off the ground.,['The response is an empty array.'];['0; The natural language command refers to lifting an object, but the given JSON structures do not have a matching action or parameters. Thus, the command cannot be represented with the sample keys.'] +Raise the object to a height of 5 centimeters above the ground.,['The response is an empty array.'];['0; The given JSON structures does not contain an action that corresponds to raising an object to a certain height. Thus, there is no match between the command and the JSON structures.'] +Elevate the object so that it is positioned 5 centimeters above the ground.,['The response is an empty array.'];["0; There is no matching for the action of 'elevating the object' in the given JSON commands."] +Increase the height of the object by 5 centimeters from its current position on the ground.,['The response is an empty array.'];['0; This command cannot be represented by any of the available actions in the JSON structures provided. There are no actions or parameters for adjusting the height of an object.'] +Ascend the object by 5 centimeters, lifting it away from the ground.,['The response is an empty array.'];['0; The natural language command is requesting to lift an object, but no matching action or parameter exists in the provided JSON structures. Therefore, it cannot be converted into any of the provided JSON structures.'] +Rotate the base joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; While the context of the action and the parameters match correctly, the values in the JSON have filled in placeholder data where the original command didn't specify those details. The original command did not specify which joint to move or the speed at which to do so."] +Turn the base joint anti-clockwise by an angle of 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['5; Exactly conform. The JSON structure correctly recognizes the action as "move_joint" and sets the correct joint_name ("base"), angle (90), and direction ("anti-clockwise"). Even though the speed is set to zero in the JSON and is not mentioned in the natural language command, this doesn\'t affect the conformity as any reasonable value is acceptable when not specified.'] +Twist the base joint in a counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Mostly conform. The natural language command and the JSON mostly match but the "speed" is not specified in the natural language command. The JSON structure assumed a "speed" of 1.0 but it was not stated. Therefore, it mostly conforms to the sample ontology but is missing a specific parameter value.'] +Rotate the base joint in the counterclockwise direction by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; Although the joint name is not specified in the JSON, it is implied that the "base" joint is to be moved, matching the natural language command. However, the speed is not specified in the command, so any speed is acceptable. Here, a speed of 1.0 units (degrees/second) has been chosen, which is reasonable but not mentioned explicitly in the command. Therefore, the command matches closely, but not exactly, with the JSON structure.', ''] +Execute a 90-degree counterclockwise rotation of the base joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command and the JSON structure largely conform. However, the "speed" parameter value in the JSON is not specified in the natural language command.'] +Extend the arm to position X:50, Y:0, Z:80.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 80.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'];['0; The natural language command is talking about extending the arm to a specific position in a 3D space, with coordinates X, Y, and Z. This isn\'t conform with the JSON structure provided in the ontology. The \'extend_arm\' action in the JSON ontology does not use X, Y, Z coordinates but rather a single "extension_length" value. Additionally, the "value" for "extension_length" in the JSON does not match to any value given in the command, and there are no keys for X, Y, Z coordinates in the sample ontology.'] +Move the arm to coordinates X:50, Y:0, Z:80.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not match the command given. In the command, there is a mention of moving the arm to specific coordinates, which is not reflected in the JSON structure at all. This JSON structure is set to perform the action of "move_joint", specifically the "elbow" joint, at a certain angle, direction, and speed - not move it to specific coordinates.'] +Adjust the arm to reach position X:50, Y:0, Z:80.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command requires the arm to move to a specific position in 3D space, which is completely different from the actual command captured in JSON. The JSON structure implies moving a specific joint (elbow) in a specific direction (counterclockwise) with a specified angle (90) and at a certain speed, not setting a position in 3D space.'] +Stretch out the arm until it reaches X:50, Y:0, Z:80.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 50.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'];['1; The natural language command is asking to extend the arm to a certain position in a 3D space (X:50, Y:0, Z:80), however the JSON structure outlines execution for extension length of the arm without specifying a final coordinate. The notion of X, Y, Z orientation or position is not mentioned in the given ontology. Therefore, the JSON does not sufficiently match the command.'] +Set the arm's coordinates to X:50, Y:0, Z:80.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command is requesting to set the arm's coordinates, however, there is no corresponding action in the provided JSON structures. The given JSON structure 'move_joint' doesn't match with the command as it doesn't deal with coordinates but rather joint movements."] +Open the grip completely for 3 seconds.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command instructs to "open the grip" which corresponds to the action "release_grip", not "grip_object" in the given JSON structure. The duration parameter, however, matches partially with the given command. Hence, the conformity score is low.'] +Fully open the grip and hold for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The natural language command corresponds to the 'release_grip' action but it is incorrectly matched with 'grip_object' JSON structure in place. The 'duration' parameter is mentioned in the command and correctly represented in the JSON, but 'force' parameter is not mentioned but still present in the JSON structure."] +Release the grip completely for a duration of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];["1; The natural language command talks about a 'duration' parameter for the 'release_grip' action. However, the JSON structure provided does not contain any parameter associated with the 'release_grip' action."] +Keep the grip wide open for a period of 3 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['1; The natural language command instructs to keep the grip open which somewhat correlates with the "release_grip" action. However, the duration for which it should be opened is not accounted for in the given JSON.'] +Hold the grip in a fully extended position for 3 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["4; The JSON structure correctly identifies the 'grip_object' action and the duration (3 seconds). However, it incorrectly assumes a force of 10 newtons, which was not specified in the command, and does not handle the 'fully extended position' part of the command."] +Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'];['0; The command "Move the object to position X:20, Y:30, Z:10 at a velocity of 10 centimeters per second" cannot be converted into any of the provided JSON structures. The "move_joint" action is the closest match, but it requires an elbow joint and specific angle, direction, and speed parameters that are not specified in the command. Furthermore, the command specifies coordinates and a velocity that are not available in the given ontology.'] +Transfer the item to coordinates X:20, Y:30, Z:10 with a speed of 10 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 10.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["0; The natural language command is about transferring an item to specific coordinates while the JSON structure represents extension of an arm. The keys in the JSON structure don't conform with the command provided."] +Relocate the object to X:20, Y:30, Z:10, moving at a rate of 10 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'];['1; The natural language command talks about relocating an object which implies motion in 3 dimensional space (X, Y, and Z coordinates). This doesn\'t match with the provided JSON structure where the "extend_arm" action only considers a single dimension of movement (extension_length). Unit of speed and value are matching but the complete action and parameters do not accurately represent the command. Therefore the match is very minimal.'] +Transport the item to position X:20, Y:30, Z:10 with a velocity of 10 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'];["0; The command 'Transport the item to position X:20, Y:30, Z:10 with a velocity of 10 centimeters per second.' does not correspond with the provided JSON structure for 'move_joint'. The command implies movement of an object to a specific position with specified velocity, but the JSON action is for moving a specific joint (elbow) at a particular angle, speed and direction. The parameters for position and velocity mentioned in the command do not match the parameters in the sample JSON."] +Shift the object to coordinates X:20, Y:30, Z:10 at a speed of 10 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'];["0; The JSON structure does not match the natural language command. The command is about moving an object to specific 3D coordinates at a certain speed. However, the JSON represents the action to move a specific joint ('elbow') to a specified angle at a specific speed and direction. These two are fundamentally different actions and the specific parameters mentioned in the command (3D coordinates, movement speed) don't exist in the JSON."] +Close the grip with 10 kilograms of force.,['The response is 10.0.'];["0; The natural language command does not match with any of the provided JSON structures as the unit of force in ontology is newtons but the command mentions kilograms. Also, 'close grip' action is not defined in ontology. Therefore, the conformity score is 0."] +Apply 10 kilograms of force to secure the grip.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The JSON structure suggests the action of gripping an object with a certain force for a set duration, as described in the natural language command. However, the force unit of measure in the JSON is in "newtons", whereas the force value provided in the command is "10 kilograms". Kilograms is a measure of mass, not force. Furthermore, the duration is arbitrarily set as 3.0 seconds in the JSON, which does not have a corresponding value in the command. Hence, while the nature of the action and the parameters are appropriate, their specific values are inconsistent with the command, and hence the score is low.'] +Exert a 10-kilogram force to close the grip.,['The response is:'];['1; The natural language command refers to the action "grip_object", however the parameter "force" in the command is given in kilograms which does not conform with the force unit in the JSON structure (it should be in newtons).'] +Use 10 kilograms of pressure to tighten the grip.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure loosely matches the natural language command. The action "grip_object" is correct. However, the force unit in the JSON is \'newtons\' but the command mentions \'kilograms\', which is not a unit of force. The duration value is arbitrary as it\'s not mentioned in the command.'] +Apply 10 kilograms of force to finalize the grip closure.,['The response is:'];['0; The given command instructs to "apply 10 kilograms of force to finalize the grip closure". However, the provided JSON structures do not have an option to set the force for grip closure in terms of kilograms, but it is in newtons in the \'grip_object\' action. Therefore, the command does not conform to the provided JSON structures, hence the score is 0.'] +Rotate the wrist joint clockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];["4; The action, joint_name, angle, and direction values match perfectly. However, the speed value has been left unspecified in the command, so although a reasonable value of 0.0 is presented in the JSON, it's not exactly mentioned in the natural language command. The units for speed and angles are also missing."] +Turn the wrist joint in a clockwise direction, making a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['4; The JSON structure correctly identifies the action as "move_joint" and the joint_name as "wrist". It correctly depicts the direction as "clockwise" and the angle as 180.0. However, the speed value of 0.0 does not match the natural language command because the speed was not specified in the command. If speed is not specified, it\'s assumed any reasonable value is accepted so if 0.0 is considered reasonable in this context it can be a perfect match. But usually having no speed (i.e., 0.0 speed) is not considered reasonable for movement. That\'s why the score isn\'t perfect.'] +Rotate the wrist joint by 180 degrees in a clockwise direction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['4.5; The JSON structure almost entirely matches the command. The action, joint_name, angle, and direction are all perfect matches. The speed value, however, is not specified in the command but is given a value in the JSON, which is allowed but decreases the conformity score slightly. The command does not provide information about the speed, so it could be any reasonable value. The arrays at the end seems to be cut and not properly formatted which might indicate an error in the input, not in the JSON structure.'] +Twist the wrist joint clockwise, completing a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['4; The JSON structure mostly matches the natural language command, with action as "move_joint". The appropriate parameters such as "joint_name", "angle", and "direction" are correctly provided. However, it is marked down because the speed value in JSON, which is not specified in the natural language command, is set to 0.0 when it should have been any reasonable float value. The "unit" and "unit_speed" keys are also missing from the JSON structure.'] +Perform a 180-degree clockwise rotation of the wrist joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['5; The JSON structure accurately represents the command to perform a 180-degree clockwise rotation of the wrist joint. Every field in the JSON structure is compliant with the natural language command. While the natural language command does not specify speed, any reasonable value is accepted.'] +Lift the arm to its maximum height and hold for 10 seconds.,['The response is an empty array.'];['0; The JSON structures provided do not contain any information that matches the natural language command of lifting an arm to its maximum height and holding for a certain duration. The sample ontology does not support this command.'] +Elevate the arm to its highest point and maintain for a duration of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['1; The natural language command speaks of the action of elevating the arm and maintaining it for a certain duration. However, in the provided JSON structure, the action key is set to "set_orientation" with the orientation set to "upright". Although, applying some interpretation, you could see the "set_orientation" to "upright" paralleling \'elevate the arm to its highest point\', it is unclear and the duration part of the command is completely unaddressed in the JSON, hence the low conformity score. It\'s worth noting that none of the actions in the ontology seems to directly correspond to the command.'] +Raise the arm as high as possible and keep it in that position for 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['1; The natural language command describes an action of raising the arm and holding it, which does not exactly match any of the JSON structures presented. The closest match is the "set_orientation" action with value "upright", but it still doesn\'t convey the full meaning of the command. The duration, described in the command, is not represented in the JSON structure at all.'] +Hoist the arm to its utmost height and keep it there for a period of 10 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];["2; The natural language command mentions the action of lifting the arm to its maximum height and holding it for a period, but the JSON structure describes a 'set_orientation' action to 'upright'. There is a partial match considering 'upright' could be interpreted as lifting the arm, but the duration of holding the arm in place is not represented in the JSON. Plus, the command could potentially have its best representation with a different, nonexistent action (e.g., 'lift_arm')."] +Ascend the arm to its peak height and hold the position for 10 seconds.,['The response is an empty array.'];['0; The given natural language command does not match with any of the provided JSON structures. The keys necessary to specify the joint name, direction, and duration of action as seen in the command are not represented in the JSON information.'] +Retract the arm to standby position.,['{', ' "action": "retract_arm"', '}'];['0; The natural language command "Retract the arm to standby position" does not match any action in the provided JSON structures. The JSON provided is "retract_arm" which does not exist in the sample keys.'] +Bring the arm back to its standby position.,['{', ' "action": "release_grip"', '}'];["0; The JSON structure does not match with the natural language command. The command refers to moving the arm to a standby position, however, the JSON structure performs an action to 'release_grip', not moving arm to a standby position."] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];['1; The natural language command talks about moving the arm to a standby position which is not clearly defined. Moreover, the given JSON structure talks about moving a joint with specific parameters such as name of the joint, angle, direction, speed, unit of angle and speed which does not totally conform with the command. Therefore the matching is very weak.'] +Return the arm to the standby position.,['The response is an empty array.'];["0; The natural language command mentions about returning the arm to the standby position, which doesn't match any keys or actions within the given JSON structures. Therefore, the JSON response is not valid."] +Withdraw the arm and place it in the standby position.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['1; The JSON command is to set the orientation of the arm to upright, but the natural language command talks about withdrawing the arm which is not reflected in the JSON structure.'] +Move to position X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 150.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },'];["0; The JSON structure does not match the command. The 'move_joint' action has several parameters that don't match, including 'joint_name', 'angle', and 'direction'. The action suggested by the command also does not exist in the given ontology."] +Change your position to X:100, Y:50, Z:150 moving at a speed of 20 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 200.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 20.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['0; The natural language command and the JSON structure do not match. The command is discussing changing a position in 3D space (X, Y, Z coordinates), whereas the JSON structure pertains extending the arm.'] +Travel to coordinates X:100, Y:50, Z:150 with a velocity of 20 centimeters per second.,['The response is 20 centimeters per second.'];['0; The natural language command indicates some sort of movement to specific coordinates with a certain velocity. However, none of the action keys or parameter keys in the provided JSON structures align with this action or these parameters. As such, the command cannot be converted into the provided JSON structure formats.'] +Go to position X:100, Y:50, Z:150 at a speed of 20 centimeters per second.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', ' }'];['0; The natural language command asks for a move to a specific position, which does not conform with the "extend_arm" action in the JSON structure. Also, the specific parameters of X, Y, and Z values don\'t match anything in the given ontology. Finally, the speed value in the natural language command doesn\'t match with the speed value in the JSON structure.', ''] +Reach the coordinates X:100, Y:50, Z:150 at a velocity of 20 centimeters per second.,['The response is:'];['0; The JSON structures provided do not have a command or parameters related to reaching coordinates or moving to a specific velocity, therefore the command cannot be matched with the provided JSON structures.'] +Open the grip halfway for 2 seconds.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 5.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The JSON structure matches the "grip_object" action and duration is specified correctly, however, the command specifies that the grip should be opened halfway while the JSON specifies a specific force and the nature of opening the grip halfway is not reflected in the JSON.'] +Partially open the grip for a duration of 2 seconds.,['The response is ', '{', ' "action": "release_grip",', ' "params": {}', '}'];["2; The natural language command provided is referring to the operation of releasing a grip. It implies the 'grip_object' action with a specified 'duration' parameter. However, the JSON structure represents the 'release_grip' action with empty parameters which is not fully aligned with the verbal instruction."] +Open the grip halfway and hold for 2 seconds.,['The response is:'];['0; The JSON structures provided do not contain any information or action related to the natural language command provided. The natural language command requires actions to control the opened state of the grip and the duration, but none such actions or parameters are present in the JSON structures.'] +Temporarily open the grip halfway for a period of 2 seconds.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['2; The natural language command indicates an action similar to "release_grip", but including a specified duration and grip openness, whereas the JSON structure lists the action "release_grip" with empty parameters. The natural language command denotes an action of controlling the grip with specific parameters which is not present in the JSON commands. The JSON structure does not match the specific details mentioned in the natural language command.'] +Maintain the grip at a mid-point opening for 2 seconds.,['The response is:'];["0; The natural language command does not match with any provided JSON structures. The command seems to imply maintaining the opening of a gripper which doesn't match with the available actions ('move_joint', 'extend_arm', 'grip_object', 'release_grip', 'set_orientation')."] +Extend the arm by 30 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' }', ' }', '}'];['3; The JSON structure correctly defines the action "extend_arm" and the parameter "extension_length" with the correct value of 30.0. However, it lacks the "speed" parameter which is present in the sample ontology for the "extend_arm" action.'] +Increase the arm length by 30 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The command corresponds to the 'extend_arm' action in the JSON structure. However, the speed value given in JSON is not mentioned in the command, it was assumed to be 2.0 which is acceptable, but it's not a perfect match."] +Stretch the arm outwards by 30 centimeters.,['The response is an empty array.'];ERROR: Request timed out: HTTPSConnectionPool(host='api.openai.com', port=443): Read timed out. (read timeout=600) + +Elongate the arm by 30 centimeters.,['The response is,', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["5; The natural language command and JSON structure match. The command 'Elongate the arm by 30 centimeters' refers to extending the arm, and as such maps to 'extend_arm' action in the JSON. The extension length of 30.0 matches the 'extension_length' parameter in the JSON, and the unit of measurement is consistent in both (centimeters). Though the command does not specify speed, the provided value of 0.5 in the JSON structure is acceptable."] +Expand the arm by 30 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 30.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The natural language command is consistent with the "extend_arm" action but the speed is not specified in the command, so we cannot assume the value is 0.5 cm/s. However, the value is not inconsistent with the command, so it does not entirely violate the JSON context.'] +Rotate the base joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit":'];['4; The natural language command instructed the rotation of a joint, and this is represented correctly in the JSON command\'s "move_joint" action. The joint name, angle, and direction parameters also match the instructions. However, the command did not specify the speed. Even though it does not contradict the instructions, the JSON command including the speed attribute reduces the conformity score by one point.'] +Turn the base joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit": "'];['4; The natural language command and the JSON structure partially conform. While they do refer to the same action of moving a joint, there are some inconsistencies. The joint name in the JSON is "base" while the command does not specify this, only referring to it as \'the base joint\'. Similarly, the speed is also not specified in the command, which is why it is not technically incorrect to include any speed value in the JSON, but it would be more correct if the speed was also not specified in the JSON. The direction in the command is referred to as \'to the right\', whereas in JSON it is just \'right\', which are semantically the same. The unit in the JSON is not completed which might cause an error when initializing the parameters, therefore the JSON should be adjusted accordingly. Overall, it\'s clear that the command and the JSON are intended to represent the same action, despite there being some inconsistencies.'] +Twist the base joint in a clockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit":'];['4; The JSON structure provided corresponds to the natural language command but the speed parameter was given a value in the JSON even though it is not specified in the command.', ''] +Rotate the base joint in a clockwise manner, making a 45 degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "base",', ' "angle": 45.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The JSON structure is almost completely conforming to the natural language command. The command to rotate a joint and the joint being rotated, the angle, and the direction are all specified in both the natural language command and JSON structure. Only the 'speed' parameter gives it a partial conformity because a speed is not specified in the natural language command."] +Shift the base joint to the right, rotating it by 45 degrees in a clockwise motion.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit":'];['4; The natural language command matches the \'move_joint\' action in the JSON structure. The joint_name, angle, and direction parameters conform to the command. However, the "base" joint mentioned in the command is not the "elbow" joint specified in the JSON, and the command does not specify the speed, which is why the score is not 5.'] +Lift the object to position X:0, Y:0, Z:50 and hold for 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];['0; The natural language command requests the action of lifting an object to a specific position and holding it there for a certain duration, but this action or the parameters (position X,Y,Z and duration) do not match with any action or parameters in the provided JSON structures. The provided JSON action in the comparison is for setting the orientation, which is unrelated to the command given.'] +Elevate the object to coordinates X:0, Y:0, Z:50 and maintain that position for a duration of 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command involves moving to a certain coordinate and maintaining that position, however the provided JSON structure represents setting an orientation to "upright". There is no match between the command and the JSON.'] +Hoist the object until it reaches the location X:0, Y:0, Z:50, and then keep it steady for a period of 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The given natural language command asks to lift an object to a certain location and then keep it steady for a certain period. However, there is no matching JSON structure that corresponds to these actions in the provided sample ontology. The JSON structure provided actually corresponds to the action of setting an orientation, which is not mentioned at all in the natural language command.'] +Raise the object up to X:0, Y:0, Z:50, and keep it suspended in that spot for 5 seconds.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];['0; The natural language command talks about moving an object to a specific position and holding it there, but the provided JSON structure represents setting the orientation of something to "upright". There\'s no matching content or context between the two.'] +Carry out a vertical movement to position the object at coordinates X:0, Y:0, Z:50, and keep it in place for a duration of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command talks about moving an object to certain coordinates and holding it there, but the JSON structure represents the action of moving a joint of the arm. The parameters also do not match as there's no concept of coordinates or duration in the given JSON."] +Close the grip with 7 kilograms of force.,['The response is 7.0.'];["0; The natural language command relates to closing the grip with a certain force. However, the provided JSON structure does not contain any action related to gripping with a specified force. The 'grip_object' action present in the ontology uses the unit 'newtons' not 'kilograms' for force, and the value '7.0' does not match the value '5.0' in the JSON structure. Also, the commands in JSON are incorrectly translated."] +Apply a force of 7 kilograms to tighten the grip.,['The response is:'];['1; The command talks about applying a force to tighten the grip which somewhat relates to the \'grip_object\' action in JSON. However, the force units in the command are in kilograms which do not match the \'newtons\' units in JSON. Furthermore, the "tighten" terminology is not directly reflected in JSON keys.'] +Securely tighten the grip with a force of 7 kilograms.,['The response is 7.0.'];["0; The JSON structure provided does not match with the natural language command. The command talks about tightening the grip with a specific force, however, the JSON does not provide information regarding applying a force in kg. It only has a parameter for force in newtons under the 'grip_object' action. Therefore, the conformity score is 0."] +Use 7 kilograms of force to close the grip.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 7.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; Only partially conform. The natural language command 'Use 7 kilograms of force to close the grip.' contains the correct action 'grip_object' but the force used is not correctly represented in the JSON structure as it is in kilograms rather than newtons. The duration parameter in the JSON structure is not mentioned in the natural language command and should not be assumed."] +Apply a force of 7 kilograms to firmly close the grip.,['The response is accepted.'];["0; The natural language command does not conform to the JSON structure provided. The parameter 'force' in the 'grip_object' action uses the unit 'newtons' while the command specifies 'kilograms'. Furthermore, the command asks to 'close' the grip, a verb not defined in the possible actions from the JSON structures."] +Move to position X:75, Y:25, Z:100 at a velocity of 15 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit":'];['0; The provided JSON structure does not match the natural language command. The command instructs to move to a position, but the corresponding JSON is about moving a specific joint. Moreover, the JSON structure includes parameters for joint name, angle, direction, and speed which are not mentioned in the command.'] +Go to the coordinates X:75, Y:25, Z:100 with a speed of 15 centimeters per second.,['The response would be something like this:'];['0; The command does not fit any action or parameters in the given JSON structures. The key ‘coordinates’ and a corresponding action to move to the coordinates is not available in the JSON ontology provided.'] +Travel to position X:75, Y:25, Z:100 at a rate of 15 centimeters per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "xyz"', ' },', ' "angle": {', ' "type": "float",', ' "value": 15.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "xyz"', ' },', ' "speed": {', ' "type": "float",', ' "value": 15.0', ' },', ' "unit":'];['0; The JSON structure does not match the command at all. The command refers to moving to a certain 3D position at a certain speed, which is not available in the sample keys. The used JSON structure refers to moving a specific joint to a certain angle at a certain speed, which is entirely different.'] +Change your location to X:75, Y:25, Z:100 with a velocity of 15 centimeters per second.,['{', ' "action": "change_location",', ' "params": {', ' "x": {', ' "type": "float",', ' "value": 75.0', ' },', ' "y": {', ' "type": "float",', ' "value": 25.0', ' },', ' "z": {', ' "type": "float",', ' "value": 100.0', ' },', ' "velocity": {', ' "type": "float",', ' "value": 15.0', ' }'];['0; There is no "change_location" action in the sample keys and the parameters given in the JSON format do not match with the parameters provided in the sample ontology.'] +Reach the coordinates X:75, Y:25, Z:100 at a speed of 15 centimeters per second.,['The response is:'];["0; The provided JSON structures do not contain any action or parameters related to reaching specific coordinates or moving at a certain speed in cm/s. Accordingly, the natural language command doesn't match any of the JSON elements."] +Rotate the wrist joint counterclockwise by 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'];['5; All keys and values comply perfectly even if some values are different they are acceptable because they weren\'t specified in the initial command. The command fully corresponds with the "move_joint" action, including joint name, angle and direction. The speed value is also acceptable.'] +Turn the wrist joint in the opposite direction by 270 degrees.,['The response is:'];['1; The command is asking for the "wrist" joint to be moved, but in the JSON structure, it specifies for the "elbow" joint to be moved. The direction is also opposite in the command relative to the JSON structure. The angle is not mentioned in the command but it is present in JSON.'] +Rotate the wrist joint anti-clockwise by an angle of 270 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'];['4.75; The natural language command mostly conforms very well to the JSON structure, including correct action, joint name, direction, and angle. However, while the speed is given a value of 0.0 in the JSON structure, it is not specified in the command, which would have provided full conformity.'] +Twist the wrist joint in a counterclockwise direction, rotating it by 270 degrees.,['The response is:'];["0; The sample keys don't have any action specific to move the wrist joint, nor is there a parameter for counterclockwise direction."] +Rotate the wrist joint in the counterclockwise direction, making a 270-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'];['4; The natural language command specifies a joint movement, which fits with the "move_joint" action in the JSON structure. Similarly, "joint_name", "angle", and "direction" parameters match exactly between the command and JSON structure. The "speed" parameter is not specified in the command, hence any value in the JSON is accepted. However, the JSON structure does not consist of units for angle and speed ("unit" and "unit_speed"), which reduces the conformity level.'] +Retract the arm to standby position and wait for further instruction.,['{', ' "action": "standby"', '}'];["0; The natural language command implies retracting the arm and putting it in the standby position, however there is no such action found in the JSON structures provided. We also can't map to any other action as no details about retraction or standby are provided."] +Bring the arm back to standby position and remain there until further instructions.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command mentions bringing the arm to a standby position, while the JSON structure refers to setting the orientation to "upright". Without evidence that "upright" and "standby" refer to the same position, we cannot say the JSON matches the command.'] +Move the arm back to its standby position and await further instruction.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];['1; The provided JSON structure has the essential keys consistent with the ontology but the action "move_joint" is not completely in alignment with the natural language command. The command aims to move the arm (not just a joint) to its standby position which could involve multiple joints and isn\'t as specific as the JSON structure presents (targeting the elbow with certain angle and direction). The values provided in the JSON for the params are reasonable but not directly derived from the command.'] +Withdraw the arm to the standby position and expect further guidance.,['The response is:'];['0; The natural language command does not conform to any of the JSON structures provided as it neither shares any common action nor does it contain matching parameters. Thus, it cannot be accurately converted into a JSON format following the provided sample keys.'] +Return the arm to its original position and stay there until you receive more instructions.,['{', ' "action": "release_grip"', '}'];['1; The natural language command requests the arm to return to its original position, with no follow-up action mentioned until further instructions. This does not conform to the provided JSON action "release_grip", as it does not specify infomation about the return of the arm\'s position. The command dictates more of a "move_joint" action with a particular joint and angle directing it to the original position, which was not provided in the JSON structure.'] +Lift the arm by 20 centimeters and hold for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['1; The JSON structure contains the action \'extend_arm\' which aligns with the natural language command "Lift the arm". The parameter value for extension_length also aligns as it is specified to be 20 centimeters. However, where the discrepancy lies is in the part of the command that says "hold for 3 seconds." This is not represented in the JSON structure at all. Furthermore, the speed value in the JSON structure is arbitrarily set to 2.0, which is not specified in the command.'] +Raise the arm by a distance of 20 centimeters and maintain the position for a duration of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The natural language command instructs to extend the arm by 20 centimeters, which matches with the "extension_length" key-value in the JSON. However, the command also asks to maintain the position for a duration of 3 seconds, which does not match with the "speed" key-value in the JSON. The "speed" key refers to the speed of the movement, not the duration of maintaining a position. Therefore, the match is partial.'] +Elevate the arm by 20 centimeters and keep it held for 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The JSON structure represents the action "extend_arm" with correct "extension_length" and "unit_length". However, the natural language command specifies to "keep it held for 3 seconds" which is not represented in the JSON structure. Additionally, the "speed" value in the JSON is arbitrary and does not match the natural language command.'] +Increase the height of the arm by 20 centimeters, then hold steady for 3 seconds.,['Returns:', ''];['0; There is no matching JSON structure for the given natural language command as the sample keys do not include a command to increase the height of the arm.'] +Lift the arm upwards by 20 centimeters and maintain the lifted position for a period of 3 seconds.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The 'extend_arm' action and the 'extension_length' parameter match with the natural language command. However, the 'speed' value does not match with the natural language command, where it is not specified. Consequently, although it is a reasonable assumption, it doesn't fully conform to the command. Also, maintaining the lifted position for a specific duration is not addressed in the JSON."] +Rotate the base joint counterclockwise by 180 degrees and dance.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['1; The JSON structure corresponds to the moving of a joint (in this case the base), which matches the first part of the command. It doesn\'t cover the "dance" part from the natural language command. This action doesn\'t exist in the sample keys and the speed is also assumed to be 0 which does not make sense for a movement.'] +Perform a counterclockwise rotation of 180 degrees on the base joint, then carry out a dance.,['The response is:'];["0; The natural language command asks for two actions: a counterclockwise rotation of 180 degrees on the base joint and a dance. However, the JSON structures do not have the capability to interpret these commands, as they do not match any of the actions or parameters in the available ontology. Furthermore, the command specifies action on the 'base joint', which is not mentioned in the JSON schema, and 'carry out a dance', which does not translate to any known action on the schema."] +Turn the base joint in a counterclockwise direction, making a 180 degree rotation before proceeding to dance.,['The response is:'];['0; The provided JSON structure does not contain an action to turn the base joint and there is also no action for dancing.'] +Rotate the base joint 180 degrees in the counterclockwise direction, then showcase your dance moves.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "base"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];["1; The natural language command only partially matches the JSON structure. The command to move the base joint 180 degrees in the counterclockwise direction is captured. However, the command to 'showcase your dance moves' does not align with any action in the given sample ontology."] +Execute a 180 degree counterclockwise rotation on the base joint and follow it with a dance routine.,['The response is:'];['0; The natural language command includes actions ("move_joint" and "dance") but only "move_joint" exists in the ontology, and the parameters for this action (particular "joint_name" being "base") do not match the ontology provided (where "joint_name" is "elbow"). The action "dance" does not exist in the sample keys and therefore cannot be converted to the JSON structure.'] +Move the arm to position X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The command asks for a 3-dimensional movement which is not accounted for in the provided JSON structure. The JSON structure allows for rotation of a specified joint, not general arm movement.'] +Adjust the arm's position to coordinates X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command does not match the given JSON structures. The command is asking to adjust the position of the arm to specific coordinates, but none of the provided JSON templates has keys to accommodate coordinate positioning. They only involve joint movement, arm extension, gripping or releasing objects, and setting orientation.'] +Shift the arm to the designated coordinates of X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command instructs to shift the arm to certain coordinates, however, the JSON structure does not reflect this. The JSON structure is set to move a specific joint named "elbow" to a certain angle in a specific direction with a certain speed, it does not specify coordinate shifting. Additionally, the provided JSON structure values for the angle, direction, and speed do not match the command. Thus, there is a mismatch between the command and the JSON structure.'] +Relocate the arm to the specified position of X:50, Y:70, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command relates to moving the arm to a specific position with X, Y, Z coordinates, but none of the provided JSON structures support this setup. The 'move_joint' action only allows for movement based on angle and direction of a specific joint, not coordinates."] +Transpose the arm to the desired coordinates at X:50, Y:70, Z:90.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command talks about transposing the arm to specific X, Y, Z coordinates, which doesn\'t match any of the actions or parameters in the provided JSON structures. The JSON structure provided is for the action "set_orientation", which is not mentioned or implied in the natural language command.'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The JSON structure accurately captures the command to move a joint, specifically the wrist, with a specified directional value of counterclockwise and an angle of 90 degrees. The units for measurements are also correctly identified. The speed parameter was not specified in the command, but a reasonable value was provided in the JSON.'] +Turn the wrist joint in a counterclockwise direction, rotating it 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The command correctly specifies the necessary parameters: joint_name (wrist), direction (counterclockwise), and angle (90 degrees). The speed given in the JSON (1.0) is acceptable as it is not specified in the command. The units also match up - degrees for angle and degrees/s for speed.'] +Rotate the wrist joint anti-clockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "anti-clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure corresponds with the natural language command, but the "speed" param was never specified in the command and therefore, that key shouldn\'t be in the JSON structure.'] +Clockwise rotation of the wrist joint by 90 degrees is not required; instead, rotate it counterclockwise.,['Clockwise rotation of the wrist joint by 90 degrees is not required; instead, rotate it counterclockwise.'];['0; The natural language command is asking for counterclockwise rotation of the wrist joint which doesn\'t match with any provided JSON structure. The sample ontology has info for the "elbow" joint, not the "wrist", also, no direction is specified in the JSON structures.'] +In order to achieve a 90-degree counterclockwise rotation, turn the wrist joint.,['The response is:'];['0; The JSON structure for the command "turn the wrist joint 90-degrees counterclockwise" is missing. The sample ontology does not contain a joint_name \'wrist\' or a direction \'counterclockwise\'.'] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; Conforms mostly but the speed parameter is assumed, its value should not be defined as it is not given in the natural language command.'] +Increase the length of the arm by 20 centimeters.,['The response is an object with the following properties:'];["0; The JSON structure is not provided, so it's unable to compare it with the natural language command."] +Stretch out the arm by an additional 20 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure correctly identifies the "extend_arm" action and accurately reflects the extension_length of 20.0 cm, but the speed value is inaccurately assumed to be 2.0. As the natural language command does not specify the speed, this discrepancy prevents the JSON from exactly conforming to the command, but the overall interpretation is still largely accurate.'] +Lengthen the arm by an extra 20 centimeters.,['The response is an empty array.'];["0; The JSON structure does not match the natural language command. It doesn't carry out the action of extending the arm and doesn't specify the needed parameters such as extension_length and speed."] +Add 20 centimeters to the arm's current length.,['The response is an empty array.'];['1; The JSON structure is an empty array which does not match the command of extending the arm. Although the command relates to the action "extend_arm", there should be a relevant JSON structure providing values for the parameters such as extension_length, speed, etc. The given empty array does not conform with the sample keys ontology.'] +Grip the object with 10 kilograms of force.,['The response is accepted.'];['2; The action "grip_object" matches but the unit of force provided in the command ("kilograms") does not match with the sample ontology which uses "newtons".'] +Apply a force of 10 kilograms to grip the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The action "grip_object" and "force" key match correctly with the natural language command. However, the unit of force indicated in the command is "kilograms", which is not in the correct unit "newtons" as in the JSON structure. The "duration" value in the JSON structure does not match the natural language command either, as no duration was specified.'] +Exert 10 kilograms of force to grasp the object.,['The response is an empty array.'];['0; The JSON structure is missing while the natural language command refers to the "grip_object" action with a specified force. However, the unit of force mentioned in the command ("kilograms") does not conform to the sample ontology ("newtons").'] +Use a gripping force of 10 kilograms on the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 10.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The structure and intent of the JSON matches the command, but the units don't match. Kg is not equal to Newtons."] +Apply 10 kilograms of pressure to hold onto the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The natural language command refers to applying a force to \'hold onto\' an object, which does match the "grip_object" action in the JSON. However, they use different units of measure. The command mentions \'kilograms\' but it is incompatible with the \'newtons\' unit in the JSON structure. Additionally, a value for \'duration\' is provided in the JSON, but the command doesn\'t specify a duration.'] +Move the arm to position X:30, Y:40, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command refers to moving the arm using a coordinate system (X, Y, Z), however, the provided JSON structure only includes parameters for moving a specific joint (elbow) at a certain angle and direction. There is no conformity between the command and the JSON structure.'] +Adjust the arm's position to X:30, Y:40, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];["0; The natural language command doesn't match with any of the JSON structures. It's asking to adjust x, y, and z coordinates while the JSON samples deal with adjusting angles, extending arm length, gripping and releasing objects and setting orientation."] +Set the arm's coordinates to X:30, Y:40, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command is talking about setting arm's coordinates, meanwhile the JSON structure is about moving a joint called elbow in a certain direction with a specific angle and speed. Which are not related at all. Furthermore, there are no actions in the sample ontology for setting coordinates."] +Move the arm's location to X:30, Y:40, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The command given in natural language does not match the JSON structure provided. The command refers to moving the arm to a specific X, Y, Z coordinate, but the JSON structure given shows an action and parameters for moving a specific joint (elbow) by an angle in a specific direction at a certain speed. Thus, the command does not fit the sample keys.'] +Position the arm at X:30, Y:40, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not match with the natural language command. The natural language command is asking to position the arm at specific X, Y, Z coordinates, however, the JSON structure is about moving a specific joint (elbow), in a specific direction (counterclockwise) at a specific speed. There is no mention of the X, Y, and Z coordinates or similar parameters in the JSON structure.'] +Rotate the wrist joint clockwise by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'];["5; The command 'Rotate the wrist joint clockwise by 60 degrees' aligns perfectly with the JSON schema. The action 'move_joint' is used and the correct parameters 'joint_name', 'angle' and 'direction' are all specified correctly. Although the 'speed' parameter is not stated in the command, as per instructions, any reasonable value for unspecified parameters in the JSON is acceptable."] +Turn the wrist joint in a clockwise direction by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'];['5; The natural language command exactly matches the JSON structure provided. The action and the parameters (joint_name, angle, direction, speed) in the JSON structure directly correspond to the instructions given in the natural language command. The speed and unit values are reasonable although not specified in the command.'] +Perform a 60-degree clockwise rotation of the wrist joint.,['The response would be something like this:'];['3; The natural language command is partially conforming to the JSON structure. The command indicates a "move_joint" action with "joint_name" as "wrist" and "direction" as "clockwise". However, the "angle" is stated as 60 degrees in the command, but there is no specific angle mentioned in the JSON structure. The "speed" and units are also not mentioned in the command.'] +Rotate the wrist joint to the right by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit":'];['5; The natural language command matches perfectly with the JSON structure. The action "move_joint" and all its parameters "joint_name", "angle", "direction", and the unspecified but reasonable "speed" given in the JSON structure are mentioned in the command. The values are also matching correctly- "joint_name": "wrist", "angle": 60.0, "direction": "right". The JSON structure also correctly assumes "degrees" and "degrees/s" for the unit of angle and speed respectively, which were not specified in the command.'] +Move the wrist joint in a clockwise direction, turning it by 60 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 60.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];['4; The JSON structure mostly conforms to the natural language command. It correctly identifies the action as "move_joint", the joint_name as "wrist", the angle as 60.0, the direction as "clockwise". However, the speed value is not specified in the natural language command, so the JSON value of 0 is not verifiably accurate. It can be any reasonable value since speed was not specified.'] +Retract the arm to standby position.,['{', ' "action": "retract_arm"', '}'];['0; The natural language command refers to an action ("retract_arm") that does not exist in the given sample ontology.'] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];['1; Not totally conform. The JSON structure indicates action of moving a specific joint (the elbow for instance) with defined parameters such as angle, direction, speed. However, the natural language command mentions moving the entire arm to the standby position which is not reflected in JSON. The value for parameters are also different from the command.'] +Return the arm to the standby position.,['The response is an empty array.'];['0; The natural language command does not correspond to any of the provided JSON structures. The command asks to return the arm to the standby position, but no action or parameter in the JSON structures reflects this command.'] +Bring the arm back to the standby position.,['The response is an empty array.'];['0; The provided JSON structures do not have an action corresponding to bringing the arm back to the standby position. Therefore, there is no matching between the natural language command and the JSON information.'] +Take the arm back to the standby position.,['The response is:'];['0; The command does not match any of the provided JSON structures. None of the described actions (move_joint, extend_arm, grip_object, release_grip, set_orientation) correspond to taking the arm back to a standby position.'] +Grip the object with 15 kilograms of force.,['The response is 15.0.'];["0; The natural language command instructs to grip an object - this aligns with the command action 'grip_object'. However, the JSON does not match with the natural language command since force has been measured in kilograms which is a measure of weight rather than force. In the ontology, force should be recorded as a float value with 'newtons' as the measurement unit. Therefore, the JSON structure provided is not compatible with the given command."] +Apply a gripping force of 15 kilograms to the object.,['The response is 15.0.'];['1; The command provided involves the action of gripping an object which is present in the ontology. However, the unit of force in the command is in kilograms, while the ontology uses newtons as the unit of force. Without a unit conversion, this is not directly compatible.'] +Exert 15 kilograms of force to hold onto the object.,['The response is 15.'];["0; The natural language command requests for a force to be exerted to hold an object, which resembles the action 'grip_object' in the ontology. However, there are two key mismatches. First, the natural language command specifies the unit of force in kilograms, while the JSON uses newtons. This translation is not trivial and relies on additional context (e.g., the influence of gravity). Second, the generated JSON response does not contain any information related to the gripping action and comes across as nonsensical in context. Therefore, there is no conformity between the command and the provided JSON response."] +Use a gripping strength of 15 kilograms to secure the object.,['The response is:'];['1; The command talks about gripping an object, which corresponds to the "grip_object" action. However, the units used for force in the given ontology are Newtons and not kilograms, making the conformity score low.'] +Grasp the object firmly with a 15-kilogram force.,['The response is accepted.'];['2; The command \'Grasp the object firmly\' pertains to the action "grip_object" in the JSON structure. However, the unit of force used in the command (kilograms) does not match the unit of force in the JSON structure (newtons), hence the lower score. The exact force value is also not specified in the JSON structure.'] +Move the arm to position X:70, Y:80, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON data does not match the natural language command. The command instructs to move the arm to a specific X, Y, Z position, However, the JSON structure represents a "move_joint" action with parameters such as joint_name, angle, direction, and speed, which does not correspond to the command mentioned.'] +Adjust the arm's position to coordinates X:70, Y:80, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not match the command. The command talks about adjusting the arm\'s position to specific coordinates, but the JSON structure talks about moving a joint called "elbow" to a specific angle in a particular direction at a certain speed. There\'s no mention of coordinates X, Y and Z in the JSON structure.'] +Relocate the arm so that it is at position X:70, Y:80, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command is asking to move the arm to a specified X, Y, and Z position, which doesn't match any of the provided JSON information structures. The JSON provided relates to moving a joint, extending an arm, gripping an object, releasing a grip, and setting an orientation. There are no keys for X, Y, or Z position movements in the sample JSON structures."] +Shift the arm's location to X:70, Y:80, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The JSON structure does not match the natural language command. The command talks about shifting the arm to a specific location in 3D coordinates (X, Y, Z), however, the JSON is describing a movement of the joint (specifically, the elbow) to a particular angle in a certain direction.'] +Set the arm's coordinates to X:70, Y:80, Z:90.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The natural language command is asking to set the arm's coordinates to specific values, but this does not match with the JSON structure provided. The JSON structure represents movement of single joint to a specified angle and direction as well as speed rather than setting coordinates of the entire arm."] +Rotate the wrist joint counterclockwise by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 120.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The command and the JSON structure conform exactly, as the action "move_joint", the joint_name "wrist", the direction "counterclockwise", and the unit "degrees" are all correctly specified. The angle of 120 degrees and a reasonable speed of 1.0 degrees/sec are also correctly adhered to.'] +Turn the wrist joint in a counterclockwise direction by 120 degrees.,['The response is:'];["2; The command partially matches with the 'move_joint' action in the sample keys because it requests to turn a joint. However, the joint mentioned in the command, 'wrist', does not match with the 'elbow' named in the keys. The direction 'counterclockwise' and angle '120 degrees' specified in the command are not reflected in the JSON."] +Rotate the wrist joint anti-clockwise by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },'];['5; Exactly conform.'] +Twist the wrist joint in the counterclockwise direction by 120 degrees.,['The response is:'];["0; The JSON structure does not match with the natural language command as there is no JSON structure for action 'move_joint' with 'joint_name' value as 'wrist' and direction as 'counterclockwise'."] +Move the wrist joint in a counterclockwise rotation by 120 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 120.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },'];['4; Although the natural language command refers to the correct action and the joint_name, angle, and direction parameters, it does not specify the speed attribute, which is present in the JSON structure. Despite this, the given JSON structure could be interpreted as a reasonable execution of the command.'] +Extend the arm by 25 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; Almost every key in the natural language command matches with the keys in the JSON. The reason for not giving a full score is because the "speed" value in the JSON does not match with the natural language command as it\'s not specified in the command.'] +Increase the length of the arm by 25 centimeters.,['The response is an empty array.'];["1; The natural language command talks about extending the arm which is related to the 'extend_arm' action in the JSON structures, however, the given JSON structure does not include an 'action' nor 'params' fields, therefore it does not conform well."] +Stretch out the arm by an additional 25 centimeters.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' }', ' }', '}'];["4; The JSON structure reflects the correct action 'extend_arm' and the right 'extension_length' value of 25.0 (float). However, the 'speed' parameter isn't specified which is normally required in the JSON structure based on the ontology. Hence, the score isn't fully matched."] +Lengthen the arm by 25 centimeters.,['The response is an empty array.'];["1; The natural language command matches the 'extend_arm' action in terms of purpose, though the specific values for extension length and speed are not included in the provided JSON structure. Thus, conformity cannot be fully established."] +Add 25 centimeters to the arm's reach.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 25.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command corresponds perfectly with the JSON structure. The action "extend_arm" is correctly identified, and the parameter "extension_length" is correctly assigned the value 25.0 in the \'value\' and \'unit_length\' is correctly stated as "centimeters". Although the speed value in the command is not specified, it\'s accepted since any reasonable value for unspecified parameters is allowed.'] +Grip the object with 20 kilograms of force.,['The response is 20.0.'];['0; The JSON structure provided does not match the natural language command. The command dictates the action "grip_object", however, the unit of force is incorrectly recorded as "kilograms" in the command, whereas the JSON requires the force to be in "newtons". Therefore, there is no conformity.'] +Apply a 20-kilogram force to grasp the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 20.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['0; The natural language command asks to apply a force of 20 kilograms but kilogram is not a measure of force. Also in the JSON structure, the force value is assigned as 20.0 where the unit is "newtons" which is not matching with the kilogram force in the command. The "duration" value is incorrectly assumed in the JSON.'] +Exert 20 kilograms of force to hold onto the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["0; The command is about exerting force in kilograms, whereas the JSON structure represents force in newtons and duration in seconds, which doesn't match with the given natural language command."] +Use a gripping force of 20 kilograms to secure the object.,['The response is:'];['0; The command instructs to grip the object with a certain force, but the JSON structure provided uses a different unit of measurement ("newtons") in the ontology and not the one specified in the command ("kilograms"). Also, the exact value of force (20 kg) is not indicated in the JSON structure.'] +Apply pressure equivalent to 20 kilograms to firmly hold the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 20.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 3.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["1; The natural language command talks about applying a force to hold an object which matches the 'grip_object' action in the JSON structure. However, the command does not specify the duration and the force in the command is in kilograms while in the JSON sample it's in newtons, creating a mismatch in the unit of measurement."] +Move the arm to position X:10, Y:20, Z:30.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command is asking to move the arm to a specific 3D position, which does not match the provided JSON structures. The JSON structures only allow for movement of specific joints in specific directions, not a general move to a position. Additionally, the provided JSON structure does not match with the natural language command as it involves "elbow", "angle", "direction" and "speed" which are not mentioned in the command.'] +Position the arm at X:10, Y:20, Z:30.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];["0; The natural language command is about positioning the arm at certain coordinates which does not match with the provided JSON structure which represents setting the arm's orientation to upright."] +Set the arm's coordinates to X:10, Y:20, Z:30.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command requests for setting the coordinate of the arm which does not match with any actions or parameters listed within the JSON structures.'] +Adjust the arm's position to X:10, Y:20, Z:30.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];["0; There is no conformity between the command and the JSON structure. The command specifies adjusting the arm's position to X:10, Y:20, Z:30. However, the JSON structure shows the action of moving a specific joint ('elbow') at a 45 degree angle in a clockwise direction. There's no mentioning of X, Y and Z coordinates nor the concept of adjusting position in the given JSON structure."] +Move the arm's location to X:10, Y:20, Z:30.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The JSON structure does not match the natural language command. The command discusses moving the arm's location to specific coordinates, but the JSON structure represents actions about moving a joint, which does not deal with coordinates."] +Rotate the wrist joint clockwise by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];['5; The command almost matches perfectly with the JSON information - the action is move_joint, joint_name value is "wrist", there is an angle value of 30, a direction value of "clockwise", and the `unit` is "degrees" (which is clear from the mention of "30 degrees" in the command). The `speed` is not mentioned in the command and defaults to 0 in the JSON, which is acceptable since speed is not mentioned in the command.'] +Turn the wrist joint in a clockwise direction by 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit'];['5; The natural language command and the JSON structure match well. The "action" is "move_joint", the "joint_name" value is "wrist", the "direction" value is "clockwise", and the "angle" value is 30.0 which all match with the command. The "speed" value was not specified in the command so any reasonable value (0.0 in this case) is accepted.'] +Rotate the wrist joint in the clockwise direction, making a 30-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 30.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["4; The natural language command matches well with the JSON structure with the 'action' being 'move_joint' and 'params' including 'joint_name', 'angle' and 'direction'. However, the 'speed' is not specified in the natural language command but is included in the JSON structure which deducts from a perfect conformity score."] +Twist the wrist joint to the right by 30 degrees.,['The response is an empty array.'];['0; The JSON data provided does not contain any information about a "wrist" joint nor an action for "twist". Therefore, the JSON does not match the command.'] +Adjust the wrist joint by turning it clockwise 30 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 30.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit'];['4.5; While the command correctly maps to the "move_joint" action and correctly infers the direction, angle, and joint_name parameters, there is no "speed" parameter specified in the natural language command despite it being included in the JSON structure. The "unit" parameter was also left out in the JSON structure.'] +Retract the arm to standby position.,['{', ' "action": "retract_arm"', '}'];['0; The natural language command refers to a command "retract_arm" that does not exist in the sample keys. Therefore, it cannot be converted to JSON based on the given sample ontology.'] +Move the arm back to the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 0.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit":'];['0; The command in natural language asks to "move the arm back to the standby position" which does not conform to the provided JSON structure. The JSON corresponds to the action "move_joint" with specific parameters (joint_name, angle, direction, speed, unit), but these parameters don\'t match with the information in the natural language command where no specific joint, angle, direction, or speed is mentioned. The JSON information indicates movement of a specific joint to a specific angle at a specific speed and direction, not an overall arm movement to a standby position.'] +Pull the arm back into the standby position.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "elbow",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];["0; The natural language command talks about pulling the arm back into standby position - it does not mention moving a specific joint like the 'elbow', nor does it specify an angle, direction or speed for the movement, like the provided JSON structure. The JSON structure and the natural language command do not match."] +Return the arm to its standby position.,['{', ' "action": "release_grip"', '}'];['1; The JSON structure does not conform to the natural language command given. The command implies an action of moving or resetting the arm\'s position, however, the JSON structure involves an action of "release_grip" which only indicates the releasing action of some sort of grip or hold, not the movement or position of the arm.'] +Bring the arm back to the standby position.,['The response is an empty array.'];['0; There is no action in the JSON data that corresponds to moving the arm back to the standby position.'] +Grip the object with 12 kilograms of force.,['The response is 12.'];['0; The command "Grip the object with 12 kilograms of force" does not conform to the JSON structure, as the parameter\'s unit of force in the JSON structure is in newtons, not in kilograms.'] +Apply a force of 12 kilograms to tightly hold onto the object.,['The response is:'];["0; The command mentions applying a force of 12 kilograms to hold an object which suggests a 'grip_object' action. However, the force is quantified in kilograms while the sample ontology has force in 'newtons'. Therefore, due to unit mismatch, the command does not convert properly to JSON structure as per the given ontology."] +Exert a gripping force of 12 kilograms on the object.,['The response is 12.'];['1; The natural language command corresponds to the "grip_object" action, but the force parameter in the command is in kilograms, while it should be in newtons according to the JSON structure.'] +Use 12 kilograms of strength to firmly grasp the object.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 12.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["1; The action 'grip_object' is correctly identified in the JSON representation, but there are a few mismatches. The force unit in the command is specified as kilograms while in the JSON it is given in newtons. Also, the duration parameter is not mentioned in the command but has been assigned a value in JSON."] +Tighten your grip on the object with a force of 12 kilograms.,['The response is 12.'];['1; The natural language command speaks about tightening the grip of an object which correlates to "grip_object" action in JSON. But, force in the JSON is measured in newtons not kilograms. Also, the JSON structure shared by the response is irrelevant and not connected to the command or sample ontology.'] +Move the arm to position X:80, Y:60, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 80.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];["0; The natural language command asks for a movement of the arm to certain coordinates which aren't compatible with the provided JSON structure. The JSON represents a rotation of a specific joint, not a movement to coordinates."] +Position the arm at X:80, Y:60, Z:40.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', ' }'];['0; The natural language command is asking to move the arm to specific coordinates, which does not match with any of the provided JSON structures. The JSON structure provided is about setting the orientation, not positioning.'] +Set the arm's coordinates to X:80, Y:60, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command refers to setting specific arm coordinates (X, Y, Z), which does not match any actions or parameters in the given JSON structures. The JSON example provided corresponds to the "move_joint" action, but none of the parameters match the command\'s request either. Therefore, there is no conformity between the natural language command and the JSON structure.'] +Adjust the arm to the location X:80, Y:60, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The command is to adjust the arm to a specific location, however the given JSON structure is about moving a specific joint to a certain angle, direction and speed. Therefore, the command and the JSON structure do not match.'] +Move the arm to the desired coordinates, X:80, Y:60, Z:40.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];["0; The command mentions moving the arm to specific coordinates, but the JSON structure provided is for moving a specific joint (the elbow) at a specific angle and direction. Neither the command and the JSON structure mention each other's specific parameters, hence there's no conformity between them."] +Rotate the wrist joint counterclockwise by 75 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 75.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The command is mostly accurate but the mention of speed in the JSON structure is absent in the natural language command.'] +Turn the wrist joint anti-clockwise at a 75-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 75.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.75', ' },'];["5; The command is asking for an action that does exist in the sample keys (move_joint) and all the parameters specified in the command (joint_name, angle, and direction) are present in the JSON. The values given in the command (wrist, 75, anti-clockwise) are consistent with those in the JSON. The value for speed isn't specified in the command so it's accepted as it is in the JSON (0.75)."] +Rotate the wrist joint in the counterclockwise direction, making a 75-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 75.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command correctly corresponds to the JSON format regarding action, joint name, angle, direction, the unit of movement and it allows any reasonable speed as it was not specifically mentioned in the natural language command.'] +Twist the wrist joint to the left by 75 degrees.,['The response is an empty array.'];['1; The command implies a "move_joint" action, but the joint_name is not "elbow", as per the sample ontology. Also, the direction specified is "to the left", not "clockwise". The angle matches the format but the value is different and can be considered reasonable. The JSON structure does not exist, signifying that the command does not match the sample ontology perfectly.'] +Adjust the wrist joint by rotating it counterclockwise with a 75-degree angle.,['The response is:'];['4; The natural language command involves action "move_joint" with joint_name as "wrist", direction as "counterclockwise" and angle as 75 which closely matches with the JSON structure. However, there is no specific speed mentioned in the command which is required as per the JSON ontology thus giving it a score of 4.'] +Extend the arm by 18 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' }', ' }', '}'];['4; The action "extend_arm" and the parameter "extension_length" with a value of 18.0 match the natural language command correctly. However, the JSON structure is missing the key "speed" with its type and value, which is present in the sample ontology.'] +Stretch out the arm, adding an additional 18 centimeters in length.,['The response is:', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['3; The action "extend_arm" matches correctly, and the "extension_length" value is wrong in JSON. Also, the \'speed\' parameter is missing in the natural language command, but present in the JSON.'] +Increase the arm's length by 18 centimeters.,['The response is ', ''];['3; The natural language command indicates an "extend_arm" action with an extension_length of 18 centimeters. However, there is no exact JSON structure provided, just the ending string \'\'. The assumed JSON structure would be: ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' },', ' "unit_length": "centimeters"', ' }', '}.', "This structure matches the command and the sample keys, but as it's not provided in the question, it can only earn a score of 3."] +Lengthen the arm by 18 centimeters.,['The response is an empty array.'];['0; The JSON structure(s) provided does not match the natural language command. It is missing the "extend_arm" action and the correct "extension_length" value of 18.0.'] +Stretch the arm outwards until it is 18 centimeters longer.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 18.0', ' }', ' }', '}'];['4; The natural language command accurately matches the "extend_arm" action in the JSON structure. However, there are missing parameters in the JSON compared to the sample ontology such as the "speed", "unit_length" and "unit_speed". Thus, the match is not exact.'] +Grip the object with 8 kilograms of force.,['The response is 8.'];["0; The input command mentions gripping an object with a force value expressed in kilograms, which is inconsistent with the given JSON structure where force is expressed in newtons. Also, the provided JSON response does not match any action from the given sample ontology and doesn't convey a correct representation of the spoken command."] +Apply 8 kilograms of force to grip the object.,['The response is 8.'];['1; The natural language command instructs to grip an object with specified force, which corresponds to the "grip_object" action in the JSON. However, the force is given in different units (kilograms in the command vs newtons in the JSON), and "kilograms" is not a suitable unit of force. Also, the duration responsible for the \'grip_object\' action is missing in the natural language command.'] +Exert a force of 8 kilograms to hold onto the object.,['The response is 8.0.'];['0; The provided JSON structure does not match the natural language command - the object has a different parameter and the unit of the force in the command is incorrect.'] +Securely grip the object with 8 kilograms of force.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 0.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The command is partially conforming to the JSON structure. The "action" key and the "force" key in "params" match with their respective values, i.e., "grip_object" and 8.0. However, the "force" unit in the command is "kilograms" while in the JSON structure it is "newtons". The duration in the command is not specified while in the JSON structure, a value of 0 is given.'] +Hold the object using a force of 8 kilograms.,['The response is 8.'];["0; The JSON structure does not match the natural language command. The command speaks about gripping an object with a force specified in kilograms, but the provided JSON structures either do not have an action to grip an object or they do not specify the force unit in kilograms (it's specified in newtons)."] +Move the arm to position X:40, Y:50, Z:60.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The provided JSON structure does not match the command. The command indicates movement to specific X, Y, and Z coordinates while the JSON structure data involves moving a specific joint (elbow), at a specific angle (90 degrees) in a certain direction (counter-clockwise) at a specified speed (1.0). There's no mention of X, Y, Z coordinates in the command nor in the sample keys."] +Set the arm's position to X:40, Y:50, Z:60.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; There is no matching JSON structure for the command which requests setting specific X, Y, Z positions for the arm. The present JSON keys and values are not related to these dimensions. Furthermore, the provided JSON (set_orientation with upright value) does not correspond to this kind of positional orientation.'] +Adjust the arm's coordinates to X:40, Y:50, Z:60.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];["0; The command talks about adjusting coordinates, which doesn't match any of the sample JSON structures or actions provided. Hence, no conformity."] +Position the arm at X:40, Y:50, Z:60.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];["0; The given natural language command mentions moving the arm in terms of the coordinates X, Y, and Z, but there's no matching action or parameters for this in the provided JSON structures. Therefore, there's no conformity between the command and the JSON. The move_joint action in the JSON isn't sufficient to execute the command, as it only specifies movement with respect to a joint angle, direction, and speed, but doesn't account for X, Y, Z positional coordinates."] +Move the arm's location to X:40, Y:50, Z:60.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];["0; The natural language command is talking about moving the arm's location to certain coordinates (X,Y,Z), while the provided JSON structure is considering moving a specific joint (elbow) with a definite angle and direction. The structures don't match."] +Rotate the wrist joint clockwise by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['4; The values in the natural language command match most of the "move_joint" JSON structure, including the action, joint_name, angle, direction, and unit. However, the speed is specified as 0.5 in the JSON structure, while the natural language command doesn\'t specify any speed, therefore we can\'t guarantee full conformity.'] +Turn the wrist joint in a clockwise direction by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];['4.5; The JSON structure nearly perfectly matches the natural language command, with all the key elements (action, joint_name, angle, direction) present. The only discrepancy lies with the "speed" attribute, which is not specified in the command but is present in the JSON. However, the speed value given in the JSON can be considered a reasonable default value, hence the high conformity score.'] +Rotate the wrist joint to the right by 45 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "right"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "unit":'];['4; Mostly conform. The command matches the "move_joint" action perfectly except for the "speed" parameter. The natural language command does not specify a speed, but a speed value is provided in the JSON structure.'] +Twist the wrist joint in a clockwise manner by 45 degrees.,['The response is an empty array.'];['0; The JSON structure provided does not align with the command given. None of the actions specified in the sample ontology correspond to the action of twisting a wrist joint. The provided JSON structure lacks information regarding the action, parameters, and values that correspond to this action.'] +Rotate the wrist joint in the clockwise direction, making a 45-degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 45.0,', ' "direction": "clockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The command is almost exactly conforming to the JSON structure. The action "move_joint", parameters like "angle" and "direction" are specified correctly according to the command. The "joint_name" value ("wrist") is not in the given JSON sample, but it\'s a reasonable value for "move_joint" action. The provided \'speed\' value in JSON is not specified in the command and hence can be any reasonable value. The only thing that doesn\'t match is the angle value which is given as float in JSON but not specified as such in command.'] +Retract the arm to standby position, then wave.,['The response is:'];['0; The natural language command doesn\'t match with any existing commands from the JSON structure. Efficient JSONs for the "retract arm" or "wave" commands are not available in the ontology.'] +Bring the arm back to its initial position and subsequently perform a waving motion.,['The response is:'];['0; The natural language command does not conform to any of the JSON structures provided. There\'s no JSON structure for bringing "the arm back to its initial position" and "perform a waving motion".'] +Revert the arm to its default position and proceed to wave.,['The response is:'];['0; The natural language command refers to reverting the arm to a default position and waving, actions which do not correspond to any of the actions provided in the JSON structures.'] +Withdraw the arm to standby position before waving.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command doesn\'t correlate with the provided JSON structure at all. The "set_orientation" action does not align with "withdraw the arm to standby position before waving" command.'] +Pull back the arm and proceed to wave.,['The response is:'];["0; The command 'pull back the arm and proceed to wave' doesn't match with any of the provided JSON structures. There isn't a matching action or relevant parameters in the sample ontology for pulling back an arm or waving."] +Extend the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": 20.0,', ' "speed": 2.0,', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure correctly represents the action "extend_arm" but the value of the speed is not mentioned in the natural language command, the system has however included a reasonable value for the speed parameter.'] +Lengthen the arm by 20 centimeters.,['{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['5; The natural language command perfectly conforms with the "extend_arm" action in the JSON structure, which includes the correct parameter "extension_length" with the proper unit of "centimeters". The speed value is not specified in the command but is filled in as 2.0, which is reasonable.'] +Stretch the arm out an additional 20 centimeters.,['The response is an empty array.'];["1; The JSON structure does not conform to the natural language command. The command suggests stretching the arm, and although the 'extend_arm' action in the ontology could possibly be used here, the provided JSON is completely empty, making it unrelated to the given command."] +Increase the arm's length by 20 centimeters.,['The response is', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The JSON structure for the command conform reasonably to the ontology except for the speed. The speed is not mentioned in the natural language command but is included in the JSON.'] +Add 20 centimeters to the arm's extension.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 20.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['4; The command corresponds to the "extend_arm" action in the JSON but in the command, it doesn\'t specify the speed of extension whereas in the JSON structure, a speed value of 2.0 cm/s is given.'] +Rotate the wrist joint counterclockwise by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The JSON structure is mostly accurate representing the action of "move_joint" with proper parameters such as "joint_name", "angle", and "direction", and units for angle and speed. The given command does not specify a speed, hence the JSON structure could apply any reasonable speed value. However, in the JSON, the "joint_name" has a "wrist" value which slightly deviates from the natural language command\'s "elbow" joint.'] +Turn the wrist joint in a counterclockwise direction, rotating it by 90 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; The command exactly matches with the JSON structure. All details like the action to be taken, joint involved, angle, direction, speed, and the units are conveyed accurately.'] +Rotate the wrist joint 90 degrees counterclockwise.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['4; The natural language command mostly conforms to the JSON structure. The "action" in both is "move_joint". The "direction" specified as "counterclockwise" matches. However, the "joint_name" in the command is "wrist" which deviates from the "elbow" in the provided JSON ontology. This difference leads to a point deduction. Also, the "joint_name" in the JSON structure given in the example is of type "str" which matches. The "angle" of 90.0 in the command aligns with the "float" type for an angle in the JSON structure, and the "unit" of "degrees" fits as well. The speed was not specified in the command but a reasonable value of 1.0 is accepted in the JSON structure. The "unit_speed" is correctly formatted as "degrees/s".'] +Perform a counterclockwise rotation of the wrist joint, turning it by 90 degrees.,['The response is:'];["1; The JSON structure is absent in the response, the command could correspond to the 'move_joint' action in the ontology but specific details such as the 'joint_name', 'angle', 'direction', and 'unit' are not provided in a JSON format as required."] +Adjust the wrist joint by rotating it counterclockwise at a 90 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "wrist",', ' "angle": 90.0,', ' "direction": "counterclockwise",', ' "speed": 1.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['5; Exactly conform. The natural language command correctly corresponds to the JSON representation as the action is "move_joint", with all parameters such as "joint_name", "angle", "direction" matching the speech command. Furthermore, the speed value isn\'t specified in the command, and so any reasonable value is accepted, in this case 1.0.'] +Grip the object with 10 kilograms of force.,['The response is accepted.'];['2; The action "grip_object" is correct and the "force" parameter is also mentioned, however, the unit of measure in the command is in "kilograms" while the JSON structure uses "newtons" as a unit for force which is a mismatch. Moreover, the "duration" parameter is not specified in the command but is necessary as per the JSON structure.'] +Apply a force of 10 kilograms to hold onto the object.,['The response is:'];['0; The JSON action for applying force is "grip_object", which specifically references force in "newtons", not "kilograms". The natural language command does not match with the JSON structure provided.'] +Utilize 10 kilograms of force to grip the object firmly.,['{', ' "action": "grip_object",', ' "params": {', ' "force": 10.0,', ' "duration": 3.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The natural language command matches with the "grip_object" action but it does not conform with the parameters. The force is mentioned in kg in the command whereas it is represented in newtons in JSON.'] +Exert a grip on the object with 10 kilograms of force.,['The response is an empty array.'];["0; The JSON structure is not given, and the command's parameters don't match with the existing ontology. There's no parameter to specify force in kilograms in the ontology."] +Hold onto the object with a force of 10 kilograms.,['The response is 10.0.'];['0; The JSON provided does not match the natural language command. The "|grip_object" action in the ontology uses newtons for the "force" unit but the command specifies force in kilograms.'] +Move to position X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command and the JSON structure do not match. Moves to position X, Y, Z does not correspond to any actions in the provided sample ontology. The provided JSON is for the action "move_joint" with parameters for "joint_name", "angle", "direction", and "speed", none of which match with the command.'] +Relocate to coordinates X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command does not match any of the given JSON structures, as it talks about moving to spatial coordinates, while the JSON structures describe joint movements, arm extensions, gripped objects, released grips, and orientation settings.'] +Transfer to position with X coordinate of 50, Y coordinate of 75, and Z coordinate of 100.,['{', ' "action": "transfer",', ' "params": {', ' "x": 50,', ' "y": 75,', ' "z": 100', ' }', '}'];['0; The natural language command is asking to transfer to a specific position with defined coordinates. However, there is no matching JSON structure in the given sample ontology that corresponds to this action and parameters. As such, the command cannot be converted using this specific ontology.'] +Proceed to the location with X value 50, Y value 75, and Z value 100.,['The response would be something like this:'];['0; The command is asking to move to a specific location using X, Y, and Z coordinates. However, the JSON structures provided do not have any key or action related to moving to a location or coordinates related action.'] +Change position to X:50, Y:75, Z:100.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 50.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.5', ' },', ' "unit'];["0; The natural language command is asking to change position coordinates, which isn't represented in the JSON structure. The JSON structure shows a command to move a joint, specifically the 'elbow' joint in a specific direction, angle and speed, which is different from changing overall position coordinates."] +Retract the arm by 30 centimeters.,['The response is ', ''];['0; The provided JSON structures do not contain a command for retracting the arm. The commands only provide for moving a joint, extending the arm, gripping an object, releasing grip, and setting an orientation.'] +Pull the arm back by a distance of 30 centimeters.,['The response is an empty array.'];["0; The JSON structure does not match the natural language command. The command describes an action of pulling the arm back, which doesn't exist in the sample keys."] +Withdraw the arm by 30 centimeters.,['The response is an empty array.'];["0; The command provided does not match with any of the JSON structures provided. The action 'withdraw arm' and the parameter 'withdrawal_length' are not a part of the given sample ontology."] +Move the arm back by a length of 30 centimeters.,['The response is:'];["1; The natural language command refers to an action of moving the arm back, which is not stated explicitly within the sample ontology provided. The closest action might be 'extend_arm', but that does not account for the direction of the movement (back). Therefore, it does not fully conform to the sample keys."] +Bring the arm back 30 centimeters.,['The response is an empty array.'];['1; The natural language command indicates a movement of the arm (which could be related to the "extend_arm" action), but it mentions a backwards movement that is not specified in the given ontology. The required retraction of the arm is also not clearly addressed in the JSON sample keys and, thus, the conforming is weak, and there is a mismatch with the JSON structure provided.'] +Rotate the shoulder joint clockwise by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['4; The natural language command is almost fully captured by the JSON structure. The action and most parameters are correct, however the speed value in JSON is not mentioned in the natural language command.'] +Turn the shoulder joint in a clockwise direction, making a 180-degree rotation.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];["4.5; The command and JSON structure match very well in action and parameters, including the joint to be moved (shoulder), the direction of the movement (clockwise), and the angle of the rotation (180 degrees). However, the command doesn't specify the speed of the movement, so a score of 5 can't be given. The speed value of 0.0 in the JSON isn't reasonable for a movement, but any non-zero value would have been acceptable."] +Rotate the shoulder joint in a clockwise manner, making a complete 180-degree turn.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];["4; The natural language command and the JSON structure mostly match. The 'action', 'joint_name', 'angle', and 'direction' all match correctly, however, the 'speed' in the JSON structure is 0.0 which is not specified in the natural language command. Also, 'unit' and 'unit_speed' keys are missing in the given JSON."] +Twist the shoulder joint clockwise, turning it by 180 degrees.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['4; The JSON structure correctly identifies the action as "move_joint" and assigns the proper joint name ("shoulder"), direction ("clockwise"), and angle (180.0). However, the speed parameter is missing in the natural command and it\'s included in the JSON structure while it shouldn\'t be. Also, the "unit" and "unit_speed" keys seem incomplete in the JSON structure.'] +Perform a 180-degree clockwise rotation of the shoulder joint.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 180.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 0.0', ' },', ' "'];['4; The action and majority of the parameters in the JSON structure match the natural language command, indicating a high level of conformity. The joint name, angle, and direction all align with the command. However, the speed value in the JSON structure is denoted as 0.0, which deviates from the natural language command as it does not specify the speed.'] +Release the object gently.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Gently let go of the object.,['{', ' "action": "release_grip"', '}'];['5; Exactly conform.'] +Softly loosen your grip on the object.,['{', ' "action": "release_grip"', '}'];["4; The command is instructing to loosen the grip (release grip). However, the JSON structure doesn't contain parameters for how softly this action should be performed, which is asked in the command. Thus, it doesn't fully conform, but the main action is correctly represented."] +Carefully release the object in a gentle manner.,['{', ' "action": "release_grip",', ' "params": {}', '}'];['5; Exactly conform.'] +Handle the object with caution as you relinquish your hold on it.,['The response is:'];["1; Despite the natural language command is about releasing an object which complies partially with 'release_grip' action, the command also specifies handling the object with caution which cannot be clearly mapped to any JSON structure."] +Move to position X:0, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command refers to moving to a specific position using coordinates X, Y and Z. However, the JSON structure refers to moving a specific joint (elbow) to a specified angle in a specified direction at a specific speed. The JSON structure does not provide any information related to moving to a specific position using coordinates, thus there is no match between the command and the JSON information.'] +Proceed to coordinates X:0, Y:0, and Z:50.,['The response is:'];['0; The command is not related to any of the actions or parameters in the provided JSON structures.'] +Relocate yourself to the destination with the coordinates X:0, Y:0, and Z:50.,['X:0, Y:0, Z:50'];['0; The provided JSON structures do not contain any information related to relocating or moving to specific coordinates. Therefore, the natural language command does not conform to the given JSON structures at all.'] +Shift your position to X:0, Y:0, Z:50.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command is about changing position, but there is no such action in the JSON structure. The command does not match any of the provided JSON structures.'] +Transfer yourself to the specified coordinates: X:0, Y:0, and Z:50.,['{', ' "action": "set_orientation",', ' "params": {', ' "orientation": {', ' "type": "str",', ' "value": "upright"', ' }', ' }', '}'];['0; The natural language command instructs a transfer to specified coordinates, however, the JSON information revolves around setting an orientation, which has no correlation with the command.'] +Extend the arm by 10 centimeters at a velocity of 5 centimeters per second.,['The response is:'];["3; The action 'extend_arm' corresponds correctly and the 'extension_length' of 10.0 centimeters is correctly matched. However, the 'speed' in the natural language command (5 cm/s) does not match the 'speed' in the JSON structure (1.0 cm/s)."] +Increase the length of the arm by 10 centimeters, moving at a speed of 5 centimeters per second.,['The response is an empty array.'];["1; The command suggests the 'extend_arm' action, however the speed value doesn't match up with the speed value in the command. Also, even though 'extend_arm' action is suitable for the command, there is no JSON response matching."] +Add 10 centimeters to the arm's reach, advancing at a rate of 5 centimeters per second.,['The response is ', ''];["4.5; The natural language command aligns with the 'extend_arm' JSON structure, but the 'speed' value in the command (5.0 cm/s) does not match with the 'speed' value in JSON structure (1.0 cm/s). The instructions for scoring specify that any reasonable value is accepted if not specified in the command. But as the command actually specifies a speed value, the disparity results in a deduction of 0.5 points."] +Stretch the arm forward by 10 centimeters, with a velocity of 5 centimeters per second.,['The response is:'];['4; The JSON structure provided has the correct \'extend_arm\' action and the \'extension_length\' parameter matches the "10 centimeters" from the command. However, the \'speed\' value in the JSON structure is 1.0 cm/s, which doesn\'t match the command\'s "5 centimeters per second".'] +Lengthen the arm by 10 centimeters, moving at a pace of 5 centimeters per second.,['The response is:', '', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 10.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 5.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];["4; The natural language command and the JSON structure match almost perfectly. The action type 'extend_arm' and the parameters 'extension_length' and 'unit_length' match the command 'Lengthen the arm by 10 centimeters'. The only difference is the speed value mentioned in the command which is 5 cm/s, but in the JSON structure it is 1.0 cm/s."] +Rotate the wrist joint counterclockwise by 45 degrees at a velocity of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },'];['4.5; The JSON structure almost perfectly conforms to the natural language command. The only discrepancy is the unit of speed, as the command specifies "degrees per second" but the JSON structure does not specify this unit. Nonetheless, the keys and their corresponding values match the commands quite well.'] +- Turn the wrist joint to the left by 45 degrees at a speed of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "left"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },', ' "unit'];['4.5; The command and the JSON structure mostly align. The "action" is "move_joint", "joint_name" is "wrist", "angle" is 45.0, "direction" is "left", and "speed" is 90.0, which all match. However, the provided JSON structure doesn\'t include the units for the angle and speed, but it\'s safe to assume from the context that they are "degrees" and "degrees/s" respectively.'] +- Rotate the wrist joint in an anti-clockwise direction, making a 45 degree angle, at a rate of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "anti-clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },'];['5; Exactly conform. The natural language command is perfectly captured by the JSON structure. All parameters in the command match the ontology in the JSON structure. "Joint_name", "angle", "direction", and "speed" parameters conform correctly to their values in the natural language command.'] +- Move the wrist joint counterclockwise for 45 degrees with a velocity of 90 degrees per second.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },'];["5; Exactly conform. The natural language command corresponds perfectly with the given JSON structure and accurately represents actions and parameters based on the ontology provided. The 'action' field; 'move_joint', and parameters; 'joint_name' as 'wrist', 'angle' as '45.0', 'direction' as 'counterclockwise', and 'speed' as '90.0' match in both command and JSON."] +- Adjust the wrist joint by rotating it counterclockwise at a speed of 90 degrees per second, achieving a 45 degree angle.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "wrist"', ' },', ' "angle": {', ' "type": "float",', ' "value": 45.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 90.0', ' },'];['5; Exactly conform. The natural language command correctly requests moving a joint (specifically the "wrist"), provides an angle (45 degrees), a direction ("counterclockwise"), and a speed (90 degrees per second). All of these parameters and respective values can be correctly found in the provided JSON structure.'] +Grip the object with 8 kilograms of force for 10 seconds.,['The response is 8000.'];['0; The JSON structure provided does not match the natural language command. The natural language command mentioned the force in kilograms, but the JSON is formatted for force in newtons. Also, the duration in the command did not get reflected in the JSON.'] +Apply a force of 8 kilograms to the object for a duration of 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['2; The "action" and "duration" parameters match the command, but the "force" value in the JSON structure is incorrectly unit labeled (it should be \'kilograms\' instead of \'newtons\').'] +Hold the object with a grip that exerts 8 kilograms of force for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['1; The \'action\' matches perfectly as "grip_object" but the \'params\' don\'t match correctly. The unit of "force" in the natural language command is in kilograms while in the JSON structure, it\'s in newtons.'] +Grasp the object firmly, exerting a force of 8 kilograms, and maintain the grip for 10 seconds.,['{', ' "action": "grip_object",', ' "params": {', ' "force": {', ' "type": "float",', ' "value": 8.0', ' },', ' "duration": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];['4; The action and duration match perfectly, however, the force unit in the natural language command is in kilograms rather than newtons as presented in the JSON structure.'] +Use 8 kilograms of force to firmly grip the object for a period of 10 seconds.,['The response is ', '{', ' "action": "grip_object",', ' "params": {', ' "force": 8.0,', ' "duration": 10.0,', ' "unit_force": "newtons",', ' "unit_duration": "seconds"', ' }', '}'];["2; The action in the JSON structure ('grip_object') corresponds with the natural language command of gripping the object. Some parameters are incorrect (force is mentioned in kilograms instead of newtons and duration in seconds is correct). However, the force value mentioned in the command is not the same as in the JSON structure, the values mentioned are reasonable, yet they don't match exactly."] +Move to position X:25, Y:50, Z:75 in 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command is referring to moving to a specific position in an X,Y,Z coordinates which is not present in the provided JSON structure. The JSON structure is about moving a specific joint (elbow) in a specific direction (clockwise or counterclockwise) with a certain speed. There is therefore no direct match between the natural language command and the JSON structure.'] +In 5 seconds, go to the coordinates X:25, Y:50, Z:75.,['The response would be something like this:'];["0; The natural language command is referring to an action of moving to specific coordinates, but none of the JSON structures provided have keys related to this type of action. The command doesn't conform to the keys in the sample ontology."] +Reach the position X:25, Y:50, Z:75 within a span of 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command speaks about reaching a specific position in a coordinate system which is not accounted for in any of the JSON structures provided in the ontology. Furthermore, the parameters X, Y, Z and the duration of 5 seconds also do not match with any parameters in the ontology.'] +Within 5 seconds, relocate yourself to the coordinates X:25, Y:50, Z:75.,['A: Within 5 seconds, relocate yourself to the coordinates X:25, Y:50, Z:75.'];['0; The natural language command involves moving to specific coordinates, which is not represented in any of the JSON structures provided. Therefore, there is no conformity with the sample ontology keys.'] +Move to X:25, Y:50, Z:75 within 5 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The natural language command does not match with the JSON structure provided. The command wants the system to move to a certain position using XYZ coordinates in a certain amount of time, but in the JSON structure there is no "move_to_position" action or similar. Also, coordinates X, Y, Z, and time are not corresponding parameters in the sample keys.'] +Retract the arm by 15 centimeters at a velocity of 2 centimeters per second.,['The response is, "Retract the arm by 15 centimeters at a velocity of 2 centimeters per second."'];["0; The JSON provided does not match with the given command. There are no keys for 'retract' action in the JSON structure. Therefore, the action mentioned in the command is not available in the JSON structure."] +Move the arm back by 15 centimeters at a speed of 2 centimeters per second.,['The response is:'];["4; The JSON structure provided has almost all required keys. It matches the 'extend_arm' action, corresponding speed on the 'speed' key and 'unit_length' and 'unit_speed'. However, 'extension_length' value in the JSON is 10.0, while in the command it is 15. Therefore, the conformity score can't be perfect."] +Withdraw the arm, reducing its length by 15 centimeters, while moving at a rate of 2 centimeters per second.,['The response is:'];["2; The natural language command does not conform to the JSON structures completely. The 'action' could be interpreted as the 'extend_arm' action yet with a negative 'extension_length', but this interpretation is not explicitly stated in the command or shown as an option within the JSON ontologies. Furthermore, a 'reduce_arm' action may be more appropriate, but such an action doesn't exist within the provided sample ontologies."] +Decrease the arm's extension by 15 centimeters, moving it at a velocity of 2 centimeters per second.,['The response is ', '{', ' "action": "extend_arm",', ' "params": {', ' "extension_length": {', ' "type": "float",', ' "value": 15.0', ' },', ' "speed": {', ' "type": "float",', ' "value": 2.0', ' },', ' "unit_length": "centimeters",', ' "unit_speed": "cm/s"', ' }', '}'];['2; The command speaks to decreasing the arm\'s extension; however, the JSON structure shows an "extend_arm" action with a positive extension value, indicating an extension, not a reduction. Additionally, the term "velocity" used in the command doesn\'t perfectly match with the term "speed" used in the JSON, which might cause some confusion.'] +Pull the arm back by 15 centimeters, maintaining a speed of 2 centimeters per second.,['The response is:'];['2; The natural language command mentions the action of pulling the arm back, which is a type of movement but does not directly conform to the JSON actions provided. The closest action in the ontology is "extend_arm" but it\'s not an exact match. Thus, the conformity is partial.'] +Rotate the shoulder joint clockwise by 270 degrees in 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "'];['3; The natural language command mostly matches the JSON structure. The "action" is correct as "move_joint" and the "joint_name", "angle", and "direction" parameters are accurately represented as well. However, the "speed" parameter in the JSON is not quite correct. The natural language command asks for the joint to be moved in 3 seconds, but in the given JSON, the speed is 3.0 without specifying the unit (degrees/s). It\'s not clear that the speed \'3.0\' in JSON would indeed move the joint by 270 degrees in 3 seconds. Some more explicit conversion or calculation might be needed for precise compliance.'] +In a time span of 3 seconds, turn the shoulder joint in a clockwise direction by 270 degrees.,['The response is:'];["4; The JSON structure accurately represents the action of 'move_joint', and correctly identifies the 'joint_name', 'direction', and 'angle' parameters. However, the JSON does not specify the 'duration' parameter that is present in the natural language command. Also, 'shoulder' joint is not mentioned in the sample keys."] +Perform a 270-degree clockwise rotation of the shoulder joint within a 3-second timeframe.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "shoulder"', ' },', ' "angle": {', ' "type": "float",', ' "value": 270.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "clockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 3.0', ' },', ' "'];['5; The command is correctly recognized in the JSON structure \'move_joint\' and all the parameters including "joint_name", "angle", "direction", and "speed" match perfectly with the correct intended values. The \'unit\' and \'unit_speed\' are not specified in the command so any reasonable values in their places are accepted.'] +Rotate the shoulder joint in a clockwise manner, covering a distance of 270 degrees, and complete this action within 3 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": "shoulder",', ' "angle": 270.0,', ' "direction": "clockwise",', ' "speed": 3.0,', ' "unit": "degrees",', ' "unit_speed": "degrees/s"', ' }', '}'];['3; The JSON structure closely matches the natural language command, but there are some discrepancies. The natural language command mentions moving the "shoulder" joint whereas the JSON uses the "elbow" joint. In addition, while the natural language command specifies that the action should be completed "within 3 seconds", the JSON incorrectly interprets this as the "speed" value. This should probably be a calculation of the "speed", not the exact value.'] +Within a duration of 3 seconds, turn the shoulder joint in a clockwise direction, making a rotation of 270 degrees.,['The response is:'];["3; The natural language command specifies to move a joint, however the joint specified is the 'shoulder', not the 'elbow' as defined in the JSON structure. All the other parameters ('direction', 'angle', 'duration') match with the JSON structure, except for 'speed', which is not mentioned in the command. The 'unit' and 'unit_speed' have not been mentioned in the natural language command but are implied (degrees, seconds)."] +Move to position X:100, Y:100, Z:0 in 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "head"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "unit'];["0; The natural language command is talking about moving to a position in a 3D coordinate, which does not conform to any of the sample keys provided in the JSON structures. Specifically, there's no action or parameters for moving to an X, Y, Z position. The provided JSON structure in the example does not match the command neither in action nor in parameters."] +Go to coordinates X:100, Y:100, Z:0 within a time frame of 10 seconds.,['{', ' "action": "travel",', ' "params": {', ' "x": 100,', ' "y": 100,', ' "z": 0,', ' "time": 10', ' }', '}'];['0; The natural language command talks about moving to a certain location which is not covered in the JSON structures provided. The provided structures allow operations like moving a joint, extending an arm, gripping an object, releasing a grip or setting an orientation.'] +Shift to position X:100, Y:100, Z:0 within a duration of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'];["0; The natural language command talks about moving to a specific position in 3D coordinates within a certain duration, this doesn't conform to the JSON structure provided. The JSON structure is about moving a specific joint to an angle in a certain direction with a particular speed. There's no mention of 3D coordinates or duration in the JSON structure."] +Transfer yourself to coordinates X:100, Y:100, Z:0 in a span of 10 seconds.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 100.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "up"', ' },', ' "speed": {', ' "type": "float",', ' "value": 10.0', ' },', ' "'];['0; The natural language command is asking for a movement to a set of coordinates, however, the JSON representation is trying to move a joint named "elbow". These don\'t match at all. Command does not exist in the sample keys.'] +Travel to position X:100, Y:100, Z:0 within a 10-second timeframe.,['{', ' "action": "move_joint",', ' "params": {', ' "joint_name": {', ' "type": "str",', ' "value": "elbow"', ' },', ' "angle": {', ' "type": "float",', ' "value": 90.0', ' },', ' "direction": {', ' "type": "str",', ' "value": "counterclockwise"', ' },', ' "speed": {', ' "type": "float",', ' "value": 1.0', ' },', ' "'];['0; The command given does not match any of the sample keys in the given JSON structures. It specifies travel to a given position in a certain timeframe, which is not reflected in any of the JSON data.'] +Extend the arm by 5 centimeters, then swim.,['The response is, "Extend the arm by 5 centimeters, then swim."'];['0; The natural language command does not conform with any JSON structure. "Extend the arm by 5 centimeters" is matching with the "extend_arm" action but "then swim" does not correspond to any of the listed actions in the JSON structures.'] +Swim after extending the arm by 5 centimeters.,['The response is empty.'];["0; The command 'Swim' doesn't exist in the sample keys and the provided JSON structure is empty which is not associated with the command in any way."] +After extending the arm by 5 centimeters, proceed to swim.,['The response is:'];['0; The command requests to "extend the arm by 5 centimeters", which can correspond to the "extend_arm" action with a "extension_length" of 5.0 and a "unit_length" of "centimeters" in the second JSON structure. However, the command then says "proceed to swim" which doesn\'t correspond with any of the JSON actions provided.'] +Extend the arm by 5 centimeters first, then start swimming.,['The response is:'];['0; The command "start swimming" doesn\'t exist in the sample keys. Also, the parameter for the speed of extending the arm is missing.'] +First, extend the arm by 5 centimeters, and then initiate swimming.,['The response is:'];["0; The natural language command does not conform to any of the sample keys. The command 'extend the arm' partially matches with 'extend_arm' action but the 'initiate swimming' part does not correspond to any of the given actions in the JSON structures."] diff --git a/evaluation/evaluations/Robotic-Arm/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_Robotic_Arm_SELECTED_5pct_for_manual_eval-HIST.png b/evaluation/evaluations/Robotic-Arm/LLaMA-7b/Evaluated_JSON_commands_LLaMA-7b_Robotic_Arm_SELECTED_5pct_for_manual_eval-HIST.png new file mode 100644 index 0000000000000000000000000000000000000000..05225838ecff04965e1b6692c7278cd753a9eba8 GIT binary patch literal 53857 zcmeFacU+Wbw=PU#)I?)1Chrh$x~WO+-3_nkXF;3(`^Sps0v| zG7LtFg(51VI1FS^2C2dbL+4y;lDzYn>~g;S?eoVzM}K>p7l(PuUDvwGx`Wo3n~oYG zGeSyAYSfDFmi-_lH8N95YAE;1VfdGutMBi^e{}XQ-?)FB^UnPq+xFQ>nQhzeve$Y4 z-rcs-57_N<+wJV6zEFGNH}j|O+P~k$O;=Ub@n65N(0QM|s>Y4^7TLqWSAB8P}1gwTFxtH%ob<@=T>gSClq=ZLwZ$ zvb*7j72$ECoz0Rru-9*`(DE;3#|y0M3yoAR-n@Bp5uWC+KZyt5YJT|qub=SWu`^tT 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z!*(LJtceMjH{z6UdIN<~3UN^QCJaaZqFYJq^6_Zr_#&jOR@xeUIdLIcL+92F$q0yA{kRR;_^FV~6(#ov^g%tTd(k>wzKwF|-5p zFPzgp1v$vki6I+Nvhk*KPmx6;NVdcdwOq?87wZnU>oX|#WP6Un{!TF09_H{fDw zsdbMoYs`Tb*)gmO?A6(pYYX%957~BBFQ;sJb4!+2>=iVV%K{fn)BTR-sRDxl_(#m+ z$cTthh58K(sm@)#CkjD( z3IqOs#y18Zbb^yLxj0CY)flglZ40rkFEBfensb!9IohriUZxuw?c@A4U0P8i-y-uN zG^@h_oSd3p(!t49U_u03WOQ-+lU>j*W48p?z8rca*Xh~rzrNogqg1PA7*;#92- zv~-Vq*4sZ6iGmR#9|=@Vpk5OIlEi=)Ltw2EIV0tQ9Maz+y<(?@I=7d;e+c~Jz7I2J zG{*&K=S?Kbb>vDC?5Op4lys^mI6;^gHNMT6&%i{oXn2>zVjcc}AuR)Egf01Rz&d_c ozvGI&{CDSA|L']";['5;5; Exactly conform.'] +750: Return the arm to the standby position.,['The response is an empty array.'];"[""0";1;" The natural language command mentions about returning the arm to the standby position, which doesn't match any keys or actions within the given JSON structures. Therefore, the JSON response is not valid.""]" +167: Move the arm in reverse to reach the half position, then take a pause of 3 seconds.,['The response is:'];['0;0;" The JSON structures do not contain enough information to perform the described action. The natural language command appears to be referring to the ""move_joint"" action and possibly the ""grip_object"" action (assuming ""pause"" refers to ""duration""), but the expected parameters such as \'direction\' (for \'reverse\') and specific joint angle(for \'half position\') are not clearly mentioned.']" +"213: Set the arm to position X:50, Y:75, Z:100.,['{', ' ""action"": ""set_orientation"",', ' ""params"": {', ' ""orientation"": {', ' ""type"": ""str"",', ' ""value"": ""upright""', ' }', ' }', ' }']";['0;0;" The natural language command suggests an ""action"" of setting arm position in 3-dimensional space with parameters for X, Y, and Z coordinates. However, the JSON structure mentioned refers to an ""action"" of ""set_orientation"" with a ""params"" key for orientation, with a single string value of ""upright"". None of these details match the command, providing no conformity.']" +"593: Adjust the position to X:10, Y:20, Z:30 over a period of 8 seconds, while rotating the arm joint 45 degrees in the counterclockwise direction.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""elbow""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 45.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.5', ' },', ' ""']";['2;3;" The JSON command correctly interprets the rotation of the joint by 45 degrees in the counter-clockwise direction. However, the movement to the X:10, Y:20, Z:30 position and the time period of 8 seconds are not considered in the JSON command. Furthermore, there are absent keys such as ""unit"" and ""unit_speed"".']" +228: Hold the object with a force of 3 kilograms.,['The response is an empty array.'];"[""0";0;" The JSON structure does not match the command. The command talks about 'holding an object with a force of 3 kilograms', however, the provided JSON does not include the 'action' for gripping an object or the 'params' expressing the force in kilograms.""]" +"954: Gently let go of the object.,['{', ' ""action"": ""release_grip""', '}']";['5;5; Exactly conform.'] +21: Grip the object with a force of 15 kilograms.,['The response is 15.0.'];['1;0; The natural language command refers to gripping an object with a force of 15 kilograms. However, in the JSON structure, the unit of force is in newtons, not kilograms. The parameters match but the units are inconsistent.'] +416: Squeeze the object with a force of 10 kilograms for a period of 10 seconds.,['The response is acceptable.'];['1;0;" The command ""squeeze the object with a force of 10 kilograms for a period of 10 seconds"" could possibly match with the \'grip_object\' action in the JSON structures where it includes the \'force\' and \'duration\' parameters. However, the provided value for force is in \'kilograms\' instead of \'newtons\' as indicated in the JSON structure and no conversion formula is provided in the sample ontology. Thus, the conformity is low.']" +"27: Turn the elbow joint in a clockwise direction, rotating it by 60 degrees.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": ""elbow"",', ' ""angle"": 60.0,', ' ""direction"": ""clockwise"",', ' ""speed"": 1.0,', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['5;5;" Exactly conform. The command precisely corresponds to the provided JSON structure. It calls for the ""move_joint"" action with ""elbow"" as the ""joint_name"", a ""60.0"" degree ""angle"", in a ""clockwise"" ""direction"". The ""speed"" is allowed to be any reasonable value as it is not specified in the natural language command. The ""unit"" of measure is correctly recognized as ""degrees"", with ""unit_speed"" as ""degrees/s"".']" +257: Stretch the arm outwards by 10 centimeters, moving at a speed of 8 centimeters per second.,['The response is:'];['3;0;" The provided JSON command carries out the correct ""extend_arm"" action as instructed and the ""extension_length"" matches (10 cm). However, the speed value doesn\'t conform as the speed in the JSON is 1.0 cm/s while the command requests 8 cm/s.']" +390: Position the arm in a hovering state, maintaining a halfway retracted position.,['The response is:'];['0;0;" The command does not match any of the sample ontologies provided. The actions mentioned in the command (""position the arm"", ""maintaining a halfway retracted position"") do not correspond with any of the available actions in the JSON structures (""move_joint"", ""extend_arm"", ""grip_object"", ""release_grip"", ""set_orientation"") and do not provide any of the required params such as ""joint_name"", ""angle"", ""direction"", ""speed"", ""unit"", ""unit_speed"", ""extension_length"", ""force"", ""duration"", ""orientation"".']" +374: Open the gripper and close it with 7 kilograms of force.,['The response is 7.0.'];['1;0;" The natural language command mentions two actions, opening (which could be translated to ""release_grip"") and closing with force (which could be translated to ""grip_object""). However, the JSON structure provided only addresses the action of gripping an object with force, and does not contain any information on releasing the grip. Furthermore, there is no ""kg"" unit in the ""unit_force"" in the sample keys, indicating a unit mismatch.']" +406: Stretch the arm outwards by 20 centimeters, moving at a speed of 2 meters per second.,['The response is:'];"[""3";0;" While the natural language command aligns with the 'extend_arm' action in the JSON structure, the unit of measurement for speed is not correct. The JSON has the speed defined in centimeters per second, while the command is asking for it in meters per second. The parameters do align but the units of measurement should be consistent.""]" +"11: Move to position X:50, Y:30, Z:15.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""elbow""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""']";['0;0; The natural language command is requesting for a movement in three-dimensional space to certain coordinates, but the JSON structure is all about moving a specific joint (elbow) to a certain angle at a specific speed and direction. Therefore, these two are entirely unrelated.'] +"37: Proceed to coordinates X:25, Y:40, Z:10 with a speed of 10 cm/s.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""elbow""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""']";['0;0; The command is about moving to specific coordinates with a certain speed, however, there is no provided JSON structure that matches this command. The provided JSON structures are about moving a joint, extending an arm, gripping an object, releasing a grip, and setting an orientation.'] +796: Withdraw the arm to the standby position and expect further guidance.,['The response is:'];['0;0; The natural language command does not conform to any of the JSON structures provided as it neither shares any common action nor does it contain matching parameters. Thus, it cannot be accurately converted into a JSON format following the provided sample keys.'] +436: Apply a 2-kilogram force to grip the object.,['The response is:'];"[""3";0;" The action 'grip_object' in the command matches with the JSON action. Majority of the parameters match but the 'force' value in the command is in kilograms, while in the JSON, it is in newtons. It is a partial match because of the difference in units. It is assumed that a conversion is possible.""]" +"961: Shift your position to X:0, Y:0, Z:50.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""elbow""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""']";['0;0; The natural language command is about changing position, but there is no such action in the JSON structure. The command does not match any of the provided JSON structures.'] +"188: Use 6 kilograms of pressure to firmly hold onto the object, and then release it after a 2-second interval.,['{', ' ""action"": ""release_grip"",', ' ""params"": {}', '}']";['1;2;" The JSON structure represents the action ""release_grip"" with no parameters. However, the command given mentions applying a certain amount of pressure to hold an object, and does not match with the JSON structure provided.']" +360: Increase the length of the arm by 30 centimeters and maintain that position for a duration of 3 seconds.,['Returns:', ''];"[""2";0;" The JSON representations have mention of the extension of the arm, but there is no parameter to specify the duration for maintaining that position. As a result, although the command partially matches with the 'extend_arm' action in the ontology, it doesn't fully conform to the given structure.""]" +883: Grip the object with 12 kilograms of force.,['The response is 12.'];['0;0;" The command ""Grip the object with 12 kilograms of force"" does not conform to the JSON structure, as the parameter\'s unit of force in the JSON structure is in newtons, not in kilograms.']" +"40: Journey to coordinates X:25, Y:40, Z:10 at a rate of 10 cm/s.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""elbow""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""']";['0;0; The natural language command talks about navigating to certain coordinates at a specified speed, however, the JSON structure involves moving a specific joint (elbow) in a certain direction (counterclockwise) at a particular speed. There is no matching in intent or parameters from the natural language command to the JSON information.'] +987: Pull the arm back by 15 centimeters, maintaining a speed of 2 centimeters per second.,['The response is:'];['2;0;" The natural language command mentions the action of pulling the arm back, which is a type of movement but does not directly conform to the JSON actions provided. The closest action in the ontology is ""extend_arm"" but it\'s not an exact match. Thus, the conformity is partial.']" +"932: Adjust the wrist joint by rotating it counterclockwise at a 90 degree angle.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": ""wrist"",', ' ""angle"": 90.0,', ' ""direction"": ""counterclockwise"",', ' ""speed"": 1.0,', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['5;5;" Exactly conform. The natural language command correctly corresponds to the JSON representation as the action is ""move_joint"", with all parameters such as ""joint_name"", ""angle"", ""direction"" matching the speech command. Furthermore, the speed value isn\'t specified in the command, and so any reasonable value is accepted, in this case 1.0.']" +"748: Bring the arm back to its standby position.,['{', ' ""action"": ""release_grip""', '}']";"[""0";0;" The JSON structure does not match with the natural language command. The command refers to moving the arm to a standby position, however, the JSON structure performs an action to 'release_grip', not moving arm to a standby position.""]" +989: In a time span of 3 seconds, turn the shoulder joint in a clockwise direction by 270 degrees.,['The response is:'];"[""4";0;" The JSON structure accurately represents the action of 'move_joint', and correctly identifies the 'joint_name', 'direction', and 'angle' parameters. However, the JSON does not specify the 'duration' parameter that is present in the natural language command. Also, 'shoulder' joint is not mentioned in the sample keys.""]" +391: Hold the arm halfway retracted and hover in place.,['The response is an empty array.'];"[""0";0;" The given command doesn't match any of the provided JSON structures. The command talks about holding the arm halfway retracted and hovering in place, none of which is covered in the sample ontology provided.""]" +110: Make a 90-degree counterclockwise rotation of the base joint.,['The response is:'];['0;0; The JSON structure is not provided, therefore we cannot evaluate the conformity between the command and JSON information.'] +"848: Move the arm to position X:70, Y:80, Z:90.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""elbow""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 90.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""counterclockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 1.0', ' },', ' ""']";['0;0;" The JSON data does not match the natural language command. The command instructs to move the arm to a specific X, Y, Z position, However, the JSON structure represents a ""move_joint"" action with parameters such as joint_name, angle, direction, and speed, which does not correspond to the command mentioned.']" +925: Stretch the arm out an additional 20 centimeters.,['The response is an empty array.'];"[""1";0;" The JSON structure does not conform to the natural language command. The command suggests stretching the arm, and although the 'extend_arm' action in the ontology could possibly be used here, the provided JSON is completely empty, making it unrelated to the given command.""]" +"4: Use a force of 10 Newtons to elevate the object.,['{', ' ""action"": ""grip_object"",', ' ""params"": {', ' ""force"": 10.0,', ' ""duration"": 3.0,', ' ""unit_force"": ""newtons"",', ' ""unit_duration"": ""seconds""', ' }', '}']";['3;2.5;" The JSON structure correctly identifies the action as ""grip_object"" and sets the force value to 10.0 newtons, which match the command. But the duration value in the JSON structure (3.0 seconds) does not conform to the natural language command, as the command does not specify the duration value.']" +348: Navigate to the point X:0, Y:0, Z:50 at a speed of 1 meter per second.,['The response is an empty array.'];"[""0";1;" The provided command involves an action of navigating to a certain point, which doesn't match with any of the actions provided in the sample keys. Therefore, the JSON representation can't be identified with any given action and so the score is 0.""]" +95: Apply a grip to the object, using a 25-kilogram force.,['The response is:'];['1;0;" The natural language command refers to the action ""grip_object"", but the metric unit used for force in the command is not compatible with the sample ontology which uses ""newtons"" as unit of force, not ""kilograms"".']" +568: Stretch the arm outwards to a length of 40 centimeters and keep it in that position for a duration of 2 seconds.,['The response is:'];['2;0;" The natural language command mentions an action of extending the arm which is similar to ""extend_arm"" in JSON but the details like duration and exact speed are not referred in the given JSON structure. Hence, it can be considered moderate conformity.']" +"187: Clamp onto the object with a force of 6 kilograms, and then loosen your grip after 2 seconds.,['{', ' ""action"": ""set_orientation"",', ' ""params"": {', ' ""orientation"": {', ' ""type"": ""str"",', ' ""value"": ""upright""', ' }', ' }', '}']";['0;0; The JSON data does not match the natural language command. The command speaks about clamping on an object, while the JSON data speaks about setting orientation. Additionally, the force mentioned in the command is in kilograms, while the force in the JSON data should be in newtons according to the sample description. Also, the duration for which the grip should be held is not mentioned in the JSON.'] +"763: Increase the arm length by 30 centimeters.,['The response is ', '{', ' ""action"": ""extend_arm"",', ' ""params"": {', ' ""extension_length"": {', ' ""type"": ""float"",', ' ""value"": 30.0', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 2.0', ' },', ' ""unit_length"": ""centimeters"",', ' ""unit_speed"": ""cm/s""', ' }', '}']";"[""4";5;" The command corresponds to the 'extend_arm' action in the JSON structure. However, the speed value given in JSON is not mentioned in the command, it was assumed to be 2.0 which is acceptable, but it's not a perfect match.""]" +"460: Adjust the elbow joint by rotating it clockwise, making a 30 degree turn.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": ""elbow"",', ' ""angle"": 30.0,', ' ""direction"": ""clockwise"",', ' ""speed"": 1.0,', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";"[""4";5;" The JSON correctly represent the action, the joint_name, the direction, the angle and the unit of measure provided. However, it is assuming a 'speed' value which isn't mentioned in the command so it shouldn't be present in the JSON.""]" +"740: Twist the wrist joint clockwise, completing a 180-degree rotation.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""wrist""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 180.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""clockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""']";['4;3.5;" The JSON structure mostly matches the natural language command, with action as ""move_joint"". The appropriate parameters such as ""joint_name"", ""angle"", and ""direction"" are correctly provided. However, it is marked down because the speed value in JSON, which is not specified in the natural language command, is set to 0.0 when it should have been any reasonable float value. The ""unit"" and ""unit_speed"" keys are also missing from the JSON structure.']" +"149: Rotate the base joint clockwise by 180 degrees and hold.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": {', ' ""type"": ""str"",', ' ""value"": ""base""', ' },', ' ""angle"": {', ' ""type"": ""float"",', ' ""value"": 180.0', ' },', ' ""direction"": {', ' ""type"": ""str"",', ' ""value"": ""clockwise""', ' },', ' ""speed"": {', ' ""type"": ""float"",', ' ""value"": 0.0', ' },', ' ""unit']";['4;3;" The action, joint_name, angle, and direction in the given JSON structure match the command perfectly. However, the speed does not conform perfectly as the command does not explicitly ask to ""hold"" but rather rotate a certain amount. The JSON interprets this as a speed of \'0.0\' which isn\'t entirely accurate.']" +"921: Withdraw the arm to standby position before waving.,['{', ' ""action"": ""set_orientation"",', ' ""params"": {', ' ""orientation"": {', ' ""type"": ""str"",', ' ""value"": ""upright""', ' }', ' }', '}']";['0;0;" The natural language command doesn\'t correlate with the provided JSON structure at all. The ""set_orientation"" action does not align with ""withdraw the arm to standby position before waving"" command.']" +"525: Apply a firm 10 Newton force to firmly seize the object.,['{', ' ""action"": ""grip_object"",', ' ""params"": {', ' ""force"": 10.0,', ' ""duration"": 3.0,', ' ""unit_force"": ""newtons"",', ' ""unit_duration"": ""seconds""', ' }', '}']";['4;4;" The natural language command and the JSON structure partially conform. The ""force"" value matches as a 10 Newton force is indicated in both. However, the ""duration"" value doesn\'t match. Even though the natural language command does not specify a duration, it would be more optimal if the JSON structure didn\'t specify a ""duration"" value or provide any reasonable value since it wasn\'t mentioned in the given command. Although, since it does not conflict with the command, I am still giving it a 4.']" +691: In a zigzag pattern, move the arm with a velocity of 75 centimeters per second.,['The response is ', ''];['0;0;" The natural language command requests a complex movement (""zigzag pattern"") at a specified speed, but none of the provided JSON structures include a command for moving the arm in a pattern. Also, there is no \'velocity\' parameter in any of the given JSON structures.']" +992: Within a duration of 3 seconds, turn the shoulder joint in a clockwise direction, making a rotation of 270 degrees.,['The response is:'];"[""3";0;" The natural language command specifies to move a joint, however the joint specified is the 'shoulder', not the 'elbow' as defined in the JSON structure. All the other parameters ('direction', 'angle', 'duration') match with the JSON structure, except for 'speed', which is not mentioned in the command. The 'unit' and 'unit_speed' have not been mentioned in the natural language command but are implied (degrees, seconds).""]" +"605: Adjust the robotic arm to reach X:50, Y:100, Z:200.,['{', ' ""action"": ""set_orientation"",', ' ""params"": {', ' ""orientation"": {', ' ""type"": ""str"",', ' ""value"": ""upright""', ' }', ' }', ' }']";['0;0;" The natural language command is about adjusting the robotic arm to specific coordinates (X, Y, Z), which doesn\'t match with any of the provided JSON structure. The provided JSON corresponds to ""set_orientation"" action, which is different from the natural language command.']" +"431: Turn the wrist joint 90 degrees in a clockwise direction.,['{', ' ""action"": ""move_joint"",', ' ""params"": {', ' ""joint_name"": ""wrist"",', ' ""angle"": 90.0,', ' ""direction"": ""clockwise"",', ' ""speed"": 1.0,', ' ""unit"": ""degrees"",', ' ""unit_speed"": ""degrees/s""', ' }', '}']";['4;5; The JSON structure correctly represents the action of moving a joint, the joint name (wrist), the angle (90 degrees) and the direction (clockwise). However, the speed of rotation is not specified in the natural language command, so although it is not wrong, it is not explicitly correct either.'] +"723: Fully open the grip and hold for 3 seconds.,['{', ' ""action"": ""grip_object"",', ' ""params"": {', ' ""force"": 10.0,', ' ""duration"": 3.0,', ' ""unit_force"": ""newtons"",', ' ""unit_duration"": ""seconds""', ' }', '}']";"[""2";0.5;" The natural language command corresponds to the 'release_grip' action but it is incorrectly matched with 'grip_object' JSON structure in place. The 'duration' parameter is mentioned in the command and correctly represented in the JSON, but 'force' parameter is not mentioned but still present in the JSON structure.""]" +866: Use a gripping force of 20 kilograms to secure the object.,['The response is:'];['0;0;" The command instructs to grip the object with a certain force, but the JSON structure provided uses a different unit of measurement (""newtons"") in the ontology and not the one specified in the command (""kilograms""). Also, the exact value of force (20 kg) is not indicated in the JSON structure.']" +227: Use a force of 3 kilograms to hold onto the object.,['The response is:'];['1;0;" The natural command request to ""grip_object"" which is present in the JSON structures, however, the unit of force mentioned in the command, ""kilograms"", does not match the unit specified in the JSON structure, ""newtons"". 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